The dynamic dexterity is an important issue for manipulator design, some indices were proposed for analyzing dynamic dexterity, but they can evaluate the dynamic performance just at one pose in the workspaee of the ma...The dynamic dexterity is an important issue for manipulator design, some indices were proposed for analyzing dynamic dexterity, but they can evaluate the dynamic performance just at one pose in the workspaee of the manipulator, and can＇t be applied to dynamic design expediently. Much work has been done in the kinematic optimization, but the work in the dynamic optimization is much less. A global dynamic condition number index is proposed and applied to the dynamic optimization design the parallel manipulator. This paper deals with the dynamic manipulability and dynamic optimization of a two degree-of-freedom （DOF） parallel manipulator. The particular velocity and particular angular velocity matrices of each moving part about the part＇s pivot point are derived fi＇om the kinematic formulation of the manipulator, and the inertial force and inertial movement are obtained utilizing Newton-Euler formulation, then the inverse dynamic model of the parallel manipulator is proposed based on the virtual work principle. The general inertial ellipsoid and dynamic manipulability ellipsoid are applied to evaluate the dynamic performance of the manipulator, a global dynamic condition number index based on the condition number of general inertial matrix in the workspace is proposed, and then the link lengths of the manipulator is redesigned to optimize the dynamic manipulability by this index. The dynamic manipulability of the origin mechanism and the optimized mechanism are compared, the result shows that the optimized one is much better. The global dynamic condition number index has good effect in evaluating the dynamic dexterity of the whole workspace, and is efficient in the dynamic optimal design of the parallel manipulator.展开更多
Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function....Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.展开更多
Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response ...Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response of an underwater manipulator subjected to pulsating flow,focusing on how different postures affect the behavior of the system.The effects of pulsating parameters and manipulator arrangement on the hydrodynamic coefficient,vibration response,motion trajectory,and vortex shedding behaviors were analyzed.Results indicated that the cross flow vibration displacement in pulsating flow increased by 32.14%compared to uniform flow,inducing a shift in the motion trajectory from a crescent shape to a sideward vase shape.In the absence of interference between the upper and lower arms,the lift coefficient of the manipulator substantially increased with rising pulsating frequency,reaching a maximum increment of 67.0%.This increase in the lift coefficient led to a 67.05%rise in the vibration frequency of the manipulator in the in-line direction.As the pulsating amplitude increased,the drag coefficient of the underwater manipulator rose by 36.79%,but the vibration frequency in the cross-flow direction decreased by 56.26%.Additionally,when the upper and lower arms remained in a state of mutual interference,the cross-flow vibration amplitudes of the upper and lower arms were approximately 1.84 and 4.82 times higher in a circular-elliptical arrangement compared to an elliptical-circular arrangement,respectively.Consequently,the flow field shifted from a P+S pattern to a disordered pattern,disrupting the regularity of the motion trajectory.展开更多
Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating ...Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.展开更多
Halide perovskite materials have received considerable attention for solar cells,LEDs,lasers etc.owing to their controllable physicochemical properties and structural advantages.However,little research has focused on ...Halide perovskite materials have received considerable attention for solar cells,LEDs,lasers etc.owing to their controllable physicochemical properties and structural advantages.However,little research has focused on energy storage and conversion applications,such as use as anodes in lithium-ion batteries.In this paper,all-inorganic lead-free halide perovskite Cs_(3)Bi_(2)Cl_(9)powders were synthesized by the grinding method,and the lattice was successfully adjusted via introducing Mn^(2+).The characterization results show that Mn-ion substitution can cause local lattice distortion to restructure the lattice,which will cause a mixed arrangement of[BiCl_(6)]octahedra to improve the performance of the anode material.This new material can provide a feasible solution for solving the problem of low specific capacity anode materials caused by unstable crystal structures,and also indicates that such perovskites with unique crystal structures and lattice tunability have broad application prospects in lithium-ion batteries.展开更多
Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high c...Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high computational overhead.This study proposes a lightweight integrated framework for grasp detection and imitation learning,named GD-IL;it comprises a grasp detection algorithm based on manipulability and Gaussian mixture model(manipulability-GMM),and a grasp trajectory generation algorithm based on a two-stage robot imitation learning algorithm(TS-RIL).In the manipulability-GMM algorithm,we apply GMM clustering and ellipse regression to the object point cloud,propose two judgment criteria to generate multiple candidate grasp bounding boxes for the robot,and use manipulability as a metric for selecting the optimal grasp bounding box.The stages of the TS-RIL algorithm are grasp trajectory learning and robot pose optimization.In the first stage,the robot grasp trajectory is characterized using a second-order dynamic movement primitive model and Gaussian mixture regression(GMM).By adjusting the function form of the forcing term,the robot closely approximates the target-grasping trajectory.In the second stage,a robot pose optimization model is built based on the derived pose error formula and manipulability metric.This model allows the robot to adjust its configuration in real time while grasping,thereby effectively avoiding singularities.Finally,an algorithm verification platform is developed based on a Robot Operating System and a series of comparative experiments are conducted in real-world scenarios.The experimental results demonstrate that GD-IL significantly improves the effectiveness and robustness of grasp detection and trajectory imitation learning,outperforming existing state-of-the-art methods in execution efficiency,manipulability,and success rate.展开更多
