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学者姓名：余跃庆
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Abstract ：
We present the first report on automated micro-manipulation of zebrafish embryos using an electrothermally-actuated microgripper. A five-bar linkage compliant microgripper, driven by a V-shaped electrothermal micro-actuator, is designed based on topological optimization. The electrothermally-actuated microgripper is fabricated, tested, and then integrated into a robotic micromanipulation system. The semi-automated manipulation of a single zebrafish embryo, as well as a series of comparison experiments, is carried out. Experimental results demonstrate that the microgripper has reliable capability of picking, moving, holding and releasing the zebrafish embryo. Specifically, it performs fairly well in immobilizing and limiting the excessive deformation of the embryo. Finally, based on teaching, the whole process of zebrafish embryo microinjection is programed and performed automatically, thus demonstrating great strengths and performance of the microgripper in zebrafish embryo micro-manipulation.
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| GB/T 7714 | Zhang, Zhuo , Yu, Yueqing , Song, Peng et al. Automated manipulation of zebrafish embryos using an electrothermal microgripper [J]. | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS , 2020 , 26 (6) : 1823-1834 . |
| MLA | Zhang, Zhuo et al. "Automated manipulation of zebrafish embryos using an electrothermal microgripper" . | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS 26 . 6 (2020) : 1823-1834 . |
| APA | Zhang, Zhuo , Yu, Yueqing , Song, Peng , Zhang, Yatao , Tian, Dongming , Zhang, Huipeng et al. Automated manipulation of zebrafish embryos using an electrothermal microgripper . | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS , 2020 , 26 (6) , 1823-1834 . |
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Abstract ：
The automation methods and technologies of the single cell micro-injection reported in the literature have the common assumption that both the cell and the microtools has already been positioned within the microscopic field of view and well-focused. However, moving the microtools and biological cells from the macro field of view (macro-FOV) into the micro field of view (micro-FOV), and then further moving down into the culture medium and focusing were conducted manually and proved to be time consuming. In this work, we present algorithms and methods to automate this process. An electrothermal microgripper is used for picking and holding a zebrafish embryo instead of traditional micropipette. In order to position the microgripper into the micro-FOV, an extra macro camera is employed such that the microgripper jaws are under the macro-FOV. The micro-FOV is searched by moving the microgripper jaws in a serpentine path and zigzag path, respectively, and the grid-line identification algorithm is proposed to recognize the microgripper jaws that appear in the micro-FOV. Then, a contact detection algorithm is used to determine whether the gripper jaws are in the culture medium or not. Finally, eight algorisms are evaluated and compared to select the algorism with the best performance for auto-focusing the microgripper jaws in the culture medium. Up to 100 experiments are conducted to validate the proposed method for the macro-to-micro positioning and auto focusing of the microgripper jaws with the success rate 100% and 90%, respectively.
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| GB/T 7714 | Su, Liying , Zhang, Huipeng , Wei, Hongmiao et al. Macro-to-micro positioning and auto focusing for fully automated single cell microinjection [J]. | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS , 2020 , 27 (1) : 11-21 . |
| MLA | Su, Liying et al. "Macro-to-micro positioning and auto focusing for fully automated single cell microinjection" . | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS 27 . 1 (2020) : 11-21 . |
| APA | Su, Liying , Zhang, Huipeng , Wei, Hongmiao , Zhang, Zhuo , Yu, Yueqing , Si, Guoning et al. Macro-to-micro positioning and auto focusing for fully automated single cell microinjection . | MICROSYSTEM TECHNOLOGIES-MICRO-AND NANOSYSTEMS-INFORMATION STORAGE AND PROCESSING SYSTEMS , 2020 , 27 (1) , 11-21 . |
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Abstract ：
Extensive research efforts have been made toward automating the microinjection of biological cells by leveraging micro-robotic technologies. However, to best knowledge of the authors, there is no report on the automation of the time-consuming process: moving the injection tools (a micropipette, a grippers, etc.) and cells into the field of view (FOV) of microscope from the macro FOV(outside the microscopic FOV). This paper presents a novel macro-micro conversion strategy, and a grid detection and positioning algorithm to automate the time-consuming step of moving the injection tools and cells to the microscopic FOV. The proposed solution can free the technician from the laborious hand-eye coordination operations for moving the injection tools and cells to the target position within the microscopic FOV. Furthermore, this paper proposes an auto-focusing algorithm to automate the operation step: moving down the gripper from the air outside the culture media and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, the active window-based auto-focusing algorithm is developed to solve the challenging problem: the image information is lost due to the "viscous effect" taking place when the gripper jaw touches the water surface. The proposed solutions are tested and validated by the microinjection experiments of zebrafish embryos using the in-house develop micro-robotic system. The technologies and strategies proposed in this paper significantly improve the automation level of the cell microinjections, and can be easily extended to any other micromanipulation of biological cells.
