首页 > 最新文献

Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)最新文献

英文 中文
A Microfluidic Chip on a Robotic Manipulator for Loading and Reloading of Oocytes 用于装载和重装卵母细胞的机器人操纵器上的微流体芯片
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-13 DOI: 10.1002/aisy.202400185
Shuzhang Liang, Satoshi Amaya, Hirotaka Sugiura, Hao Mo, Yuguo Dai, Fumihito Arai

Loading individual oocytes is a critical step for injecting RNA, expressing heterologous proteins, performing electrophysiological measurements, and so on. However, existing methods remain a challenge for automatically loading multiple single oocytes into different locations. Herein, a novel microfluidic chip on a robotic manipulator (chip-on-robot) with feedback control for flexible manipulation of multiple oocytes within a large spatial range is proposed. The manipulator automatically controls the microfluidic chip to reach different locations based on imaging feedback. The microfluidic chip then utilizes the hydrodynamic focusing effect of the main channel to separate oocytes for individual loading or reloading under capacitive sensor feedback. The separation distance reaches approximately 16 times the oocyte diameter. Moreover, capacitive signal feedback on the number of oocytes for flow direction control ensures the separation of all oocytes. For close-loop control of the loading/reloading process, image-based oocyte detection is combined using deep learning to calculate the target position of the oocyte. Finally, an automatic sequence is achieved to load multiple single oocytes into a well chip by using the chip-on-robot. As a demonstration, the oocytes are reloaded into a specified location based on the conditions. The proposed chip-on-robot with feedback control has significant advantages in the micromanipulation of oocytes.

装载单个卵母细胞是注入 RNA、表达异源蛋白、进行电生理测量等的关键步骤。然而,现有的方法仍难以将多个单个卵母细胞自动装载到不同位置。本文提出了一种新型的机器人操纵器微流控芯片(chip-on-robot),该芯片具有反馈控制功能,可在大空间范围内灵活操纵多个卵母细胞。操纵器根据成像反馈自动控制微流控芯片到达不同位置。然后,微流控芯片利用主通道的流体动力聚焦效应,在电容传感器反馈下分离卵母细胞,进行单独装载或重新装载。分离距离约为卵母细胞直径的 16 倍。此外,用于流向控制的卵母细胞数量电容信号反馈确保了所有卵母细胞的分离。为了对装载/再装载过程进行闭环控制,基于图像的卵母细胞检测与深度学习相结合,计算出卵母细胞的目标位置。最后,通过使用机器人芯片,实现了将多个单个卵母细胞装入井芯片的自动序列。作为演示,卵母细胞会根据条件重新装入指定位置。带反馈控制的拟议芯片机器人在卵母细胞微操作方面具有显著优势。
{"title":"A Microfluidic Chip on a Robotic Manipulator for Loading and Reloading of Oocytes","authors":"Shuzhang Liang,&nbsp;Satoshi Amaya,&nbsp;Hirotaka Sugiura,&nbsp;Hao Mo,&nbsp;Yuguo Dai,&nbsp;Fumihito Arai","doi":"10.1002/aisy.202400185","DOIUrl":"10.1002/aisy.202400185","url":null,"abstract":"<p>Loading individual oocytes is a critical step for injecting RNA, expressing heterologous proteins, performing electrophysiological measurements, and so on. However, existing methods remain a challenge for automatically loading multiple single oocytes into different locations. Herein, a novel microfluidic chip on a robotic manipulator (chip-on-robot) with feedback control for flexible manipulation of multiple oocytes within a large spatial range is proposed. The manipulator automatically controls the microfluidic chip to reach different locations based on imaging feedback. The microfluidic chip then utilizes the hydrodynamic focusing effect of the main channel to separate oocytes for individual loading or reloading under capacitive sensor feedback. The separation distance reaches approximately 16 times the oocyte diameter. Moreover, capacitive signal feedback on the number of oocytes for flow direction control ensures the separation of all oocytes. For close-loop control of the loading/reloading process, image-based oocyte detection is combined using deep learning to calculate the target position of the oocyte. Finally, an automatic sequence is achieved to load multiple single oocytes into a well chip by using the chip-on-robot. As a demonstration, the oocytes are reloaded into a specified location based on the conditions. The proposed chip-on-robot with feedback control has significant advantages in the micromanipulation of oocytes.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400185","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141350182","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Magnetic Hair Tactile Sensor for Directional Pressure Detection 用于定向压力检测的磁性毛发触觉传感器
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-12 DOI: 10.1002/aisy.202400106
Yuki A. Meier, Pierre Duhr, Marcel Mordarski, Céline Vergne, Erik Poloni, André R. Studart, Joris Pascal, Ahmet F. Demirörs

Tactile sensing in the human body is achieved via the skin. This has inspired the fabrication of synthetic skins with pressure sensors for potential applications in robotics, bio-medicine, and human–machine interfaces. Tactile sensors based on magnetic elements are promising as they provide high sensitivity and a wide dynamic range. However, current magnetic tactile sensors mostly detect pressures of solid objects and operate at relatively high forces about 100 mN. Herein, these limitations are addressed by manufacturing soft, stretchable, and hair-like structures that are permanently magnetized to achieve high-resolution, cost-effective, and high-resolution pressure sensing. Combining these hair-like structures with advances in 3D magnetic-field measurements allows us to monitor directional tactile pressures without solid contact. To prove the concept of this technology, a bio-inspired soft device is built with a hairy structure that senses and reports environmental mechanical stresses, similar to that of human skin. Simple self-assembly of the soft magnetic hair structure makes our approach easy to scale for large-area applications.