Purpose–The study aims to build a high-precision longitudinal dynamics model for heavy-haul trains and validate it with line test data,present an optimization method for multi-stage cyclic brakes based on the model a...Purpose–The study aims to build a high-precision longitudinal dynamics model for heavy-haul trains and validate it with line test data,present an optimization method for multi-stage cyclic brakes based on the model and conduct a multi-objective detailed evaluation of the driver’s manipulation during cyclic braking.Design/methodology/approach–The high-precision longitudinal train dynamics model was established and verified by the cyclic braking test data of the 20,000 t heavy-haul combination train on the long and steep downgrade.Then the genetic algorithm is employed for optimization subsequent to decoupling multiple cyclic braking procedures,with due consideration of driver operation rules.For evaluation,key manipulation assessments in the scenario are prioritized,supplemented by multi-objective evaluation requirements,and the computational model is employed for detailed evaluation analysis.Findings–Based on the model,experimental data reveal that the probability of longitudinal force error being less than 64.6 kN is approximately 68%,95%for less than 129.2 kN and 99.7%for less than 193.8 kN.Upon optimizing manipulations during the cyclic braking,the maximum reduction in coupler force spans from 21%∼23.9%.Andtheevaluation scoresimply that a proper elevationof the releasingspeed favorssafety.A high electric braking force,although beneficial to some extent for energy-saving,is detrimental to reducing coupler force.Originality/value–The results will provide a theoretical basis and practical guidance for further ensuring the safety and energy-efficient operation of heavy haul trains on long downhill sections and improving the operational quality of heavy-haul trains.展开更多
Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfor...Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.展开更多
The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and ins...The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and insufficient carrying capacity.This article addresses the above issues and cleverly combines the advantages of soft robotic arms,underactuated robotic arms,and suction cups based on the principles of bionics.A new design for a robotic arm was proposed,and its working principle was explained.Then,the human rescue process was divided into two stages,and the grasping force of the robotic arm in each stage was analyzed separately.Finally,a prototype of the principle was developed,and the feasibility of the design principle of the robotic arm was verified through grasping experiments on a cross-sectional contour model of the human chest.At the same time,grasping experiments were conducted on different objects to demonstrate the potential application of the robotic arm in grasping ground objects.This research proposes a stress envelope adsorption rescue robot arm inspired by the adhesion ability of the Drosera plant and the stress envelope effect,which can apply force to the entire surface of the human body,reduce local force on the human body,ensure load-bearing capacity and adaptability,and improve the safety and stability of rescue grasping.展开更多
The combination of advanced photoelectric detectors has rendered single-band camouflage materials ineffective,necessitating the development of infrared multispectral camouflage.However,the design and fabrication of ex...The combination of advanced photoelectric detectors has rendered single-band camouflage materials ineffective,necessitating the development of infrared multispectral camouflage.However,the design and fabrication of existing works remain complex as they usually require the integration of multiscale structures.Here,we introduce phase modulation into the infrared camouflage metasurfaces with metal-dielectric-metal configuration,enabling them to achieve camouflage across more bands.Based on this strategy,a simple but effective single-layer cascaded metasurface is demonstrated for the first time to achieve low reflection at multi-wavelength lasers,low infrared radiation in atmospheric windows,and broadband thermal management.As a proof-of-concept,a 4-inch sample with a minimum linewidth of 1.8μm is fabricated using photolithography.The excellent infrared multispectral camouflage performance is verified in experiments,showing low reflectance in 0.9–1.6μm,low infrared emissivity in mid-wavelength infrared(MWIR)and long-wavelength infrared(LWIR)bands,and high absorptance at the wavelength of 10.6μm.Meanwhile,broadband high emissivity in 5–8μm can provide high-performance radiative heat dissipation.When the input power is 1.57 W·cm^(-2),the surface/radiation temperature of the metasurface decreases by 5.3℃/18.7℃ compared to the reference.The proposed metasurface may trigger further innovation in the design and application of compact multispectral optical devices.展开更多
Vanadium pentoxide(V_(2)O_(5))displays the characteristics of high theoretical specific capacity,high operating voltage,and adjustable layered structure,possessing the considerable potential as cathode in magnesium me...Vanadium pentoxide(V_(2)O_(5))displays the characteristics of high theoretical specific capacity,high operating voltage,and adjustable layered structure,possessing the considerable potential as cathode in magnesium metal batteries(MMBs).Nevertheless,the large charge-radius ratio of Mg^(2+)induces the strong interactions of Mg^(2+)with solvent molecules of electrolyte and anionic framework of cathode,resulting in a notable voltage polarization and structural deterioration during cycling process.Herein,an in-situ multi-scale structural engineering is proposed to activate the interlayer-expanded V_(2)O_(5)cathode(pillared by tetrabutylammonium cation)via adding hexadecyltrimethylammonium bromide(CTAB)additive into electrolyte.During cycling,the in-situ incorporation of CTA^(+)not only enhances the electrostatic shielding effect and Mg species migration,but also stabilizes the interlayer spacing.Besides,CTA^(+)is prone to be adsorbed on cathode surface and induces the loss-free pulverization and amorphization of electroactive grains,leading to the pronounced effect of intercalation pseudocapacitance.CTAB additive also enables to scissor the Mg^(2+)solvation sheath and tailor the insertion mode of Mg species,further endowing V_(2)O_(5)cathode with fast reaction kinetics.Based on these merits,the corresponding V2O5‖Mg full cells exhibit the remarkable rate performance with capacities as high as 317.6,274.4,201.1,and 132.7 mAh g^(-1)at the high current densities of 0.1,0.2,0.5,and 1 A g^(-1),respectively.Moreover,after 1000 cycles,the capacity is still preserved to be 90,4 mAh g^(-1)at 1 A g^(-1)with an average coulombic efficiency of~100%.Our strategy of synergetic modulations of cathode host and electrolyte solvation structures provides new guidance for the development of high-rate,large-capacity,and long-life MMBs.展开更多
Animals exhibit complex responses to external and internal stimuli.The information is computed by interconnected neurons that express numerous ion channels,which modulate the neuronal membrane potential.How can neuron...Animals exhibit complex responses to external and internal stimuli.The information is computed by interconnected neurons that express numerous ion channels,which modulate the neuronal membrane potential.How can neuronal activity orchestrate complex motor patterns or allow learning from previous experience?To answer such questions,we need the ability not only to record,but also to modulate neuronal activity in both space(e.g.,neuronal subsets)and time.展开更多
OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patient...OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.展开更多
OBJECTIVE:In recent years,the number of clinical research reports on acupuncture and manipulation for the treatment of greater occipital neuralgia has gradually increased,but the quality is uneven.There is currently n...OBJECTIVE:In recent years,the number of clinical research reports on acupuncture and manipulation for the treatment of greater occipital neuralgia has gradually increased,but the quality is uneven.There is currently no literature evaluating the quality of published reports,which is not conducive to the promotion of clinical use of these therapies.Therefore,this article assessed the reporting quality of randomized controlled trials on acupuncture and manipulation for greater occipital neuralgia.METHODS:Cochrane Library,PubMed,Web of Science,Embase,China National Knowledge Infrastructure(CNKI),VIP,WanFang Data,and Chinese BioMedical Literature Database(CBM)from inception to May 20,2024 were searched.The reporting quality of included randomized controlled trials was independently evaluated by two investigators using the CONSORT statement,STRICTA checklist,and Cochrane bias of risk assessment tool.A third investigator resolved any disagreement.RESULTS:A total of 62 articles were included.Based on the CONSORT statement,59.46%(22/37)of all entries had a reporting rate of less than 50%,mainly including“Identification as a randomized trial in the title(1/62,1.61%),”“How sample size was determined(7/62,11.29%),”“Implementation(1/62,1.61%),”“Blinding(1/62,1.61%),”and“Reports of Funding(4/62,6.45%).”According to the STRICTA checklist,29.41%(5/17)of all entries had a reporting rate of less than 50%,mainly including“Details of other interventions(7/58,12.07%),”“Setting and context of treatment(0/58,0%),”and“Description of participating acupuncturists(0/58,0%).”CONCLUSION:The reporting quality of randomized controlled trials on acupuncture and manipulation therapy for greater occipital neuralgia remains low.Future researchers need to make greater efforts to strictly adhere to the CONSORT statement and STRICTA checklist during trial design,implementation,and reporting.This will facilitate the standardization of research in this field and enhance the reliability and reproducibility of the research results.展开更多
Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of curr...Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of current optical modulation technologies in achieving full-parameter precision control,we proposed a novel approach for dynamic azimuthal optical field modulation based on dual-spiral arrays.By designing spatially interleaved spiral structures with different initial radii while maintaining identical periodic parameters,we achieved continuous optical modulation spanning the full 0-2πrange in azimuthal field distribution.Through rigorous numerical simulations,we systematically established a quantitative correlation between the structural parameters and azimuthal optical field patterns,revealing,for the first time,a quasi-linear relationship between the radius difference and the resultant optical distribution.This theoretical framework advances our fundamental understanding of structured optical field manipulation as well as provides a new paradigm for programmable photonic device design,with distinct technical advantages in super-resolution imaging and optical tweezer systems.展开更多
This paper is an attempt to explore the root of the modern paradox across multiple registers in order to uncover a persuasive pattern of contradiction that runs through the very fabric of contemporary existence.We dis...This paper is an attempt to explore the root of the modern paradox across multiple registers in order to uncover a persuasive pattern of contradiction that runs through the very fabric of contemporary existence.We discover that the very logic meant to emancipate the human subject-scientific mastery,bureaucratic order,economic growth,and many others,often recoil upon the subject,generating conditions of fragmentation,depersonalization,and spiritual aridity.Far from rejecting modernity wholesale,our task is a diagnostic one-to enter into the deep fabric of modernity and to decode its operating metaphors and interrogate what holds up the“scaffolding of collective life”.This is in a bid to find the rootedness of genuine human flourishing.Part of the answer,from our analysis,lies in a critical re-thinking within modernity without being subsumed by it.展开更多
1 No one likes acknowledging that their thoughts and behaviors are easily influenced outside of their awareness.However,Daniel M.Wegner,author of The Illusion of Conscious Will,explains that people ignore how easily t...1 No one likes acknowledging that their thoughts and behaviors are easily influenced outside of their awareness.However,Daniel M.Wegner,author of The Illusion of Conscious Will,explains that people ignore how easily they can be manipulated(操纵)because they don't feel they are being manipulated.This is what happens:After our unconscious(无意识)mind motivates a thought or action,this urge or thought is then sent to our conscious mind.Here,we become aware of it and have the false impression of generating it independently.展开更多
Objective:To characterize mosquito larval habitats and the influence of meteorological factors on their prevalence,and to suggest alternatives for vector control in Makkah Al-Mukarramah.Methods:A mosquito survey was c...Objective:To characterize mosquito larval habitats and the influence of meteorological factors on their prevalence,and to suggest alternatives for vector control in Makkah Al-Mukarramah.Methods:A mosquito survey was conducted within the 16 municipalities of Makkah Al-Mukarramah,from November 2022 to October 2023.The characteristics of larval habitats used by all reported species as oviposition sites were determined.Seasonal house,container,and breteau indices were used to determine larval abundance.Results:16 Species belonging to five genera[Aedes(3 spp.),Anopheles(3 spp.),Culex(8 spp.),Culiseta(1 sp.),and Lutzia(1 sp.)]were collected.A total of 185608 potential mosquito larval habitats were surveyed.Of these,95853(67.4%)were Aedes,45522(32%)were Culex,718(0.5%)were Anopheles,and 38(0.03%)were other species;154726(83.4%)were water sources for mosquito larvae,and among these sources,7663(5.0%)were positive for larvae,with 45.9%indoors and 54.1%outdoors.Most of the positive larval habitats were recorded in Al-Shawqiya(1093,14.3%),Al-Sharayia(1003,13.1%)and Al-Umrah(984,12.8%).A total of 142131 mosquito larvae and pupae were collected.The majority number of positive residences for all mosquito larvae was observed in January 2023(1658,21.6%).Conclusions:New appropriate alternatives for vector control are proposed,such as mechanical,biological,and environmental control.展开更多