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| GB/T 7714 | Zhang, Huipeng , Su, Liying , Wei, Hongmiao et al. Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision [C] . 2019 : 652-658 . |
| MLA | Zhang, Huipeng et al. "Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision" . (2019) : 652-658 . |
| APA | Zhang, Huipeng , Su, Liying , Wei, Hongmiao , Yu, Yueqing , Zhang, Xuping . Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision . (2019) : 652-658 . |
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Abstract ：
Microinjection technology has become a common means of injecting foreign materials to a target cell using a sharp-tipped glass micropipette under a microscope in medical and biological related research. Applied forces and injection speed have significant impacts on the success of cell injection. This paper presents the mechanic analysis and injection velocity optimization of cell injection. Firstly, a viscoelastic mechanic model of a compressed cell under puncture is established, the puncture force is analyzed by using ANSYS, and the parameters are identified by MATLAB. Secondly, a linear optimization model is proposed for obtaining the curve of injection velocity versus time by defining the minimum cell deformation as the objective function. Finally, the optimized injection puncture velocity trajectory is calculated by solving the proposed optimization model, and numerical simulations are conducted to demonstrate that the deformation of the cell during the puncture process is reduced with optimized puncture velocity.
Keyword ：
Injection Velocity Optimization Injection Velocity Optimization Cell FEM Cell FEM Cell Puncture Mechanics Cell Puncture Mechanics Cell Microinjection Cell Microinjection
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| GB/T 7714 | Wei, Hongmiao , Su, Liying , Zhang, Huipeng et al. A Mechanic Model and Velocity Optimization of Cell Microinjection [C] . 2019 : 662-667 . |
| MLA | Wei, Hongmiao et al. "A Mechanic Model and Velocity Optimization of Cell Microinjection" . (2019) : 662-667 . |
| APA | Wei, Hongmiao , Su, Liying , Zhang, Huipeng , Yu, Yueqing , Zhang, Xuping . A Mechanic Model and Velocity Optimization of Cell Microinjection . (2019) : 662-667 . |
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Abstract ：
Automated cell immobilization is a key technology in robotic single cell manipulation. In the existing automation methods of cell immobilization, the microinjection tools (microgripper or micropipette) and the cells need to be manually put into the culture media, and then the microgripper or micropipette is automated to gradually approach the plane in which the center of the cell is located in order to clamp or adsorb the cells to immobilize cell. This paper presents a novel technology that is capable of automatically moving down the gripper into the culture media from the outside air environment, and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, an active window-based auto-focusing algorithm is developed to solve the challenging problem: the image information is lost due to the "viscous effect" taking place when the gripper jaw touches the water surface and enters the culture media. The proposed algorithm are tested and validated by the immobilization experiments of zebrafish embryos using the in-house develop micro-robotic system. The proposed algorithm in this paper can help firmly immobilize cells, significantly improve the automation of micromanipulation, and reduce the working intensity of the labors.
Keyword ：
computer vision computer vision active window-based auto-focusing algorithm active window-based auto-focusing algorithm automated cell immobilization automated cell immobilization
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| GB/T 7714 | Zhang, Huipeng , Su, Liying , Wei, Hongmiao et al. A Novel Auto-Focusing Algorithm for Automated Cell Immobilization [C] . 2019 : 656-661 . |
| MLA | Zhang, Huipeng et al. "A Novel Auto-Focusing Algorithm for Automated Cell Immobilization" . (2019) : 656-661 . |
| APA | Zhang, Huipeng , Su, Liying , Wei, Hongmiao , Yu, Yueqing , Zhang, Xuping . A Novel Auto-Focusing Algorithm for Automated Cell Immobilization . (2019) : 656-661 . |
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Abstract ：
Automated cell immobilization is a key technology in robotic single cell manipulation. In the existing automation methods of cell immobilization, the microinjection tools (microgripper or micropipette) and the cells need to be manually put into the culture media, and then the microgripper or micropipette is automated to gradually approach the plane in which the center of the cell is located in order to clamp or adsorb the cells to immobilize cell. This paper presents a novel technology that is capable of automatically moving down the gripper into the culture media from the outside air environment, and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, an active window-based auto-focusing algorithm is developed to solve the challenging problem: the image information is lost due to the 'viscous effect' taking place when the gripper jaw touches the water surface and enters the culture media. The proposed algorithm are tested and validated by the immobilization experiments of zebrafish embryos using the in-house develop micro-robotic system. The proposed algorithm in this paper can help firmly immobilize cells, significantly improve the automation of micromanipulation, and reduce the working intensity of the labors. © 2019 IEEE.
