This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a...This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.展开更多
Background:Interleukin‐1(IL‐1)and its receptor have shown their profound influence on inflammatory bowel disease(IBD).To investigate the relationship between IL‐1 receptor typeⅡ(IL‐1RⅡ),a well‐established negat...Background:Interleukin‐1(IL‐1)and its receptor have shown their profound influence on inflammatory bowel disease(IBD).To investigate the relationship between IL‐1 receptor typeⅡ(IL‐1RⅡ),a well‐established negative regulator of IL‐1,and IBD along with its subtypes(Crohn's disease[CD]and ulcerative colitis[UC]),we conducted a Mendelian randomization analysis to elucidate the underlying association more clearly.Methods:The genome‐wide association studies summary statistics of IL‐1RⅡwere acquired from the INTERVAL study,which involved 3301 European people.The latest meta genome‐wide association studies statistic of IBD/CD/UC served as genetic instruments.Three robust analytical methods including inverse‐variance weighting(IVW),Mendelian randomization(MR)‐Egger regression,and weighted median(WM)were utilized,followed by sensitivity analysis.The MR‐Egger intercept test,Cochran's Q test,and“leave‐one‐out”sensitivity analysis were performed to assess these genetic variants'horizontal pleiotropy,heterogeneities,and stability accordingly.Results:The association of genetically increased IL‐1RⅡ[per log‐odds ratio increase]on the increased risk of CD and UC was detected by the IVW method(CD:odds ratio[OR]=1.077,95%confidence interval[CI]:1.019–1.139,p=0.009;UC:OR=1.106,95%CI:1.008–1.213,p=0.033).In all analyses,the IVW analysis and MR Egger test showed no significant heterogeneity(p>0.05),and the MR Egger intercept test indicated no horizontal pleiotropy(p>0.05).Conclusions:In this MR analysis,IL‐1RⅡwas identified as a risk factor for CD and UC.This finding has consequently heightened the awareness of the need to thoroughly understand the impact of IL‐1RⅡon intestinal inflammation.展开更多
Long-term biopotential monitoring requires high-performance biocompatible wearable dry electrodes.But currently,it is challenging to establish a form-preserving fit with the skin,resulting in high interface impedance ...Long-term biopotential monitoring requires high-performance biocompatible wearable dry electrodes.But currently,it is challenging to establish a form-preserving fit with the skin,resulting in high interface impedance and motion artifacts.This research aims to present an innovative solution using an all-green organic dry electrode that eliminates the aforementioned challenges.The dry electrode is prepared by introducing biocompatible maltitol into the chosen conductive polymer,poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate).Thanks to the secondary doping and plasticizer effect of maltitol,the dry electrode exhibits good stretchability(62%),strong self-adhesion(0.46 N/cm),high conductivity(102 S/cm),and low Young's modulus(7 MPa).It can always form a conformal contact with the skin even during body movements.Together with good electrical properties,the electrode enables a lower skin contact impedance compared to the current standard Ag/AgCl gel electrode.Consequently,the application of this dry electrode in bioelectrical signal measurement(electromyography,electrocardiography,electroencephalogra-phy)and long-term biopotential monitoring was successfully demonstrated.展开更多
基金supported by the Strategic Priority Research Program of the Chinese Academy of Sciences(class A)(Grant No.XDA22040203)the Fundamental Research Funds for the Central Universities(Grant No.2019XX01)+1 种基金GDNRC[2020]031the Natural Science Foundation of Guangdong Province(Grant No.2020A1515010621).
文摘This paper presents a study on bioinspired closed-loop Central Pattern Generator(CPG)based control of a robot fish for obstacle avoidance and direction tracking.The biomimetic robot fish is made of a rigid head with a pair of pectoral fins,a wire-driven active body covered with soft skin,and a compliant tail.The CPG model consists of four input parameters:the flapping amplitude,the flapping angular velocity,the flapping offset,and the time ratio between the beat phase and the restore phase in flapping.The robot fish is equipped with three infrared sensors mounted on the left,front and right of the robot fish,as well as an inertial measurement unit,from which the surrounding obstacles and moving direction can be sensed.Based on these sensor signals,the closed-loop CPG-based control can drive the robot fish to avoid obstacles and to track designated directions.Four sets of experiments are presented,including avoiding a static obstacle,avoiding a moving obstacle,tracking a designated direction and tracking a designated direction with an obstacle in the path.The experiment results indicated that the presented control strategy worked well and the robot fish can accomplish the obstacle avoidance and direction tracking effectively.