人体的触觉感应是通过皮肤实现的。这启发了人们制造带有压力传感器的合成皮肤,并将其潜在应用于机器人、生物医学和人机界面。基于磁性元件的触觉传感器具有高灵敏度和宽动态范围的特点,因此前景广阔。然而,目前的磁性触觉传感器主要检测固体物体的压力,并在 100 mN 左右的相对较高压力下工作。本文通过制造柔软、可拉伸、永久磁化的毛发状结构来解决这些局限性,从而实现高分辨率、高性价比的压力传感。将这些毛发状结构与三维磁场测量技术的进步相结合,我们就能在没有固体接触的情况下监测定向触觉压力。为了证明这项技术的概念,我们制作了一个生物启发的软装置,它具有毛发结构,能感应和报告环境机械压力,类似于人体皮肤。软磁毛发结构的简单自组装使我们的方法易于大面积应用。
{"title":"Magnetic Hair Tactile Sensor for Directional Pressure Detection","authors":"Yuki A. Meier,&nbsp;Pierre Duhr,&nbsp;Marcel Mordarski,&nbsp;Céline Vergne,&nbsp;Erik Poloni,&nbsp;André R. Studart,&nbsp;Joris Pascal,&nbsp;Ahmet F. Demirörs","doi":"10.1002/aisy.202400106","DOIUrl":"10.1002/aisy.202400106","url":null,"abstract":"<p>Tactile sensing in the human body is achieved via the skin. This has inspired the fabrication of synthetic skins with pressure sensors for potential applications in robotics, bio-medicine, and human–machine interfaces. Tactile sensors based on magnetic elements are promising as they provide high sensitivity and a wide dynamic range. However, current magnetic tactile sensors mostly detect pressures of solid objects and operate at relatively high forces about 100 mN. Herein, these limitations are addressed by manufacturing soft, stretchable, and hair-like structures that are permanently magnetized to achieve high-resolution, cost-effective, and high-resolution pressure sensing. Combining these hair-like structures with advances in 3D magnetic-field measurements allows us to monitor directional tactile pressures without solid contact. To prove the concept of this technology, a bio-inspired soft device is built with a hairy structure that senses and reports environmental mechanical stresses, similar to that of human skin. Simple self-assembly of the soft magnetic hair structure makes our approach easy to scale for large-area applications.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400106","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141350165","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Green AI-Driven Concept for the Development of Cost-Effective and Energy-Efficient Deep Learning Method: Application in the Detection of Eimeria Parasites as a Case Study 开发具有成本效益和能效的深度学习方法的绿色人工智能驱动理念:以埃默氏寄生虫检测中的应用为例
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-12 DOI: 10.1002/aisy.202300644
Suheda Semih Acmali, Yasin Ortakci, Huseyin Seker

Although large-scale pretrained convolutinal neural networks (CNN) models have shown impressive transfer learning capabilities, they come with drawbacks such as high energy consumption and computational cost due to their potential redundant parameters. This study presents an innovative weight-level pruning technique that mitigates the challenges of overparameterization, and subsequently minimizes the electricity usage of such large deep learning models. The method focuses on removing redundant parameters while upholding model accuracy. This methodology is applied to classify Eimeria species parasites from fowls and rabbits. By leveraging a set of 27 pretrained CNN models with a number of parameters between 3.0M and 118.5M, the framework has identified a 4.8M-parameter model with the highest accuracy for both animals. The model is then subjected to a systematic pruning process, resulting in an 8% reduction in parameters and a 421M reduction in floating point operations while maintaining the same classification accuracy for both fowls and rabbits. Furthermore, unlike the existing literature where two separate models are created for rabbits and fowls, this article presents a combined model with 17 classes. This approach has resulted in a CNN model with nearly 50% reduced parameter size while retaining the same accuracy of over 90%.

尽管大规模预训练的卷积神经网络(CNN)模型已显示出令人印象深刻的迁移学习能力,但由于其潜在的冗余参数,它们也存在能耗高、计算成本高等缺点。本研究提出了一种创新的权重级剪枝技术,可减轻参数过多带来的挑战,从而最大限度地降低此类大型深度学习模型的耗电量。该方法侧重于去除冗余参数,同时保持模型的准确性。该方法被应用于对家禽和兔子的艾美耳种寄生虫进行分类。通过利用一组参数数在 3.0M 到 118.5M 之间的 27 个预训练 CNN 模型,该框架确定了一个参数数为 4.8M 的模型,该模型对这两种动物的分类准确率最高。随后,对该模型进行了系统剪枝处理,从而减少了 8% 的参数和 4.21 亿次浮点运算,同时保持了对鸡和兔子的相同分类准确性。此外,与现有文献中为兔子和家禽创建两个独立模型的做法不同,本文提出了一个包含 17 个类别的组合模型。这种方法使 CNN 模型的参数大小减少了近 50%,而准确率却保持在 90% 以上。
{"title":"Green AI-Driven Concept for the Development of Cost-Effective and Energy-Efficient Deep Learning Method: Application in the Detection of Eimeria Parasites as a Case Study","authors":"Suheda Semih Acmali,&nbsp;Yasin Ortakci,&nbsp;Huseyin Seker","doi":"10.1002/aisy.202300644","DOIUrl":"10.1002/aisy.202300644","url":null,"abstract":"<p>Although large-scale pretrained convolutinal neural networks (CNN) models have shown impressive transfer learning capabilities, they come with drawbacks such as high energy consumption and computational cost due to their potential redundant parameters. This study presents an innovative weight-level pruning technique that mitigates the challenges of overparameterization, and subsequently minimizes the electricity usage of such large deep learning models. The method focuses on removing redundant parameters while upholding model accuracy. This methodology is applied to classify <i>Eimeria</i> species parasites from fowls and rabbits. By leveraging a set of 27 pretrained CNN models with a number of parameters between 3.0M and 118.5M, the framework has identified a 4.8M-parameter model with the highest accuracy for both animals. The model is then subjected to a systematic pruning process, resulting in an 8% reduction in parameters and a 421M reduction in floating point operations while maintaining the same classification accuracy for both fowls and rabbits. Furthermore, unlike the existing literature where two separate models are created for rabbits and fowls, this article presents a combined model with 17 classes. This approach has resulted in a CNN model with nearly 50% reduced parameter size while retaining the same accuracy of over 90%.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300644","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141352375","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Robotic Antennas Using Liquid Metal Origami 使用液态金属折纸的机器人天线
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-12 DOI: 10.1002/aisy.202400190
Anand K. Mishra, Nicholas E. Russo, Hyeon Seok An, Constantinos L. Zekios, Stavros V. Georgakopoulos, Robert F. Shepherd