Keyword ：
Molecular biology Molecular biology Grippers Grippers Robotics Robotics Cells Cells Cell immobilization Cell immobilization Microrobots Microrobots Focusing Focusing Computer vision Computer vision
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| GB/T 7714 | Zhang, Huipeng , Su, Liying , Wei, Hongmiao et al. A Novel Auto-Focusing Algorithm for Automated Cell Immobilization [C] . 2019 : 656-661 . |
| MLA | Zhang, Huipeng et al. "A Novel Auto-Focusing Algorithm for Automated Cell Immobilization" . (2019) : 656-661 . |
| APA | Zhang, Huipeng , Su, Liying , Wei, Hongmiao , Yu, Yueqing , Zhang, Xuping . A Novel Auto-Focusing Algorithm for Automated Cell Immobilization . (2019) : 656-661 . |
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Abstract ：
Extensive research efforts have been made toward automating the microinjection of biological cells by leveraging micro-robotic technologies. However, to best knowledge of the authors, there is no report on the automation of the time-consuming process: moving the injection tools (a micropipette, a grippers, etc.) and cells into the field of view (FOV) of microscope from the macro FOV(outside the microscopic FOV). This paper presents a novel macro-micro conversion strategy, and a grid detection and positioning algorithm to automate the time-consuming step of moving the injection tools and cells to the microscopic FOV. The proposed solution can free the technician from the laborious hand-eye coordination operations for moving the injection tools and cells to the target position within the microscopic FOV. Furthermore, this paper proposes an auto-focusing algorithm to automate the operation step: moving down the gripper from the air outside the culture media and then precisely clamping a cell in the liquid environment for injection. In the proposed solution, the active window-based auto-focusing algorithm is developed to solve the challenging problem: the image information is lost due to the 'viscous effect' taking place when the gripper jaw touches the water surface. The proposed solutions are tested and validated by the microinjection experiments of zebrafish embryos using the in-house develop micro-robotic system. The technologies and strategies proposed in this paper significantly improve the automation level of the cell microinjections, and can be easily extended to any other micromanipulation of biological cells. © 2019 IEEE.
Keyword ：
Robotics Robotics Comminution Comminution Intelligent robots Intelligent robots Cells Cells Micromanipulators Micromanipulators Cytology Cytology Grippers Grippers Microrobots Microrobots Agricultural robots Agricultural robots Computer vision Computer vision
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| GB/T 7714 | Zhang, Huipeng , Su, Liying , Wei, Hongmiao et al. Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision [C] . 2019 : 652-658 . |
| MLA | Zhang, Huipeng et al. "Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision" . (2019) : 652-658 . |
| APA | Zhang, Huipeng , Su, Liying , Wei, Hongmiao , Yu, Yueqing , Zhang, Xuping . Automated Macro-Micro Manipulation for Robotic Microinjection with Computer Vision . (2019) : 652-658 . |
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Abstract ：
The kinematic and dynamic analysis of compliant mechanisms is investigated comprehensively in this work. Based on the pseudo-rigid-body model, a new PR model is proposed to simulate both the lateral and axial deformations of flexural beams in compliant mechanisms. An optimization for the characteristic factors and a linear regression for the stiffness coefficients of PR pseudo-rigid-body model are presented. Compared with the 1R and 2R pseudo-rigid-body model, the advantage of the PR model is well illustrated. The dynamic modeling of flexible beams in compliant mechanisms is then developed based on the PR pseudo-rigid-body model. The dynamic equation of a PR pseudo-rigid-body dynamic model is derived and the dynamic responses are then presented. The kinematic and dynamic analysis of a compliant slider-crank mechanism is presented by the 1R, 2R and PR model, respectively. The effectiveness of pseudo-rigid-body models and the superiorities of the PR pseudo-rigid-body model and PR pseudo-rigid-body dynamic model are shown clearly in the numerical example.