[Objectives]To investigate the effects of Visceral Manipulation combined with Enhanced Recovery after Surgery on postoperative recovery in patients undergoing gastrointestinal surgery,and to evaluate its impacts on in...[Objectives]To investigate the effects of Visceral Manipulation combined with Enhanced Recovery after Surgery on postoperative recovery in patients undergoing gastrointestinal surgery,and to evaluate its impacts on inflammatory stress response,gastrointestinal motility recovery,and blood oxygen levels.[Methods]A prospective randomized controlled design was adopted.Eighty patients undergoing gastrointestinal surgery from January 2022 to December 2023 were selected and randomly divided into an observation group(40 cases)and a control group(40 cases).The observation group received Visceral Manipulation therapy in addition to routine Enhanced Recovery after Surgery care,while the control group received only routine Enhanced Recovery after Surgery care.Clinical indicators,inflammatory factors(TNF-α,IL-6,hs-CRP),traumatic stress hormones(cortisol,epinephrine,norepinephrine),gastrointestinal motility indicators(GAS,MTL,GIP),and blood oxygen levels were measured and compared between the two groups on postoperative days 1,5,and 10.[Results]The observation group showed significantly better outcomes in postoperative abdominal distension,time to first flatus and defecation,and hospital stay compared to the control group(P<0.05).Inflammatory factors(TNF-α,IL-6,hs-CRP),traumatic stress hormones(cortisol,epinephrine,norepinephrine),and gastrointestinal motility indicators(GAS,MTL,GIP)were significantly improved in the observation group(P<0.05).Postoperative blood oxygen levels were also significantly higher in the observation group(P<0.05).[Conclusions]Visceral Manipulation combined with Enhanced Recovery after Surgery can significantly improve postoperative recovery in gastrointestinal surgery patients,alleviate inflammatory stress responses,promote gastrointestinal functional recovery,and enhance blood oxygen levels,demonstrating promising clinical application prospects.展开更多
Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low ma...Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low magnetic force exerted on magnetic particles and beads.Furthermore,magnetic particles are prone to contaminate droplets owing to residues and corrosion.To address these issues,this paper proposes a hydrophilic hard-magnetic soft robot(HMSR)with strong magnetic controllability and chemical stability for precise droplet manipulation.A porous HMSR was synthesized by incorporating NdFeB particles and sacrificial sugar particles into an Ecoflex elastomer.Oxygen plasma treatment was applied to make the HMSR become hydrophilic and thus enhance the driving force exerted on droplets.Three forms of droplet manipulation were demonstrated:droplet transport,droplet splitting,and robot–magnet detachment.Theoretical analysis and experimental results revealed that the critical HMSR speed requisite for droplet transport and splitting was inversely proportional to the droplet volume.Notably,a 50μl droplet was transported in a 20 mT magnetic field at a maximum velocity of 200 mm/s.The maximum droplet volume that the HMSR could transport reached 900μl.Benefiting from its chemical stability,HMSR successfully manipulated chemical reactions of acidic and alkaline droplets.Additionally,the HMSR achieved targeted removal of microparticles through droplet adhesion to them.This HMSR with precise droplet manipulation capability holds broad prospects for applications in biochemical detection,material synthesis,and surgical robotics.展开更多
基金supported by National Natural Science Foundation of China (Grant No. 50605041, No. 50775125)National Basic Research Program of China (973 Program, Grant No. 2006CB705400)
文摘The dynamic dexterity is an important issue for manipulator design, some indices were proposed for analyzing dynamic dexterity, but they can evaluate the dynamic performance just at one pose in the workspaee of the manipulator, and can＇t be applied to dynamic design expediently. Much work has been done in the kinematic optimization, but the work in the dynamic optimization is much less. A global dynamic condition number index is proposed and applied to the dynamic optimization design the parallel manipulator. This paper deals with the dynamic manipulability and dynamic optimization of a two degree-of-freedom （DOF） parallel manipulator. The particular velocity and particular angular velocity matrices of each moving part about the part＇s pivot point are derived fi＇om the kinematic formulation of the manipulator, and the inertial force and inertial movement are obtained utilizing Newton-Euler formulation, then the inverse dynamic model of the parallel manipulator is proposed based on the virtual work principle. The general inertial ellipsoid and dynamic manipulability ellipsoid are applied to evaluate the dynamic performance of the manipulator, a global dynamic condition number index based on the condition number of general inertial matrix in the workspace is proposed, and then the link lengths of the manipulator is redesigned to optimize the dynamic manipulability by this index. The dynamic manipulability of the origin mechanism and the optimized mechanism are compared, the result shows that the optimized one is much better. The global dynamic condition number index has good effect in evaluating the dynamic dexterity of the whole workspace, and is efficient in the dynamic optimal design of the parallel manipulator.
基金the National Natural Science Foundation of China[62525301,62127811,62433019]the New Cornerstone Science Foundation through the XPLORER PRIZEthe financial support by the China Postdoctoral Science Foundation[GZB20240797].
文摘Single-cell biomechanics and electrophysiology measuring tools have transformed biological research over the last few decades,which enabling a comprehensive and nuanced understanding of cellular behavior and function.Despite their high-quality information content,these single-cell measuring techniques suffer from laborious manual processing by highly skilled workers and extremely low throughput(tens of cells per day).Recently,numerous researchers have automated the measurement of cell mechanical and electrical signals through robotic localization and control processes.While these efforts have demonstrated promising progress,critical challenges persist,including human dependency,learning complexity,in-situ measurement,and multidimensional signal acquisition.To identify key limitations and highlight emerging opportunities for innovation,in this review,we comprehensively summarize the key steps of robotic technologies in single-cell biomechanics and electrophysiology.We also discussed the prospects and challenges of robotics and automation in biological research.By bridging gaps between engineering,biology,and data science,this work aims to stimulate interdisciplinary research and accelerate the translation of robotic single-cell technologies into practical applications in the life sciences and medical fields.
基金Supported by the National Natural Science Foundation of China(No.51905211)A Project of the“20 Regulations for New Universities”Funding Program of Jinan(No.202228116).
