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 order to solve the problem of high computing cost and low simulation accuracy caused by discontinuity of incision in traditional meshless model,this paper proposes a soft tissue deformation model based on the Marqu...In order to solve the problem of high computing cost and low simulation accuracy caused by discontinuity of incision in traditional meshless model,this paper proposes a soft tissue deformation model based on the Marquardt algorithm and enrichment function.The model is based on the element-free Galerkin method,in which Kelvin viscoelastic model and adjustment function are integrated.Marquardt algorithm is applied to fit the relation between force and displacement caused by surface deformation,and the enrichment function is applied to deal with the discontinuity in the meshless method.To verify the validity of the model,the Sensable Phantom Omni force tactile interactive device is used to simulate the deformations of stomach and heart.Experimental results show that the proposed model improves the real-time performance and accuracy of soft tissue deformation simulation,which provides a new perspective for the application of the meshless method in virtual surgery.展开更多
Objective: To investigate the effect of Dan seven soft capsule on the treatment of acute hemorrhagic cerebrovascular disease and the influence of serum inflammatory factors, coagulation function and blood rheology ind...Objective: To investigate the effect of Dan seven soft capsule on the treatment of acute hemorrhagic cerebrovascular disease and the influence of serum inflammatory factors, coagulation function and blood rheology indexes. Methods: A total of 112 cases of patients with acute hemorrhagic cerebrovascular disease, according to the random data table were divided into the control group (n=57) and observation group (n=55), the patients in the control group received routine treatment combined with edaravone, on the basis of the treatment of the control group, the observation group was treated with Dan seven soft capsule. The serum levels of inflammatory factors, coagulation function and blood rheology indexes were compared between the two groups before and after treatment. Results: Before treatment, there were no significant difference in the inflammatory factors (hs-CRP, TNF-α and IL-6), blood coagulation function (FIB, PT and APTT) and hemorheology (high cut whole blood viscosity, low cut whole blood viscosity and plasma viscosity) levels between the control group and observation group. Compared with the levels of the same group before treatment, two groups of hs-CRP, TNF-α, IL-6, FIB, high cut whole blood viscosity, low cut whole blood viscosity and plasma viscosity level after treatment were significantly decreased, and levels in the observation group were significantly lower than those in the control group;Compared with the group before treatment, the levels of PT and APTT in the two groups were significantly increased, and the observation group was significantly higher than the control group. Conclusion: Dan seven soft capsule in the treatment of acute hemorrhagic cerebrovascular disease can effectively reduce the level of serum inflammatory factors, improve coagulation function and blood rheology index, it has an important clinical value.展开更多
Polymer science continues to play a transformative role in materials innovation,enabling breakthroughs across diverse domains including energy storage,flexible electronics,surface engineering,and soft robotics.At the ...Polymer science continues to play a transformative role in materials innovation,enabling breakthroughs across diverse domains including energy storage,flexible electronics,surface engineering,and soft robotics.At the heart of these advances lies a critical,often defining factor:the interface.Whether between polymers and solid substrates,liquids,gases,or other polymers,interfacial phenomena govern adhesion,wetting,energy dissipation,chemical reactivity,and signal transmission.Interfaces are not passive boundaries but active zones of complexity and function,where molecular interactions shape material performance at every scale—from nanometers to entire devices.展开更多
Objective: To observe the therapeutic effect of Xuesaitong soft capsule(血塞通软胶囊, XST)and its effect on platelet counts, coagulation factor 1 (CF1) as well as hemorrheologic indexes in treating patients with acute...Objective: To observe the therapeutic effect of Xuesaitong soft capsule(血塞通软胶囊, XST)and its effect on platelet counts, coagulation factor 1 (CF1) as well as hemorrheologic indexes in treating patients with acute cerebral infarction (ACI). Methods: Two hundred and four patients with ACI were assigned into two groups, the control group (n=96) and the treated group (n=108). They were all treated with conventional Western medicines, including mannitol, troxerutin, citicoline, piracetam and aspirin, while to the treated group, XST was given additionally through oral intake, twice a day, 2 capsules each time for 8 successive weeks. The clinical efficacy was evaluated according to the nerve function deficits scoring and the changes of platelet count. CF1 and hemorrheological indexes were measured before and after treatment.Results: The total effective rate was 87.0% in the treated group, and 87.5% in the control group, respectively, showing insignificant difference between them. But the markedly effective rate in the treated group ( 66.7%) was significantly higher than that in the control group (27.1%, P<0.01). The count of platelet was not changed significantly in both groups after treatment, while CF1 in them evidently lowered at the end of the 4th and 8th weeks of treatment, but showed insignificant difference between the two groups. The hematocrit, whole blood viscosity and plasma viscosity in both groups were all improved significantly after treatment, but also showed insignificant difference in comparison of the two groups. Conclusion: XST has good efficacy in auxiliary treatment of patients with ACI, though its mechanism remains to be further explored.展开更多