Two of the main challenges in origami antenna designs are creating a reliable hinge and achieving precise actuation for optimal electromagnetic (EM) performance. Herein, a waterbomb origami ring antenna is introduced, integrating the waterbomb origami principle, 3D-printed liquid metal (LM) hinges, and robotic shape morphing. The approach, combining 3D printing, robotic actuation, and innovative antenna design, enables various origami folding patterns, enhancing both portability and EM performance. This antenna's functionality has been successfully demonstrated, displaying its communication capabilities with another antenna and its ability to navigate narrow spaces on a remote-controlled wheel robot. The 3D-printed LM hinge exhibits low DC resistance (200 ± 1.6 mΩ) at both flat and folded state, and, with robotic control, the antenna achieves less than 1° folding angle accuracy and a 66% folding area ratio. The antenna operates in two modes at 2.08 and 2.4 GHz, ideal for fixed mobile use and radiolocation. Through extensive simulations and experiments, the antenna is evaluated in both flat and folded states, focusing on resonant frequency, gain patterns, and hinge connectivity. The findings confirm that the waterbomb origami ring antenna consistently maintains EM performance during folding and unfolding, with stable resonant frequencies and gain patterns, proving the antenna's reliability and adaptability for use in portable and mobile devices.

折纸天线设计的两大挑战是创建可靠的铰链和实现精确驱动以获得最佳电磁(EM)性能。本文介绍了一种水弹折纸环形天线,它集成了水弹折纸原理、三维打印液态金属(LM)铰链和机器人形状变形。该方法结合了三维打印、机器人驱动和创新的天线设计,实现了各种折纸折叠模式,增强了便携性和电磁性能。该天线的功能已得到成功演示,展示了它与另一根天线的通信能力,以及在遥控轮式机器人上导航狭窄空间的能力。三维打印 LM 铰链在平放和折叠状态下均表现出较低的直流电阻(200 ± 1.6 mΩ),在机器人控制下,天线实现了小于 1° 的折叠角度精度和 66% 的折叠面积比。该天线可在 2.08 和 2.4 GHz 两种模式下工作,非常适合固定移动使用和无线电定位。通过大量的模拟和实验,对天线的平整和折叠状态进行了评估,重点关注谐振频率、增益模式和铰链连接性。研究结果证实,水弹折纸环形天线在折叠和展开过程中始终保持电磁性能,具有稳定的谐振频率和增益模式,证明了该天线在便携式和移动设备中使用的可靠性和适应性。
{"title":"Robotic Antennas Using Liquid Metal Origami","authors":"Anand K. Mishra,&nbsp;Nicholas E. Russo,&nbsp;Hyeon Seok An,&nbsp;Constantinos L. Zekios,&nbsp;Stavros V. Georgakopoulos,&nbsp;Robert F. Shepherd","doi":"10.1002/aisy.202400190","DOIUrl":"10.1002/aisy.202400190","url":null,"abstract":"<p>Two of the main challenges in origami antenna designs are creating a reliable hinge and achieving precise actuation for optimal electromagnetic (EM) performance. Herein, a waterbomb origami ring antenna is introduced, integrating the waterbomb origami principle, 3D-printed liquid metal (LM) hinges, and robotic shape morphing. The approach, combining 3D printing, robotic actuation, and innovative antenna design, enables various origami folding patterns, enhancing both portability and EM performance. This antenna's functionality has been successfully demonstrated, displaying its communication capabilities with another antenna and its ability to navigate narrow spaces on a remote-controlled wheel robot. The 3D-printed LM hinge exhibits low DC resistance (200 ± 1.6 mΩ) at both flat and folded state, and, with robotic control, the antenna achieves less than 1° folding angle accuracy and a 66% folding area ratio. The antenna operates in two modes at 2.08 and 2.4 GHz, ideal for fixed mobile use and radiolocation. Through extensive simulations and experiments, the antenna is evaluated in both flat and folded states, focusing on resonant frequency, gain patterns, and hinge connectivity. The findings confirm that the waterbomb origami ring antenna consistently maintains EM performance during folding and unfolding, with stable resonant frequencies and gain patterns, proving the antenna's reliability and adaptability for use in portable and mobile devices.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-12","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400190","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141351538","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Ultrafast-and-Ultralight ConvNet-Based Intelligent Monitoring System for Diagnosing Early-Stage Mpox Anytime and Anywhere 基于 ConvNet 的超快超轻智能监测系统可随时随地诊断早期麻风病
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-10 DOI: 10.1002/aisy.202300637
Yubiao Yue, Xiaoqiang Shi, Li Qin, Xinyue Zhang, Jialong Xu, Zipei Zheng, Zhenzhang Li, Yang Li

