BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related mark...BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related markers may help to predict the risk of LREs.AIM To evaluate the value of LSM and its composite biomarkers[LSM-platelet ratio(LPR),LSM-albumin ratio(LAR)]in predicting LREs.METHODS This study retrospectively enrolled compensated viral cirrhosis patients with CSPH.The Cox regression model was employed to examine the prediction of LSM,LPR,and LAR for LREs.The model performance was assessed through receiver operating characteristic,decision curve,and time-dependent area under the curve analysis.The Kaplan-Meier curve was used to evaluate the cumulative incidence of LREs,and further stratified analysis of different LREs was per-formed.RESULTS A total of 598 patients were included,and 319 patients(53.3%)developed LREs during follow-up.Multivariate proportional hazards modeling demonstrated that LSM,LPR,and LAR were independent predictors of LREs.LPR had better performance in predicting LREs than LAR and LSM(area under the curve=0.780,0.727,0.683,respectively,all P<0.05).The cumulative incidence of LREs in the high-risk group were significantly higher than that in the low-risk group(P<0.001).Among the different LREs,LPR was superior to LSM and LAR in predicting liver decompensation,while the difference in predicting hepatocellular carcinoma and liver-related death was relatively small.CONCLUSION LPR is superior to LSM and LAR in predicting LREs in compensated viral cirrhosis patients with CSPH,especially in predicting liver decompensation.展开更多
Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source fo...Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source for NPC survival,but the effects and underlying mechanisms of increased extracellular matrix(ECM)stiffness on NPC glycolysis remain unknown.In this study,hydrogels with different stiffness were established to mimic the mechanical environment of NPCs.Notably,increased matrix stiffness in degenerated NP tissues from IVDD patients was accompanied with impaired glycolysis,and NPCs cultured on rigid substrates exhibited a reduction in glycolysis.展开更多
An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-...An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-of-freedom (DOF) system is used as an example to propose a stiffness gradient-based evaluation method, taking the effective control bandwidth ratio as a metric of effectiveness. The results show that there is an optimal mass ratio in both variable mass and variable stiffness cases. Then, a typical 16-DOF system is used to investigate the frequency domain characteristics of the stiffness gradient values in the complex system. The distributions of stiffness gradient values show multiple peak intervals corresponding to the sensitive regions for vibration control. By assigning random mass parameters, a significant exponential decay relationship between the subsystem’s mass and effective control is identified, emphasizing the importance of the optimal mass ratio. The finite-element simulation results of solid plate models with springs and oscillators further validate the theoretical results. In short, the gradient value of stiffness effectively quantifies the effects of subsystems on vibration control, providing an analytical tool for active control in complex systems. The identified exponential decay relationship offers meaningful guidance for implementation strategies.展开更多
Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving ...Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving QZS suffer from low stiffness regions and significant nonlinear restoring forces with hardening characteristics,often struggling to withstand excitations with high amplitude.This paper presents a novel QZS vibration isolator that utilizes a more compact spring-rod mechanism(SRM)to provide primary negative stiffness.The nonlinearity of SRM is adjustable via altering the raceway of its spring-rod end,along with the compensatory force provided by the cam-roller mechanism so as to avoid complex nonlinear behaviors.The absolute zero stiffness can be achieved by a well-designed raceway curve with a concise mathematical expression.The nonlinear stiffness with softening properties can also be achieved by parameter adjustment.The study begins with the forcedisplacement relationship of the integrated mechanism first,followed by the design theory of the cam profile.The dynamic response and absolute displacement transmissibility of the isolation system are obtained based on the harmonic balance method.The experimental results show that the proposed vibration isolator maintains relatively low-dynamic stiffness even under non-ideal conditions,and exhibits enhanced vibration isolation performance compared to the corresponding linear isolator.展开更多
Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between ...Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between coarser and finer particles,this research differentiates the stiffness distribution of gap-graded soils from the perspective of contact and particle types.Results indicate that particle property disparity significantly influence the small-strain stiffness characteristics,consequently altering the overall stiffness distribution in gap-graded soil specimens.Specifically,with the equivalent coarser particle property,an increase in particle Young's modulus of finer particles results in an augmentation of small-strain stiffness values,alongside an increased stiffness distribution contribution from finer particles.Nevertheless,this study reveals that even with a higher particle Young's modulus of finer particles,the proportion of small-strain stiffness transferred by finer particles remains consistently lower than their volume fraction.Furthermore,the proportion of stiffness transferred by finer particles may fall below their contribution to stress transmission.This investigation accentuates the subtle yet significant effects of particle property variations on small strain stiffness and its subsequent distribution,providing a foundation for advancing the significance of particle property disparities in evaluating soil responses.展开更多
The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand...The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand(CTS)and natural soft shale were subjected to unconfined compression and splitting tensile strength tests for evaluation of unconfined compressive strength(UCS,qu),initial small-strain Young’s modulus(Eo)using linear displacement transducers(LDT)up to a small strain of 0.001%,and secant elastic modulus(E_(50))using linear variable differential transducers(LVDTs)up to a large strain of 6%before and after reproduced laboratory weathering(RLW)cycles(-20℃e-110℃).The results showed that eight F-T cycles caused a reduction in q_(u),E_(50) and E_(o),which was 8.6,15.1,and 14.5 times for the CTS,and 2.2,3.5,and 5.3 times for the natural shale,respectively.The tensile strength of the CTS and natural rock samples exhibited a degradation of 5.4 times(after the 8th RLW cycle)and 2.7 times(after the 15th RLW cycle),respectively.Novel correlations have been developed to predict Eo(response)from the parameters qu and E_(50)(predictors)using MATLAB software's curve fitter.The findings of this study will assist in the design of foundations in soft rocks subjected to freezing and thawing.The analysis of variance(ANOVA)indicated 95%confidence in data health for the design of retaining walls,building foundations,excavation in soft rock,large-diameter borehole stability,and transportation tunnels in rocks for an operational strain range of 0.1%e0.01%(using LVDT)and a reference strain of less than 0.001%(using LDT).展开更多
Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases re...Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases remain the leading cause of death worldwide.Many factors influence the rate of arterial aging.Research results have confirmed that arterial wall stiffness increases with an increasing number of risk factors,[4]as each of them acts independently through various mechanisms,adversely affecting the structure and function of the cardiovascular system.展开更多
BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature...BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature,there has been growing interest in identifying noninvasive alternatives.Transient elastography offers a promising approach for measuring liver stiffness and spleen stiffness,which can help estimate the likelihood of decompensation in patients with chronic liver disease.AIM To investigate the predictive ability of the liver stiffness measurement(LSM)and spleen stiffness measurement(SSM)in conjunction with other noninvasive indicators for clinical decompensation in patients suffering from compensatory cirrhosis and portal hypertension.METHODS This study was a retrospective analysis of the clinical data of 200 patients who were diagnosed with viral cirrhosis and who received computed tomography,transient elastography,ultrasound,and endoscopic examinations at The Second Affiliated Hospital of Xi’an Jiaotong University between March 2020 and November 2022.Patient classification was performed in accordance with the Baveno VI consensus.The area under the curve was used to evaluate and compare the predictive accuracy across different patient groups.The diagnostic effectiveness of several models,including the liver stiffness-spleen diameter-platelet ratio,variceal risk index,aspartate aminotransferase-alanine aminotransferase ratio,Baveno Ⅵ criteria,and newly developed models,was assessed.Additionally,decision curve analysis was carried out across a range of threshold probabilities to evaluate the clinical utility of these predictive factors.RESULTS Univariate and multivariate analyses demonstrated that SSM,LSM,and the spleen length diameter(SLD)were linked to clinical decompensation in individuals with viral cirrhosis.On the basis of these findings,a predictive model was developed via logistic regression:Ln[P/(1-P)]=-4.969-0.279×SSM+0.348×LSM+0.272×SLD.The model exhibited strong performance,with an area under the curve of 0.944.At a cutoff value of 0.56,the sensitivity,specificity,positive predictive value,and negative predictive value for predicting clinical decompensation were 85.29%,88.89%,87.89%,and 86.47%,respectively.The newly developed model demonstrated enhanced accuracy in forecasting clinical decompensation among patients suffering from viral cirrhosis when compared to four previously established models.CONCLUSION Noninvasive models utilizing SSM,LSM,and SLD are effective in predicting clinical decompensation among patients with viral cirrhosis,thereby reducing the need for unnecessary hepatic venous pressure gradient testing.展开更多
Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it...Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it is still difficult to achieve a simplified structure suitable for practical engineering applications.Here,we introduce a class of programmable QZS metamaterials and a novel design mechanism that address this long-standing difficulty.The proposed QZS metamaterials are formed by an array of representative unit cells(RUCs)with the expected QZS features,where the QZS features of the RUC are tailored by means of a structural bionic mechanism.In our experiments,we validate the QZS features exhibited by the RUCs,the programmable QZS behavior,and the potential promising applications of these programmable QZS metamaterials in low-frequency vibration isolation.The obtained results could inspire a new class of programmable QZS metamaterials for low-frequency vibration isolation in current and future mechanical and other engineering applications.展开更多
A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that th...A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that the loading parameters(initial normal stress,normal stiffness,and shear velocity)determine propagation paths of the wing and secondary cracks in rock bridges during the initial shear cycle,creating different morphologies of macroscopic step-path rupture surfaces and asperities on them.The differences in stress state and rupture surface induce different cyclic shear responses.It shows that high initial normal stress accelerates asperity degradation,raises shear resistance,and promotes compression of intermittent joints.In addition,high normal stiffness provides higher normal stress and shear resistance during the initial cycles and inhibits the dilation and compression of intermittent joints.High shear velocity results in a higher shear resistance,greater dilation,and greater compression.Finally,shear strength is most sensitive to initial normal stress,followed by shear velocity and normal stiffness.Moreover,average dilation angle is most sensitive to initial normal stress,followed by normal stiffness and shear velocity.During the shear cycles,frictional coefficient is affected by asperity degradation,backfilling of rock debris,and frictional area,exhibiting a non-monotonic behavior.展开更多
Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to p...Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to providing physical support for cells, the extracellular matrix also conveys critical mechanical stiffness cues. During the development of the nervous system, extracellular matrix stiffness plays a central role in guiding neuronal growth, particularly in the context of axonal extension, which is crucial for the formation of neural networks. In neural tissue engineering, manipulation of biomaterial stiffness is a promising strategy to provide a permissive environment for the repair and regeneration of injured nervous tissue. Recent research has fine-tuned synthetic biomaterials to fabricate scaffolds that closely replicate the stiffness profiles observed in the nervous system. In this review, we highlight the molecular mechanisms by which extracellular matrix stiffness regulates axonal growth and regeneration. We highlight the progress made in the development of stiffness-tunable biomaterials to emulate in vivo extracellular matrix environments, with an emphasis on their application in neural repair and regeneration, along with a discussion of the current limitations and future prospects. The exploration and optimization of the stiffness-tunable biomaterials has the potential to markedly advance the development of neural tissue engineering.展开更多
Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design o...Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples consider the variable stiffness design optimization of typical non-perforated and perforated composite laminates with circular, square, and irregular holes, and systematically discuss the number of candidate discrete fiber laying angles, discrete fiber continuous filtering strategies, and filter radius on structural compliance, continuity, and manufacturability. The optimized discrete fiber angles of variable stiffness laminates are converted into continuous fiber laying paths using a streamlined process for continuous fiber additive manufacturing. Meanwhile, the optimized non-perforated and perforated MBB beams after discrete fiber continuous treatment, are manufactured using continuous fiber co-extrusion additive manufacturing technology to verify the effectiveness of the variable stiffness fiber optimization framework proposed in this paper.展开更多