基金Four“Batches”Innovation Project of Invigorating Medical through Science and Technology of Shanxi Province,Grant/Award Number:2022XM05National Natural Science Foundation of China,Grant/Award Number:81971543+1 种基金The Central Guidance Special Funds for Local Science and Technology Development,Grant/Award Number:YDZJSX20231A061Shanxi Province Higher“Billion Project”Science Technology Guidance Project,Grant/Award Number:BYJL042。
文摘Background:Interleukin‐1(IL‐1)and its receptor have shown their profound influence on inflammatory bowel disease(IBD).To investigate the relationship between IL‐1 receptor typeⅡ(IL‐1RⅡ),a well‐established negative regulator of IL‐1,and IBD along with its subtypes(Crohn's disease[CD]and ulcerative colitis[UC]),we conducted a Mendelian randomization analysis to elucidate the underlying association more clearly.Methods:The genome‐wide association studies summary statistics of IL‐1RⅡwere acquired from the INTERVAL study,which involved 3301 European people.The latest meta genome‐wide association studies statistic of IBD/CD/UC served as genetic instruments.Three robust analytical methods including inverse‐variance weighting(IVW),Mendelian randomization(MR)‐Egger regression,and weighted median(WM)were utilized,followed by sensitivity analysis.The MR‐Egger intercept test,Cochran's Q test,and“leave‐one‐out”sensitivity analysis were performed to assess these genetic variants'horizontal pleiotropy,heterogeneities,and stability accordingly.Results:The association of genetically increased IL‐1RⅡ[per log‐odds ratio increase]on the increased risk of CD and UC was detected by the IVW method(CD:odds ratio[OR]=1.077,95%confidence interval[CI]:1.019–1.139,p=0.009;UC:OR=1.106,95%CI:1.008–1.213,p=0.033).In all analyses,the IVW analysis and MR Egger test showed no significant heterogeneity(p>0.05),and the MR Egger intercept test indicated no horizontal pleiotropy(p>0.05).Conclusions:In this MR analysis,IL‐1RⅡwas identified as a risk factor for CD and UC.This finding has consequently heightened the awareness of the need to thoroughly understand the impact of IL‐1RⅡon intestinal inflammation.
基金Chongqing Funds for Distinguished Young Scientists,Grant/Award Number:cstc2021jcyj-jqX0033Key Laboratory of Flexible Electronics of Zhejiang Province,Grant/Award Number:2022FE003+4 种基金Youth Talent Support Program of Chongqing,Grant/Award Numbers:CQYC2021059206,cstc2021ycjhbgzxm0334National Key Research and Development Program of China,Grant/Award Number:2022YFB3803300National Natural Science Foundation of China,Grant/Award Numbers:52203211,62074022Natural Science Foundation of Chongqing Municipality,Grant/Award Number:cstc2020jcyjmsxmX0851High-Level Medical Reserved Personnel Training Project of Chongqing,Grant/Award Number:2020GDRC019。
文摘Long-term biopotential monitoring requires high-performance biocompatible wearable dry electrodes.But currently,it is challenging to establish a form-preserving fit with the skin,resulting in high interface impedance and motion artifacts.This research aims to present an innovative solution using an all-green organic dry electrode that eliminates the aforementioned challenges.The dry electrode is prepared by introducing biocompatible maltitol into the chosen conductive polymer,poly(3,4-ethylenedioxythiophene):poly(styrenesulfonate).Thanks to the secondary doping and plasticizer effect of maltitol,the dry electrode exhibits good stretchability(62%),strong self-adhesion(0.46 N/cm),high conductivity(102 S/cm),and low Young's modulus(7 MPa).It can always form a conformal contact with the skin even during body movements.Together with good electrical properties,the electrode enables a lower skin contact impedance compared to the current standard Ag/AgCl gel electrode.Consequently,the application of this dry electrode in bioelectrical signal measurement(electromyography,electrocardiography,electroencephalogra-phy)and long-term biopotential monitoring was successfully demonstrated.