An improved immune algorithm is proposed in this paper. The problems, such as convergence speed and optimization precision, existing in the basic immune algorithm are well addressed. Besides, a fuzzy adaptive method i...An improved immune algorithm is proposed in this paper. The problems, such as convergence speed and optimization precision, existing in the basic immune algorithm are well addressed. Besides, a fuzzy adaptive method is presented by using the fuzzy system to realize the adaptive selection of two key parameters （possibility of crossover and mutation）. By comparing and analyzing the results of several benchmark functions, the performance of fuzzy immune algorithm （FIA） is approved. Not only the difficulty of parameters selection is relieved, but also the precision and stability are improved. At last, the FIA is ap- plied to optimization of the structure and parameters in radial basis function neural network （RBFNN） based on an orthogonal sequential method. And the availability of algorithm is proved by applying RBFNN in modeling in soft sensor of solvent tower.展开更多
Chemical reactivity towards electron transfer is captured by the Fukui function.However,this is not well defined when the system or its ions have degenerate or pseudo-degenerate ground states.In such a case,the first-...Chemical reactivity towards electron transfer is captured by the Fukui function.However,this is not well defined when the system or its ions have degenerate or pseudo-degenerate ground states.In such a case,the first-order chemical response is not independent of the perturbation and the correct response has to be computed using the mathematical formalism of perturbation theory for degenerate states.Spatialpseudo-degeneracy is ubiquitous in nanostructures with high symmetry and totally extended systems.Given the size of these systems,using degenerate-state perturbation theory is impractical because it requires the calculation of many excited states.Here we present an alternative to compute the chemical response of extended systems using models of local softness in terms of the local density of states.The local softness is approximately equal to the density of states at the Fermi level.However,such approximation leaves out the contribution of inner states.In order to include and weight the contribution of the states around the Fermi level,a model inspired by the long-range behavior of the local softness is presented.Single wall capped carbon nanotubes(SWCCNT)illustrate the limitation of the frontier orbital theory in extended systems.Thus,we have used a C360 SWCCNT to test the proposed model and how it compares with available models based on the local density of states.Interestingly,a simple Hückel approximation captures the main features of chemical response of these systems.Our results suggest that density-of-states models of the softness along simple tight binding Hamiltonians could be used to explore the chemical reactivity of more complex system,such a surfaces and nanoparticles.展开更多
In this article,we apply classical density functional theory to investigate the characteristics of depletion interaction in Lennard-Jones(LJ)binary fiuid mixtures.First,to confirm the validity of our adopted density f...In this article,we apply classical density functional theory to investigate the characteristics of depletion interaction in Lennard-Jones(LJ)binary fiuid mixtures.First,to confirm the validity of our adopted density functional formalism,we calculate the radial distribution functions using a theoretical approach and compare them with results obtained by molecular dynamics simulation.Then,this approach is applied to two colloids immersed in LJ solvent systems.We investigate the variation of depletion interaction with respect to the distance of two colloids in LJ binary systems.We find that depletion interaction may be attractive or repulsive,mostly depending on the bulk density of the solvent and the temperature of the binary system.For high bulk densities,the repulsive barrier of depletion force is remarkable when the total excluded volume of colloids touches each other and reaches a maximum.The height of the repulsive barrier is related to the parameters of the LJ potential and bulk density.Moreover,the depletion force may exhibit attractive wells if the bulk density of the solvent is low.The attractive well tends to appear when the surface-surface distance of colloids is half of the size of the polymer and deepens with temperature lowering in a fixed bulk density.In contrast with the hard-sphere system,no oscillation of depletion potential around zero is observed.展开更多
