Rotational Manipulation Research Articles

Rotational manipulation of paramecium using a semi-capsule-shaped bubble with an adjustable volume actuated by acoustic waves

Acoustically actuated bubbles provide a versatile and non-invasive approach for manipulating microorganisms in fluid. However, the susceptibility of the bubble volume to environment and the complex intersecting vortices of the oscillation of hemispherical bubbles reduce the stability of micromanipulation of ellipsoid-like organisms. This study involves an on-chip rotational manipulation device for rotating ellipsoid-like organisms, which utilizes parallel microstreaming vortices that are generated with acoustically actuated semi-capsule-shaped bubbles. In addition, a relatively stable volume of the semi-capsule-shaped bubble with tolerances about 5 % is realized by adjusting the gas diffusion between the bubble and the gas channel. Characterized experiments using polystyrene particles of 10 μm demonstrate that two pairs of significant out-of-plane parallel microstreaming vortices can be generated near the short or long side of a semi-capsule-shaped bubble at acoustic driving frequencies of 11.23 kHz and 13.97 kHz, respectively. The vortices effectively induce rotation both for the spherical particles and the ellipsoid-like paramecia in fluid. Compared to oscillating hemispherical bubbles, acoustically actuated semi-capsule-shaped bubbles offer a more stable attitude of the rotation axis and even rotation velocity for paramecia. The acoustically actuated semi-capsule-shaped bubbles offer a label-free method for rotational manipulation of ellipsoid-like organisms, characterized by good stability, adaptability, and biocompatibility.

Efficacy and Safety of Shi Cervical Rotational Manipulation in Patients With Atlantoaxial Joint Subluxation: Protocol for a Randomized Controlled Trial.

The clinical diagnosis of atlantoaxial joint subluxation (AJS) in traditional Chinese medicine (TCM) is characterized by an unequal distance between the lateral mass of the atlas and the odontoid process on imaging, resulting in neck pain accompanied by symptoms such as dizziness, headache, and limited cervical mobility. In Shanghai, Shi cervical rotational manipulation (SCRM) is a commonly employed TCM manual therapy for treating this condition. Nevertheless, there is a lack of evidence-based medical information regarding the clinical efficacy and safety of this technique. The principal aim of this study is to evaluate the efficacy and safety of SCRM in patients diagnosed with AJS. This study is a prospective randomized controlled clinical trial that will be conducted at a single center and that has a follow-up period of 24 weeks. A total of 96 patients diagnosed with AJS will be recruited from outpatient and inpatient clinics at Shanghai Baoshan Hospital of Integrated Traditional Chinese and Western Medicine. These patients will be randomly assigned to either the experimental group (SCRM) or the comparison group (basic cervical manipulation [BCM]). Treatment sessions consisting of SCRM or BCM will be administered twice a week for a duration of 4 weeks. Clinical monitoring indicators include the presence or absence of clinical symptoms as recorded on a symptom recording form, cervical imaging examination findings using cervical computed tomography, degree of neck pain measured by a visual analog scale (VAS), cervical range of motion assessed through cervical mobility measurement, degree of vertigo evaluated using the Vertigo Symptoms Scale-Chinese Version (VSS-C), and adverse events that may occur during the follow-up period. The time points for data collection and follow-up are baseline and postintervention (weeks 4, 8, 12, 16, 20, and 24). This paper presents an overview of the reasoning and structure of a prospective randomized controlled trial with the objective of investigating the clinical efficacy and safety of SCRM in patients with AJS by assessing improvements in clinical symptoms, neck pain severity, and vertigo severity and evaluating changes in cervical imaging findings. Recruitment was started in March 2023. By the end of May 2024, 76 patients were included in this project. The last follow-up data are predicted to be collected by the end of February 2025. This investigation will yield dependable evidence regarding the efficacy and safety of SCRM in patients with AJS. Chinese Clinical Trial Registry ChiCTR2300068510; https://www.chictr.org.cn/showprojEN.html?proj=186883. DERR1-10.2196/57865.

Exploring Visual-Auditory Redirected Walking Using Auditory Cues in Reality.

