A5076432970- Soft Robotics and Applications
- Robotics and Sensor-Based Localization
- Advanced Vision and Imaging
- Surgical Simulation and Training
- Explainable Artificial Intelligence (XAI)
- Robot Manipulation and Learning
- Optical measurement and interference techniques
- Augmented Reality Applications
- Prosthetics and Rehabilitation Robotics
- Minimally Invasive Surgical Techniques
- MXene and MAX Phase Materials
- Image Processing Techniques and Applications
- Advanced Battery Materials and Technologies
- Anatomy and Medical Technology
- Robotic Mechanisms and Dynamics
- Topological Materials and Phenomena
- 3D Shape Modeling and Analysis
- Physics of Superconductivity and Magnetism
- Distributed and Parallel Computing Systems
- Radio Astronomy Observations and Technology
- Astrophysics and Cosmic Phenomena
- Human Pose and Action Recognition
- Drilling and Well Engineering
- Multimodal Machine Learning Applications
- 3D Surveying and Cultural Heritage
Tongji University
2025
Shandong First Medical University
2022-2024
Qilu Hospital of Shandong University
2024
North China Electric Power University
2020-2024
Nanjing Medical University
2021-2023
Chinese Academy of Sciences
2022-2023
Chinese PLA General Hospital
2023
Microbiology Institute of Shaanxi
2022-2023
Institute of Microbiology
2022-2023
Czech Academy of Sciences, Institute of Microbiology
2023
Abstract Rechargeable aqueous zinc‐ion batteries (AZIBs) are one of the most promising post‐lithium battery technologies due to their low cost, high safety, and environmental friendliness. However, practical development is hindered by issues Zn metal anodes, including dendrite growth, passivation, hydrogen evolution other side reactions. Herein, circumvent these issues, a facile universal alloy electrodeposition strategy proposed construct 3D structured ternary artificial interphase layer on...
In this paper, we present a new feedback method to automatically servo-control the 3-D shape of soft objects with robotic manipulators. The object manipulation problem has recently received great deal attention from robotics researchers because its potential applications in, e.g., food industry, home robots, medical robotics, and manufacturing. A major complication control an is estimation deformation properties, which determines how manipulator's motion actively transforms into...
A major issue for needle insertion into soft tissue during suturing is the induced deformation that hinders minimization of tip-target positioning error. In this letter, we present a new robot control framework to solve target deviation by integrating active control. We characterize motion behavior desired under needle-tissue interaction introducing needle-induced matrix. Note modeling does not require exact knowledge or properties. The unknown parameters are online updated procedure an...
This letter reports the development of a vision-based calibration method for dual remote center-of-motion (RCM) based robot arms in human-robot collaborative minimally invasive surgery (MIS) scenario. The does not require any external tracking sensors and directly uses images captured by endoscopic camera encoder readings as data, which leads to minimal practical system operating room. By taking advantage motion constraints imposed RCM-based kinematics robotic surgical tools cameras, we can...
We present an autonomous manipulation approach for tissues with anisotropic deformation behavior using a continuum manipulator. The key feature of our vision-based study is online learning and estimation method, which makes its implementation independent any prior knowledge about the tissue manipulator as well calibration vision system respect to robot. This important addresses difficulty model-based control approaches in manipulating unknown deformable tissue. evaluated performance...
Solar-driven interfacial steam generation (SDISG), as an emerging green and renewable approach to overcome water shortage, is very suitable for remote locations, developing countries, disaster zones because it does not require additional energy supply. However, the traditional metal-based carbon-based absorbers always suffered from fragility (or rigidity) complex preparation process, which dramatically inhibited their transportation installation in areas with poor infrastructure. Therefore,...
Recent characterization of the obligate episymbiont Saccharibacteria (TM7) belonging to candidate phyla radiation (CPR) has expanded extent microbial diversity. However, episymbiotic lifestyle TM7 is still underexploited due deficiency cultivated representatives. Here, we describe gene-targeted cultivation guided by repurposing epicPCR (emulsion, paired isolation, and concatenation PCR) capture in situ TM7‒host associations. Using this method, obtained a novel isolate TM7i its host...
Large Language Models (LLMs) have presented impressive performance across several transformative tasks. However, it is non-trivial to efficiently utilize large-scale cluster resources develop LLMs, often riddled with numerous challenges such as frequent hardware failures, intricate parallelization strategies, and imbalanced resource utilization. In this paper, we present an in-depth characterization study of a six-month LLM development workload trace collected from our GPU datacenter Acme....