Keyword ：
kinematics and dynamics kinematics and dynamics lateral and axial deformation lateral and axial deformation Compliant mechanism Compliant mechanism pseudo-rigid-body model pseudo-rigid-body model flexural beam flexural beam
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| GB/T 7714 | Yu, Yue-Qing , Zhou, Peng , Xu, Qi-Ping . Kinematic and dynamic analysis of compliant mechanisms considering both lateral and axial deformations of flexural beams [J]. | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2019 , 233 (3) : 1007-1020 . |
| MLA | Yu, Yue-Qing et al. "Kinematic and dynamic analysis of compliant mechanisms considering both lateral and axial deformations of flexural beams" . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE 233 . 3 (2019) : 1007-1020 . |
| APA | Yu, Yue-Qing , Zhou, Peng , Xu, Qi-Ping . Kinematic and dynamic analysis of compliant mechanisms considering both lateral and axial deformations of flexural beams . | PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART C-JOURNAL OF MECHANICAL ENGINEERING SCIENCE , 2019 , 233 (3) , 1007-1020 . |
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Abstract ：
There have been significant interests and efforts in the field of impedance control on robotic manipulation over last decades. Impedance control aims to achieve the desired mechanical interaction between the robotic equipment and its environment. This paper gives the overview and comparison of basic concepts and principles, implementation strategies, crucial techniques, and practical applications concerning the impedance control of robotic manipulation. This work attempts to serve as a tutorial to people outside the field and to promote discussion of a unified vision of impedance control within the field of robotic manipulation. The goal is to help readers quickly get into the problems of their interests related to impedance control of robotic manipulation and to provide guidance and insights in finding appropriate strategies and solutions.
Keyword ：
Human-robot interaction Human-robot interaction Interaction control Interaction control Impedance control Impedance control Force control Force control Robotic manipulation Robotic manipulation
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| GB/T 7714 | Song, Peng , Yu, Yueqing , Zhang, Xuping . A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation [J]. | ROBOTICA , 2019 , 37 (5) : 801-836 . |
| MLA | Song, Peng et al. "A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation" . | ROBOTICA 37 . 5 (2019) : 801-836 . |
| APA | Song, Peng , Yu, Yueqing , Zhang, Xuping . A Tutorial Survey and Comparison of Impedance Control on Robotic Manipulation . | ROBOTICA , 2019 , 37 (5) , 801-836 . |
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Abstract ：
A study on the dynamic modeling and performance for compliant mechanisms with inflection beams is presented. Based on the pseudo-rigid-body model (PRBM), a 5R Dynamic PRBM (5R D-PRBM) is proposed for the flexural beams with inflection points. The dynamic equation of the 5R D-PRBM is derived using Lagrangian equation. Numerical investigations on the dynamic responses of the flexural beam with an inflection point are presented by the 5R D-PRBM. The advantage of the new model is illustrated comparing with ADAMS simulation. An example of compliant parallel-guiding mechanism is presented using the 5R D-PRBM. (C) 2019 Elsevier Ltd. All rights reserved.
Keyword ：
Compliant mechanism Compliant mechanism Dynamic modeling Dynamic modeling Dynamic PRBM Dynamic PRBM Pseudo-rigid-body model (PRBM) Pseudo-rigid-body model (PRBM) Inflection beam Inflection beam
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| GB/T 7714 | Yu, Yue-Qing , Zhang, Na . Dynamic modeling and performance of compliant mechanisms with inflection beams [J]. | MECHANISM AND MACHINE THEORY , 2019 , 134 : 455-475 . |
| MLA | Yu, Yue-Qing et al. "Dynamic modeling and performance of compliant mechanisms with inflection beams" . | MECHANISM AND MACHINE THEORY 134 (2019) : 455-475 . |
| APA | Yu, Yue-Qing , Zhang, Na . Dynamic modeling and performance of compliant mechanisms with inflection beams . | MECHANISM AND MACHINE THEORY , 2019 , 134 , 455-475 . |
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