HIV early detection (CD4 counts ≥350 cells/μL) is correlated with higher life expectancy among people living with HIV (PLHIV). Several factors including physical, cultural, structural, and financial barriers have contributed to HIV late detection. This is the first-of-its-kind study on the regional differences in early detection of HIV within Tajikistan and any country in the Central Asia region. Utilizing Tajikistan Ministry of Health's national HIV data (N=10,700) spanning 2010 to 2023, we developed median regression models with median CD4 cell count as the outcome and as predictors: time (years), region, age, gender, and area (urban/rural status). Individuals younger than 19 years old are more likely to be detected early for HIV, whereas those older than 39 years are more prone to late detection. Given their active engagement in age-related and sexual activities, those older than 39 years face a higher risk of HIV transmission to others if diagnosed late. Therefore, they require further attention and targeted interventions. Females are detected earlier compared to their male counterparts, regardless of region of residence. Rural populations are detected earlier in most years compared to their urban counterparts. The COVID-19 pandemic accelerated HIV early detection in 2021 but most regions have returned to near pre-pandemic levels of detection in 2022 and 2023. These fluctuations in early detection may signify a shift in attention and resource allocation, potentially affecting efforts to address access gaps during the initial year of the COVID-19 pandemic. There are significant health inequities among different demographic and geographic groups which warrant further attention.

Healthcare professionals constantly face situations that reflect ecosystems’ degradation. These can negatively affect their mental health. Research suggests that hope and resilience can play an important role in this scenario, since they are related to/predict mental health in highly heterogeneous samples (considering geography, age, profession, health, etc.). In this context, the aims of the present study are: to characterize and explore the relationship between hope, resilient coping and mental health of Portuguese healthcare professionals. Using Google Forms, 276 healthcare professionals answered to the GHQ-28, the (adult) Trait Hope Scale, and the Brief Resilient Coping Scale (cross-sectional study). The minimum and maximum possible scores were reached, with the exception of the maximum score of GHQ-28-Total. Regarding Hope, 19.6% scored below the midpoint (M=43.46, SD=11.97); 29.3% revealed low resilience (M=14.93, SD=4.05); and the average of 4 of the 5 Mental Health scores (exception: Severe Depression) indicates the probability of a psychiatric case. Hope correlated with Social Dysfunction and GHQ-28-Total; resilient coping proved to be a (weak) predictor of 4 of the 5 GHQ-28 indicators (exception: Severe depression). The results support the need to promote the sample's mental health, hope and resilient coping. They also suggest that stimulating resilient coping may contribute to improving healthcare professionals’ mental health.

Robotic systems are increasingly being used in healthcare to improve patient care and support healthcare professionals. These robots are especially effective at performing repetitive tasks. In complex cancer cases, robots can enhance surgical precision and efficiency, resulting in reduced pain for patients and a lower risk of complications. Robot-assisted surgery offers high-quality 3D imaging, improved clarity, and increased efficiency. This review paper examines the application of Artificial Intelligence (AI) and robotic systems in the healthcare domain, specifically focusing on the interaction among operators, patients, and robots. The goal is to promote collaboration and improve healthcare provision through human-robot interaction. We considered already published articles by relevance, to identify the primary safety issues that need addressing for the integration of AI and robots in hospitals. Concluding with insights into understanding the focal points of social errors in Human-Robot Interaction (HRI) is crucial for mitigating these errors. While current technologies have reached a certain level of maturity, there are still numerous challenges in utilizing robot-assisted clinical practice, including technological, safety, clinical, financial, insurance, psychological, social, ethical, and legal issues. In addition, there is an urgent issue that needs to be addressed: the alignment of values in artificial intelligence, ensuring that AI systems reflect ethical principles and human values is crucial to avoid negative consequences such as bias, discrimination, and prejudicial decisions. Resolving this complex issue requires collaboration among clinical staff, researchers, programmers, and political decision-makers from various fields.

In this article the problem of detection and isolation (FDI) in wheeled mobile robot is 1 treated. first of all we consider a master-slave robot system in which the master robot has to follow a 2 desired trajectory given by a well-determined control law, then the slave is controlled by the master. 3 However in real environment there is no ideality because faults can appear in the master or slave 4 or even the both and affect the system and may lead to unacceptable results so to ensure a well 5 functioning an extended kalman filter is tuned to diagnosis eventual faults and to generate residuals 6 in order to detect and isolate them. The performance of an estimator based on an EKF is simulated 7 based MATLAB Simulink simulations.

