A Pre-Grasping Motion Planning Method Based on Improved Artificial Potential Field for Continuum Robots.

Secure and reliable active debris removal methods are crucial for maintaining the stability of the space environment. Continuum robots, with their hyper-redundant degrees of freedom, offer the ability to capture targets of varying sizes and shapes through whole-arm grasping, making them well-suited for active debris removal missions. This paper proposes a pre-grasping motion planning method for continuum robots based on an improved artificial potential field to restrict the movement area of the grasping target and prevent its escape during the pre-grasping phase. The analysis of the grasping workspace ensures that the target is within the workspace when starting the pre-grasping motion planning by dividing the continuum robot into delivery and grasping segments. An improved artificial potential field is proposed to guide the continuum robot in surrounding the target and creating a grasping area. Specifically, the improved artificial potential field consists of a spatial rotating potential field, an attractive potential field incorporating position and posture potential fields, and a repulsive potential field. The simulation results demonstrate the effectiveness of the proposed method. A comparison of motion planning results between methods that disregard and consider the posture potential field shows that the inclusion of the posture potential field improves the performance of pre-grasping motion planning for spatial targets, achieving a success rate of up to 97.8%.

Martian dunes indicative of wind regime shift in line with end of ice age.

Orbital observations suggest that Mars underwent a recent 'ice age' (roughly 0.4-2.1 million years ago), during which a latitude-dependent ice-dust mantle (LDM)1,2 was emplaced. A subsequent decrease in obliquity amplitude resulted in the emergence of an 'interglacial period'1,3 during which the lowermost latitude LDM ice4-6 was etched and removed, returning it to the polar cap. These observations are consistent with polar cap stratigraphy1,7, but lower- to mid-latitude in situ surface observations in support of a glacial-interglacial transition that can be reconciled with mesoscale and global atmospheric circulation models8 is lacking. Here we present a suite of measurements obtained by the Zhurong rover during its traverse across the southern LDM region in Utopia Planitia, Mars. We find evidence for a stratigraphic sequence involving initial barchan dune formation, indicative of north-easterly winds, cementation of dune sediments, followed by their erosion by north-westerly winds, eroding the barchan dunes and producing distinctive longitudinal dunes, with the transition in wind regime consistent with the end of the ice age. The results are compatible with the Martian polar stratigraphic record and will help improve our understanding of the ancient climate history of Mars9.

TeCVP: A Time-Efficient Control Method for a Hexapod Wheel-Legged Robot Based on Velocity Planning.

Addressing the problem that control methods of wheel-legged robots for future Mars exploration missions are too complex, a time-efficient control method based on velocity planning for a hexapod wheel-legged robot is proposed in this paper, which is named time-efficient control based on velocity planning (TeCVP). When the foot end or wheel at knee comes into contact with the ground, the desired velocity of the foot end or knee is transformed according to the velocity transformation of the rigid body from the desired velocity of the torso which is obtained by the deviation of torso position and posture. Furthermore, the torques of joints can be obtained by impedance control. When suspended, the leg is regarded as a system consisting of a virtual spring and a virtual damper to realize control of legs in the swing phase. In addition, leg sequences of switching motion between wheeled configuration and legged configuration are planned. According to a complexity analysis, velocity planning control has lower time complexity and less times of multiplication and addition compared with virtual model control. In addition, simulations show that velocity planning control can realize stable periodic gait motion, wheel-leg switching motion and wheeled motion and the operation time of velocity planning control is about 33.89% less than that of virtual model control, which promises a great prospect for velocity planning control in future planetary exploration missions.

Measuring Cellular Uptake of Polymer Dots for Quantitative Imaging and Photodynamic Therapy.