In recent times,internet of things(IoT)applications on the cloud might not be the effective solution for every IoT scenario,particularly for time sensitive applications.A significant alternative to use is edge computi...In recent times,internet of things(IoT)applications on the cloud might not be the effective solution for every IoT scenario,particularly for time sensitive applications.A significant alternative to use is edge computing that resolves the problem of requiring high bandwidth by end devices.Edge computing is considered a method of forwarding the processing and communication resources in the cloud towards the edge.One of the considerations of the edge computing environment is resource management that involves resource scheduling,load balancing,task scheduling,and quality of service(QoS)to accomplish improved performance.With this motivation,this paper presents new soft computing based metaheuristic algorithms for resource scheduling(RS)in the edge computing environment.The SCBMARS model involves the hybridization of the Group Teaching Optimization Algorithm(GTOA)with rat swarm optimizer(RSO)algorithm for optimal resource allocation.The goal of the SCBMA-RS model is to identify and allocate resources to every incoming user request in such a way,that the client’s necessities are satisfied with the minimum number of possible resources and optimal energy consumption.The problem is formulated based on the availability of VMs,task characteristics,and queue dynamics.The integration of GTOA and RSO algorithms assist to improve the allocation of resources among VMs in the data center.For experimental validation,a comprehensive set of simulations were performed using the CloudSim tool.The experimental results showcased the superior performance of the SCBMA-RS model interms of different measures.展开更多
An explicit form of the elastic strain-energy function for direction-dependent large elastic strain behaviors of soft fiber-reinforced composites is first presented based upon a decoupled approach for simulating compl...An explicit form of the elastic strain-energy function for direction-dependent large elastic strain behaviors of soft fiber-reinforced composites is first presented based upon a decoupled approach for simulating complex nonlinear coupling effects.From this form,the exact closed-form solutions are then obtained for the uniaxial tension responses in the fiber and cross-fiber directions.With such exact solutions,the issue of simultaneously simulating strongly coupling nonlinear responses in the fiber and cross-fiber directions may be reduced to the issue of separately treating each decoupled uniaxial stress-strain response,thus bypassing usual complexities and uncertainties involved in identifying a large number of strongly coupled adjustable parameters.The numerical examples given are in good agreement with the experimental data for large strain responses.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.
基金This work was supported,in part,by the National Nature Science Foundation of China under grant numbers 61502240,61502096,61304205,61773219in part,by the Natural Science Foundation of Jiangsu Province under grant number BK20191401+1 种基金in part,by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)fundin part,by the Collaborative Innovation Center of Atmospheric Environment and Equipment Technology(CICAEET)fund.
文摘In order to solve the problem of high computing cost and low simulation accuracy caused by discontinuity of incision in traditional meshless model,this paper proposes a soft tissue deformation model based on the Marquardt algorithm and enrichment function.The model is based on the element-free Galerkin method,in which Kelvin viscoelastic model and adjustment function are integrated.Marquardt algorithm is applied to fit the relation between force and displacement caused by surface deformation,and the enrichment function is applied to deal with the discontinuity in the meshless method.To verify the validity of the model,the Sensable Phantom Omni force tactile interactive device is used to simulate the deformations of stomach and heart.Experimental results show that the proposed model improves the real-time performance and accuracy of soft tissue deformation simulation,which provides a new perspective for the application of the meshless method in virtual surgery.
文摘Objective: To investigate the effect of Dan seven soft capsule on the treatment of acute hemorrhagic cerebrovascular disease and the influence of serum inflammatory factors, coagulation function and blood rheology indexes. Methods: A total of 112 cases of patients with acute hemorrhagic cerebrovascular disease, according to the random data table were divided into the control group (n=57) and observation group (n=55), the patients in the control group received routine treatment combined with edaravone, on the basis of the treatment of the control group, the observation group was treated with Dan seven soft capsule. The serum levels of inflammatory factors, coagulation function and blood rheology indexes were compared between the two groups before and after treatment. Results: Before treatment, there were no significant difference in the inflammatory factors (hs-CRP, TNF-α and IL-6), blood coagulation function (FIB, PT and APTT) and hemorheology (high cut whole blood viscosity, low cut whole blood viscosity and plasma viscosity) levels between the control group and observation group. Compared with the levels of the same group before treatment, two groups of hs-CRP, TNF-α, IL-6, FIB, high cut whole blood viscosity, low cut whole blood viscosity and plasma viscosity level after treatment were significantly decreased, and levels in the observation group were significantly lower than those in the control group;Compared with the group before treatment, the levels of PT and APTT in the two groups were significantly increased, and the observation group was significantly higher than the control group. Conclusion: Dan seven soft capsule in the treatment of acute hemorrhagic cerebrovascular disease can effectively reduce the level of serum inflammatory factors, improve coagulation function and blood rheology index, it has an important clinical value.