The paper presents the conceptualization and realization of a novel platform for additive manu-facturing, an industrial robot arm-based system for additive manufacturing applications. Tradi-tional 3D printers, especially those employing fused deposition modelling (FDM) processes, are restricted to depositing material in a single toolpath plane (e.g. x-y plane). The focus of this study was to explore the feasibility of integrating commercial off the shelf (COTS) additive manufac-turing technologies with a six degree of freedom industrial robot arm to yield a 3D additive manufacturing system with the capability to perform free-form six degree of freedom fused deposition modelling. The present paper presents the development of a platform from stage 0, i.e. materials to its use, and finally a printed product with the developed extruder.

This paper proposes a novel biologically inspired design for an insect-scale flapping robot. The proposed scheme employs two motors to drive four wings, mimicking the flapping motion of nat-ural four-winged insects. The vehicle incorporates two pairs of flapping wings to generate lift force, with a transmission mechanism featuring flexure hinges instead of pivot joints, resulting in reduced weight and volume. The flexure hinges also exhibit nonlinear stiffness to facilitate smooth wing motion. The vehicle is designed to be symmetrical in structure, with the wings of each section generating greater lift through the clap-and-fling mechanism. The final product weighs 6.2g, pos-sesses a wingspan of 17cm, a one-sided flapping wing angle of 103 degrees, and generates lift that exceeds its weight, attesting to its successful design.

Condition monitoring of industrial robots has the potential to decrease downtimes in highly automated production systems. We suggest a new health indicator based on vibration data measurements and compare its performance with state-of-the-art health indicators regarding different criteria. This evaluation is based on different data sets from robot test rigs. We find that the proposed health indicator can detect different faults, has low temperature sensitivity and works in instationary velocity regimes. A discussion of the validity of the results rounds up our contribution.

Purpose: The ongoing COVID-19 crisis has created the need for social distancing between medical staff and patients, therefore, healthcare robotics is increasingly important as regards infectious control. The purpose of this study was to design and fabricate a remote controlled transport robot that could provide an optimum technology base for developing countries, having dual functions of telepresence and delivery operations inside or outside buildings, is easy to assemble and also easily able to be cleaned using standard chemical agents.Methods: This machine was designed and fabricated to incorporate two main functions; delivery and telepresence. The robot consists of a base frame, DC motors for driving and steering systems, actuator motor for driving wheel elevation, Wi-Fi AP/Repeater, network camera, and a necessary a back-up power system.Results: This robot can be used both indoors and outdoors. It can carry loads of more than 80 kg. The machine can cross obstacles greater than 3 cm. It can be cleaned by disinfectant agents. An actuator motor can lift the driving wheels above the surface to prevent gear damage. Conclusion: This article demonstrates the concept of a healthcare telepresence and delivery robot that can provide distancing during the present COVID-19 crisis, using optimum technology for low and middle-income countries. In the future, the researcher should consider development of the delivery controls, combined with the telepresence system using the internet of things, to improve the navigation system, the manipulator system for supporting multi-floor transportation, and also other multi-functional purposes.

This paper presents a novel micro-segmented genetic algorithm (μsGA) to identify the best solution for the locomotion of a quadruped robot designed on a rectangular ABS plastic platform. We compare our algorithm with three similar algorithms found in the specialized literature: a standard genetic algorithm (GA), a micro-genetic algorithm (μGA), and a micro artificial immune system (μAIS). The quadruped robot prototype guarantees the same conditions for each test. The platform was developed using 3D printing for the structure and can accommodate the mechanisms, sensors, servomechanisms as actuators. It also has an internal battery and a multicore embedded system (mES) to process and control the robot locomotion. This research proposes a μsGA that segments the individual into specific bytes. μGA techniques are applied to each segment to reduce the processing time; the same benefits as the GA are obtained, while the use of a computer and the high computational resources characteristic of the GA are avoided. This is the reason why some research in robot locomotion is limited to simulation. The results show that the performance of μsGA is better than the three other algorithms (GA, μGA and AIS). The processing time was reduced using a mES architecture that enables parallel processing, meaning that the requirements for resources and memory were reduced. This research solves the problem of continuous locomotion of a quadruped robot, and gives a feasible solution with real performance parameters using a μsGA bio-micro algorithm and a mES architecture.