There is a great deal of interest in the development of nanoparticles for biomedicine. The question of how many nanoparticles are taken up by cells is important for biomedical applications. Here, we describe a fluorescence method for the quantitative measurement of the cellular uptake of polymer dots (Pdots) and a further estimation of intracellular Pdots photosensitizer for fluorescence imaging and photodynamic therapy. The approach relies on the high brightness, excellent stability, minimal aggregation quenching, and metalloporphyrin doping properties of the Pdots. We correlated the single-cell fluorescence brightness obtained from fluorescence spectrometry, confocal microscopy, and flow cytometry with the number of endocytosed Pdots, which was validated by inductively coupled plasma mass spectrometry. Our results indicated that, on average, ∼1.3 million Pdots were taken up by single cells that were incubated for 4 h with arginine 8-Pdots (40 µg/mL, ∼20 nm diameter). The absolute number of endocytosed Pdots of individual cells could be estimated from confocal microscopy by comparing the single-cell brightness with the average intensity. Furthermore, we investigated the cell viability as a result of an intracellular Pdots photosensitizer, from which the half maximal inhibitory concentration was determined to be ∼7.2 × 105 Pdots per cell under the light dose of 60 J/cm2. This study provides an effective method for quantifying endocytosed Pdots, which can be extended to investigate the cellular uptake of various conjugated polymer carriers in biomedicine.

Multimode Time-Resolved Superresolution Microscopy Revealing Chain Packing and Anisotropic Single Carrier Transport in Conjugated Polymer Nanowires.

Here, we developed a novel, multimode superresolution method to perform full-scale structural mapping and measure the energy landscape for single carrier transport along conjugated polymer nanowires. Through quenching of the local emission, the motion of a single photogenerated hole was tracked using blinking-assisted localization microscopy. Then, utilizing binding and unbinding dynamics of quenchers onto the nanowires, local emission spectra were collected sequentially and assembled to create a superresolution map of emission sites throughout the structure. The hole polaron trajectories were overlaid with the superresolution maps to correlate structures with charge transport properties. Using this method, we compared the efficiency of inter- and intrachain hole transport inside the nanowires and for the first time directly measured the depth of carrier traps originated from torsional disorder and chemical defects.

Temperature compensation of optical alternating magnetic field sensor via a novel method for on-line measuring.

The variation of environment temperature is a crucial problem for optical magnetic field sensors based on the magneto-optical crystal. In this paper, we propose a novel temperature compensation method for optical alternating magnetic field measuring by analyzing the demodulation principle and establishing the temperature compensation model, which can implement the functions of temperature compensation and on-line measuring simultaneously. Both the temperature and the alternating magnetic field flux density can be obtained only by adding two magnet rings on the magnetic field sensor. The experimental phenomenon agrees well with the temperature characteristics of the magneto-optical crystal and the theoretical compensation model. The experimental results demonstrate that this sensor has excellent stability whose max relative fluctuation is only 0.7402% in the range of 0-4 mT under a constant temperature. In the temperature compensation experiment of 0 °C, 20 °C and 40 °C, the sensor shows strong temperature robustness that the max absolute and relative errors are 0.07 mT and 3.50%, respectively. Meanwhile, compensation efficiency reaches 83.968%, which can effectively avoid temperature crosstalk to a large extent. Additionally, it has a better compensation performance whose max absolute and relative errors are 0.15 mT and 1.66% in the broader range of 0-16 mT when the actual temperature is accurately known.

Narrow-band polymer dots with pronounced fluorescence fluctuations for dual-color super-resolution imaging.

Super-resolution optical fluctuation imaging (SOFI) produces fast, background-free, super-resolved images by analyzing the temporal fluorescence fluctuations of independent emitters. With sufficient brightness and fluctuations, a higher order of image processing affords a higher resolution and in principle the resolution enhancement is unbounded. However, it is practically challenging to find suitable probes for high-order SOFI. Herein, we report two types of BODIPY-based polymer dots (Pdots) with narrow-band emissions, pronounced fluctuations, and prominent photostability, thus enabling high-order, dual-color SOFI nanoscopy. Single-particle and subcellular SOFI analysis reveals the superior performance of the BODIPY Pdots as compared to conventional streptavidin-conjugated Alexa dyes. In contrast with wide-field images, the spatial resolution (∼57 nm) was enhanced by ∼6.0-fold in 8th-order single-particle SOFI nanoscopy. A spatial resolution (61 nm) was obtained for single microtubules labeled by the BODIPY Pdots, while the majority of the subcellular structures were lost for those labeled by streptavidin-Alexa dyes in 8th-order SOFI. This work indicates the unprecedented performance of Pdot probes for multi-color subcellular SOFI applications.

Cooperative Blinking from Dye Ensemble Activated by Energy Transfer for Super-resolution Cellular Imaging.

