Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006073
Wataru Seko, M. Yamada, M. Seki
Here we describe a continuous particle/cell sorting system using asymmetrically patterned, lattice-shaped microchannel array structures. The microchannel is composed of two types of microchannels, which are placed in a lattice pattern at a right angle. There is a difference between the densities of these two types of microchannels, which generates the asymmetric flow distribution at every intersection. Large particles/cells are separated from the streamline, resulting in the continuous size-dependent cell sorting. We fabricated PDMS microfluidic devices, and successfully sorted micrometer-sized particles based on size with high separation accuracy. It was clearly shown that the separation size of particles/cells was dominated by the microchannel geometries including the densities of the microchannels and the slanted angles. As an application for cell sorting, we demonstrated the blood cell separation from a diluted blood sample. Erythrocytes and leucocytes were accurately separated and the ratio of recovered leucocytes was raised to ~80%. The presented scheme of particle/cell sorting would become a simple but versatile tool that is useful for general medical and biochemical experiments.
{"title":"Asymmetric lattice-shaped microchannel structures for continuous size-dependent cell sorting","authors":"Wataru Seko, M. Yamada, M. Seki","doi":"10.1109/MHS.2014.7006073","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006073","url":null,"abstract":"Here we describe a continuous particle/cell sorting system using asymmetrically patterned, lattice-shaped microchannel array structures. The microchannel is composed of two types of microchannels, which are placed in a lattice pattern at a right angle. There is a difference between the densities of these two types of microchannels, which generates the asymmetric flow distribution at every intersection. Large particles/cells are separated from the streamline, resulting in the continuous size-dependent cell sorting. We fabricated PDMS microfluidic devices, and successfully sorted micrometer-sized particles based on size with high separation accuracy. It was clearly shown that the separation size of particles/cells was dominated by the microchannel geometries including the densities of the microchannels and the slanted angles. As an application for cell sorting, we demonstrated the blood cell separation from a diluted blood sample. Erythrocytes and leucocytes were accurately separated and the ratio of recovered leucocytes was raised to ~80%. The presented scheme of particle/cell sorting would become a simple but versatile tool that is useful for general medical and biochemical experiments.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"44 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125608974","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006116
Rina Yanaru, K. Okeyo, O. Kurosawa, H. Oana, H. Kotera, M. Washizu
We have developed a novel method for fabricating monolayer cell sheets by culturing cells on microstructured mesh sheets suspended in a culture medium as substrates for cell attachment and growth. In this study, we evaluated the relationship between cell orientation and mesh shape with the aim of generating cell sheets with defined cell orientation. When cultured on mesh sheets with a diamond shape, fibroblasts reorganized to form monolayer cell sheets with cells aligned primarily in the direction of the major axis. Thus, by modulating mesh shape, it is possible to fabricate mesh sheets with controlled cell orientation for use in tissues/organs such as the skeleton and heart muscles where cell alignment is particularly critical to the realization of proper tissue/organ function.
{"title":"Control of cell orientation in mesenchymal cell sheets fabricated using microstructured mesh sheet","authors":"Rina Yanaru, K. Okeyo, O. Kurosawa, H. Oana, H. Kotera, M. Washizu","doi":"10.1109/MHS.2014.7006116","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006116","url":null,"abstract":"We have developed a novel method for fabricating monolayer cell sheets by culturing cells on microstructured mesh sheets suspended in a culture medium as substrates for cell attachment and growth. In this study, we evaluated the relationship between cell orientation and mesh shape with the aim of generating cell sheets with defined cell orientation. When cultured on mesh sheets with a diamond shape, fibroblasts reorganized to form monolayer cell sheets with cells aligned primarily in the direction of the major axis. Thus, by modulating mesh shape, it is possible to fabricate mesh sheets with controlled cell orientation for use in tissues/organs such as the skeleton and heart muscles where cell alignment is particularly critical to the realization of proper tissue/organ function.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"17 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126689310","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006068
M. Isogai, Y. Nawa, Toru Iijima
Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. In this study, we fabricated the third prototype rover. To confirm the effectiveness of the proposed method, we performed the experiments on the strength distribution of the microwave beam, and on the navigation control with the fabricated rover..