文摘Vortex-induced vibration(VIV)of an underwater manipulator in pulsating flow presents a notable engineering problem in precise control due to the velocity variation in the flow.This study investigates the VIV response of an underwater manipulator subjected to pulsating flow,focusing on how different postures affect the behavior of the system.The effects of pulsating parameters and manipulator arrangement on the hydrodynamic coefficient,vibration response,motion trajectory,and vortex shedding behaviors were analyzed.Results indicated that the cross flow vibration displacement in pulsating flow increased by 32.14%compared to uniform flow,inducing a shift in the motion trajectory from a crescent shape to a sideward vase shape.In the absence of interference between the upper and lower arms,the lift coefficient of the manipulator substantially increased with rising pulsating frequency,reaching a maximum increment of 67.0%.This increase in the lift coefficient led to a 67.05%rise in the vibration frequency of the manipulator in the in-line direction.As the pulsating amplitude increased,the drag coefficient of the underwater manipulator rose by 36.79%,but the vibration frequency in the cross-flow direction decreased by 56.26%.Additionally,when the upper and lower arms remained in a state of mutual interference,the cross-flow vibration amplitudes of the upper and lower arms were approximately 1.84 and 4.82 times higher in a circular-elliptical arrangement compared to an elliptical-circular arrangement,respectively.Consequently,the flow field shifted from a P+S pattern to a disordered pattern,disrupting the regularity of the motion trajectory.
基金the financial support from the Strategic Priority Research Program of the Chinese Academy of Sciences (XDB0470303)the National Key Research and Development Program of China (2022YFB4600101)+5 种基金the National Natural Science Foundation of China (52175201)the Research Program of Science and Technology Department of Gansu Province (24JRRA059, 24JRRA044, and 24YFFA014)the Science Fund of Shandong Laboratory of Advanced Materials and Green Manufacturing at Yantai (AMGM2024F12)the Major Program (ZYFZFX-2) of the Lanzhou Institute of Chemical Physics, CASthe Special Research Assistant Project of the Chinese Academy of Sciencesthe Oasis Scholar of Shihezi University
文摘Octopuses,due to their flexible arms,marvelous adaptability,and powerful suckers,are able to effortlessly grasp and disengage various objects in the marine surrounding without causing devastation.However,manipulating delicate objects such as soft and fragile foods underwater require gentle contact and stable adhesion,which poses a serious challenge to now available soft grippers.Inspired by the sucker infundibulum structure and flexible tentacles of octopus,herein we developed a hydraulically actuated hydrogel soft gripper with adaptive maneuverability by coupling multiple hydrogen bond-mediated supramolecular hydrogels and vat polymerization three-dimensional printing,in which hydrogel bionic sucker is composed of a tunable curvature membrane,a negative pressure cavity,and a pneumatic chamber.The design of the sucker structure with the alterable curvature membrane is conducive to realize the reliable and gentle switchable adhesion of the hydrogel soft gripper.As a proof-of-concept,the adaptive hydrogel soft gripper is capable of implement diversified underwater tasks,including gingerly grasping fragile foods like egg yolks and tofu,as well as underwater robots and vehicles that station-keeping and crawling based on switchable adhesion.This study therefore provides a transformative strategy for the design of novel soft grippers that will render promising utilities for underwater exploration soft robotics.
基金supported by the Foundation of Yunnan Province(Nos.202301AU070021,202201BE070001-027)the Test Foundation of KUST(No.2022T20210208).
文摘Halide perovskite materials have received considerable attention for solar cells,LEDs,lasers etc.owing to their controllable physicochemical properties and structural advantages.However,little research has focused on energy storage and conversion applications,such as use as anodes in lithium-ion batteries.In this paper,all-inorganic lead-free halide perovskite Cs_(3)Bi_(2)Cl_(9)powders were synthesized by the grinding method,and the lattice was successfully adjusted via introducing Mn^(2+).The characterization results show that Mn-ion substitution can cause local lattice distortion to restructure the lattice,which will cause a mixed arrangement of[BiCl_(6)]octahedra to improve the performance of the anode material.This new material can provide a feasible solution for solving the problem of low specific capacity anode materials caused by unstable crystal structures,and also indicates that such perovskites with unique crystal structures and lattice tunability have broad application prospects in lithium-ion batteries.
基金Supported by National Natural Science Foundation of China(Grant No.52475280)Shaanxi Provincial Natural Science Basic Research Program(Grant No.2025SYSSYSZD-105).
文摘Robots are key to expanding the scope of space applications.The end-to-end training for robot vision-based detection and precision operations is challenging owing to constraints such as extreme environments and high computational overhead.This study proposes a lightweight integrated framework for grasp detection and imitation learning,named GD-IL;it comprises a grasp detection algorithm based on manipulability and Gaussian mixture model(manipulability-GMM),and a grasp trajectory generation algorithm based on a two-stage robot imitation learning algorithm(TS-RIL).In the manipulability-GMM algorithm,we apply GMM clustering and ellipse regression to the object point cloud,propose two judgment criteria to generate multiple candidate grasp bounding boxes for the robot,and use manipulability as a metric for selecting the optimal grasp bounding box.The stages of the TS-RIL algorithm are grasp trajectory learning and robot pose optimization.In the first stage,the robot grasp trajectory is characterized using a second-order dynamic movement primitive model and Gaussian mixture regression(GMM).By adjusting the function form of the forcing term,the robot closely approximates the target-grasping trajectory.In the second stage,a robot pose optimization model is built based on the derived pose error formula and manipulability metric.This model allows the robot to adjust its configuration in real time while grasping,thereby effectively avoiding singularities.Finally,an algorithm verification platform is developed based on a Robot Operating System and a series of comparative experiments are conducted in real-world scenarios.The experimental results demonstrate that GD-IL significantly improves the effectiveness and robustness of grasp detection and trajectory imitation learning,outperforming existing state-of-the-art methods in execution efficiency,manipulability,and success rate.