Groundwater quality is pivotal for sustainable resource management,necessitating comprehen-sive investigation to safeguard this critical resource.This study introduces a novel methodology that inte-grates stiff diagra...Groundwater quality is pivotal for sustainable resource management,necessitating comprehen-sive investigation to safeguard this critical resource.This study introduces a novel methodology that inte-grates stiff diagrams,geostatistical analysis,and geometric computation to delineate the extent of a confined aquifer within the Chahrdoly aquifer,located west of Hamadan,Iran.For the first time,this approach combines these tools to map the boundaries of a confined aquifer based on hydrochemical characteristics.Stiff diagrams were used to calculate geometric parameters from groundwater chemistry data,followed by simulation using a linear model incorporating the semivariogram parameterγ(h).The Root Mean Square Error(RMSE)of the linear model was used to differentiate confined from unconfined aquifers based on hydrochemical signatures.Validation was conducted by generating a cross-sectional hydrogeological layer from well logs,confirming the presence of aquitard layers.The results successufully delineated the confined aquifer's extent,showing strong agreement with hydrogeological log data.By integrating stiff diagrams with semivariogram analysis,this study enhances the understanding of hydrochemical processes,offering a robust framework for groundwater resource identification and management.展开更多
BACKGROUND Shear wave elastography(SWE)is a non-invasive ultrasound-based technique used to assess tissue stiffness,which reflects underlying pathological changes.While SWE has been widely applied for liver fibrosis e...BACKGROUND Shear wave elastography(SWE)is a non-invasive ultrasound-based technique used to assess tissue stiffness,which reflects underlying pathological changes.While SWE has been widely applied for liver fibrosis evaluation,its application to other abdominal organs,such as the spleen and pancreas,is gaining interest.However,normal stiffness values and inter-system agreement remain poorly defined.AIM To assess the feasibility and agreement of liver,spleen,and pancreas stiffness using three SWE methods.METHODS This single-center observational study enrolled 50 healthy adult volunteers.Liver,spleen,and pancreas stiffness were assessed using three SWE methods:Point-SWE(p-QElaXto)and 2-Dimensional-SWE(2D-QElaXto)with Esaote MyLab 9,and 2D-SWE with SuperSonic Imagine.Feasibility,inter-operator reproducibility,and concordance among systems were evaluated.Stiffness was expressed as median kPa values,and technical reliability was assessed using the interquartile range/median ratio and stability index thresholds.RESULTS Liver and spleen stiffness assessment was feasible in>98%of patients,while pancreas stiffness was measurable in 84%-88%depending on the SWE technique.Mean liver stiffness ranged between 3.9-4.7 kPa across techniques,spleen stiffness ranged from 19.4-23.0 kPa,and pancreas stiffness from 5.2-7.6 kPa.Inter-operator agreement was excellent for liver(intraclass correlation coefficient>0.90)and good to moderate for spleen and pancreas(intraclass correlation coefficient from 0.43 to 0.90).Bland-Altman analysis confirmed good correlation but also systematic differences among devices,especially in pancreas measurements.CONCLUSION This is the first study to establish normal liver,spleen,and pancreas stiffness using MyLab 9 SWE integrated methods as compared to SuperSonic Imagine,with acceptable inter-technique agreement.Liver and spleen values matched existing guidelines;pancreas SWE showed more variability and reduced reproducibility.展开更多
Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex ...Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex 3D structures.By adjusting light exposure,it becomes possible to control the mechanical properties of the structure,a critical factor in modulating cell activities.To better mimic cell densities in real tissues,recent progress has been made in achieving high-cell-density(HCD)printing with high resolution.However,regulating the stiffness in HCD constructs remains challenging.The large volume of cells greatly affects the light-based DLP bioprinting by causing light absorption,reflection,and scattering.Here,we introduce a neural network-based machine learning technique to predict the stiffness of cell-laden hydrogel scaffolds.Using comprehensive mechanical testing data from 3D bioprinted samples,the model was trained to deliver accurate predictions.To address the demand of working with precious and costly cell types,we employed various methods to ensure the generalizability of the model,even with limited datasets.We demonstrated a transfer learning method to achieve good performance for a precious cell type with a reduced amount of data.The chosen method outperformed many other machine learning techniques,offering a reliable and efficient solution for stiffness prediction in cell-laden scaffolds.This breakthrough paves the way for the next generation of precision bioprinting and more customized tissue engineering.展开更多
Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to ...Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to avoid collision and improve the flexibility of the robots,this study proposes a reconfigurable cable-driven parallel robot(RCDPR)having characteristics of large load-to-weight ratio,easy modularity and variable stiffness.Adjustable brackets are connected to the moving platform to adjust the position of the pull-out point with the movement of the end-effector.In addition,a variable stiffness actuator(VSA)accompanied by finite element analysis is designed to optimize the cable tension to adapt different task requirements.Firstly,a new idea of reconfiguration is given,and an inverse kinematic model is established using the vector closure principle to derive its inverse kinematic expressions focusing on one of the configurations.Second,the VSA is attached to each cable to achieve stiffness adjustment,and the system stiffness is derived in detail.Finally,the rationality and accuracy of the robot are verified through numerical analysis,providing a reference for subsequent trajectory planning with implications.展开更多
Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of mo...Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of motion,these increases could be optimized by imposing an additional activation of the muscle,such as mechanical vibratory stimulation.While several original articles provide promising findings,contradictory results on flexibility and underlying mechanisms(e.g.,stiffness),reasonable effect size(ES)pooling remains scarce.With this work we systematically reviewed the available literature to explore the possibility of potentiating flexibility,stiffness,and passive torque adaptations by superimposing mechanical vibration stimulation.Methods:A systematic search of 4 databases(Web of Science,MEDLINE,Scopus,and Cochrane Public Library)was conducted until December2023 to identify studies comparing mechanical vibratory interventions with passive controls or the same intervention without vibration(sham)on range of motion and passive muscle stiffness in acute(immediate effects after single session)and chronic conditions(multiple sessions over a period of time).ES pooling was conducted using robust variance estimation via R to account for multiple study outcomes.Potential moderators of effects were analyzed using meta regression.Results:Overall,65 studies(acute:1162 participants,chronic:788 participants)were included.There was moderate certainty of evidence for acute flexibility(ES=0.71,p<0.001)and stiffness(ES=-0.89,p=0.006)effects of mechanical vibration treatments vs.passive controls without meaningful results against the sham condition(flexibility:ES=0.20,p<0.001;stiffness:ES=-0.19,p=0.076).Similarly,moderate certainty of evidence was found for chronic vibration effects on flexibility(control:ES=0.64,p=0.043;sham:ES=0.65,p<0.001).Lack of studies and large outcome heterogeneity prevented ES pooling for underlying mechanisms.Conclusion:Vibration improved flexibility in acute and chronic interventions compared to the stand-alone intervention,which can possibly be attributed to an accumulated mechanical stimulus through vibration.However,studies on biological mechanisms are needed to explain flexibility and stiffness effects in response to specific vibration modalities and timing.展开更多
Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex...Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.展开更多
In subsurface projects where the host rock is of low permeability,fractures play an important role in fluid circulation.Both the geometrical and mechanical properties of the fracture are relevant to the permeability o...In subsurface projects where the host rock is of low permeability,fractures play an important role in fluid circulation.Both the geometrical and mechanical properties of the fracture are relevant to the permeability of the fracture.To evaluate this relationship,we numerically generated self-affine fractures reproducing the scaling relationship of the power spectral density(PSD)of the measured fracture surfaces.The fractures were then subjected to a uniform and stepwise increase in normal stress.A fast Fourier transform(FFT)-based elastic contact model was used to simulate the fracture closure.The evolution of fracture contact area,fracture closure,and fracture normal stiffness were determined throughout the whole process.In addition,the fracture permeability at each step was calculated by the local cubic law(LCL).The influences of roughness exponent and correlation length on the fracture hydraulic and mechanical behaviors were investigated.Based on the power law of normal stiffness versus normal stress,the corrected cubic law and the linear relationship between fracture closure and mechanical aperture were obtained from numerical modeling of a set of fractures.Then,we derived a fracture normal stiffness-permeability equation which incorporates fracture geometric parameters such as the root-mean-square(RMS),roughness exponent,and correlation length,which can describe the fracture flow under an effective medium regime and a percolation regime.Finally,we interpreted the flow transition behavior from the effective medium regime to the percolation regime during fracture closure with the established stiffness-permeability function.展开更多
基金Supported by the High-Level Chinese Medicine Key Discipline Construction Project,No.zyyzdxk-2023005Capital’s Funds for Health Improvement and Research,No.2024-1-2173+2 种基金National Natural Science Foundation of China,No.82474419 and No.82474426Beijing Municipal Natural Science Foundation,No.7232272Beijing Traditional Chinese Medicine Technology Development Fund Project,No.BJZYZD-2023-12.
文摘BACKGROUND Clinically significant portal hypertension(CSPH)is a crucial prognostic deter-minant for liver-related events(LREs)in patients with compensated viral cir-rhosis.Liver stiffness measurement(LSM)-related markers may help to predict the risk of LREs.AIM To evaluate the value of LSM and its composite biomarkers[LSM-platelet ratio(LPR),LSM-albumin ratio(LAR)]in predicting LREs.METHODS This study retrospectively enrolled compensated viral cirrhosis patients with CSPH.The Cox regression model was employed to examine the prediction of LSM,LPR,and LAR for LREs.The model performance was assessed through receiver operating characteristic,decision curve,and time-dependent area under the curve analysis.The Kaplan-Meier curve was used to evaluate the cumulative incidence of LREs,and further stratified analysis of different LREs was per-formed.RESULTS A total of 598 patients were included,and 319 patients(53.3%)developed LREs during follow-up.Multivariate proportional hazards modeling demonstrated that LSM,LPR,and LAR were independent predictors of LREs.LPR had better performance in predicting LREs than LAR and LSM(area under the curve=0.780,0.727,0.683,respectively,all P<0.05).The cumulative incidence of LREs in the high-risk group were significantly higher than that in the low-risk group(P<0.001).Among the different LREs,LPR was superior to LSM and LAR in predicting liver decompensation,while the difference in predicting hepatocellular carcinoma and liver-related death was relatively small.CONCLUSION LPR is superior to LSM and LAR in predicting LREs in compensated viral cirrhosis patients with CSPH,especially in predicting liver decompensation.
基金supported by the National Nature Science Foundation of China(No.82002345 to J.D and 81902179 to L.S)the Gusu Talent Program(No.Qngg2022008 and GSWS2021027 to J.D)the Preliminary Research Project of the Second Affiliated Hospital of Soochow University(No.SDFEYBS1905 to J.D).
文摘Increased matrix stiffness of nucleus pulposus(NP)tissue is a main feature of intervertebral disc degeneration(IVDD)and affects various functions of nucleus pulposus cells(NPCs).Glycolysis is the main energy source for NPC survival,but the effects and underlying mechanisms of increased extracellular matrix(ECM)stiffness on NPC glycolysis remain unknown.In this study,hydrogels with different stiffness were established to mimic the mechanical environment of NPCs.Notably,increased matrix stiffness in degenerated NP tissues from IVDD patients was accompanied with impaired glycolysis,and NPCs cultured on rigid substrates exhibited a reduction in glycolysis.
基金Project supported by the National Natural Science Foundation of China(Nos.52241103 and 52322505)the Natural Science Foundation of Hunan Province of China(No.2023JJ10055)。
文摘An analytical method is proposed with the “stiffness gradient of the response” as a sensitivity metric, and the relationships between the vibration responses and stiffness changes are established. First, a 2-degree-of-freedom (DOF) system is used as an example to propose a stiffness gradient-based evaluation method, taking the effective control bandwidth ratio as a metric of effectiveness. The results show that there is an optimal mass ratio in both variable mass and variable stiffness cases. Then, a typical 16-DOF system is used to investigate the frequency domain characteristics of the stiffness gradient values in the complex system. The distributions of stiffness gradient values show multiple peak intervals corresponding to the sensitive regions for vibration control. By assigning random mass parameters, a significant exponential decay relationship between the subsystem’s mass and effective control is identified, emphasizing the importance of the optimal mass ratio. The finite-element simulation results of solid plate models with springs and oscillators further validate the theoretical results. In short, the gradient value of stiffness effectively quantifies the effects of subsystems on vibration control, providing an analytical tool for active control in complex systems. The identified exponential decay relationship offers meaningful guidance for implementation strategies.
