A5100457096- Soft Robotics and Applications
- Nonlinear Optical Materials Studies
- Stability and Control of Uncertain Systems
- Bone Tissue Engineering Materials
- Porphyrin and Phthalocyanine Chemistry
- Prostate Cancer Diagnosis and Treatment
- Engineering Education and Curriculum Development
- Optical Coherence Tomography Applications
- Photochemistry and Electron Transfer Studies
- Magnesium Oxide Properties and Applications
- Surgical Simulation and Training
- Adaptive Control of Nonlinear Systems
- Advanced Neural Network Applications
- Structural Analysis and Optimization
- Modular Robots and Swarm Intelligence
- Industrial Technology and Control Systems
- Sustainable Building Design and Assessment
- Advanced Surface Polishing Techniques
- Luminescence and Fluorescent Materials
- Ultrasound Imaging and Elastography
- Robot Manipulation and Learning
- 3D Printing in Biomedical Research
- Nonlinear Optical Materials Research
- Nanoplatforms for cancer theranostics
- Distributed Control Multi-Agent Systems
University of Hong Kong
2018-2024
Jining Medical University
2024
Brigham Young University
2022-2024
Multi Base (China)
2021-2023
Lanzhou Institute of Chemical Physics
2023
Chinese Academy of Sciences
2023
Chinese University of Hong Kong
2023
China West Normal University
2022
Second Affiliated Hospital of Nanchang University
2022
Nanchang University
2022
Soft robots, owing to their elastomeric material, ensure safe interaction with surroundings. These robot compliance properties inevitably impose a tradeoff against precise motion control, as which conventional model-based methods were proposed approximate the kinematics. However, too many parameters, regarding deformation and external disturbance, are difficult obtain, even if possible, could be very nonlinear. Sensors self-contained in required compensate modeling uncertainties...
In the feature/object tracking of eye-in-hand visual servoing, 2D motion estimation relying only on image plane feedback is easily affected by vision occlusion, blurring, or poor lighting. For commonly-used template matching method, performance greatly depends quality. Fiber Bragg gratings (FBGs), a type high-frequency flexible strain sensor, can be used as an assistant device for soft robot control. We propose method to enhance in robotic servoing fusing results from and FBG wavelength...
Cardiac electrophysiology is an effective treatment for atrial fibrillation, in which a long, steerable catheter inserted into the heart chamber to conduct radio frequency ablation. Magnetic resonance imaging (MRI) can provide enhanced intraoperative monitoring of ablation progress as well localization position. However, accurate and real-time tracking shape its efficient manipulation under MRI remains challenging. In this article, we designed system that integrates multicore fiber Bragg...
Abstract Soybean meal flour, polyethylene glycol (PEG), sodium hydroxide (NaOH), and a melamine‐urea‐formaldehyde (MUF) resin were used to formulate soybean meal/MUF adhesive. Effects of the adhesive components on water resistance formaldehyde emission measured three‐ply plywood. The viscosity solid content different formulations measured. functional groups cured adhesives evaluated. results showed that wet shear strength plywood bonded by meal/NaOH increased 33% 0.61 MPa after adding NaOH...
This article is focused on the design of an output tracking control scheme for a class continuous-time periodic piecewise time-varying systems (PPTVSs) with actuator saturation and nonlinear perturbations. The energy-to-peak performance studied based equivalent condition definiteness property matrix polynomials. Considering perturbation, polynomial-based sufficient conditions are derived through Lyapunov method using functions. From perspective subinterval segmentation aimed at PPTVSs,...
Image processing has significantly extended the practical value of eye-in-hand camera, enabling and promoting its applications for quantitative measurement. However, fully vision-based pose estimation methods sometimes encounter difficulties in handling cases with deficient features. In this article, we fuse visual information sparse strain data collected from a single-core fiber inscribed Bragg gratings (FBGs) to facilitate continuum robot estimation. An improved extreme learning machine...
This work addresses the problem of reachable set-based consensus for positive multiagent systems affected by typical classes bounded disturbances. In presence disturbances, a with positivity preservation is proposed to ensure that state closed-loop system remains while enclosing set defined error an ellipsoidal bounding region. Sufficient conditions are established achieve under energy-bounded or peak-bounded disturbance input. Equivalent design provided, which heuristic algorithm computing...
