Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advance...Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.展开更多
In the year 1971,the world’s biggest structural biology collaboration name—The Research Collaboratory for Structural Bioinformatics(RCSB),was formed to gather all the structural biologists at a single platform and t...In the year 1971,the world’s biggest structural biology collaboration name—The Research Collaboratory for Structural Bioinformatics(RCSB),was formed to gather all the structural biologists at a single platform and then extended out to be the world’s most extensive structural data repository named RCSB-Protein Data Bank(PDB)(https://www.rcsb.org/)that has provided the service for more than 50 years and continues its legacy for the discoveries and repositories for structural data.The RCSB has evolved from being a collaboratory network to a full-fledged database and tool with a huge list of protein structures,nucleic acid-containing structures,ModelArchive,and AlphaFold structures,and the best is that it is expanding day by day with computational advancement with tools and visual experiences.In this review article,we have discussed how RCSB has been a successful collaboratory network,its expansion in each decade,and how it has helped the ground-breaking research.The PDB tools that are helping the researchers,yearly data deposition,validation,processing,and suggestions that can help the developer improve for upcoming years are also discussed.This review will help future researchers understand the complete history of RCSB and its developments in each decade and how various future collaborative networks can be developed in various scientific areas and can be successful by keeping RCSB as a case study.展开更多
目的:观察微创超薄与计算机辅助设计与制造(Computer Aided Design/Computer Aided Manufacturing,CAD/CAM)全瓷贴面修复前牙间隙的美学效果及对口腔菌群微环境的影响。方法:选取笔者医院2023年2月-2025年2月收治的94例(共135颗患牙)前...目的:观察微创超薄与计算机辅助设计与制造(Computer Aided Design/Computer Aided Manufacturing,CAD/CAM)全瓷贴面修复前牙间隙的美学效果及对口腔菌群微环境的影响。方法:选取笔者医院2023年2月-2025年2月收治的94例(共135颗患牙)前牙间隙患者为研究对象,采用随机数字表法分为两组。微创组47例(67颗患牙),采用微创超薄贴面修复;研究组47例(68颗患牙),采用CAD/CAM全瓷贴面修复。比较两组患者炎症反应、口腔菌群微环境、牙体美观度、修复效果及并发症发生率。结果:治疗后1个月,研究组肿瘤坏死因子-α(TNF-α)、白细胞介素-6(IL-6)、白细胞介素-1β(IL-1β)水平低于微创组(P<0.05);研究组牙卟啉单胞菌、具核梭杆菌、伴放线放线杆菌数量均低于微创组(P<0.05)。治疗后6个月,研究组红色美学指数评分(Pink Esthetic Score,PES)、改良版美国公共卫生服务(United States Public Health Service,USPHS)评分均高于微创组(P<0.05)。研究组并发症发生率低于微创组(P<0.05)。结论:CAD/CAM全瓷贴面修复前牙间隙修复效果和安全性良好,不仅对患者口腔菌群微环境影响较小,有利于减轻修复后炎症反应,还能明显提升牙体美观度。展开更多
In this study,an inverse design framework was established to find lightweight honeycomb structures(HCSs)with high impact resistance.The hybrid HCS,composed of re-entrant(RE)and elliptical annular re-entrant(EARE)honey...In this study,an inverse design framework was established to find lightweight honeycomb structures(HCSs)with high impact resistance.The hybrid HCS,composed of re-entrant(RE)and elliptical annular re-entrant(EARE)honeycomb cells,was created by constructing arrangement matrices to achieve structural lightweight.The machine learning(ML)framework consisted of a neural network(NN)forward regression model for predicting impact resistance and a multi-objective optimization algorithm for generating high-performance designs.The surrogate of the local design space was initially realized by establishing the NN in the small sample dataset,and the active learning strategy was used to continuously extended the local optimal design until the model converged in the global space.The results indicated that the active learning strategy significantly improved the inference capability of the NN model in unknown design domains.By guiding the iteration direction of the optimization algorithm,lightweight designs with high impact resistance were identified.The energy absorption capacity of the optimal design reached 94.98%of the EARE honeycomb,while the initial peak stress and mass decreased by 28.85%and 19.91%,respectively.Furthermore,Shapley Additive Explanations(SHAP)for global explanation of the NN indicated a strong correlation between the arrangement mode of HCS and its impact resistance.By reducing the stiffness of the cells at the top boundary of the structure,the initial impact damage sustained by the structure can be significantly improved.Overall,this study proposed a general lightweight design method for array structures under impact loads,which is beneficial for the widespread application of honeycomb-based protective structures.展开更多