We examine the effect of auditory cues occurring in reality on redirection. Specifically, we set two hypotheses: the auditory cues emanating from fixed positions in reality (Fixed sound, FS) increase the noticeability of redirection, while the auditory cues whose positions are manipulated consistently with the visual manipulation (Redirected sound, RDS) decrease the noticeability of redirection. To verify these hypotheses, we implemented an experimental environment that virtually reproduced FS and RDS conditions using binaural recording, and then we conducted a user study ( N=18) to investigate the detection thresholds (DTs) for rotational manipulation and the sound localization accuracy of the auditory cues under FS and RDS, as well as the baseline condition without auditory cues (No sound, NS). The results show, against the hypotheses, FS gave a wider range of DTs than NS, while RDS gave a similar range of DTs to NS. Combining these results with those of sound localization accuracy reveals that, rather than the auditory cues affecting the participants' spatial perception in VR, the visual manipulation made their sound localization less accurate, which would be a reason for the increased range of DTs under FS. Furthermore, we conducted a follow-up user study ( N=11) to measure the sound localization accuracy of FS where the auditory cues were actually placed in a real setting, and we found that the accuracy tended to be similar to that of virtually reproduced FS, suggesting the validity of the auditory cues used in this study. Given these findings, we also discuss potential applications.

A New Approach of Steganography on Image Metadata

In this paper, we introduce a novel method, Steganography on Image Metadata (SIM), to tackle the problem of robustness modification in steganography. The SIM method works by embedding messages into the metadata storage space of digital media. Metadata is information embedded in a file that explains the file's content. The advantage of this method is that it does not alter the pixel values in the image, ensuring no degradation in media quality, and the secret message remains secure even when robustness manipulations are applied to the stego-image. To enhance data security, this paper also suggests using Fernet cryptography for message encryption during the embedding process into the cover-image. According to experimental evaluations, the SIM technique can attain a maximum PSNR value of 100 dB and an outstanding MSE value of 0. All robustness manipulation issues in steganography can be effectively addressed using the SIM method. Test results demonstrate that the SIM method can withstand symmetric and asymmetric cropping manipulations down to a pixel size of 1x1, and the message can still be extracted. Testing with image rotation manipulation also proves that the message can be successfully extracted even when the stego-image is rotated up to 180 degrees. Experiments with image resizing manipulation also confirm that the message can be recovered even when the stego-image undergoes up to 90% compression. Testing with color effects applied to the image also does not affect message extraction results.

Manipulation of rotation for triangular plasma photonic crystals in dielectric barrier discharge

Rotation manipulation in the fields of metamaterials and metasurfaces has led to a variety of striking properties. Here, we propose an efficient scheme for realizing rotation-controllable plasma metamaterials in dielectric barrier discharge. Rotating triangular plasma photonic crystals (RTPPCs) are obtained by self-organization of filaments in simply ambient air. Independent control of the angular velocity and the lattice constant of RTPPCs is realized. A phenomenological reaction–diffusion model with two coupled layers is established to reveal the underlying mechanism of RTPPCs. Moreover, the changes in the bandgaps with angular reorientation of RTPPCs are demonstrated by using microwave diagnosis. Experimental observations and numerical simulations are in good agreement. Our method provides an additional degree of freedom to tailor plasma metamaterials, which may find potential applications, such as integrated optical components, wireless communications, precision radiolocation, time-resolved imaging, and sensing.

Bidirectional and Stepwise Rotation of Cells and Particles Using Induced Charge Electroosmosis Vortexes.

The rotation of cells is of significant importance in various applications including bioimaging, biophysical analysis and microsurgery. Current methods usually require complicated fabrication processes. Herein, we proposed an induced charged electroosmosis (ICEO) based on a chip manipulation method for rotating cells. Under an AC electric field, symmetric ICEO flow microvortexes formed above the electrode surface can be used to trap and rotate cells. We have discussed the impact of ICEO and dielectrophoresis (DEP) under the experimental conditions. The capabilities of our method have been tested by investigating the precise rotation of yeast cells and K562 cells in a controllable manner. By adjusting the position of cells, the rotation direction can be changed based on the asymmetric ICEO microvortexes via applying a gate voltage to the gate electrode. Additionally, by applying a pulsed signal instead of a continuous signal, we can also precisely and flexibly rotate cells in a stepwise way. Our ICEO-based rotational manipulation method is an easy to use, biocompatible and low-cost technique, allowing rotation regardless of optical, magnetic or acoustic properties of the sample.