Photoblinking is a fundamental process that occurs exclusively in single fluorophores such as organic dyes, fluorescent proteins, and quantum dots. Here, we describe a strategy to achieve pronounced, high on/off ratio, and cooperative blinking in donor-acceptor multifluorophore systems. An ensemble of dye molecules doped in semiconducting polymer dots (Pdots) exhibit robust photoblinking, while the pristine Pdots and the dye in optically inert polymer matrices fluoresce continuously. Energy transfer from Pdots to dye acceptors produces photoblinking via a cooperative process, in which the bright state originates from the dye ensemble and the dark state is due to quenching of semiconducting polymer by hole polarons. Using the blinking Pdots in subcellular structures labeling, we demonstrated approximately 3.6-fold enhancement of imaging resolution in high-order super-resolution optical fluctuation nanoscopy as compared to conventional microscopy. Our findings not only demonstrate the exciting possibility of transforming a nonquantized ensemble into a single-emitter-like optical source but also provide an effective approach to generate superior photoblinking fluorescent probes for super-resolution imaging applications.

Compact Conjugated Polymer Dots with Covalently Incorporated Metalloporphyrins for Hypoxia Bioimaging.

Hypoxia is closely related to multiple diseases, especially in tumors, which increases the aggressiveness and drug resistance of cancer cells. Precise hypoxia imaging is of great significance for cancer diagnosis and the evaluation of therapeutic effects. A kind of hydrophobic polymer (i.e., PFPtTFPP) as an imaging probe for hypoxia with fluorene as an energy donor and an oxygen-sensitive PtII porphyrin as an energy acceptor was developed. Compact polymer dots (Pdots) with a small size were prepared by nanoprecipitation. The PFPtTFPP Pdots showed excellent hypoxia sensing in solution with high sensitivity and full reversibility. The emission intensity, quantum yields, lifetime, and single-particle brightness significantly increased under hypoxia conditions. Remarkably, hypoxia imaging in vitro and in vivo was realized, and a clear increase in brightness was observed under hypoxia conditions and in the tumor area. Excellent hypoxia imaging ability is beneficial to potential applications in cancer diagnosis.

Ratiometric Fluorescent Detection of Intracellular Singlet Oxygen by Semiconducting Polymer Dots.

Singlet oxygen (1O2) plays important roles in many biological processes. However, it is very difficult to detect 1O2 in the intracellular environment because of its relatively low concentration and short lifetime. Here, we developed a ratiometric probe based on semiconducting polymer dots (Pdots) that can sensitively detect 1O2 in live cells. An organic dye, singlet oxygen sensor green (SOSG), was doped in polyfluorene Pdots, and excitation energy was efficiently transferred from the polymer to the SOSG dye. Accordingly, the Pdots showed constant blue fluorescence as a reference, and increased green fluorescence upon singlet oxygen generation. The ratiometric response of Pdots was examined in the intracellular environment by in situ 1O2 generation with a photosensitizer and light irradiation. Both spectroscopic measurements and confocal imaging were performed to monitor intracellular 1O2 generation during photodynamic therapy using the Pdot probe. Our results indicate that the SOSG-doped Pdots are promising for intracellular 1O2 detection.

The biocompatibility studies of polymer dots on pregnant mice and fetuses.

Semiconducting polymer dots (Pdots) are small nanoparticles consisting primarily of fluorescent pi-conjugated polymers which show superior optical properties for biological imaging and biosensors. It is necessary to explore systematically the toxicity of Pdots on animals before extensive biomedical applications. The reproductive system is very sensitive to the external invasion and essential for species reproduction as well. In this work, we used the pregnant mice to investigate the reproductive toxicity of Pdots. The changes in body weight of each maternal mouse were recorded every two days. The main organs were collected and analyzed as soon as all the pregnant mice were sacrificed on the 15th embryonic day. Distributions of Pdots on maternal major organs and tissues were examined in frozen tissue sections. Hematoxylin and eosin (H&E) staining was performed to investigate the histopathological changes of maternal organs. The blood chemistry test was applied to study the effects of Pdots on organ functions. Female hormones were evaluated by immunoassays. The amniotic fluid was inspected for assessing their penetration ability of Pdots. Levels of placenta growth related factors were detected by RT-PCR to evaluate the function of placenta. These results showed that Pdots were mainly accumulated in liver and spleen, and no apparent impact was observed on maternal body weight and organs coefficients. Histopathological images also showed normal tissue morphology compared with the untreated group. The female hormones levels did not show significant difference among the three groups as well. Trace amount of Pdots could get into the amniotic fluid but did not change the placental functions and the early development of fetus. Our results demonstrated that Pdots have excellent biocompatibility and no reproductive toxicity under the dosages used in this work, which means that Pdots have great potential in preclinical applications in the future.