As a unique symbol of regional culture,the arcade building carries rich historical memories and cultural connotations.In the process of urban renewal,how to reasonably renovate it so that it can meet modern living nee...As a unique symbol of regional culture,the arcade building carries rich historical memories and cultural connotations.In the process of urban renewal,how to reasonably renovate it so that it can meet modern living needs while preserving cultural continuity has become an important issue.Chan aesthetics,with its unique philosophical ideas and aesthetic concepts,offers new perspectives and approaches for the renovation of arcade buildings.This paper delves into the core principles of Chan aesthetics,combining the characteristics and current status of arcade buildings,to explore design strategies for the renovation of arcade buildings based on Chan aesthetics from dimensions such as spatial creation,material application,decorative design,and cultural inheritance.The aim is to provide theoretical support and practical guidance for the sustainable development of arcade buildings.展开更多
基金Open access funding provided by The Science,Technology&Innovation Funding Authority(STDF)in cooperation with The Egyptian Knowledge Bank(EKB).
文摘Soft robotic manipulators represent a rapidly evolving field characterized by inherent compliance,adaptability,and safe interactions within unstructured environments.Over the past decade(2015-2025),significant advancements have trans-formed their capabilities through novel designs inspired by biological systems,advanced modeling frameworks,sophisti-cated control strategies,and integration into diverse real-world applications.Recent innovations in multifunctional mate-rials and emerging actuation technologies have markedly expanded manipulator performance,reliability,and dexterity.Concurrently,developments in modeling have progressed from simplified geometric methods toward highly accurate physics-based and hybrid data-driven approaches,substantially improving real-time prediction and controllability.Coupled with these developments,adaptive and robust control strategies-including learning-based techniques-have enabled unprec-edented autonomy and precision in challenging application domains such as Minimally Invasive Surgery(MIS),precision agriculture,deep-sea exploration,disaster recovery,and space missions.Despite these remarkable strides,key challenges remain,notably regarding scalability,long-term material durability,robust integrated sensing,and standardized evaluation procedures.This review comprehensively synthesizes recent advances,critically evaluates state-of-the-art methodologies,and systematically identifies existing gaps to provide a clear roadmap and targeted research directions,guiding future developments toward the broader adoption and optimal utilization of soft robotic manipulators.
文摘In the year 1971,the world’s biggest structural biology collaboration name—The Research Collaboratory for Structural Bioinformatics(RCSB),was formed to gather all the structural biologists at a single platform and then extended out to be the world’s most extensive structural data repository named RCSB-Protein Data Bank(PDB)(https://www.rcsb.org/)that has provided the service for more than 50 years and continues its legacy for the discoveries and repositories for structural data.The RCSB has evolved from being a collaboratory network to a full-fledged database and tool with a huge list of protein structures,nucleic acid-containing structures,ModelArchive,and AlphaFold structures,and the best is that it is expanding day by day with computational advancement with tools and visual experiences.In this review article,we have discussed how RCSB has been a successful collaboratory network,its expansion in each decade,and how it has helped the ground-breaking research.The PDB tools that are helping the researchers,yearly data deposition,validation,processing,and suggestions that can help the developer improve for upcoming years are also discussed.This review will help future researchers understand the complete history of RCSB and its developments in each decade and how various future collaborative networks can be developed in various scientific areas and can be successful by keeping RCSB as a case study.