{"title":"Navigation control for an exploration rover with microwave Doppler sensors (Fabrication of third prototype rover and experiments)","authors":"M. Isogai, Y. Nawa, Toru Iijima","doi":"10.1109/MHS.2014.7006068","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006068","url":null,"abstract":"Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. In this study, we fabricated the third prototype rover. To confirm the effectiveness of the proposed method, we performed the experiments on the strength distribution of the microwave beam, and on the navigation control with the fabricated rover..","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"5 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"126729678","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006071
T. Noro, Yusuke Katsuda, T. Miyoshi, K. Terashima
Aiming to assist operators, our laboratory had proposed power assisted wire suspension system. A system to estimate the operating force based on ground reaction force and human behavior has been developed. However, it is necessary to measure the human behavior (position, velocity, and acceleration) of 17 points on the body with the conventional human dynamics model. Therefore, the system is extremely expensive and not practical, because of large number of sensors. In addition, fewer sensor units worsen the estimation accuracy of the operating force. In order to improve the estimation accuracy of the operating force, it is important to identify positions of center-of-gravity and masses of links. Thus, this paper presents the novel human dynamics model estimating the operating force and parameters using extended Kalman filter based on human behavior with only 6 sensor units and ground reaction force. Improvement of the estimation accuracy is confirmed by experiments.
{"title":"Estimation method of operating force using an extended Kalman filter based on ground reaction force and human behavior","authors":"T. Noro, Yusuke Katsuda, T. Miyoshi, K. Terashima","doi":"10.1109/MHS.2014.7006071","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006071","url":null,"abstract":"Aiming to assist operators, our laboratory had proposed power assisted wire suspension system. A system to estimate the operating force based on ground reaction force and human behavior has been developed. However, it is necessary to measure the human behavior (position, velocity, and acceleration) of 17 points on the body with the conventional human dynamics model. Therefore, the system is extremely expensive and not practical, because of large number of sensors. In addition, fewer sensor units worsen the estimation accuracy of the operating force. In order to improve the estimation accuracy of the operating force, it is important to identify positions of center-of-gravity and masses of links. Thus, this paper presents the novel human dynamics model estimating the operating force and parameters using extended Kalman filter based on human behavior with only 6 sensor units and ground reaction force. Improvement of the estimation accuracy is confirmed by experiments.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116058069","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006081
Akifumi Takada, Shingo Nakamura, Y. Yamanishi, S. Hashimura, S. Nagasawa, Takanobu Kogure, S. Maeda
This paper presents a fabrication method of electrostatic adhesion device using flexible electrodes. When an electric charge is stored in the bipolar plate of a capacitor, an electrostatic force acts. We perform adhesion to a wall surface using this electrostatic force. Using the electrostatic force, electrostatic adhesion force is controlled by the electricity. The flexible electrodes are created by spraying a solution containing dispersed carbon black onto a silicon rubber. Flexibility of the device can avoid damage to its own and adapt to a variety of wall surface shapes. In experiments, two kinds of device surface structures were created. One is just flat and the other is pillar arrays. The pillar arrays structure was adopted from the viewpoint of biomimetic. Electrostatic adhesion force of these structures was measured with shear and tensile testing machines.