Kinematic-driven human-robot interaction system with deep learning for flexible acupuncture needling manipulations

Acupuncture is an important therapeutic method in traditional Chinese medicine and essentially characterized by flexible needling manipulations that are complicated for repetitions. In this work, we designed a bio-inspired acupuncture robot combined with human–machine interaction system that can implement flexible and precise needle manipulations as manual acupuncture. In the proposed framework, the manual needling process was recorded with online imaging techniques. With a deep learning-based acupuncture estimator, kinetic parameters of lift insertion (LI) and twist rotation (TR) manipulations were extracted in three-dimensional space and the precent of correct key points for operator’s hand pose estimation achieved 94.03%. It is founded that the variation of operator’s finger vector angle for LI manipulation was much weaker than TR manipulation. Furthermore, inspired by kinematic characteristics of manual acupuncture, a six-degree-of-freedom robot was used to simulate the coordinated motion of hand joints in needling manipulations through robot kinematics analysis and trajectory planning with polynomial interpolation method. Numerical and experiential results showed that the acupuncture robot can mimic various needling manipulations as manual acupuncture. The flexibility and stability of the robotic acupuncture framework were evaluated for a wide range of needling parameters. It was demonstrated that the robot can follow the periodic dynamics of LI and TR manipulations with various frequencies and amplitudes, and perform accurate acupuncture operations with smooth needling trajectories as joint jitters during needle manipulations were completely eliminated. The presented results provide a new strategy for modern applications of acupuncture treatment with robotic and flexible needling manipulations to improve the therapeutic efficacy.

High-Precise Metallic Helical Microstructure Fabrication by Rotational Nanorobotic Manipulation System With Tilted Mandrel Compensation

High-Precise Metallic Helical Microstructure Fabrication by Rotational Nanorobotic Manipulation System With Tilted Mandrel Compensation

A vibrating capillary for ultrasound rotation manipulation of zebrafish larvae.

Multifunctional micromanipulation systems have garnered significant attention due to the growing interest in biological and medical research involving model organisms like zebrafish (Danio rerio). Here, we report a novel acoustofluidic rotational micromanipulation system that offers rapid trapping, high-speed rotation, multi-angle imaging, and 3D model reconstruction of zebrafish larvae. An ultrasound-activated oscillatory glass capillary is used to trap and rotate a zebrafish larva. Simulation and experimental results demonstrate that both the vibrating mode and geometric placement of the capillary contribute to the developed polarized vortices along the long axis of the capillary. Given its capacities for easy-to-operate, stable rotation, avoiding overheating, and high-throughput manipulation, our system poses the potential to accelerate zebrafish-directed biomedical research.

Dual-band transmission polarization conversion metasurface and its reconfigurable-phase design

Although abundant transmission polarization conversion metasurfaces (T-PCMs) have been reported, a dual-band T-PCM has only received little attention. Moreover, a reconfigurable-phase design of the T-PCMs is limited to a single-frequency band operation. There is hardly any literature to integrate dual-band and reconfigurable-phase features into a T-PCM. Herein, a dual-band T-PCM is presented based on the Fabry-Pérot-like resonant cavity. Particularly, the T-PCM meta-atom contains dual anisotropic patches distributed in different layers, and the novel dual-patch structure introduces multiple current modes to implement dual-band operation. Further, a reconfigurable-phase design of the dual-band meta-atom is performed, and four PIN diodes are embedded in each meta-atom to realize a 1-bit reconfigurable phase. In this way, the T-PCM meta-atom can simultaneously achieve high-efficiency 90° polarization rotation and 1-bit dynamic phase manipulation in 2.3–3.0 GHz and 4.4–7.5 GHz. By changing the encoding of the T-PCM, both cross-polarized transmission and beam manipulation are demonstrated in two divided bands. A sample is fabricated and measured to validate our design, and the results confirm the simulations. With the advantages of ingenious design and a clear operation mechanism, the novel dual-patch structure can be extended to the terahertz and optics regimes.