文摘Purpose–The study aims to build a high-precision longitudinal dynamics model for heavy-haul trains and validate it with line test data,present an optimization method for multi-stage cyclic brakes based on the model and conduct a multi-objective detailed evaluation of the driver’s manipulation during cyclic braking.Design/methodology/approach–The high-precision longitudinal train dynamics model was established and verified by the cyclic braking test data of the 20,000 t heavy-haul combination train on the long and steep downgrade.Then the genetic algorithm is employed for optimization subsequent to decoupling multiple cyclic braking procedures,with due consideration of driver operation rules.For evaluation,key manipulation assessments in the scenario are prioritized,supplemented by multi-objective evaluation requirements,and the computational model is employed for detailed evaluation analysis.Findings–Based on the model,experimental data reveal that the probability of longitudinal force error being less than 64.6 kN is approximately 68%,95%for less than 129.2 kN and 99.7%for less than 193.8 kN.Upon optimizing manipulations during the cyclic braking,the maximum reduction in coupler force spans from 21%∼23.9%.Andtheevaluation scoresimply that a proper elevationof the releasingspeed favorssafety.A high electric braking force,although beneficial to some extent for energy-saving,is detrimental to reducing coupler force.Originality/value–The results will provide a theoretical basis and practical guidance for further ensuring the safety and energy-efficient operation of heavy haul trains on long downhill sections and improving the operational quality of heavy-haul trains.
基金Supported by National Natural Science Foundation of China(Grant No.52275033)National Natural Science Youth Foundation of China(Grant No.52205033)Hebei Provincial Natural Science Foundation of China(Grant No.E2021203019)。
文摘Serial-parallel manipulators are of great interest to academic community in recent years,especially those composed of classical parallel mechanisms.There have been many studies around 2(3RPS)and 2(3SPR)S-PMs,but unfortunately their inverse kinematics have not yet been resolved.This paper discovers that the unknown kinematic parameters of middle platform are responsible for the unresolvable of inverse kinematics,meanwhile the unknown kinematic parameters of middle platform also have huge coupling relationships.Therefore,to break through this challenges,the huge coupling relationships are decoupled layer by layer,the kinematic parameters of middle platform are solved by combining Sylvester's elimination method,and the inverse displacements of 2(3RPS)and 2(3SPR)S-PMs are obtained subsequently.This paper not only solves the inverse kinematics of classical 2(3RPS)and 2(3SPR)S-PMs,but also reveals the essence of the inverse kinematics of general(3-DOF)+(3-DOF)6-DOF S-PMs and proposes a corresponding solution.
基金Supported by National Natural Science Foundation of China(Grant No.52475032)Central Government Guides Local Science and Technology Development Fund Projects(Grant No.246Z2001G)Hebei Provincial Natural Science Foundation Key Projects(Grant No.E2021203125).
文摘The existing research on rescue robots has focused mainly on reconnaissance,detection,and firefighting,and a small number of robots that can achieve human rescue have problems such as poor safety and stability and insufficient carrying capacity.This article addresses the above issues and cleverly combines the advantages of soft robotic arms,underactuated robotic arms,and suction cups based on the principles of bionics.A new design for a robotic arm was proposed,and its working principle was explained.Then,the human rescue process was divided into two stages,and the grasping force of the robotic arm in each stage was analyzed separately.Finally,a prototype of the principle was developed,and the feasibility of the design principle of the robotic arm was verified through grasping experiments on a cross-sectional contour model of the human chest.At the same time,grasping experiments were conducted on different objects to demonstrate the potential application of the robotic arm in grasping ground objects.This research proposes a stress envelope adsorption rescue robot arm inspired by the adhesion ability of the Drosera plant and the stress envelope effect,which can apply force to the entire surface of the human body,reduce local force on the human body,ensure load-bearing capacity and adaptability,and improve the safety and stability of rescue grasping.
基金financial supports from the National Natural Science Foundation of China(Grant Nos.51925503&52105575)the Fundamental Research Funds for the Central Universities(Grant No.QTZX23063)+2 种基金the Aeronautical Science Foundation of China(Grant No.2022Z073081001)the Postdoctoral Fellowship Program of CPSF(Grant No.GZC20232028)the Open Research Funds of State Key Laboratory of Intelligent Manufacturing Equipment and Technology(Grant No.IMETKF2024008).
文摘The combination of advanced photoelectric detectors has rendered single-band camouflage materials ineffective,necessitating the development of infrared multispectral camouflage.However,the design and fabrication of existing works remain complex as they usually require the integration of multiscale structures.Here,we introduce phase modulation into the infrared camouflage metasurfaces with metal-dielectric-metal configuration,enabling them to achieve camouflage across more bands.Based on this strategy,a simple but effective single-layer cascaded metasurface is demonstrated for the first time to achieve low reflection at multi-wavelength lasers,low infrared radiation in atmospheric windows,and broadband thermal management.As a proof-of-concept,a 4-inch sample with a minimum linewidth of 1.8μm is fabricated using photolithography.The excellent infrared multispectral camouflage performance is verified in experiments,showing low reflectance in 0.9–1.6μm,low infrared emissivity in mid-wavelength infrared(MWIR)and long-wavelength infrared(LWIR)bands,and high absorptance at the wavelength of 10.6μm.Meanwhile,broadband high emissivity in 5–8μm can provide high-performance radiative heat dissipation.When the input power is 1.57 W·cm^(-2),the surface/radiation temperature of the metasurface decreases by 5.3℃/18.7℃ compared to the reference.The proposed metasurface may trigger further innovation in the design and application of compact multispectral optical devices.
基金supported by the National Natural Science Foundation of China(52372249)support by the Program of Shanghai Academic Research Leader(21XD1424400)。
文摘Vanadium pentoxide(V_(2)O_(5))displays the characteristics of high theoretical specific capacity,high operating voltage,and adjustable layered structure,possessing the considerable potential as cathode in magnesium metal batteries(MMBs).Nevertheless,the large charge-radius ratio of Mg^(2+)induces the strong interactions of Mg^(2+)with solvent molecules of electrolyte and anionic framework of cathode,resulting in a notable voltage polarization and structural deterioration during cycling process.Herein,an in-situ multi-scale structural engineering is proposed to activate the interlayer-expanded V_(2)O_(5)cathode(pillared by tetrabutylammonium cation)via adding hexadecyltrimethylammonium bromide(CTAB)additive into electrolyte.During cycling,the in-situ incorporation of CTA^(+)not only enhances the electrostatic shielding effect and Mg species migration,but also stabilizes the interlayer spacing.Besides,CTA^(+)is prone to be adsorbed on cathode surface and induces the loss-free pulverization and amorphization of electroactive grains,leading to the pronounced effect of intercalation pseudocapacitance.CTAB additive also enables to scissor the Mg^(2+)solvation sheath and tailor the insertion mode of Mg species,further endowing V_(2)O_(5)cathode with fast reaction kinetics.Based on these merits,the corresponding V2O5‖Mg full cells exhibit the remarkable rate performance with capacities as high as 317.6,274.4,201.1,and 132.7 mAh g^(-1)at the high current densities of 0.1,0.2,0.5,and 1 A g^(-1),respectively.Moreover,after 1000 cycles,the capacity is still preserved to be 90,4 mAh g^(-1)at 1 A g^(-1)with an average coulombic efficiency of~100%.Our strategy of synergetic modulations of cathode host and electrolyte solvation structures provides new guidance for the development of high-rate,large-capacity,and long-life MMBs.
