Small Molecular Fluorescent Probes for Alzheimer's Disease Associated Active Species.

Alzheimer's disease (AD) is a progressive neurodegenerative disorder and is the main cause of dementia worldwide. As the pathogenesis of AD is quite complicated, there is continuous attention to AD-associated active species, such as amyloid-ß plaques, neurofibrillary tangles, metal ions, reactive oxygen/nitrogen/sulphur species, cholinesterase, viscosity, formaldehyde and so on. To this end, a series of small molecular fluorescent probes for these active species have been explored for early diagnosis and even remedy of AD. Herein, we systematacially summarize the versatile fluorescent probes mainly in recent three years, including the relationship between the structure and properties as well as the targeted diagnosis and imaging application of all these fluorescent probes. Moreover, the challenges and perspectives of the AD-related fluorescent probes are briefly explicated. We firmly expect this review may provide guidance for constructing new AD-relevant fluorescent probes and promote the clinical study of AD.

A Convolutional Dynamic-Jerk-Planning Algorithm for Impedance Control of Variable-Stiffness Cable-Driven Manipulators.

Cable-driven manipulators, characterized by slender arms, dexterous motion, and controllable stiffness, have great prospects for application to capture on-orbit satellites. However, it is difficult to achieve effective motion planning and stiffness control of cable-driven manipulators because of the coupled relationships between cable lengths, joint angles, and reaction forces. Therefore, a convolutional dynamic-jerk-planning algorithm is devised for impedance control of variable-stiffness cable-driven manipulators. First, a variable-stiffness cable-driven manipulator with universal modules and rotary quick-change modules is designed to overcome difficulties related to disassembly, installation, and maintenance. Second, a convolutional dynamic-jerk-planning algorithm is devised to overcome the discontinuity and shock problems of the manipulator's velocity during intermittent control processes. The algorithm can also make acceleration smooth by setting jerk dynamically, reducing acceleration shock and ensuring the stable movement of the cable-driven manipulator. Third, the stiffness of the cable-driven manipulator is further optimized by compensating for the position and velocity of drive cables by employing position-based impedance control. Finally, the prototype of the variable-stiffness cable-driven manipulator is developed and tested. The convolutional dynamic-jerk-planning algorithm is used to plan the desired velocity curves for velocity control experiments of the cable-driven manipulator. The results verify that the algorithm can improve the acceleration smoothness, thereby making movement smooth and reducing vibrations. Furthermore, stiffness control experiments verify that the cable-driven manipulator has ideal variable stiffness capabilities.

Study of the burr height at hole exit in bone drilling by twist drills.

The burr at the hole exit is one of the key factors affecting bone drilling performances. In order to reduce burr height at hole exit during cortical bone drilling, the four key parameters in twist drilling of bones are analyzed based on the response surface method (RSM). The prediction model of the burr height is obtained via the analysis of variance. The influence trend and size of each factor on the height of the burr are further analyzed based on the RSM. Experimental results show that smaller point angle and diameter of the twist drill, smaller feed speed, and higher rotational speed can effectively reduce the burr height at hole exit. Then, the geometric variables of the twist drill and process parameters are optimized. When the point angle of the twist drill 2Φ = 95°, the diameter D = 2.5 mm, the rotational speed n = 1500 rpm, and the feed speed vf = 10 mm/min, the height of the burr at hole exit reaches the smallest. At the same time, the burr at the exit of the hole with different diameters of twist drills is studied. It is found to be beneficial to select a twist drill with a smaller diameter for drilling when the requirements of drilling are fulfilled.

Design and Control of a Highly Redundant Rigid-flexible Coupling Robot to Assist the COVID-19 Oropharyngeal-Swab Sampling.

The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF) rigid-flexible coupling (RFC) robot to assist the COVID-19 OP-swab sampling. This robot is composed of a visual system, UR5 robot arm, micro-pneumatic actuator and force-sensing system. The robot is expected to reduce risk and free up the clinical staff from the long-term repetitive sampling work. Compared with a rigid sampling robot, the developed force-sensing RFC robot can facilitate OP-swab sampling procedures in a safer and softer way. In addition, a varying-parameter zeroing neural network-based optimization method is also proposed for motion planning of the 9-DOF redundant manipulator. The developed robot system is validated by OP-swab sampling on both oral cavity phantoms and volunteers.

A collaborative robot for COVID-19 oropharyngeal swabbing.

The coronavirus disease 2019 (COVID-19) outbreak has increased mortality and morbidity world-wide. Oropharyngeal swabbing is a well-known and commonly used sampling technique for COVID-19 diagnose around the world. We developed a robot to assist with COVID-19 oropharyngeal swabbing to prevent frontline clinical staff from being infected. The robot integrates a UR5 manipulator, rigid-flexible coupling (RFC) manipulator, force-sensing and control subsystem, visual subsystem and haptic device. The robot has strength in intrinsically safe and high repeat positioning accuracy. In addition, we also achieve one-dimensional constant force control in the automatic scheme (AS). Compared with the rigid sampling robot, the developed robot can perform the oropharyngeal swabbing procedure more safely and gently, reducing risk. Alternatively, a novel robot control schemes called collaborative manipulation scheme (CMS) which combines a automatic phase and teleoperation phase is proposed. At last, comparative experiments of three schemes were conducted, including CMS, AS, and teleoperation scheme (TS). The experimental results shows that CMS obtained the highest score according to the evaluation equation. CMS has the excellent performance in quality, experience and adaption. Therefore, the proposal of CMS is meaningful which is more suitable for robot-sampling.

Development of a Rotary Ultrasonic Motor with Double-Sided Staggered Teeth.

Based on the conventional structure of traveling wave ultrasonic motor, a rotary ultrasonic motor with double-sided staggered teeth was proposed. Both sides of the stator could be used to actuate the rotors to rotate and output torque. Moreover, the staggered teeth in the stator could be dedicated to accommodating the piezoelectric ceramic chips. Under the excitation of two alternating voltages with a 90° phase difference, a traveling wave could be generated in the ring-like stator. Then, a rotary motion could be realized by means of the friction between the rotors and the driving teeth of the stator. The finite element method was adopted to analyze the motion trajectories of the driving tips. Moreover, the experimental results showed that the load-free maximum speed and maximum output torque of the prototype were 99 rpm and 0.19 N·m at a voltage of 150 Vp with a frequency of 28.25 kHz.

Kinematic analysis and fault-tolerant trajectory planning of space manipulator under a single joint failure.

A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including kinematics, workspace, and trajectory planning of a non-redundant space manipulator under single joint failure are handled. First, the analytical inverse kinematics equations are derived for the 5-DOF manipulator formed by locking the failure joint of the original 6-DOF manipulator. Then, the reachable end-effector pose (position and orientation) is determined. Further, we define the missions can be completed by the 5-DOF manipulator. According to the constraints of the on-orbital mission, we determine the grasp envelope required for the end-effector. Combining the manipulability of the manipulator and the performance of its end-effector, a fault tolerance parameter is defined and a planning method is proposed to generate the reasonable trajectory, based on which the 5-DOF manipulator can complete the desired tasks. Finally, typical cases are simulated and the simulation results verify the proposed method.