基金supported by the National Natural Science Foundation of China(Grant No.11732006)the“Qinglan Project”of Jiangsu Higher Education Institutions.
文摘Quasi-zero stiffness(QZS)isolators have received considerable attention over the past years due to their outstanding vibration isolation performance in low-frequency bands.However,traditional mechanisms for achieving QZS suffer from low stiffness regions and significant nonlinear restoring forces with hardening characteristics,often struggling to withstand excitations with high amplitude.This paper presents a novel QZS vibration isolator that utilizes a more compact spring-rod mechanism(SRM)to provide primary negative stiffness.The nonlinearity of SRM is adjustable via altering the raceway of its spring-rod end,along with the compensatory force provided by the cam-roller mechanism so as to avoid complex nonlinear behaviors.The absolute zero stiffness can be achieved by a well-designed raceway curve with a concise mathematical expression.The nonlinear stiffness with softening properties can also be achieved by parameter adjustment.The study begins with the forcedisplacement relationship of the integrated mechanism first,followed by the design theory of the cam profile.The dynamic response and absolute displacement transmissibility of the isolation system are obtained based on the harmonic balance method.The experimental results show that the proposed vibration isolator maintains relatively low-dynamic stiffness even under non-ideal conditions,and exhibits enhanced vibration isolation performance compared to the corresponding linear isolator.
基金Financial supports from the PolyU Distinguished Postdoctoral Fellowship Scheme are highly appreciatedsupported by the National Natural Science Foundation of China (Grant No.52201008)the Fundamental Research Funds for the Central Universities,the State Key Laboratory of Particle Detection and Electronics (Grant No.SKLPDE-KF-202311).
文摘Utilizing the Discrete Element Method,this research studied the stiffness distribution of gap-graded soils by modifying the conventional static method.By acknowledging the inherent particle property disparity between coarser and finer particles,this research differentiates the stiffness distribution of gap-graded soils from the perspective of contact and particle types.Results indicate that particle property disparity significantly influence the small-strain stiffness characteristics,consequently altering the overall stiffness distribution in gap-graded soil specimens.Specifically,with the equivalent coarser particle property,an increase in particle Young's modulus of finer particles results in an augmentation of small-strain stiffness values,alongside an increased stiffness distribution contribution from finer particles.Nevertheless,this study reveals that even with a higher particle Young's modulus of finer particles,the proportion of small-strain stiffness transferred by finer particles remains consistently lower than their volume fraction.Furthermore,the proportion of stiffness transferred by finer particles may fall below their contribution to stress transmission.This investigation accentuates the subtle yet significant effects of particle property variations on small strain stiffness and its subsequent distribution,providing a foundation for advancing the significance of particle property disparities in evaluating soil responses.
文摘The deterioration of soft rocks caused by freeze-thaw(F-T)climatic cycles results in huge structural and financial loss for foundation systems placed on soft rocks prone to F-T actions.In this study,cementtreated sand(CTS)and natural soft shale were subjected to unconfined compression and splitting tensile strength tests for evaluation of unconfined compressive strength(UCS,qu),initial small-strain Young’s modulus(Eo)using linear displacement transducers(LDT)up to a small strain of 0.001%,and secant elastic modulus(E_(50))using linear variable differential transducers(LVDTs)up to a large strain of 6%before and after reproduced laboratory weathering(RLW)cycles(-20℃e-110℃).The results showed that eight F-T cycles caused a reduction in q_(u),E_(50) and E_(o),which was 8.6,15.1,and 14.5 times for the CTS,and 2.2,3.5,and 5.3 times for the natural shale,respectively.The tensile strength of the CTS and natural rock samples exhibited a degradation of 5.4 times(after the 8th RLW cycle)and 2.7 times(after the 15th RLW cycle),respectively.Novel correlations have been developed to predict Eo(response)from the parameters qu and E_(50)(predictors)using MATLAB software's curve fitter.The findings of this study will assist in the design of foundations in soft rocks subjected to freezing and thawing.The analysis of variance(ANOVA)indicated 95%confidence in data health for the design of retaining walls,building foundations,excavation in soft rock,large-diameter borehole stability,and transportation tunnels in rocks for an operational strain range of 0.1%e0.01%(using LVDT)and a reference strain of less than 0.001%(using LDT).
文摘Arterial stiffness is considered an important indicator reflecting age-related changes in the vascular wall[1]and the risk of developing comorbidities,[2]primarily cardiovascular diseases.[3]Cardiovascular diseases remain the leading cause of death worldwide.Many factors influence the rate of arterial aging.Research results have confirmed that arterial wall stiffness increases with an increasing number of risk factors,[4]as each of them acts independently through various mechanisms,adversely affecting the structure and function of the cardiovascular system.
基金Supported by Xi’an Science and Technology Plan,No.23YXYJ0172.
文摘BACKGROUND The hepatic venous pressure gradient serves as a crucial parameter for assessing portal hypertension and predicting clinical decompensation in individuals with cirrhosis.However,owing to its invasive nature,there has been growing interest in identifying noninvasive alternatives.Transient elastography offers a promising approach for measuring liver stiffness and spleen stiffness,which can help estimate the likelihood of decompensation in patients with chronic liver disease.AIM To investigate the predictive ability of the liver stiffness measurement(LSM)and spleen stiffness measurement(SSM)in conjunction with other noninvasive indicators for clinical decompensation in patients suffering from compensatory cirrhosis and portal hypertension.METHODS This study was a retrospective analysis of the clinical data of 200 patients who were diagnosed with viral cirrhosis and who received computed tomography,transient elastography,ultrasound,and endoscopic examinations at The Second Affiliated Hospital of Xi’an Jiaotong University between March 2020 and November 2022.Patient classification was performed in accordance with the Baveno VI consensus.The area under the curve was used to evaluate and compare the predictive accuracy across different patient groups.The diagnostic effectiveness of several models,including the liver stiffness-spleen diameter-platelet ratio,variceal risk index,aspartate aminotransferase-alanine aminotransferase ratio,Baveno Ⅵ criteria,and newly developed models,was assessed.Additionally,decision curve analysis was carried out across a range of threshold probabilities to evaluate the clinical utility of these predictive factors.RESULTS Univariate and multivariate analyses demonstrated that SSM,LSM,and the spleen length diameter(SLD)were linked to clinical decompensation in individuals with viral cirrhosis.On the basis of these findings,a predictive model was developed via logistic regression:Ln[P/(1-P)]=-4.969-0.279×SSM+0.348×LSM+0.272×SLD.The model exhibited strong performance,with an area under the curve of 0.944.At a cutoff value of 0.56,the sensitivity,specificity,positive predictive value,and negative predictive value for predicting clinical decompensation were 85.29%,88.89%,87.89%,and 86.47%,respectively.The newly developed model demonstrated enhanced accuracy in forecasting clinical decompensation among patients suffering from viral cirrhosis when compared to four previously established models.CONCLUSION Noninvasive models utilizing SSM,LSM,and SLD are effective in predicting clinical decompensation among patients with viral cirrhosis,thereby reducing the need for unnecessary hepatic venous pressure gradient testing.