Due to the absence of more efficient diagnostic tools, the spread of mpox continues to be unchecked. Although related studies have demonstrated the high efficiency of deep learning models in diagnosing mpox, key aspects such as model inference speed and parameter size have always been overlooked. Herein, an ultrafast and ultralight network named Fast-MpoxNet is proposed. Fast-MpoxNet, with only 0.27 m parameters, can process input images at 68 frames per second (FPS) on the CPU. To detect subtle image differences and optimize model parameters better, Fast-MpoxNet incorporates an attention-based feature fusion module and a multiple auxiliary losses enhancement strategy. Experimental results indicate that Fast-MpoxNet, utilizing transfer learning and data augmentation, produces 98.40% classification accuracy for four classes on the mpox dataset. Furthermore, its Recall for early-stage mpox is 93.65%. Most importantly, an application system named Mpox-AISM V2 is developed, suitable for both personal computers and smartphones. Mpox-AISM V2 can rapidly and accurately diagnose mpox and can be easily deployed in various scenarios to offer the public real-time mpox diagnosis services. This work has the potential to mitigate future mpox outbreaks and pave the way for developing real-time diagnostic tools in the healthcare field.

由于缺乏更高效的诊断工具,麻腮风的蔓延仍未得到遏制。尽管相关研究已经证明了深度学习模型在诊断痘病方面的高效性,但模型推理速度和参数大小等关键环节一直被忽视。在此,我们提出了一种名为 Fast-MpoxNet 的超快超轻网络。Fast-MpoxNet 的参数仅为 0.27 m,可在 CPU 上以每秒 68 帧(FPS)的速度处理输入图像。为了检测图像的细微差别并更好地优化模型参数,Fast-MpoxNet 采用了基于注意力的特征融合模块和多重辅助损失增强策略。实验结果表明,利用迁移学习和数据增强,Fast-MpoxNet 在 mpox 数据集上的四类分类准确率达到 98.40%。此外,它对早期 mpox 的召回率为 93.65%。最重要的是,我们开发了一个名为 Mpox-AISM V2 的应用系统,它既适用于个人电脑,也适用于智能手机。Mpox-AISM V2 可快速、准确地诊断天花,并可轻松部署在各种场景中,为公众提供实时天花诊断服务。这项工作有望缓解未来的天花疫情,并为开发医疗保健领域的实时诊断工具铺平道路。
{"title":"Ultrafast-and-Ultralight ConvNet-Based Intelligent Monitoring System for Diagnosing Early-Stage Mpox Anytime and Anywhere","authors":"Yubiao Yue,&nbsp;Xiaoqiang Shi,&nbsp;Li Qin,&nbsp;Xinyue Zhang,&nbsp;Jialong Xu,&nbsp;Zipei Zheng,&nbsp;Zhenzhang Li,&nbsp;Yang Li","doi":"10.1002/aisy.202300637","DOIUrl":"https://doi.org/10.1002/aisy.202300637","url":null,"abstract":"<p>Due to the absence of more efficient diagnostic tools, the spread of mpox continues to be unchecked. Although related studies have demonstrated the high efficiency of deep learning models in diagnosing mpox, key aspects such as model inference speed and parameter size have always been overlooked. Herein, an ultrafast and ultralight network named Fast-MpoxNet is proposed. Fast-MpoxNet, with only 0.27 <span>m</span> parameters, can process input images at 68 frames per second (FPS) on the CPU. To detect subtle image differences and optimize model parameters better, Fast-MpoxNet incorporates an attention-based feature fusion module and a multiple auxiliary losses enhancement strategy. Experimental results indicate that Fast-MpoxNet, utilizing transfer learning and data augmentation, produces 98.40% classification accuracy for four classes on the mpox dataset. Furthermore, its Recall for early-stage mpox is 93.65%. Most importantly, an application system named Mpox-AISM V2 is developed, suitable for both personal computers and smartphones. Mpox-AISM V2 can rapidly and accurately diagnose mpox and can be easily deployed in various scenarios to offer the public real-time mpox diagnosis services. This work has the potential to mitigate future mpox outbreaks and pave the way for developing real-time diagnostic tools in the healthcare field.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300637","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141967140","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Tactile Sensing and Grasping Through Thin-Shell Buckling 通过薄壳弯曲实现触觉传感和抓取功能
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-09 DOI: 10.1002/aisy.202300855
Kieran Barvenik, Zachary Coogan, Gabriele Librandi, Matteo Pezzulla, Eleonora Tubaldi

Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing capabilities still presents challenges. To overcome this limitation, a fluidic soft gripper is introduced based on the buckling of soft, thin hemispherical shells. Leveraging a single fluidic pressure input, the soft gripper can grasp slippery and delicate objects while passively providing information on this physical interaction. Guided by analytical, numerical, and experimental tools, the novel grasping principle of this mechanics-based soft gripper is explored. First, the buckling behavior of a free hemisphere is characterized as a function of its geometric parameters. Inspired by the free hemisphere's two-lobe mode shape ideal for grasping purposes, it is demonstrated that the gripper can perform dexterous manipulation and gentle gripping of fragile objects in confined spaces and underwater environments. Last, the soft gripper's embedded capability of detecting contact, grasping, and release conditions during the interaction with an unknown object is proved. This simple buckling-based soft gripper opens new avenues for the design of adaptive gripper morphologies with tactile sensing capabilities for applications ranging from medical and agricultural robotics to space and underwater exploration.