文摘Polymer science continues to play a transformative role in materials innovation,enabling breakthroughs across diverse domains including energy storage,flexible electronics,surface engineering,and soft robotics.At the heart of these advances lies a critical,often defining factor:the interface.Whether between polymers and solid substrates,liquids,gases,or other polymers,interfacial phenomena govern adhesion,wetting,energy dissipation,chemical reactivity,and signal transmission.Interfaces are not passive boundaries but active zones of complexity and function,where molecular interactions shape material performance at every scale—from nanometers to entire devices.
文摘Objective: To observe the therapeutic effect of Xuesaitong soft capsule(血塞通软胶囊, XST)and its effect on platelet counts, coagulation factor 1 (CF1) as well as hemorrheologic indexes in treating patients with acute cerebral infarction (ACI). Methods: Two hundred and four patients with ACI were assigned into two groups, the control group (n=96) and the treated group (n=108). They were all treated with conventional Western medicines, including mannitol, troxerutin, citicoline, piracetam and aspirin, while to the treated group, XST was given additionally through oral intake, twice a day, 2 capsules each time for 8 successive weeks. The clinical efficacy was evaluated according to the nerve function deficits scoring and the changes of platelet count. CF1 and hemorrheological indexes were measured before and after treatment.Results: The total effective rate was 87.0% in the treated group, and 87.5% in the control group, respectively, showing insignificant difference between them. But the markedly effective rate in the treated group ( 66.7%) was significantly higher than that in the control group (27.1%, P<0.01). The count of platelet was not changed significantly in both groups after treatment, while CF1 in them evidently lowered at the end of the 4th and 8th weeks of treatment, but showed insignificant difference between the two groups. The hematocrit, whole blood viscosity and plasma viscosity in both groups were all improved significantly after treatment, but also showed insignificant difference in comparison of the two groups. Conclusion: XST has good efficacy in auxiliary treatment of patients with ACI, though its mechanism remains to be further explored.
文摘An improved immune algorithm is proposed in this paper. The problems, such as convergence speed and optimization precision, existing in the basic immune algorithm are well addressed. Besides, a fuzzy adaptive method is presented by using the fuzzy system to realize the adaptive selection of two key parameters （possibility of crossover and mutation）. By comparing and analyzing the results of several benchmark functions, the performance of fuzzy immune algorithm （FIA） is approved. Not only the difficulty of parameters selection is relieved, but also the precision and stability are improved. At last, the FIA is ap- plied to optimization of the structure and parameters in radial basis function neural network （RBFNN） based on an orthogonal sequential method. And the availability of algorithm is proved by applying RBFNN in modeling in soft sensor of solvent tower.
基金FONDECYT grants 1140313 and 11150164.CC and PFFinanciamiento Basal para CentrosCientíficos y Tecnológicos de Excelencia-FB0807+2 种基金project RC-130006 CILISthe Fondo de Innovación para la Competitividad del Ministeriode Economía,Fomento y Turismo de Chile.MMCONICYT through grant 21130691.
文摘Chemical reactivity towards electron transfer is captured by the Fukui function.However,this is not well defined when the system or its ions have degenerate or pseudo-degenerate ground states.In such a case,the first-order chemical response is not independent of the perturbation and the correct response has to be computed using the mathematical formalism of perturbation theory for degenerate states.Spatialpseudo-degeneracy is ubiquitous in nanostructures with high symmetry and totally extended systems.Given the size of these systems,using degenerate-state perturbation theory is impractical because it requires the calculation of many excited states.Here we present an alternative to compute the chemical response of extended systems using models of local softness in terms of the local density of states.The local softness is approximately equal to the density of states at the Fermi level.However,such approximation leaves out the contribution of inner states.In order to include and weight the contribution of the states around the Fermi level,a model inspired by the long-range behavior of the local softness is presented.Single wall capped carbon nanotubes(SWCCNT)illustrate the limitation of the frontier orbital theory in extended systems.Thus,we have used a C360 SWCCNT to test the proposed model and how it compares with available models based on the local density of states.Interestingly,a simple Hückel approximation captures the main features of chemical response of these systems.Our results suggest that density-of-states models of the softness along simple tight binding Hamiltonians could be used to explore the chemical reactivity of more complex system,such a surfaces and nanoparticles.