文摘Animals exhibit complex responses to external and internal stimuli.The information is computed by interconnected neurons that express numerous ion channels,which modulate the neuronal membrane potential.How can neuronal activity orchestrate complex motor patterns or allow learning from previous experience?To answer such questions,we need the ability not only to record,but also to modulate neuronal activity in both space(e.g.,neuronal subsets)and time.
文摘OBJECTIVE To investigate the intervention effects of tissue-bone homeostasis manipulation(TBHM)on peripatellar biomechanical parameters and knee joint function in knee osteoarthritis(KOA)patients.METHODS Sixty patients with KOA(Kellgren-Lawrence gradeⅡ-Ⅲ)were recruited from the Acupuncture-Moxibustion Rehabilitation Department,Anhui University of Chinese Medicine between October 2024 and May 2025.Participants were randomized into a TBHM group(n=30)or a transcutaneous electrical neuromuscular stimulation(TENS)group(n=30).Using two-way repeated measures ANOVA,biomechanical indicators,including rectus femoris tension,vastus medialis tension,vastus lateralis tension,patellar ligament tension,lateral patellar displacement(LPD),medial patellar displacement(MPD),normalized patellar mobility(LPD/patellar width[PW],MPD/PW),knee flexion range of motion,and functional indicators,including KOOS subscales,time up and go test(TUGT),were compared between groups at baseline and after 6 weeks of intervention.RESULTS After intervention,all biomechanical and knee joint function indicators in the TBHM group were significantly improved(P<0.05,P<0.01),while only the vastus medialis tension,TUGT and KOOS Pain,ADL and QoL scores in the control group were significantly improved(P<0.01).The improvement amplitudes of biomechanical indicators in the TBHM group,including rectus femoris tension,vastus lateralis tension,patellar ligament tension,MPD/PW,LPD/PW and knee flexion range of motion were better than those in the control group(P<0.05,P<0.01).In the functional evaluation,the interaction effects of the TBHM group in all dimensions of the KOOS score and TUGT were statistically significant(P<0.05,P<0.01).Post-hoc simple effect analysis confirmed that there were significant differences in the above indicators between the two groups after intervention(P<0.05),and all indicators showed a significant main effect of time(P<0.01),suggesting that the intervention measures had continuous and cumulative curative effects.CONCLUSION TBHM effectively improves joint function and quality of life in KOA patients by restoring dynamic equilibrium in soft tissue tension and patellar mobility,ultimately achieving the therapeutic goal of concurrent tissue-bone management.
文摘OBJECTIVE:In recent years,the number of clinical research reports on acupuncture and manipulation for the treatment of greater occipital neuralgia has gradually increased,but the quality is uneven.There is currently no literature evaluating the quality of published reports,which is not conducive to the promotion of clinical use of these therapies.Therefore,this article assessed the reporting quality of randomized controlled trials on acupuncture and manipulation for greater occipital neuralgia.METHODS:Cochrane Library,PubMed,Web of Science,Embase,China National Knowledge Infrastructure(CNKI),VIP,WanFang Data,and Chinese BioMedical Literature Database(CBM)from inception to May 20,2024 were searched.The reporting quality of included randomized controlled trials was independently evaluated by two investigators using the CONSORT statement,STRICTA checklist,and Cochrane bias of risk assessment tool.A third investigator resolved any disagreement.RESULTS:A total of 62 articles were included.Based on the CONSORT statement,59.46%(22/37)of all entries had a reporting rate of less than 50%,mainly including“Identification as a randomized trial in the title(1/62,1.61%),”“How sample size was determined(7/62,11.29%),”“Implementation(1/62,1.61%),”“Blinding(1/62,1.61%),”and“Reports of Funding(4/62,6.45%).”According to the STRICTA checklist,29.41%(5/17)of all entries had a reporting rate of less than 50%,mainly including“Details of other interventions(7/58,12.07%),”“Setting and context of treatment(0/58,0%),”and“Description of participating acupuncturists(0/58,0%).”CONCLUSION:The reporting quality of randomized controlled trials on acupuncture and manipulation therapy for greater occipital neuralgia remains low.Future researchers need to make greater efforts to strictly adhere to the CONSORT statement and STRICTA checklist during trial design,implementation,and reporting.This will facilitate the standardization of research in this field and enhance the reliability and reproducibility of the research results.
文摘Optical field manipulation,an emerging frontier in photonics,demonstrates significant potential in biomedical microscopy,quantum state engineering,and micro-nano fabrication.To address the critical limitations of current optical modulation technologies in achieving full-parameter precision control,we proposed a novel approach for dynamic azimuthal optical field modulation based on dual-spiral arrays.By designing spatially interleaved spiral structures with different initial radii while maintaining identical periodic parameters,we achieved continuous optical modulation spanning the full 0-2πrange in azimuthal field distribution.Through rigorous numerical simulations,we systematically established a quantitative correlation between the structural parameters and azimuthal optical field patterns,revealing,for the first time,a quasi-linear relationship between the radius difference and the resultant optical distribution.This theoretical framework advances our fundamental understanding of structured optical field manipulation as well as provides a new paradigm for programmable photonic device design,with distinct technical advantages in super-resolution imaging and optical tweezer systems.