柔软轻便的抓手大大提高了机器人机械手在处理形状、质地和硬度各异的复杂物体时的性能。然而,如何将通用抓手与被动传感功能相结合仍是一个挑战。为了克服这一局限性,我们引入了一种基于半球形软壳屈曲的流体软抓手。利用单一的流体压力输入,软抓手可以抓取湿滑和易碎的物体,同时被动地提供有关这种物理交互的信息。在分析、数值和实验工具的指导下,我们探索了这种基于力学的软抓手的新颖抓取原理。首先,自由半球的屈曲行为是其几何参数的函数。自由半球的双叶模式形状是抓取的理想选择,受此启发,该机械手可以在狭窄空间和水下环境中灵巧地操纵和轻柔地抓取易碎物体。最后,还证明了软抓手的嵌入式能力,即在与未知物体交互过程中检测接触、抓取和释放条件。这种基于简单屈曲的软抓手为设计具有触觉传感功能的自适应抓手形态开辟了新的途径,其应用范围从医疗和农业机器人到太空和水下探索。
{"title":"Tactile Sensing and Grasping Through Thin-Shell Buckling","authors":"Kieran Barvenik,&nbsp;Zachary Coogan,&nbsp;Gabriele Librandi,&nbsp;Matteo Pezzulla,&nbsp;Eleonora Tubaldi","doi":"10.1002/aisy.202300855","DOIUrl":"10.1002/aisy.202300855","url":null,"abstract":"<p>Soft and lightweight grippers have greatly enhanced the performance of robotic manipulators in handling complex objects with varying shape, texture, and stiffness. However, the combination of universal grasping with passive sensing capabilities still presents challenges. To overcome this limitation, a fluidic soft gripper is introduced based on the buckling of soft, thin hemispherical shells. Leveraging a single fluidic pressure input, the soft gripper can grasp slippery and delicate objects while passively providing information on this physical interaction. Guided by analytical, numerical, and experimental tools, the novel grasping principle of this mechanics-based soft gripper is explored. First, the buckling behavior of a free hemisphere is characterized as a function of its geometric parameters. Inspired by the free hemisphere's two-lobe mode shape ideal for grasping purposes, it is demonstrated that the gripper can perform dexterous manipulation and gentle gripping of fragile objects in confined spaces and underwater environments. Last, the soft gripper's embedded capability of detecting contact, grasping, and release conditions during the interaction with an unknown object is proved. This simple buckling-based soft gripper opens new avenues for the design of adaptive gripper morphologies with tactile sensing capabilities for applications ranging from medical and agricultural robotics to space and underwater exploration.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-09","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300855","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141368196","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Remotely Controlled 3D-Engineered Scaffolds for Biomimetic In Vitro Investigations on Brain Cell Cocultures 遥控三维工程支架用于仿生脑细胞体外培养研究
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-03 DOI: 10.1002/aisy.202400261
Daniele De Pasquale, Attilio Marino, Carlotta Pucci, Omar Tricinci, Carlo Filippeschi, Pietro Fiaschi, Edoardo Sinibaldi, Gianni Ciofani

Most in vitro studies regarding new anticancer treatments are performed on 2D cultures, despite this approach imposes several limitations in recapitulating the real tumor behavior and in predicting the effects of therapy on both cancer and healthy tissues. Herein, advanced in vitro models based on scaffolds that support the 3D growth of glioma cells, further allowing the cocultures with healthy brain cells, are presented. These scaffolds, doped with superparamagnetic iron oxide nanoparticles and obtained through 2-photon polymerization, can be remotely manipulated thanks to an external magnet, thus obtaining biomimetic 3D organization recapitulating the brain cancer microenvironment. From a geometric point of view, the structure is functional to both cell culture on individual unit scaffolds and to tailored cocultures fostered by magnetic-driven unit assembly, also allowing for cell migration thanks to passages/fenestrations on adjacent structures. Leveraging magnetic dragging, for which a mathematical model is introduced, multiple cocultures are achieved, highlighting the high versatility and the user-friendly character of the proposed platform that can help overcome the current challenges in 3D cocultures handling, and open the way to the construction of increasingly biomimetic artificial systems.

大多数有关新型抗癌疗法的体外研究都是在二维培养基上进行的,尽管这种方法在再现真实的肿瘤行为以及预测疗法对癌症和健康组织的影响方面存在一些局限性。本文介绍了基于支架的先进体外模型,这种支架可支持胶质瘤细胞的三维生长,并进一步允许与健康脑细胞共培养。这些支架掺杂了超顺磁性氧化铁纳米粒子,通过双光子聚合技术获得,可以通过外部磁铁进行远程操控,从而获得重现脑癌微环境的仿生三维组织。从几何角度看,这种结构既能在单个单元支架上进行细胞培养,也能通过磁力驱动的单元组装进行量身定制的共培养,还能通过相邻结构上的通道/瘘管实现细胞迁移。利用磁力拖曳(引入了一个数学模型),可以实现多重共培养,这凸显了所提议平台的高度通用性和用户友好性,有助于克服当前在处理三维共培养方面的挑战,并为构建日益仿生的人工系统开辟道路。
{"title":"Remotely Controlled 3D-Engineered Scaffolds for Biomimetic In Vitro Investigations on Brain Cell Cocultures","authors":"Daniele De Pasquale,&nbsp;Attilio Marino,&nbsp;Carlotta Pucci,&nbsp;Omar Tricinci,&nbsp;Carlo Filippeschi,&nbsp;Pietro Fiaschi,&nbsp;Edoardo Sinibaldi,&nbsp;Gianni Ciofani","doi":"10.1002/aisy.202400261","DOIUrl":"10.1002/aisy.202400261","url":null,"abstract":"<p>Most in vitro studies regarding new anticancer treatments are performed on 2D cultures, despite this approach imposes several limitations in recapitulating the real tumor behavior and in predicting the effects of therapy on both cancer and healthy tissues. Herein, advanced in vitro models based on scaffolds that support the 3D growth of glioma cells, further allowing the cocultures with healthy brain cells, are presented. These scaffolds, doped with superparamagnetic iron oxide nanoparticles and obtained through 2-photon polymerization, can be remotely manipulated thanks to an external magnet, thus obtaining biomimetic 3D organization recapitulating the brain cancer microenvironment. From a geometric point of view, the structure is functional to both cell culture on individual unit scaffolds and to tailored cocultures fostered by magnetic-driven unit assembly, also allowing for cell migration thanks to passages/fenestrations on adjacent structures. Leveraging magnetic dragging, for which a mathematical model is introduced, multiple cocultures are achieved, highlighting the high versatility and the user-friendly character of the proposed platform that can help overcome the current challenges in 3D cocultures handling, and open the way to the construction of increasingly biomimetic artificial systems.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400261","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141271838","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Stepwise Control of Multiple Magnetic Millirobots for Flow Manipulation Applications 逐步控制多个磁性微型机器人以实现流体操纵应用
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-02 DOI: 10.1002/aisy.202300483
Dineshkumar Loganathan, Chia-Ling Hsieh, Chen-Yi Ou, Chia-Yuan Chen