文摘目的:观察微创超薄与计算机辅助设计与制造(Computer Aided Design/Computer Aided Manufacturing,CAD/CAM)全瓷贴面修复前牙间隙的美学效果及对口腔菌群微环境的影响。方法:选取笔者医院2023年2月-2025年2月收治的94例(共135颗患牙)前牙间隙患者为研究对象,采用随机数字表法分为两组。微创组47例(67颗患牙),采用微创超薄贴面修复;研究组47例(68颗患牙),采用CAD/CAM全瓷贴面修复。比较两组患者炎症反应、口腔菌群微环境、牙体美观度、修复效果及并发症发生率。结果:治疗后1个月,研究组肿瘤坏死因子-α(TNF-α)、白细胞介素-6(IL-6)、白细胞介素-1β(IL-1β)水平低于微创组(P<0.05);研究组牙卟啉单胞菌、具核梭杆菌、伴放线放线杆菌数量均低于微创组(P<0.05)。治疗后6个月,研究组红色美学指数评分(Pink Esthetic Score,PES)、改良版美国公共卫生服务(United States Public Health Service,USPHS)评分均高于微创组(P<0.05)。研究组并发症发生率低于微创组(P<0.05)。结论:CAD/CAM全瓷贴面修复前牙间隙修复效果和安全性良好,不仅对患者口腔菌群微环境影响较小,有利于减轻修复后炎症反应,还能明显提升牙体美观度。
基金the financial supports from National Key R&D Program for Young Scientists of China(Grant No.2022YFC3080900)National Natural Science Foundation of China(Grant No.52374181)+1 种基金BIT Research and Innovation Promoting Project(Grant No.2024YCXZ017)supported by Science and Technology Innovation Program of Beijing institute of technology under Grant No.2022CX01025。
文摘In this study,an inverse design framework was established to find lightweight honeycomb structures(HCSs)with high impact resistance.The hybrid HCS,composed of re-entrant(RE)and elliptical annular re-entrant(EARE)honeycomb cells,was created by constructing arrangement matrices to achieve structural lightweight.The machine learning(ML)framework consisted of a neural network(NN)forward regression model for predicting impact resistance and a multi-objective optimization algorithm for generating high-performance designs.The surrogate of the local design space was initially realized by establishing the NN in the small sample dataset,and the active learning strategy was used to continuously extended the local optimal design until the model converged in the global space.The results indicated that the active learning strategy significantly improved the inference capability of the NN model in unknown design domains.By guiding the iteration direction of the optimization algorithm,lightweight designs with high impact resistance were identified.The energy absorption capacity of the optimal design reached 94.98%of the EARE honeycomb,while the initial peak stress and mass decreased by 28.85%and 19.91%,respectively.Furthermore,Shapley Additive Explanations(SHAP)for global explanation of the NN indicated a strong correlation between the arrangement mode of HCS and its impact resistance.By reducing the stiffness of the cells at the top boundary of the structure,the initial impact damage sustained by the structure can be significantly improved.Overall,this study proposed a general lightweight design method for array structures under impact loads,which is beneficial for the widespread application of honeycomb-based protective structures.
基金Philosophy and Social Science Planning Project of Haikou City in 2025(Project No.:2025-ZCKT-106)。
文摘As a unique symbol of regional culture,the arcade building carries rich historical memories and cultural connotations.In the process of urban renewal,how to reasonably renovate it so that it can meet modern living needs while preserving cultural continuity has become an important issue.Chan aesthetics,with its unique philosophical ideas and aesthetic concepts,offers new perspectives and approaches for the renovation of arcade buildings.This paper delves into the core principles of Chan aesthetics,combining the characteristics and current status of arcade buildings,to explore design strategies for the renovation of arcade buildings based on Chan aesthetics from dimensions such as spatial creation,material application,decorative design,and cultural inheritance.The aim is to provide theoretical support and practical guidance for the sustainable development of arcade buildings.