The paper presents an innovative hexapod walking robot built with 3-UPU parallel mechanism. In the robot, the parallel mechanism is used as both an actuator to generate walking and also a connecting body to connect two groups of three legs, thus enables the robot to walk with simple gait by very few motors. In the paper, the forward and inverse kinematics solutions are obtained. The workspace of the parallel mechanism is analyzed using limit boundary search method. The walking stability of the robot is analyzed, which yields the robot’s maximum step length. The gait planning of the hexapod walking robot is studied for walking on both flat and uneven terrains. The new robot, combining the advantages of parallel robot and walking robot, has a large carrying capacity, strong passing ability, flexible turning ability, and simple gait control for its deployment for uneven terrain.

Global teacher shortage is a serious concern with grave implications for the future of education. This calls for novel ways of addressing teacher roles. The economic benefits of tireless labour inspires the need for teachers who are unlimited by natural human demands, highlighting consideration for the affordances of robotics and Artificial Intelligence in Education (AIED) as currently obtainable in other areas of human life. This however demands designing robotic personalities that can take on independent teacher roles despite strong opinions that robots will not be able to fully replace humans in the classroom of the future. In this paper, we argue for a future classroom with independent robot teachers, highlighting the minimum capabilities required of such personalities in terms of personality, instructional delivery, social interaction and affect. We describe our project on the design of a robot teacher based on these. Possible directions for future system development and studies are highlighted.

Micro elastofluidics is a transformative branch of microfluidics, leveraging fluid-structure interaction (FSI) at the microscale to enhance the functionality and efficiency of various microdevices. This review paper elucidates the critical role of advanced computational FSI methods in the field of micro elastofluidics. By focusing on the interplay between fluid mechanics and structural responses, these computational methods facilitate the intricate design and optimisation of microdevices such as microvalves, micropumps, and micromixers, which rely on the precise control of fluidic and structural dynamics. In addition, these computational tools extend to the development of biomedical devices, enabling precise particle manipulation and enhancing therapeutic outcomes in cardiovascular applications. Furthermore, this paper addresses the current challenges in computational FSI and highlights the necessity for further development of tools to tackle complex, time-dependent models under microfluidic environments and varying conditions. Our review highlights the expanding potential of FSI in micro elastofluidics, offering a roadmap for future research and development in this promising area.

A comprehensive study of the interactions of human serum albumin (HSA) and α-1-acid glycoprotein (AAG) with two isoquinoline alkaloids: allocryptopine (ACP) and protopine (PP) was performed. The UV-Vis spectroscopy, molecular docking, competitive binding assays, and circular dichroism (CD) spectroscopy were used for the investigations. The results showed that ACP and PP form spontaneous and stable complexes with HSA and AAG, with ACP displaying a stronger affinity towards both proteins. Molecular docking studies showed also revealed the preferential binding of ACP and PP to specific sites within HSA, with site 2 (IIIA) being identified as the favored location for both alkaloids. This was supported by competitive binding assays using markers specific to HSA's drug binding sites. Similarly, for AAG, a decrease in fluorescence intensity upon addition of the alkaloids to AAG/ Quinaldine Red (QR) complexes indicated the replacement of the marker by the alkaloids, with ACP showing a greater extent of replacement than PP. CD spectroscopy showed that the proteins’ structures remained largely unchanged suggesting that the formation of complexes did not significantly perturb the overall spatial configuration of these macromolecules. These findings are crucial for advancing the knowledge on the natural products-protein interactions and the future design of isoquinoline alkaloid-based therapeutics.

Charles Darwin’s theory of evolution, his note as regards descent with modification, added greatly to the knowledge that we already possess of how species have survived down the ages. It is evident that this does not provide the necessary knowledge about the origin of the life on earth. However, it provides remarkable evidence about how life has survived. Looking fundamentally at the cellular construct of organisms, we arrive at the fact that cells, both unicellular and multicellular, have organelles that enable them communicate with one another. This ability for living organisms, down to the lowest - cellular life - to communicate is what I refer to as Biological interaction. It is necessary that we articulate more about this concept and see how this all comes to bear as regards Homeostasis. In reference to the latter, it is to be made known that every living organism is also intrinsically aimed towards a projected linear motion in its time riddled existence. This is to say that every living organism operates on an foundational process, amongst others, known as Homeostasis. We understand this term to mean balance that the living system strives to maintain. However etymologically speaking it means staying the same. How has this homeostatic process added to the fostering of life via biological interaction? How is biological interaction fundamental to the theory of evolution?