Small-scale magnetic robots are extensively recognized as promising untethered devices that can be controlled externally for numerous microscale applications. This study is proposed to address the independent control of multiple magnetic millirobots using an array of electromagnetic coils. Herein, each of the fabricated magnetic millirobots is magnetized with a dissimilar magnetization profile. Further, these millirobots are independently controlled using the mentioned magnetization strategy in addition to the supply of controlled current to each electromagnetic coil. To explore the physics of this combined stepwise approach in controlling the millirobots, theoretical and numerical investigations are carried out that further ensure the practical significance for broad applications. For demonstration purposes, three different shear-induced flow manipulation experiments, including the particle manipulation task, fluid color transition task, and micromixing task, are conducted using more than one millirobot with distinct motions. A maximum of three millirobots controlled with different motions are employed in the micromixing task, and further, it is observed to achieve nearly 80% mixing efficiency within 45 s. The presented work with the introduced actuation system and motion control strategies can strengthen the existing methods of small-scale robots for various applications, particularly for tasks that demand multiple millirobots.

小型磁性机器人被广泛认为是有前途的无系装置,可通过外部控制实现众多微型应用。本研究旨在利用电磁线圈阵列解决多个磁性微型机器人的独立控制问题。在这里,每个制造的磁性微型机器人都被不同的磁化曲线磁化。此外,除了向每个电磁线圈提供受控电流外,还使用上述磁化策略对这些微型机器人进行独立控制。为了探索这种组合分步法控制微型机器人的物理原理,我们进行了理论和数值研究,以进一步确保其在广泛应用中的实际意义。为了进行演示,我们使用一个以上具有不同运动的微型机器人进行了三种不同的剪切诱导流操纵实验,包括颗粒操纵任务、流体颜色转换任务和微混合任务。在微混合任务中,最多使用了三个具有不同运动控制的微型机器人,并观察到其在 45 秒内实现了近 80% 的混合效率。本文介绍的执行系统和运动控制策略可以加强现有的小型机器人在各种应用中的应用,特别是在需要多个微型机器人的任务中。
{"title":"A Stepwise Control of Multiple Magnetic Millirobots for Flow Manipulation Applications","authors":"Dineshkumar Loganathan,&nbsp;Chia-Ling Hsieh,&nbsp;Chen-Yi Ou,&nbsp;Chia-Yuan Chen","doi":"10.1002/aisy.202300483","DOIUrl":"10.1002/aisy.202300483","url":null,"abstract":"<p>Small-scale magnetic robots are extensively recognized as promising untethered devices that can be controlled externally for numerous microscale applications. This study is proposed to address the independent control of multiple magnetic millirobots using an array of electromagnetic coils. Herein, each of the fabricated magnetic millirobots is magnetized with a dissimilar magnetization profile. Further, these millirobots are independently controlled using the mentioned magnetization strategy in addition to the supply of controlled current to each electromagnetic coil. To explore the physics of this combined stepwise approach in controlling the millirobots, theoretical and numerical investigations are carried out that further ensure the practical significance for broad applications. For demonstration purposes, three different shear-induced flow manipulation experiments, including the particle manipulation task, fluid color transition task, and micromixing task, are conducted using more than one millirobot with distinct motions. A maximum of three millirobots controlled with different motions are employed in the micromixing task, and further, it is observed to achieve nearly 80% mixing efficiency within 45 s. The presented work with the introduced actuation system and motion control strategies can strengthen the existing methods of small-scale robots for various applications, particularly for tasks that demand multiple millirobots.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300483","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141273720","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
Multi-strategy Grey Wolf Optimizer for Engineering Problems and Sewage Treatment Prediction 工程问题和污水处理预测的多策略灰狼优化器
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-02 DOI: 10.1002/aisy.202300406
Chenhua Tang, Changcheng Huang, Yi Chen, Ali Asghar Heidari, Shuihua Wang, Huiling Chen, Yudong Zhang

Grey wolf optimizer (GWO) is a highly valued heuristic algorithm in many fields. However, for some complex problems, especially high-dimensional and multimodal problems, the basic algorithm has limited computational power and cannot get a satisfactory answer. In order to find a better solution, an improved algorithm based on GWO is proposed herein. Gaussian barebone, random selection and chaotic game mechanisms are introduced into the GWO algorithm to enhance the global search ability. The GWO enhanced by three mechanisms is called CBRGWO. To verify the performance of CBRGWO, using IEEE CEC 2017 as a test function, CBRGWO is compared to five GWO variants, five basic algorithms, six advanced algorithms, and four champion algorithms. CBRGWO is evaluated using the Friedman test and Wilcoxon signed-rank test. Then, the stability of CBRGWO is analyzed. To verify that CBRGWO is still effective in practical application, CBRGWO is applied to five engineering problems and a water quality prediction problem. The experimental findings indicate that CBRGWO maintains excellent optimization ability in practical engineering problems.