Although the soft robot is gaining considerable popularity in dexterous and safe manipulation, accurate motion control still an open problem to be explored. Recent investigations suggest that reinforcement learning (RL) a promising solution but lacks efficient adaptability for Sim2Real transfer or environment variations. In this paper, we present deep deterministic policy gradient (DDPG)-based system continuous task-space manipulation of robots. Domain randomization adopted simulation fast...
Focused ultrasound (FUS) technology attracts increasing interests accrediting to its non-invasive and painless treatment of tumors. Magnetic resonance imaging (MRI) guidance has been introduced monitor this procedure, thus allowing the foci be precisely controlled. However, manual positioning FUS transducers is challenging, especially for intra-operative (intra-op) adjustment in MRI room. Currently, there are very few devices capable provide robotic transducer abdominopelvic organ diseases...
Soft robots have great potential in surgical applications due to their compliance and adaptability environment. However, flexibility nonlinearity bring challenges for precise modeling, sensing, control, especially constrained cavities. In this article, a simple, compact two-segment soft robot flexible laser ablation is proposed. The proximal hydraulic-driven segment can offer omnidirectional bending so as navigate toward lesions. distal driven by tendons enables precise, fast steering of...
Objective . To prepare a three‐dimensional (3D) printing polylactic acid glycolic (PLGA) scaffold with bone morphogenetic protein‐9 (BMP‐9) and P‐15 peptide hydrogel evaluate its application in treating defects rabbits. Methods 3D PLGA scaffolds were formed scanned by electron microscopy. Their X‐ray diffraction (XRD), vitro degradation, compressive strength characterized. BMP‐9 hydrogels prepared. Flow cytometry was used to detect apoptosis, an microscope cell adhesion scaffolds. Alkaline...
A series of new chromophores, styryl-parent end-capped with various donors, and barbituric acid, methyl-pyridinium, methyl-quinolinium as the acceptors, have been synthesized characterized by element analysis or X-ray diffraction. Using Z-scan system, their two-photon absorption (TPA) cross-section values (δ) determined under excitation 10 Hz, 1064 nm, 35 ps mode-locked Nd:YAG laser pulse in DMF d o = 0.05 M. The effective δ value is high 10.9 × 48 cm 4 s per photon for...
Ion-induced regulation in the body bears an important control responsibility, making it one of most mechanisms for ion channels. In this work, we use experimental and theoretical methods to mimic possible process induced by multivalent ions artificial calcium-responsive nanochannel (ACRN). Cerium, whose properties are similar those calcium, is introduced as invasive factor. This trivalent cation can lead a charge inversion inner wall ACRN thus change transport state from selectivity anion...
This article investigates the nonnegative consensus tracking problem for networked systems with a distributed static output-feedback (SOF) control protocol. The SOF controller design presents more challenging issue compared state-feedback design. agents are described by multi-input multi-output (MIMO) positive dynamic which may contain uncertain parameters, and interconnection among followers is modeled using an undirected connected communication graph. By employing theory, series of...
The poor mechanical strength and bioactivity of magnesium phosphate bone cements (MPCs) are the vital defects for reconstruction. Clay minerals have been widely used in biomedical field due to good reinforcing property cytocompatibility. Here, laponite, sepiolite or halloysite were incorporated fabricate MPCs composite, composition, microstructure, setting time, compressive strength, thermal stability, degradation performance,in vitrobioactivity cell viability composite investigated. results...
Abstract Magnetic resonance imaging (MRI) demonstrates clear advantages over other modalities in neurosurgery with its ability to delineate critical neurovascular structures and cancerous tissue high‐resolution 3D anatomical roadmaps. However, application has been limited interventions performed based on static pre/post‐operative imaging, where errors accrue from stereotactic frame setup, image registration, brain shift. To leverage the powerful intra‐operative functions of MRI, e.g.,...
Describes a fuzzy logic system that performs end-to-end automatic target detection for LADAR imagery. Images are preprocessed with nonlinear filters to remove noise. Several detectors employing and robust statistical methods used create pixel-based confidence values fused the Choquet integral. Thresholds determined from ROC curve analysis on training set then run test set. Features extracted detected windows final is performed by neural network. Results analyzed.