JavaScript frameworks, such as jQuery, are widely used for developing web applications. To facilitate using these frameworks to implement a feature (e.g., functionality), large number of programmers often search code snippets that the same or similar feature. However, existing approaches tend be ineffective, without taking into account fact based on various relationships sequencing, condition, and callback relationships) among invoked framework API methods. address this issue, we present...
We present a generic data-driven method to address the problem of manipulating three-dimensional (3-D) compliant object (CO) with heterogeneous physical properties in presence unknown disturbances. In this study, we do not assume prior knowledge about deformation behavior CO and type disturbance (e.g., internal or external). also impose any constraints on CO's shape, mass, stiffness). The proposed optimal iterative algorithm incorporates provided visual feedback data simultaneously learn...
Field of view (FOV) is important for minimally invasive surgeries. However, manual laparoscope manipulation laborious and requires a lot training. Assistants' fatigue misunderstanding during collaboration will also compromise the quality FOV. To improve these drawbacks, we developed new algorithm to automatically manipulate 2-D laparoscopes. The innovative aspect lies in following ways: designs adaptive laws on-line estimation depth information, which difficult calibrate accurately advance;...
Abstract Innovation in microscopy has often been critical advancing both fundamental science and technological progress. Notably, the evolution of ultrafast near-field optical nano-spectroscopy nano-imaging unlocked ability to image at spatial scales from nanometers ångströms temporal nanoseconds femtoseconds. This approach revealed a plethora fascinating light-matter states quantum phenomena, including various species polaritons, phases, complex many-body effects. review focuses on working...
Despite successful clinical applications, teleoperated robotic surgical systems face particular limitations in the functional endoscopic sinus surgery (FESS) terms of incompatible instrument dimensions and robot set-up. The endoscope remains manually handled by an assistant when surgeon performs bimanual operations. This paper introduces development Foot-controlled Robot-Enabled EnDOscope Manipulator (FREEDOM) designed for FESS. system features considerations that inform design providing...
Corrosion has been responsible for several gas pipeline leakage accidents; thus, clarifying its failure mechanisms is a precondition to prevent such accidents. On the basis of analysis corroded pipe sections, laboratory exposure tests were conducted by simulating three possible corrosion environments inside pipeline. The rate indicated depth change was adopted in this study. Scanning electron microscopy and X-ray diffraction used analyze products. Results showed that specimens completely...
Compliant joints can provide safer physical human-robot interaction. To effectively balance the response bandwidth and output impedance, variable stiffness have been studied by many researchers. Leaf spring-based joint (LSVSJ) has advantages of easy construction large range. This article presents design validation a novel LSVSJ with reconfigurability (LSJR). Compared most existing LSVSJ, this LSJR ensures contact performance between roller leaf spring, uses effective length adjustment...
Background For years, emerging infectious diseases have appeared worldwide and threatened the health of people. The emergence spread an infectious-disease outbreak are usually unforeseen, features suddenness uncertainty. Timely understanding basic information in field, collection analysis epidemiological information, is helpful making rapid decisions responding to emergency. Therefore, it necessary unobstructed channel convenient tool for epidemiologic field. Methodology/Principal Findings...
In robotic-assisted laparoscopic surgery, the first assistant (FA) stands at bedside assisting intervention, while surgeon sits console teleoperating robot. Tasks for FA include navigating new instruments into surgeon's field-of-view and passing in or retracting materials from body using hand-held tools. We previously developed ARssist, an augmented reality application based on optical see-through head-mounted display, to aid FA. this paper, we refine system perform a pilot study with three...
Conventional robot hand-eye calibration methods are impractical for localizing robotic instruments in minimally-invasive surgeries under intra-corporeal workspace after preoperative set-up. In this letter, we present a new approach to autonomously calibrate instrument relative monocular camera without recognizing objects or salient features. The algorithm leverages interactive manipulation (IM) of the tracking its rigid-body motion behavior subject remote center-of-motion constraint. An...
BackgroundThe pathology of keloid and especially the roles bacteria on it were not well understood.MethodsIn this study, multi-omics analyses including microbiome, metaproteomics, metabolomic, single-cell transcriptome cell-derived xenograft (CDX) mice model used to explore disease.FindingsWe found that types are significantly different between healthy skin. The 16S rRNA sequencing metaproteomics showed more catalase (CAT) negative bacteria, Clostridium Roseburia existed in compared with...
This paper presents the design and development of a novel compliant safe joint (CSJ). The principle operation CSJ is based on cam-like transmission mechanism, which we call bridge. cam profile stationary bridge designed to have multiple regions, allow passively achieve working states. proposed behaves as normal rigid when load smaller than preset threshold, shifts into flexible state exceeds switches free in motion cannot be transmitted from motor output shaft. In order compact modular...