灰狼优化算法(GWO)是许多领域中备受推崇的启发式算法。然而,对于一些复杂问题,尤其是高维和多模态问题,基本算法的计算能力有限,无法得到满意的答案。为了找到更好的解决方案,本文提出了一种基于 GWO 的改进算法。在 GWO 算法中引入了高斯裸骨、随机选择和混沌博弈机制,以增强全局搜索能力。由三种机制增强的 GWO 被称为 CBRGWO。为了验证 CBRGWO 的性能,以 IEEE CEC 2017 为测试函数,CBRGWO 与五种 GWO 变种、五种基本算法、六种高级算法和四种冠军算法进行了比较。CBRGWO 采用 Friedman 检验和 Wilcoxon 符号秩检验进行评估。然后,分析了 CBRGWO 的稳定性。为了验证 CBRGWO 在实际应用中的有效性,将 CBRGWO 应用于五个工程问题和一个水质预测问题。实验结果表明,CBRGWO 在实际工程问题中保持了出色的优化能力。
{"title":"Multi-strategy Grey Wolf Optimizer for Engineering Problems and Sewage Treatment Prediction","authors":"Chenhua Tang,&nbsp;Changcheng Huang,&nbsp;Yi Chen,&nbsp;Ali Asghar Heidari,&nbsp;Shuihua Wang,&nbsp;Huiling Chen,&nbsp;Yudong Zhang","doi":"10.1002/aisy.202300406","DOIUrl":"10.1002/aisy.202300406","url":null,"abstract":"<p>Grey wolf optimizer (GWO) is a highly valued heuristic algorithm in many fields. However, for some complex problems, especially high-dimensional and multimodal problems, the basic algorithm has limited computational power and cannot get a satisfactory answer. In order to find a better solution, an improved algorithm based on GWO is proposed herein. Gaussian barebone, random selection and chaotic game mechanisms are introduced into the GWO algorithm to enhance the global search ability. The GWO enhanced by three mechanisms is called CBRGWO. To verify the performance of CBRGWO, using IEEE CEC 2017 as a test function, CBRGWO is compared to five GWO variants, five basic algorithms, six advanced algorithms, and four champion algorithms. CBRGWO is evaluated using the Friedman test and Wilcoxon signed-rank test. Then, the stability of CBRGWO is analyzed. To verify that CBRGWO is still effective in practical application, CBRGWO is applied to five engineering problems and a water quality prediction problem. The experimental findings indicate that CBRGWO maintains excellent optimization ability in practical engineering problems.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202300406","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141274355","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
A Bioinspired Robotic Finger for Multimodal Tactile Sensing Powered by Fiber Optic Sensors 由光纤传感器驱动的多模态触觉传感生物启发机器人手指
IF 6.8 Q1 AUTOMATION & CONTROL SYSTEMS Pub Date : 2024-06-02 DOI: 10.1002/aisy.202400175
Baijin Mao, Kunyu Zhou, Yuyaocen Xiang, Yuzhu Zhang, Qiangjing Yuan, Hongwei Hao, Yaozhen Chen, Houde Liu, Xueqian Wang, Xiaohao Wang, Juntian Qu

The rapid advancement of soft robotic technology emphasizes the growing importance of tactile perception. Soft grippers, equipped with tactile sensing, can gather interactive information crucial for safe human–robot interaction, wearable devices, and dexterous manipulation. However, most soft grippers with tactile sensing abilities have limited modes of tactile perception, restricting their dexterity and safety. In addition, existing tactile systems are often complicated, leading to unstable perception signals. Inspired by various organisms, a novel multimodal tactile-sensing soft robotic finger is proposed. This finger, based on a modified fin ray structure, integrates a distributed fiber optic sensing system as part of its tactile sensory neural system. It replicates human finger capabilities, discerning contact forces as low as 0.01 N with exceptional sensitivity (106.96 mN nm−1). Through training neural networks models, the finger achieves an accuracy exceeding 96% in recognizing roughness, material stiffness, and finger pad position. Assembled into two-finger parallel gripper, it demonstrates precise manipulation capabilities for fragile items like strawberries and potato chips. Moreover, through synergistic interplay of multimodal tactile sensing, this finger can successfully grasp an underwater transparent sphere, mitigating limitations of visual perception. The developed soft finger holds promise in various scenarios including hazardous environment detection and specialized grasping tasks.