{"title":"Design of electrostatic adhesion device using the flexible electrodes","authors":"Akifumi Takada, Shingo Nakamura, Y. Yamanishi, S. Hashimura, S. Nagasawa, Takanobu Kogure, S. Maeda","doi":"10.1109/MHS.2014.7006081","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006081","url":null,"abstract":"This paper presents a fabrication method of electrostatic adhesion device using flexible electrodes. When an electric charge is stored in the bipolar plate of a capacitor, an electrostatic force acts. We perform adhesion to a wall surface using this electrostatic force. Using the electrostatic force, electrostatic adhesion force is controlled by the electricity. The flexible electrodes are created by spraying a solution containing dispersed carbon black onto a silicon rubber. Flexibility of the device can avoid damage to its own and adapt to a variety of wall surface shapes. In experiments, two kinds of device surface structures were created. One is just flat and the other is pillar arrays. The pillar arrays structure was adopted from the viewpoint of biomimetic. Electrostatic adhesion force of these structures was measured with shear and tensile testing machines.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"34 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"116646249","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006064
Kengo Emoto, Yoshitatsu Suzuki, Ryota Kato, Ryoji Tanaka, H. Yamada, Eiichiro Tani, K. Tatsuno
We are developing an autonomous robot for power distribution line maintenance tasks to ensure worker's safety and to improve efficiency. In order to perform autonomously maintenance tasks, it is necessary for the robot to measure the relative position of the robot and the work object. The purpose of this research is to construct 3D models of the work environments such as utility poles, cross arms, insulators, electric wires and transformers in the computer. ICP(Iterative Closest Point) matching is applied to construct the work environments. 3D point cloud of the work environments is measured the LRF(Laser Range Finder) and 3D models of the work objects such as a utility pole, an arm bar and an insulators are superimposed in the 3D point cloud.
{"title":"Work environments construction for an autonomous robot","authors":"Kengo Emoto, Yoshitatsu Suzuki, Ryota Kato, Ryoji Tanaka, H. Yamada, Eiichiro Tani, K. Tatsuno","doi":"10.1109/MHS.2014.7006064","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006064","url":null,"abstract":"We are developing an autonomous robot for power distribution line maintenance tasks to ensure worker's safety and to improve efficiency. In order to perform autonomously maintenance tasks, it is necessary for the robot to measure the relative position of the robot and the work object. The purpose of this research is to construct 3D models of the work environments such as utility poles, cross arms, insulators, electric wires and transformers in the computer. ICP(Iterative Closest Point) matching is applied to construct the work environments. 3D point cloud of the work environments is measured the LRF(Laser Range Finder) and 3D models of the work objects such as a utility pole, an arm bar and an insulators are superimposed in the 3D point cloud.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"84 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117149543","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006077
Wenjing Huang, F. Arai, T. Kawahara
We have proposed a novel cubic (artificial) eggshell containing a chick embryo. Since the posture of the eggshell can be changed freely and the manipulation of the chick embryo is possible, the developed cubic eggshell with a chick embryo is a good model for microsurgery training. In this study, we further demonstrate the promising use of the eggshell. First, the viability of the chick embryo in the cubic eggshell is confirmed through basic experiments. Second, we show that the development of embryo tissues and circulatory system can be easily observed. Third, blood vessel formation can be spatially controlled by using patterned side membranes, which have localized oxygen-permeable properties. Together with the previous results about the manipulation of the embryo, these results suggest that chick embryos cultured in the developed cubic eggshell can be used as a promising animal model for biomedical research such as angiogenesis and drug delivery testing.
{"title":"Chick embryo cultured in a cubic eggshell as a promising animal model","authors":"Wenjing Huang, F. Arai, T. Kawahara","doi":"10.1109/MHS.2014.7006077","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006077","url":null,"abstract":"We have proposed a novel cubic (artificial) eggshell containing a chick embryo. Since the posture of the eggshell can be changed freely and the manipulation of the chick embryo is possible, the developed cubic eggshell with a chick embryo is a good model for microsurgery training. In this study, we further demonstrate the promising use of the eggshell. First, the viability of the chick embryo in the cubic eggshell is confirmed through basic experiments. Second, we show that the development of embryo tissues and circulatory system can be easily observed. Third, blood vessel formation can be spatially controlled by using patterned side membranes, which have localized oxygen-permeable properties. Together with the previous results about the manipulation of the embryo, these results suggest that chick embryos cultured in the developed cubic eggshell can be used as a promising animal model for biomedical research such as angiogenesis and drug delivery testing.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"122 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"122940533","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006095
Y. Hasegawa, Keisuke Nakayama
This paper proposes a wearable interface to control a walk for paraplegic patients wearing an underactuated powered exoskeleton on lower limbs. Current powered exoskeletons are helpful for patient's walk. However, there are differences between wearer's intentions and actual leg motions. In order to synchronize them, more leg motions such as leg-swing, stride and foot-height should be controlled by a user. The proposed interface enables the user to convey the user's intention such leg motions. At the first stage, a motion simulator is controlled to verify the effectiveness of our interface. We confirmed the timing of leg-swing is adjusted as the wearer intends through 10-meter walk experiment and the motion simulator finished walking 10-meter within three minutes.