Rotation manipulation of high-order PT-symmetry for robust wireless power transfer

Magnetic resonance coupling plays an important role in the non-radiative wireless power transfer without cables. However, the basic near-field coupling also has some key limitations on the resonance wireless power transfer (WPT). On the one hand, when the transfer distance is short, the eigenfrequencies of the WPT system will split because of the strong near-field coupling between the resonance transmitter and receiver. On the other hand, although the working frequency is fixed for the long-distance case, the transfer efficiency will be significantly dropped for the weak coupling strength. Therefore, a long-captivated problem of the resonance WPT systems is that it is difficult to balance the fixed working frequency and high efficiency of the devices. In this work, we put forward the composite transmitter with a pair of resonance coils of different size. By assisting the rotational degrees of freedom in the composite transmitter, a high-order parity-time-symmetric non-Hermitian system can be established. Especially, in contrast to the conventional resonance WPT scheme, the robust WPT can maintain fixed working frequency and efficiency over a varying transfer distance in the optimized WPT system with composite transmitter, since this eigenfrequency is insensitive to the operational conditions. Our findings demonstrate that the composite transmitter possesses better performance for WPT than its single counterpart, offering the opportunities for engineering novel designer electromagnetic transfer states with unique robustness.

Switchable rotation of metal nanostructures in an intensity chirality-invariant focus field.

Light-induced rotation is a fundamental motion form that is of great significance for flexible and multifunctional manipulation modes. However, current optical rotation by a single optical field is mostly unidirectional, where switchable rotation manipulation is still challenging. To address this issue, we demonstrate a switchable rotation of non-spherical nanostructures within a single optical focus field. Interestingly, the intensity of the focus field is chiral invariant. The rotation switch is a result of the energy flux reversal in front and behind the focal plane. We quantitatively analyze the optical force exerted on a metal nanorod at different planes, as well as the surrounding energy flux. Our experimental results indicate that the direct switchover of rotational motion is achievable by adjusting the relative position of the nanostructure to the focal plane. This result enriches the basic motion mode of micro-manipulation and is expected to create potential opportunities in many application fields, such as biological cytology and optical micromachining.

Comparison of biomechanical parameters of two Chinese cervical spine rotation manipulations based on motion capture and finite element analysis.

Objective: The purpose of this study was to obtain the stress-strain of the cervical spine structure during the simulated manipulation of the oblique pulling manipulation and the cervical rotation-traction manipulation in order to compare the mechanical mechanism of the two manipulations. Methods: A motion capture system was used to record the key kinematic parameters of operating the two manipulations. At the same time, a three-dimensional finite element model of the C0-T1 full healthy cervical spine was established, and the key kinematic parameters were loaded onto the finite element model in steps to analyze and simulate the detailed process of the operation of the two manipulations. Results: A detailed finite element model of the whole cervical spine including spinal nerve roots was established, and the validity of this 3D finite element model was verified. During the stepwise simulation of the two cervical spine rotation manipulations to the right, the disc (including the annulus fibrosus and nucleus pulposus) and facet joints stresses and displacements were greater in the oblique pulling manipulation group than in the cervical rotation-traction manipulation group, while the spinal cord and nerve root stresses were greater in the cervical rotation-traction manipulation group than in the oblique pulling manipulation group. The spinal cord and nerve root stresses in the cervical rotation-traction manipulation group were mainly concentrated in the C4/5 and C5/6 segments. Conclusion: The oblique pulling manipulation may be more appropriate for the treatment of cervical spondylotic radiculopathy, while cervical rotation-traction manipulation is more appropriate for the treatment of cervical spondylosis of cervical type. Clinicians should select cervical rotation manipulations for different types of cervical spondylosis according to the patient's symptoms and needs.

