Robotic cell microinjection is a technique that utilizes automation technology to insert substances into single living with fine needle. Compared manual microinjection, the main benefits of robotic injection are quality, productivity and repeatability. In this paper we aim control penetration force during quantify influence on cells. A force-control-based approach capable regulating in desired trajectory developed. The proposed framework includes two loops. inner loop an impedance used...

ABSTRACT The ability to rapidly and accurately estimate external forces applied collaborative robots is crucial for ensuring safe physical human‐robot interaction minimizing injury risk from potential collisions. In this research, a novel finite‐time observation method sensorless time‐varying put forward. First, generalized observer constructed by integrating momentum dynamics adding fractional power terms into the classical higher‐order achieve estimation of using joint control torque. A...

This article proposes a spatial learning control system for robots to achieve desired behavior during interacting with unknown environments. In contacting the environment, force is estimated by observer, so sensing devices are not required. Motivated human interaction versatility, reference trajectory of robot updating law such that can be maintained at level. Compared iteration algorithm based on time domain, which requires maintaining fixed motion speed each iteration, proposed method...

Human-robot interaction (HRI) is a crucial component in the field of robotics, and enabling faster response, higher accuracy, as well smaller human effort, essential to improve efficiency, robustness, applicability HRI-driven tasks. In this article, we develop novel neuroadaptive admittance control with motion intention (HMI) estimation output error constraint for natural stable interaction. First, force information robot utilized predict HMI stiffness model dynamically updated based on...

Purpose With the increasing demands of industrial applications, it is imperative for robots to accomplish good contact-interaction with dynamic environments. Hence, purpose this research propose an adaptive fractional-order admittance control scheme realize a robot–environment contact high accuracy, small overshoot and fast response. Design/methodology/approach Fractional calculus introduced reconstruct classical model in scheme, which can more accurately describe complex physical...

COPD has been found to be associated with frailty. However, longitudinal evidence for associations of frailty progression is inadequate. Furthermore, recent studies revealed a new phenotype lung function impairment: preserved ratio impaired spirometry (PRISm) findings. Associations PRISm findings and their transitions are unclear.

Abstract Collaborative robots are becoming intelligent assistants of human in industrial settings and daily lives. Dynamic model identification is an active topic for collaborative because it can provide effective ways to achieve precise control, fast collision detection smooth lead-through programming. In this research, improved iterative approach with a comprehensive friction dynamic proposed when the joint velocity, temperature load torque effects considered. Experiments conducted on AUBO...

Aims: The purpose of this study was to assess the evolution intraventricular vortex during left ventricular ( LV ) ejection. Methods: Vector flow mapping performed in 51 patients with coronary artery disease and ejection fraction EF >50%, 70 <50% (13 57 dilated cardiomyopathy), 62 healthy volunteers. Results: In normals dissipated quickly early <50%, stayed mainly at apex persisted for a significantly longer time. correlated QRS width, , fractional shortening, outflow velocity time...

A multigigabit IP router may receive several million packets per second from each input link. For packet, the needs to find longest matching prefix in forwarding table order determine packet's next-hop. In this paper, we present an efficient hardware solution for address lookup problem. We model problem as a searching on binary-trie. The binary-trie is partitioned into four levels of fixed size 255-node subtrees. employ hierarchical indexing structure facilitate direct access subtrees given...

Growth differentiation factor 11 (GDF11) has an anti-inflammatory effect in the mouse model of atherosclerosis and Alzheimer's disease, but how GDF11 regulates intestinal inflammation during ulcerative colitis (UC) is poorly defined. The Nod-like receptor family pyrin domain-1 containing 3 (NLRP3) inflammasome closely associated with because its ability to increase IL-1β secretion. Our aim determine whether on attenuating experimental mice. In this study, using a dextran sodium sulfate...

Magnesium (Mg) and calcium (Ca) are essential for numerous kinds of metabolisms in human body. To investigate the associations between Mg Ca ratio to (Ca/Mg) whole blood with metabolic syndrome (MetS) a Chinese population, matched case-control study including 204 MetS patients healthy controls (aged 48-89) was carried out 2011. were diagnosed according criteria Diabetes Society. Controls had no abnormal components cases by age, gender region. Blood samples collected morning after an...

A multi-gigabit internet protocol (IP) router may receive several million packets per second from each input link. For packet, the needs to find longest matching prefix in forwarding table order determine packet's next-hop. An efficient hardware solution for IP address lookup problem is presented. The modelled as a searching on binary-trie. binary-trie partitioned into fixed size non-overlapping subtrees. Each subtree represented using bit-vector and can be searched parallel best few...

Abstract In this research, a force tracking smoothing adaptive admittance controller is proposed that grants precise contact forces (performance necessary for many critical interaction tasks such as polishing) unknown environments (e.g., leather or thin and soft materials). First, an online indirect update strategy generating the reference trajectory required by desired force, considering uncertainty of interaction. The sensor noise amplitude environment dynamics necessity condition...

Endowing robots with the ability to maintain precise interaction force is critical for performing control tasks in dynamic environments characterized by unknown and varying stiffness geometry, such as aircraft wing skins other thin, soft materials. This article presents an adaptive force-tracking admittance controller (AFTAC), ensuring tracking performance through meticulous design of both force-based outer loop position-based inner loop. First, a finite-time based on neural networks (NNs)...

Abstract Achieving faster convergence, smaller transient overshoots, and higher steady‐state tracking accuracy is essential to improve the efficiency, robustness, applicability of robotic manipulators. This article introduces an innovative adaptive fixed‐time uniform prescribed performance controller for manipulator facing model uncertainties unknown disturbances. Initially, by designing a modified function inspired variable superposition, this study redefines unified control problem into...

Type 2 diabetes mellitus (T2DM) is closely associated with changes in the composition of gut microbiota. To date, studies on microbiota have focused genus-level and microbial gene sets, whereas after clinical treatment remained largely elusive. In present study, 16 subjects T2DM were enrolled treated long-term a low-fat diet. Stool samples collected at initial diagnosis 1, 3 6 months treatment, named as group T0, T1, T2 T3, respectively. Simultaneously, stool from healthy individuals control...

Purpose As more and robots are used in industry, it is necessary for to interact with high dynamic environments. For this reason, the purpose of research form an excellent force controller by considering transient contact response, overshoot steady-state force-tracking accuracy. Design/methodology/approach Combining active disturbance rejection control (ADRC) adaptive fuzzy PD controller, enhanced admittance framework a well-designed scheme proposed. Tracking differentiator balances...