{"title":"Gait control of powered exoskeleton with finger-mounted walk controller for paraplegic patient","authors":"Y. Hasegawa, Keisuke Nakayama","doi":"10.1109/MHS.2014.7006095","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006095","url":null,"abstract":"This paper proposes a wearable interface to control a walk for paraplegic patients wearing an underactuated powered exoskeleton on lower limbs. Current powered exoskeletons are helpful for patient's walk. However, there are differences between wearer's intentions and actual leg motions. In order to synchronize them, more leg motions such as leg-swing, stride and foot-height should be controlled by a user. The proposed interface enables the user to convey the user's intention such leg motions. At the first stage, a motion simulator is controlled to verify the effectiveness of our interface. We confirmed the timing of leg-swing is adjusted as the wearer intends through 10-meter walk experiment and the motion simulator finished walking 10-meter within three minutes.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"91 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129118912","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006101
Naoto Hirakawa, T. Takubo, A. Ueno
Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.
{"title":"Camera view centered mobile robot control interface","authors":"Naoto Hirakawa, T. Takubo, A. Ueno","doi":"10.1109/MHS.2014.7006101","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006101","url":null,"abstract":"Camera view centered mobile robot control is proposed to provide intuitive operation feeling. The proposed controller only requires the direction of the desired motion of the viewpoint. If an operator indicates a reference in the camera coordinate frame by a joystick, the controller generates the optimal control inputs to follow the reference considering the hardware constraints. The proposed method was implemented to the nonholonomic mobile robot with a pan-tilt camera, and the operability was improved.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"24 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"129826620","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2014-11-01DOI: 10.1109/MHS.2014.7006093
K. Ohara
For distributed robot system, wireless communication is one of the important technologies to communicate each device and robot. A distributed robot system has benefits at the viewpoint of flexibility, robustness and cost. However, a compensation of communication delay for precise control should be solved in distributed robot system to do the precise control. To solve this problem, how to synchronize the managed time information on each robot is one of the important topics, because of detection of communication time delay. Toward the problem, we have developed wireless time synchronization module for distributed robot system. In this paper, time synchronization ability of the module is shown through an evaluation experiment.
{"title":"Precise time synchronization device for distributed robot system cooperation","authors":"K. Ohara","doi":"10.1109/MHS.2014.7006093","DOIUrl":"https://doi.org/10.1109/MHS.2014.7006093","url":null,"abstract":"For distributed robot system, wireless communication is one of the important technologies to communicate each device and robot. A distributed robot system has benefits at the viewpoint of flexibility, robustness and cost. However, a compensation of communication delay for precise control should be solved in distributed robot system to do the precise control. To solve this problem, how to synchronize the managed time information on each robot is one of the important topics, because of detection of communication time delay. Toward the problem, we have developed wireless time synchronization module for distributed robot system. In this paper, time synchronization ability of the module is shown through an evaluation experiment.","PeriodicalId":181514,"journal":{"name":"2014 International Symposium on Micro-NanoMechatronics and Human Science (MHS)","volume":"42 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"2014-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"125088937","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
京公网安备 11010802042870号
京ICP备2023020795号-1
扫码关注我们
求助内容：
应助结果提醒方式：