文摘This paper is an attempt to explore the root of the modern paradox across multiple registers in order to uncover a persuasive pattern of contradiction that runs through the very fabric of contemporary existence.We discover that the very logic meant to emancipate the human subject-scientific mastery,bureaucratic order,economic growth,and many others,often recoil upon the subject,generating conditions of fragmentation,depersonalization,and spiritual aridity.Far from rejecting modernity wholesale,our task is a diagnostic one-to enter into the deep fabric of modernity and to decode its operating metaphors and interrogate what holds up the“scaffolding of collective life”.This is in a bid to find the rootedness of genuine human flourishing.Part of the answer,from our analysis,lies in a critical re-thinking within modernity without being subsumed by it.
文摘1 No one likes acknowledging that their thoughts and behaviors are easily influenced outside of their awareness.However,Daniel M.Wegner,author of The Illusion of Conscious Will,explains that people ignore how easily they can be manipulated(操纵)because they don't feel they are being manipulated.This is what happens:After our unconscious(无意识)mind motivates a thought or action,this urge or thought is then sent to our conscious mind.Here,we become aware of it and have the false impression of generating it independently.
文摘Objective:To characterize mosquito larval habitats and the influence of meteorological factors on their prevalence,and to suggest alternatives for vector control in Makkah Al-Mukarramah.Methods:A mosquito survey was conducted within the 16 municipalities of Makkah Al-Mukarramah,from November 2022 to October 2023.The characteristics of larval habitats used by all reported species as oviposition sites were determined.Seasonal house,container,and breteau indices were used to determine larval abundance.Results:16 Species belonging to five genera[Aedes(3 spp.),Anopheles(3 spp.),Culex(8 spp.),Culiseta(1 sp.),and Lutzia(1 sp.)]were collected.A total of 185608 potential mosquito larval habitats were surveyed.Of these,95853(67.4%)were Aedes,45522(32%)were Culex,718(0.5%)were Anopheles,and 38(0.03%)were other species;154726(83.4%)were water sources for mosquito larvae,and among these sources,7663(5.0%)were positive for larvae,with 45.9%indoors and 54.1%outdoors.Most of the positive larval habitats were recorded in Al-Shawqiya(1093,14.3%),Al-Sharayia(1003,13.1%)and Al-Umrah(984,12.8%).A total of 142131 mosquito larvae and pupae were collected.The majority number of positive residences for all mosquito larvae was observed in January 2023(1658,21.6%).Conclusions:New appropriate alternatives for vector control are proposed,such as mechanical,biological,and environmental control.
基金Supported by Guiding Project of Shiyan City,Hubei Province in 2022(22Y30).
文摘[Objectives]To investigate the effects of Visceral Manipulation combined with Enhanced Recovery after Surgery on postoperative recovery in patients undergoing gastrointestinal surgery,and to evaluate its impacts on inflammatory stress response,gastrointestinal motility recovery,and blood oxygen levels.[Methods]A prospective randomized controlled design was adopted.Eighty patients undergoing gastrointestinal surgery from January 2022 to December 2023 were selected and randomly divided into an observation group(40 cases)and a control group(40 cases).The observation group received Visceral Manipulation therapy in addition to routine Enhanced Recovery after Surgery care,while the control group received only routine Enhanced Recovery after Surgery care.Clinical indicators,inflammatory factors(TNF-α,IL-6,hs-CRP),traumatic stress hormones(cortisol,epinephrine,norepinephrine),gastrointestinal motility indicators(GAS,MTL,GIP),and blood oxygen levels were measured and compared between the two groups on postoperative days 1,5,and 10.[Results]The observation group showed significantly better outcomes in postoperative abdominal distension,time to first flatus and defecation,and hospital stay compared to the control group(P<0.05).Inflammatory factors(TNF-α,IL-6,hs-CRP),traumatic stress hormones(cortisol,epinephrine,norepinephrine),and gastrointestinal motility indicators(GAS,MTL,GIP)were significantly improved in the observation group(P<0.05).Postoperative blood oxygen levels were also significantly higher in the observation group(P<0.05).[Conclusions]Visceral Manipulation combined with Enhanced Recovery after Surgery can significantly improve postoperative recovery in gastrointestinal surgery patients,alleviate inflammatory stress responses,promote gastrointestinal functional recovery,and enhance blood oxygen levels,demonstrating promising clinical application prospects.
基金supported by the Science and Technology Program from the State Grid Corporation of China(Grant No.5700-202155453A-0-0-00):“Development of flexible liquid metal based micro-sensor with anti-electromagnetic interference ability for power engineering applications.”。
文摘Precise droplet manipulation is critical in material synthesis,biochemical detection,and tissue engineering.However,the droplet velocity and volume manipulated by magnetic techniques are restricted owing to the low magnetic force exerted on magnetic particles and beads.Furthermore,magnetic particles are prone to contaminate droplets owing to residues and corrosion.To address these issues,this paper proposes a hydrophilic hard-magnetic soft robot(HMSR)with strong magnetic controllability and chemical stability for precise droplet manipulation.A porous HMSR was synthesized by incorporating NdFeB particles and sacrificial sugar particles into an Ecoflex elastomer.Oxygen plasma treatment was applied to make the HMSR become hydrophilic and thus enhance the driving force exerted on droplets.Three forms of droplet manipulation were demonstrated:droplet transport,droplet splitting,and robot–magnet detachment.Theoretical analysis and experimental results revealed that the critical HMSR speed requisite for droplet transport and splitting was inversely proportional to the droplet volume.Notably,a 50μl droplet was transported in a 20 mT magnetic field at a maximum velocity of 200 mm/s.The maximum droplet volume that the HMSR could transport reached 900μl.Benefiting from its chemical stability,HMSR successfully manipulated chemical reactions of acidic and alkaline droplets.Additionally,the HMSR achieved targeted removal of microparticles through droplet adhesion to them.This HMSR with precise droplet manipulation capability holds broad prospects for applications in biochemical detection,material synthesis,and surgical robotics.