基金supported by the National Natural Science Foundation of China(52332006)the National Key Research and Development Program of China(2022YFB380600 and 2023YFB3811401)+1 种基金the China Postdoctoral Science Foundation(2022M721850)Southwest United Graduate School Research Program(202302AO370008)。
文摘Quasi-zero-stiffness(QZS)metamaterials have attracted significant interest for application in low-frequency vibration isolation.However,previous work has been limited by the design mechanism of QZS metamaterials,as it is still difficult to achieve a simplified structure suitable for practical engineering applications.Here,we introduce a class of programmable QZS metamaterials and a novel design mechanism that address this long-standing difficulty.The proposed QZS metamaterials are formed by an array of representative unit cells(RUCs)with the expected QZS features,where the QZS features of the RUC are tailored by means of a structural bionic mechanism.In our experiments,we validate the QZS features exhibited by the RUCs,the programmable QZS behavior,and the potential promising applications of these programmable QZS metamaterials in low-frequency vibration isolation.The obtained results could inspire a new class of programmable QZS metamaterials for low-frequency vibration isolation in current and future mechanical and other engineering applications.
基金financially supported by the National Natural Science Foundation of China(Grant No.42172292)Taishan Scholars Project Special Funding,and Shandong Energy Group(Grant No.SNKJ 2022A01-R26).
文摘A conceptual model of intermittent joints is introduced to the cyclic shear test in the laboratory to explore the effects of loading parameters on its shear behavior under cyclic shear loading.The results show that the loading parameters(initial normal stress,normal stiffness,and shear velocity)determine propagation paths of the wing and secondary cracks in rock bridges during the initial shear cycle,creating different morphologies of macroscopic step-path rupture surfaces and asperities on them.The differences in stress state and rupture surface induce different cyclic shear responses.It shows that high initial normal stress accelerates asperity degradation,raises shear resistance,and promotes compression of intermittent joints.In addition,high normal stiffness provides higher normal stress and shear resistance during the initial cycles and inhibits the dilation and compression of intermittent joints.High shear velocity results in a higher shear resistance,greater dilation,and greater compression.Finally,shear strength is most sensitive to initial normal stress,followed by shear velocity and normal stiffness.Moreover,average dilation angle is most sensitive to initial normal stress,followed by normal stiffness and shear velocity.During the shear cycles,frictional coefficient is affected by asperity degradation,backfilling of rock debris,and frictional area,exhibiting a non-monotonic behavior.
基金supported by the Natio`nal Natural Science Foundation of China,No. 81801241a grant from Sichuan Science and Technology Program,No. 2023NSFSC1578Scientific Research Projects of Southwest Medical University,No. 2022ZD002 (all to JX)。
文摘Neuronal growth, extension, branching, and formation of neural networks are markedly influenced by the extracellular matrix—a complex network composed of proteins and carbohydrates secreted by cells. In addition to providing physical support for cells, the extracellular matrix also conveys critical mechanical stiffness cues. During the development of the nervous system, extracellular matrix stiffness plays a central role in guiding neuronal growth, particularly in the context of axonal extension, which is crucial for the formation of neural networks. In neural tissue engineering, manipulation of biomaterial stiffness is a promising strategy to provide a permissive environment for the repair and regeneration of injured nervous tissue. Recent research has fine-tuned synthetic biomaterials to fabricate scaffolds that closely replicate the stiffness profiles observed in the nervous system. In this review, we highlight the molecular mechanisms by which extracellular matrix stiffness regulates axonal growth and regeneration. We highlight the progress made in the development of stiffness-tunable biomaterials to emulate in vivo extracellular matrix environments, with an emphasis on their application in neural repair and regeneration, along with a discussion of the current limitations and future prospects. The exploration and optimization of the stiffness-tunable biomaterials has the potential to markedly advance the development of neural tissue engineering.
基金supports for this research were provided by the National Natural Science Foundation of China(No.12272301,12002278,U1906233)the Guangdong Basic and Applied Basic Research Foundation,China(Nos.2023A1515011970,2024A1515010256)+1 种基金the Dalian City Supports Innovation and Entrepreneurship Projects for High-Level Talents,China(2021RD16)the Key R&D Project of CSCEC,China(No.CSCEC-2020-Z-4).