APPLICATIONS OF ROTATIONAL MANIPULATORS IN THE MANUFACTURE AND CHARACTERIZATION OF HIGHLY CURVED THIN FILMS

AbstractWhat do common devices such as smartphones, CD’s and solar panels all have in common? They are all examples of innovative technology that is still limited to flat, rigid geometries. This is primarily due to the limitations of the manufacturing processes used to create components within these devices, key among them the thin polymer films produced through spin coating.Spin coating is a technique used due to its ability to effectively create uniform films on the scale of micro or nanometres. However, it relies on a planar substrate to produce uniform layers, thus restricting the design of components manufactured using this process to simple, flat objects. As the requirement for curved device geometries expands, complex alternative fabrication methods are being implemented in industry.For spin coating to remain relevant, a viable process for controlling the fluid flow over curved surfaces must be developed. This research investigates the hypothesis that coating distributions can be controlled through optimized rotation of a curved substrate. Where a multi-axis rotational manipulator and novel characterization system have been developed to investigate the fabrication of curved devices using the improved spin coating technique.

Acceptor/π-bridge planarization and donor rotation manipulation for designing an NIR-II AIEgen with high photothermal conversion efficiency to enhance cancer phototherapy

Aggregation-induced emission luminogens (AIEgens) with second near infrared (NIR-II) fluorescence and photothermal therapy (PTT) have recently attracted great research interest. The formidable challenge, the competing balance between radiation-mediated NIR-II fluorescence imaging and non-radiation NIR-PTT, prevents the development of efficient NIR-II AIEgens. In this study, a quite strong photothermal agent TPTQ is developed via rational design, which involves planarizing acceptor and π-bridge and rotating donor. The strong electron-withdrawing moiety 6, 7-diphenyl-[1,2,5]thiadiazolo[3,4-g]quinoxaline is selected as the acceptor and thiophene is fabricated as the π-bridge. The planarization of π-bridge and acceptor units can enhance the intramolecular charge transfer effect, which makes TPTQ possess a long imaging wavelength longer than 1300 nm. Moreover, phenothiazine is utilized as the donor and triphenylamine is engineered on the donor part as a rotor to optimize the AIE-active characteristic and photothermal conversion efficiency of TPTQ. Notably, the TPTQ nanoparticles (NPs) achieve the highest photothermal conversion efficiency of 73.32% among the reported photothermal agents with NIR-II fluorescence imaging capability. Extensive tests in vivo indicate that the constructed TPTQ NPs can not only serve as a superior NIR-II fluorescence imaging (FLI) for the blood vessels of mice but also be successfully applied in 4T1 tumor-xenografted mice for the outstanding photothermal imaging (PTI), demonstrating distinguished FLI-guided photothermal tumoricidal capability. Herein, the smart design of acceptor/π-bridge planarization and donor rotation provide a new approach of developing highly effective NIR-II photothermal therapeutic agents.

SonoRotor: An Acoustic Rotational Robotic Platform for Zebrafish Embryos and Larvae

Rotation manipulation is an essential component of biological microscopy and can become integral to multidisciplinary research and applications. On-chip rotation of microobjects with spherical shapes like biological cells and model organisms has been demonstrated based on advanced microfluidic techniques. To date, however, biocompatible, easy-to-fabricate, easy-to-operate, and controlled rotation of small animal models with slender bodies remains a challenge. Here, we present SonoRotor, a miniaturized acoustic rotation platform for animal models using a single elongated acoustically activated air bubble. In the presence of an acoustic field, the trapped elongated air bubble oscillates and induces a polarized vortex in the surrounding liquid. Zebrafish embryos (spherical) and larvae (slender), typically larger than hundreds of micrometers, become trapped near the oscillating bubble and undergo a controllable, high-speed, and stable out-of-plane rotation. By controlling the voltage applied to our device, we can adjust the rotation speed of the zebrafish. The developed acoustic rotation manipulation platform is simple, cost-effective, allows multiview imaging, high-throughput operation, and can be combined with downstream analytical techniques to perform a variety of biological micromanipulation on small animal models.