基金supported by the National Natural Science Foundation of China(Grant No.11504384)the Fund of State Key Laboratory of Multiphase Complex Systems(No.MPCS-2017-A-04)。
文摘In this article,we apply classical density functional theory to investigate the characteristics of depletion interaction in Lennard-Jones(LJ)binary fiuid mixtures.First,to confirm the validity of our adopted density functional formalism,we calculate the radial distribution functions using a theoretical approach and compare them with results obtained by molecular dynamics simulation.Then,this approach is applied to two colloids immersed in LJ solvent systems.We investigate the variation of depletion interaction with respect to the distance of two colloids in LJ binary systems.We find that depletion interaction may be attractive or repulsive,mostly depending on the bulk density of the solvent and the temperature of the binary system.For high bulk densities,the repulsive barrier of depletion force is remarkable when the total excluded volume of colloids touches each other and reaches a maximum.The height of the repulsive barrier is related to the parameters of the LJ potential and bulk density.Moreover,the depletion force may exhibit attractive wells if the bulk density of the solvent is low.The attractive well tends to appear when the surface-surface distance of colloids is half of the size of the polymer and deepens with temperature lowering in a fixed bulk density.In contrast with the hard-sphere system,no oscillation of depletion potential around zero is observed.
基金This research was supported by Hankuk University of Foreign Studies Research Fund of 2021.Also,This research was supported by the MIST(Ministry of Science,ICT),Korea,under the National Program for Excellence in SW),supervised by the IITP(Institute of Information&communications Technology Planing&Evaluation)in 2021”(2019-0-01816).
文摘In recent times,internet of things(IoT)applications on the cloud might not be the effective solution for every IoT scenario,particularly for time sensitive applications.A significant alternative to use is edge computing that resolves the problem of requiring high bandwidth by end devices.Edge computing is considered a method of forwarding the processing and communication resources in the cloud towards the edge.One of the considerations of the edge computing environment is resource management that involves resource scheduling,load balancing,task scheduling,and quality of service(QoS)to accomplish improved performance.With this motivation,this paper presents new soft computing based metaheuristic algorithms for resource scheduling(RS)in the edge computing environment.The SCBMARS model involves the hybridization of the Group Teaching Optimization Algorithm(GTOA)with rat swarm optimizer(RSO)algorithm for optimal resource allocation.The goal of the SCBMA-RS model is to identify and allocate resources to every incoming user request in such a way,that the client’s necessities are satisfied with the minimum number of possible resources and optimal energy consumption.The problem is formulated based on the availability of VMs,task characteristics,and queue dynamics.The integration of GTOA and RSO algorithms assist to improve the allocation of resources among VMs in the data center.For experimental validation,a comprehensive set of simulations were performed using the CloudSim tool.The experimental results showcased the superior performance of the SCBMA-RS model interms of different measures.
基金Project supported by the National Natural Science Foundation of China(Nos.12172151 and12172149)the Research Project of Introducing High-level Foreign Experts from the Ministry of Sicence and Technology of China(No.G20221990122)the Start-up Fund from Jinan University(Guangzhou)of China(No.88019062)。
文摘An explicit form of the elastic strain-energy function for direction-dependent large elastic strain behaviors of soft fiber-reinforced composites is first presented based upon a decoupled approach for simulating complex nonlinear coupling effects.From this form,the exact closed-form solutions are then obtained for the uniaxial tension responses in the fiber and cross-fiber directions.With such exact solutions,the issue of simultaneously simulating strongly coupling nonlinear responses in the fiber and cross-fiber directions may be reduced to the issue of separately treating each decoupled uniaxial stress-strain response,thus bypassing usual complexities and uncertainties involved in identifying a large number of strongly coupled adjustable parameters.The numerical examples given are in good agreement with the experimental data for large strain responses.