文摘Fiber-reinforced composites are an ideal material for the lightweight design of aerospace structures. Especially in recent years, with the rapid development of composite additive manufacturing technology, the design optimization of variable stiffness of fiber-reinforced composite laminates has attracted widespread attention from scholars and industry. In these aerospace composite structures, numerous cutout panels and shells serve as access points for maintaining electrical, fuel, and hydraulic systems. The traditional fiber-reinforced composite laminate subtractive drilling manufacturing inevitably faces the problems of interlayer delamination, fiber fracture, and burr of the laminate. Continuous fiber additive manufacturing technology offers the potential for integrated design optimization and manufacturing with high structural performance. Considering the integration of design and manufacturability in continuous fiber additive manufacturing, the paper proposes linear and nonlinear filtering strategies based on the Normal Distribution Fiber Optimization (NDFO) material interpolation scheme to overcome the challenge of discrete fiber optimization results, which are difficult to apply directly to continuous fiber additive manufacturing. With minimizing structural compliance as the objective function, the proposed approach provides a strategy to achieve continuity of discrete fiber paths in the variable stiffness design optimization of composite laminates with regular and irregular holes. In the variable stiffness design optimization model, the number of candidate fiber laying angles in the NDFO material interpolation scheme is considered as design variable. The sensitivity information of structural compliance with respect to the number of candidate fiber laying angles is obtained using the analytical sensitivity analysis method. Based on the proposed variable stiffness design optimization method for complex perforated composite laminates, the numerical examples consider the variable stiffness design optimization of typical non-perforated and perforated composite laminates with circular, square, and irregular holes, and systematically discuss the number of candidate discrete fiber laying angles, discrete fiber continuous filtering strategies, and filter radius on structural compliance, continuity, and manufacturability. The optimized discrete fiber angles of variable stiffness laminates are converted into continuous fiber laying paths using a streamlined process for continuous fiber additive manufacturing. Meanwhile, the optimized non-perforated and perforated MBB beams after discrete fiber continuous treatment, are manufactured using continuous fiber co-extrusion additive manufacturing technology to verify the effectiveness of the variable stiffness fiber optimization framework proposed in this paper.
文摘Groundwater quality is pivotal for sustainable resource management,necessitating comprehen-sive investigation to safeguard this critical resource.This study introduces a novel methodology that inte-grates stiff diagrams,geostatistical analysis,and geometric computation to delineate the extent of a confined aquifer within the Chahrdoly aquifer,located west of Hamadan,Iran.For the first time,this approach combines these tools to map the boundaries of a confined aquifer based on hydrochemical characteristics.Stiff diagrams were used to calculate geometric parameters from groundwater chemistry data,followed by simulation using a linear model incorporating the semivariogram parameterγ(h).The Root Mean Square Error(RMSE)of the linear model was used to differentiate confined from unconfined aquifers based on hydrochemical signatures.Validation was conducted by generating a cross-sectional hydrogeological layer from well logs,confirming the presence of aquitard layers.The results successufully delineated the confined aquifer's extent,showing strong agreement with hydrogeological log data.By integrating stiff diagrams with semivariogram analysis,this study enhances the understanding of hydrochemical processes,offering a robust framework for groundwater resource identification and management.
文摘BACKGROUND Shear wave elastography(SWE)is a non-invasive ultrasound-based technique used to assess tissue stiffness,which reflects underlying pathological changes.While SWE has been widely applied for liver fibrosis evaluation,its application to other abdominal organs,such as the spleen and pancreas,is gaining interest.However,normal stiffness values and inter-system agreement remain poorly defined.AIM To assess the feasibility and agreement of liver,spleen,and pancreas stiffness using three SWE methods.METHODS This single-center observational study enrolled 50 healthy adult volunteers.Liver,spleen,and pancreas stiffness were assessed using three SWE methods:Point-SWE(p-QElaXto)and 2-Dimensional-SWE(2D-QElaXto)with Esaote MyLab 9,and 2D-SWE with SuperSonic Imagine.Feasibility,inter-operator reproducibility,and concordance among systems were evaluated.Stiffness was expressed as median kPa values,and technical reliability was assessed using the interquartile range/median ratio and stability index thresholds.RESULTS Liver and spleen stiffness assessment was feasible in>98%of patients,while pancreas stiffness was measurable in 84%-88%depending on the SWE technique.Mean liver stiffness ranged between 3.9-4.7 kPa across techniques,spleen stiffness ranged from 19.4-23.0 kPa,and pancreas stiffness from 5.2-7.6 kPa.Inter-operator agreement was excellent for liver(intraclass correlation coefficient>0.90)and good to moderate for spleen and pancreas(intraclass correlation coefficient from 0.43 to 0.90).Bland-Altman analysis confirmed good correlation but also systematic differences among devices,especially in pancreas measurements.CONCLUSION This is the first study to establish normal liver,spleen,and pancreas stiffness using MyLab 9 SWE integrated methods as compared to SuperSonic Imagine,with acceptable inter-technique agreement.Liver and spleen values matched existing guidelines;pancreas SWE showed more variability and reduced reproducibility.
基金supported in part by the National Institutes of Health(Nos.R01HD112026 and R21ES034455)National Science Foundation(NSF,Nos.2135720 and 2223669)performed at San Diego Nanotechnology Infrastructure(SDNI)of UCSD,a member of the National Nanotechnology Coordinated Infrastructure(NNCI),which is supported by NSF(Grant No.ECCS-2025752).
文摘Bioprinting of cell-laden hydrogels is a rapidly growing field in tissue engineering.The advent of digital light processing(DLP)three-dimensional(3D)bioprinting technique has revolutionized the fabrication of complex 3D structures.By adjusting light exposure,it becomes possible to control the mechanical properties of the structure,a critical factor in modulating cell activities.To better mimic cell densities in real tissues,recent progress has been made in achieving high-cell-density(HCD)printing with high resolution.However,regulating the stiffness in HCD constructs remains challenging.The large volume of cells greatly affects the light-based DLP bioprinting by causing light absorption,reflection,and scattering.Here,we introduce a neural network-based machine learning technique to predict the stiffness of cell-laden hydrogel scaffolds.Using comprehensive mechanical testing data from 3D bioprinted samples,the model was trained to deliver accurate predictions.To address the demand of working with precious and costly cell types,we employed various methods to ensure the generalizability of the model,even with limited datasets.We demonstrated a transfer learning method to achieve good performance for a precious cell type with a reduced amount of data.The chosen method outperformed many other machine learning techniques,offering a reliable and efficient solution for stiffness prediction in cell-laden scaffolds.This breakthrough paves the way for the next generation of precision bioprinting and more customized tissue engineering.
基金Supported by National Natural Science Foundation of China(Grant Nos.52335002,52205014,52275033)the Fundamental Research Funds for the Central Universities(Grant No.JZ2024HGTB0245).