Multicolor Photo-Crosslinkable AIEgens toward Compact Nanodots for Subcellular Imaging and STED Nanoscopy.

Aggregation induced emission (AIE) has attracted considerable interest for the development of fluorescence probes. However, controlling the bioconjugation and cellular labeling of AIE dots is a challenging problem. Here, this study reports a general approach for preparing small and bioconjugated AIE dots for specific labeling of cellular targets. The strategy is based on the synthesis of oxetane-substituted AIEgens to generate compact and ultrastable AIE dots via photo-crosslinking. A small amount of polymer enriched with oxetane groups is cocondensed with most of the AIEgens to functionalize the nanodot surface for subsequent streptavidin bioconjugation. Due to their small sizes, good stability, and surface functionalization, the cell-surface markers and subcellular structures are specifically labeled by the AIE dot bioconjugates. Remarkably, stimulated emission depletion imaging with AIE dots is achieved for the first time, and the spatial resolution is significantly enhanced to ≈95 nm. This study provides a general approach for small functional molecules for preparing small sized and ultrastable nanodots.

Highly fluorescent hyperbranched BODIPY-based conjugated polymer dots for cellular imaging.

The first hyperbranched BODIPY-based conjugated polymer dots (Pdots) were reported. The Pdots showed quantum yields of as high as 22%, which is 40% higher than their linear counterparts. The Pdots were successfully applied in cell-labelling applications. These results demonstrated that hyperbranched polymers are a very promising material for biological imaging and applications.

Small Photoblinking Semiconductor Polymer Dots for Fluorescence Nanoscopy.

Two types of small photoblinking Pdots with high brightness, strong photostability, and favorable biocompatibility, are designed. Super-resolution optical fluctuation imaging is achieved using these Pdots. Imaging of subcellular structures demonstrates that these small photoblinking Pdots are outstanding probes for fast, long-term super-resolution fluorescence imaging.

FRET acceptor suppressed single-particle photobleaching in semiconductor polymer dots.

Brightness and photostability are key parameters for fluorescent probes in optical imaging. This Letter describes Förster resonance energy transfer (FRET) as a useful strategy to enhance the photostability of fluorescent nanoparticles. Small molecules as FRET acceptors were doped into semiconductor polymer dots (Pdots), yielding apparent suppression of their rapid photobleaching in single-particle imaging. For 20 nm-diameter particles, the photobleaching percentage decreased from 71.8% to 47.2% after dye doping, while the single-particle brightness remained unchanged. The photostability of large Pdots was also enhanced by FRET at the expense of a moderate decrease in per-particle brightness as compared to the pure Pdots. This study indicates that FRET is a facile, yet effective, approach to mediate the brightness and photostability of fluorescent nanoparticles. Considering the combined factors of brightness and photostability, the dye-doped Pdots of ∼20 nm diameter are the most suitable for long-term imaging and tracking applications.

Brightness calibrates particle size in single particle fluorescence imaging.

This Letter provides a novel approach to quantify the particle sizes of highly bright semiconductor polymer dots (Pdots) for single-particle imaging and photobleaching studies. A quadratic dependence of single-particle brightness on particle size was determined by single-particle fluorescence imaging and intensity statistics. In terms of the same imaging conditions, the particle diameter can be quantified by comparing the individual brightness intensity with associated calibration curve. Based on this sizing method, photobleaching trajectories and overall photon counts emitted by single particles were analyzed. It is found that photobleaching rate constants of different sized Pdots are not strongly dependent on particle diameter except the sparsely occurring fluorescence blinking in certain dim particles and the rapid photobleaching component in some bright particles. The overall photon counts increase with increasing particle diameter. However, those larger than 30 nm deviate away from the increasing tendency. These results reveal the significance of selecting appropriate Pdots (≤30 nm) for single-particle imaging and tracking applications.