软体机器人技术的快速发展凸显了触觉感知日益增长的重要性。配备触觉感知功能的软机械手可以收集对安全的人机交互、可穿戴设备和灵巧操作至关重要的交互信息。然而,大多数具有触觉传感能力的软抓手的触觉感知模式有限,限制了其灵巧性和安全性。此外,现有的触觉系统往往比较复杂,导致感知信号不稳定。受各种生物的启发,我们提出了一种新型多模态触觉感应软机械手指。这种手指基于改进的鳍射线结构,集成了分布式光纤传感系统,作为其触觉神经系统的一部分。它复制了人类手指的功能,能以极高的灵敏度(106.96 mN nm-1)分辨低至 0.01 N 的接触力。通过训练神经网络模型,手指在识别粗糙度、材料硬度和指垫位置方面的准确率超过 96%。组装成双指并行抓手后,它对草莓和薯片等易碎物品具有精确的操控能力。此外,通过多模态触觉传感的协同作用,该手指还能成功抓取水下透明球体,缓解了视觉感知的局限性。开发的软手指有望应用于各种场景,包括危险环境检测和特殊抓取任务。
{"title":"A Bioinspired Robotic Finger for Multimodal Tactile Sensing Powered by Fiber Optic Sensors","authors":"Baijin Mao,&nbsp;Kunyu Zhou,&nbsp;Yuyaocen Xiang,&nbsp;Yuzhu Zhang,&nbsp;Qiangjing Yuan,&nbsp;Hongwei Hao,&nbsp;Yaozhen Chen,&nbsp;Houde Liu,&nbsp;Xueqian Wang,&nbsp;Xiaohao Wang,&nbsp;Juntian Qu","doi":"10.1002/aisy.202400175","DOIUrl":"10.1002/aisy.202400175","url":null,"abstract":"<p>The rapid advancement of soft robotic technology emphasizes the growing importance of tactile perception. Soft grippers, equipped with tactile sensing, can gather interactive information crucial for safe human–robot interaction, wearable devices, and dexterous manipulation. However, most soft grippers with tactile sensing abilities have limited modes of tactile perception, restricting their dexterity and safety. In addition, existing tactile systems are often complicated, leading to unstable perception signals. Inspired by various organisms, a novel multimodal tactile-sensing soft robotic finger is proposed. This finger, based on a modified fin ray structure, integrates a distributed fiber optic sensing system as part of its tactile sensory neural system. It replicates human finger capabilities, discerning contact forces as low as 0.01 N with exceptional sensitivity (106.96 mN nm<sup>−1</sup>). Through training neural networks models, the finger achieves an accuracy exceeding 96% in recognizing roughness, material stiffness, and finger pad position. Assembled into two-finger parallel gripper, it demonstrates precise manipulation capabilities for fragile items like strawberries and potato chips. Moreover, through synergistic interplay of multimodal tactile sensing, this finger can successfully grasp an underwater transparent sphere, mitigating limitations of visual perception. The developed soft finger holds promise in various scenarios including hazardous environment detection and specialized grasping tasks.</p>","PeriodicalId":93858,"journal":{"name":"Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)","volume":null,"pages":null},"PeriodicalIF":6.8,"publicationDate":"2024-06-02","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://onlinelibrary.wiley.com/doi/epdf/10.1002/aisy.202400175","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141273794","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 0
期刊
Advanced intelligent systems (Weinheim an der Bergstrasse, Germany)
全部 Acc. Chem. Res. ACS Applied Bio Materials ACS Appl. Electron. Mater. ACS Appl. Energy Mater. ACS Appl. Mater. Interfaces ACS Appl. Nano Mater. ACS Appl. Polym. Mater. ACS BIOMATER-SCI ENG ACS Catal. ACS Cent. Sci. ACS Chem. Biol. ACS Chemical Health & Safety ACS Chem. Neurosci. ACS Comb. Sci. ACS Earth Space Chem. ACS Energy Lett. ACS Infect. Dis. ACS Macro Lett. ACS Mater. Lett. ACS Med. Chem. Lett. ACS Nano ACS Omega ACS Photonics ACS Sens. ACS Sustainable Chem. Eng. ACS Synth. Biol. Anal. Chem. BIOCHEMISTRY-US Bioconjugate Chem. BIOMACROMOLECULES Chem. Res. Toxicol. Chem. Rev. Chem. Mater. CRYST GROWTH DES ENERG FUEL Environ. Sci. Technol. Environ. Sci. Technol. Lett. Eur. J. Inorg. Chem. IND ENG CHEM RES Inorg. Chem. J. Agric. Food. Chem. J. Chem. Eng. Data J. Chem. Educ. J. Chem. Inf. Model. J. Chem. Theory Comput. J. Med. Chem. J. Nat. Prod. J PROTEOME RES J. Am. Chem. Soc. LANGMUIR MACROMOLECULES Mol. Pharmaceutics Nano Lett. Org. Lett. ORG PROCESS RES DEV ORGANOMETALLICS J. Org. Chem. J. Phys. Chem. J. Phys. Chem. A J. Phys. Chem. B J. Phys. Chem. C J. Phys. Chem. Lett. Analyst Anal. Methods Biomater. Sci. Catal. Sci. Technol. Chem. Commun. Chem. Soc. Rev. CHEM EDUC RES PRACT CRYSTENGCOMM Dalton Trans. Energy Environ. Sci. ENVIRON SCI-NANO ENVIRON SCI-PROC IMP ENVIRON SCI-WAT RES Faraday Discuss. Food Funct. Green Chem. Inorg. Chem. Front. Integr. Biol. J. Anal. At. Spectrom. J. Mater. Chem. A J. Mater. Chem. B J. Mater. Chem. C Lab Chip Mater. Chem. Front. Mater. Horiz. MEDCHEMCOMM Metallomics Mol. Biosyst. Mol. Syst. Des. Eng. Nanoscale Nanoscale Horiz. Nat. Prod. Rep. New J. Chem. Org. Biomol. Chem. Org. Chem. Front. PHOTOCH PHOTOBIO SCI PCCP Polym. Chem.
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
0
微信
客服QQ
Book学术公众号 扫码关注我们
反馈
×
意见反馈
请填写您的意见或建议
请填写您的手机或邮箱
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
Book学术官方微信
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术
文献互助 智能选刊 最新文献 互助须知 联系我们:info@booksci.cn
Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。
Copyright © 2023 Book学术 All rights reserved.
ghs 京公网安备 11010802042870号 京ICP备2023020795号-1