文摘Cable-driven parallel robots(CDPRs)have advantages of larger workspace and load capacity than conventional parallel robots while existing interference problems among cables,workpieces and the end-effector.In order to avoid collision and improve the flexibility of the robots,this study proposes a reconfigurable cable-driven parallel robot(RCDPR)having characteristics of large load-to-weight ratio,easy modularity and variable stiffness.Adjustable brackets are connected to the moving platform to adjust the position of the pull-out point with the movement of the end-effector.In addition,a variable stiffness actuator(VSA)accompanied by finite element analysis is designed to optimize the cable tension to adapt different task requirements.Firstly,a new idea of reconfiguration is given,and an inverse kinematic model is established using the vector closure principle to derive its inverse kinematic expressions focusing on one of the configurations.Second,the VSA is attached to each cable to achieve stiffness adjustment,and the system stiffness is derived in detail.Finally,the rationality and accuracy of the robot are verified through numerical analysis,providing a reference for subsequent trajectory planning with implications.
文摘Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of motion,these increases could be optimized by imposing an additional activation of the muscle,such as mechanical vibratory stimulation.While several original articles provide promising findings,contradictory results on flexibility and underlying mechanisms(e.g.,stiffness),reasonable effect size(ES)pooling remains scarce.With this work we systematically reviewed the available literature to explore the possibility of potentiating flexibility,stiffness,and passive torque adaptations by superimposing mechanical vibration stimulation.Methods:A systematic search of 4 databases(Web of Science,MEDLINE,Scopus,and Cochrane Public Library)was conducted until December2023 to identify studies comparing mechanical vibratory interventions with passive controls or the same intervention without vibration(sham)on range of motion and passive muscle stiffness in acute(immediate effects after single session)and chronic conditions(multiple sessions over a period of time).ES pooling was conducted using robust variance estimation via R to account for multiple study outcomes.Potential moderators of effects were analyzed using meta regression.Results:Overall,65 studies(acute:1162 participants,chronic:788 participants)were included.There was moderate certainty of evidence for acute flexibility(ES=0.71,p<0.001)and stiffness(ES=-0.89,p=0.006)effects of mechanical vibration treatments vs.passive controls without meaningful results against the sham condition(flexibility:ES=0.20,p<0.001;stiffness:ES=-0.19,p=0.076).Similarly,moderate certainty of evidence was found for chronic vibration effects on flexibility(control:ES=0.64,p=0.043;sham:ES=0.65,p<0.001).Lack of studies and large outcome heterogeneity prevented ES pooling for underlying mechanisms.Conclusion:Vibration improved flexibility in acute and chronic interventions compared to the stand-alone intervention,which can possibly be attributed to an accumulated mechanical stimulus through vibration.However,studies on biological mechanisms are needed to explain flexibility and stiffness effects in response to specific vibration modalities and timing.
基金supported by Jiangsu Special Project for Frontier Leading Base Technology(Grant Nos.BK20192004)Fundamental Research Funds for Central Universities(Grant Nos.B240201190)+3 种基金Changzhou Social Development Science and Technology Support Project(Grant Nos.CE20225037)Changzhou Science and Technology Project(Grant Nos.CM20223014)Suzhou Key Industrial Technology Innovation Forward-Looking Application Research Project(Grant Nos.SYG202143)Changzhou Science and Technology Project(Grant Nos.CJ20241061).
文摘Soft actuators are inherently flexible and compliant,traits that enhance their adaptability to diverse environments and tasks.However,their low structural stiffness can lead to unpredictable and uncontrollable complex deformations when substantial force is required,compromising their load-bearing capacity.This work proposes a novel method that uses gecko setae-inspired adhesives as interlayer films to construct a layer jamming structure to adjust the stiffness of soft actuators.The mechanical behavior of a single tilted microcylinder was analyzed using the energy method to determine the adhesion force of the adhesives.The gecko-inspired adhesive was designed under the guidance of the adhesion force model.Testing under various loads and directions revealed that the tilted characteristic of microcylinders can enhance the adhesion force in its grasping direction.The adhesive demonstrated excellent adhesion performance compared to other typical adhesives.A tunable stiffness actuator using gecko setae-inspired adhesives(TSAGA),was developed with these adhesives serving as interlayer films.The stiffness model of TSAGA was derived by analyzing its axial compression force.The results of stiffness test indicate that the adhesives serve as interlayer films can adjust the stiffness in response to applied load.TSAGA was compared with other typical soft actuators in order to evaluate the stiffness performance,and the results indicate that TSAGA exhibits the highest stiffness and the widest tunable stiffness range.This demonstrates the superior performance of the setae-inspired adhesives as interlayer films in terms of stiffness adjustment.
基金supported by the China Postdoctoral Science Foundation Funded Project(Grant No.2023M740385)the Postdoctoral Fellowship Program of CPSF(Grant No.GZC20233326)the support by the Helmholtz Association's Initiative and Networking Fund for the Helmholtz Young Investigator Group ARES(Contract No.VH-NG-1516).
文摘In subsurface projects where the host rock is of low permeability,fractures play an important role in fluid circulation.Both the geometrical and mechanical properties of the fracture are relevant to the permeability of the fracture.To evaluate this relationship,we numerically generated self-affine fractures reproducing the scaling relationship of the power spectral density(PSD)of the measured fracture surfaces.The fractures were then subjected to a uniform and stepwise increase in normal stress.A fast Fourier transform(FFT)-based elastic contact model was used to simulate the fracture closure.The evolution of fracture contact area,fracture closure,and fracture normal stiffness were determined throughout the whole process.In addition,the fracture permeability at each step was calculated by the local cubic law(LCL).The influences of roughness exponent and correlation length on the fracture hydraulic and mechanical behaviors were investigated.Based on the power law of normal stiffness versus normal stress,the corrected cubic law and the linear relationship between fracture closure and mechanical aperture were obtained from numerical modeling of a set of fractures.Then,we derived a fracture normal stiffness-permeability equation which incorporates fracture geometric parameters such as the root-mean-square(RMS),roughness exponent,and correlation length,which can describe the fracture flow under an effective medium regime and a percolation regime.Finally,we interpreted the flow transition behavior from the effective medium regime to the percolation regime during fracture closure with the established stiffness-permeability function.