Microscopic theory of Raman scattering for the rotational organic cation in metal halide perovskites

A gap exists in the microscopic understanding the dynamic properties of the rotational organic cation (ROC) in the inorganic framework of the metal halide perovskites (MHP) to date. Herein, we develop a microscopic theory of Raman scattering for the ROC in MHP based on the angular momentum of a ROC exchanging with that of the photon and phonon. We systematically present the selection rules for the angular momentum transfer among the three lowest rotational levels. We find that the phonon angular momentum that arises from the inorganic framework and its specific values could be directly manifested by Stokes (or anti-Stokes) shift. Moreover, the initial orientation of the ROC and its preferentially rotational directions could be judged in Raman spectra. This study lays the theoretical foundation for the high-precision resolution and manipulation of molecular rotation immersed in the many-body environment by Raman technique.

Noncontact Manipulation of Intracellular Structure Based on Focused Surface Acoustic Waves

Cell orientation is essential in many applications in biology, medicine, and chemistry, such as cellular injection, intracellular biopsy, and genetic screening. However, the manual cell orientation technique is a trial-and-error approach, which suffers from low efficiency and low accuracy. Although several techniques have improved these issues to a certain extent, they still face problems deforming or disrupting cell membranes, physical damage to the intracellular structure, and limited particle size. This study proposes a noncontact and noninvasive cell orientation method that rotates a cell using surface acoustic waves (SAWs). To realize the acoustic cell orientation process, we have fabricated a microdevice consisting of two pairs of focused interdigital transducers (FIDTs). Instead of rotating the entire cell, the proposed method rotates the intracellular structure, the cytoplasm, directly through the cell membrane by acoustic force. We have tested the rotational manipulation process on 30 zebrafish embryos. The system was able to orientate a cell to a target orientation with a one-time success rate of 93%. Furthermore, the postoperation survival rate was 100%. Our acoustic rotational manipulation technique is noninvasive and easy to use, which provides a starting point for cell-manipulation-essential tasks, such as single-cell analysis, organism studies, and drug discovery.

Optical trapping and manipulation of massive particles based on spatial diffraction of a 45° tilted fiber Bragg grating.

In this work, we proposed an optical trapping and manipulation technology based on spatial diffraction of 45° tilted fiber Bragg grating (TFBG). The length of the line-shape-facula of the TFBG diffraction light can be as large as tens of millimeters, which enables the TFBG trapping system control massive dielectric particles. We analyze the light distribution of the spatial diffraction by using the volume current method (VCM) and established a theoretical model to analyze the optical trapping force of TFBG based on the ray tracing method (RTM). Then, we designed several optical trapping schemes, with two-, three- and four-TFBGs respectively. Numeral simulation indicates that only the scheme with axisymmetric layout of TFBGs can achieve stable particle trapping. We comprehensively analyze the trapping force distribution of four- TFBG scheme with different influence factors. In addition, the rotation manipulation based on the two- and four- TFBGs schemes are also demonstrated. The proposed optical trapping technology open a new route for massive particles trapping and manipulation.

A Novel Two-Degree-of-Freedom Gimbal for Dynamic Laser Weeding: Design, Analysis, and Experimentation

Current robotic laser weeding systems mostly rely on serial mechanisms with one or two actuated axes, which can barely meet the requirements of high precision and dynamic performances. In this article, a novel laser weeding gimbal is proposed based on a two-degree-of-freedom 5-revolute rotational parallel manipulator to perform a dynamic intrarow laser weeding operation. Comprehensive analyses consisting of kinematics, workspace, singularity, and dynamics are carried out to evaluate the performance of the proposed design. Finally, experimental tests were conducted both in lab and field environments and the results are provided, in which the positioning accuracy has been evaluated as in average errors of 0.62 mm in position at the distance of 535 mm, and the dynamic weeding efficiency is around 0.72 s/weed with a dwell time of 0.64 s at the tracking speed of 0.1 m/s. The effectiveness of the proposed dynamic intrarow weeding mechanism has been evaluated in a real field trial.