Hasselmann and coauthors proposed the discrete interaction approximation (DIA) as the best tool replacing the nonlinear evolution term in a numerical wind-wave model. Much later, Polnikov and Farina radically improved the original DIA by means of location all the interacting four wave vectors, used in the DIA configuration, exactly at the nodes of the numerical frequency-angular grid. This provides nearly two-times enhancing the speed of numerical calculation for the nonlinear evolution term in a wind-wave model. For this reason, the proposed version of the DIA was called as the fast DIA (FDIA). In this paper we demonstrate all details of the FDIA concept for several frequency-angular numerical grids of high resolution, with the aim of active implementation the FDIA in modern versions of world-wide used wind-wave models.

In this study, a novel theory to investigate the mass oscillation of particles is proposed. It has been proven that, at high-energy conditions, the fermion field described by Dirac’s Lagrangian interacts with the half-integer spin tachyon field with negative energy, causing the formation of composite particles whose mass depends on the total angular momentum. The proposed theory is based on a new interpretation of the Majorana equation for particles with arbitrary spin and shows that mass oscillation is a phenomenon in which the component of particle decay prevails over that of mixing mass states. Using the kinematic of Lemke for spacelike particle decay, we propose a mechanism able to explain the neutrino flavour change. The proposed mechanism is also investigated concerning the shape of its spectrum. Finally, the Lagrangian field of composite particles is formulated.

The occurrence of ovarian dysfunction is often due to the imbalance between the formation of reactive oxygen species (ROS) and the (in)effectiveness of the antioxidative defense mechanisms. Primary sources of ROS are the respiratory electron transfer and the activity of NADPH oxidases (NOX), while Superoxide dismutases (SOD) are the main key reg-ulators that control the levels of ROS and reactive nitrogen species intra- and extracel-lularly. Because of their central role, SODs are the subject of research on human ovarian dysfunction, but the sample acquisition is low. The high degree of cellular and molecular similarity between Drosophila melanogaster ovaries and human ovaries provides this model organism with the best conditions for analyzing the role of ROS during ovarian function. In this study, we clarify the localization of the ROS producing enzyme dNox within ovaries of Drosophila melanogaster and by a tissue specific knockdown, we show that dNox derived ROS are involved in the chorion hardening process. Furthermore, we analyze the dSod3 localization and show that reduced activity of dSod3 impacts egg laying behavior, but not the chorion hardening process.

The African continent has the highest prevalence of hypertension globally, with South Africa reporting the highest prevalence in Southern Africa. While the influence of genetic variability in the pathogenesis of hypertension is well described internationally, limited reports are available for African populations. This study aimed to assess the association of genetic variants and essential hypertension in a cohort of two ethnic South African population groups. Two hundred and seventy-seven hypertensive and one hundred and seventy-six normotensive individuals were genotyped for 79 variants. Genotyping was performed using the Illumina GoldenGate Assay and allele-specific polymerase chain reaction. The association of variants was assessed using the Fisher Exact test under the additive and allelic genetic models, while multivariate logistic regression was used to predict the development of hypertension. Five variants (CYP11B2 rs179998, AGT rs5051 and rs699, AGTR1 rs5186 and ACE rs4646994) were significantly associated with essential hypertension in the cohort under study. Furthermore, AGTR1 rs5186 and AGT rs699 were identified as risk factors for the development of hypertension in both ethnic groups. In two ethnic South African populations an association was observed between Renin-Angiotensin-Aldosterone System (RAAS) related genes and the development of hypertension.

A joint analysis of solar wind, geomagnetic field, and earthquake catalog data showed that before the catastrophic M7.8 and M7.5 Kahramanmaras earthquake sequence on February 6, 2023, the closed strong magnetic storm occurred on November 7, 2022, SYM/H=-117 nT. Storm started at 08:04 UT. At this time, the high latitudinal part of Turkey's longitudinal region of future epicenters was located under the polar cusp, where the solar wind plasma would directly access the Earth's environment. The time delay between storm onset and earthquake occurrence was ~91 days. We analyzed all seven strong (M7+) earthquakes from 1967 to 2020 to verify the initial findings. A similar pattern has been revealed for all events. The time delay between magnetic storm onset and earthquake occurrence varies from some days to some months. To continue these investigations, a retrospective analysis of seismic and other geophysical parameters just after preceded geomagnetic storms in the epicenter areas is desirable.

Periacetabular osteotomy (PAO) is an effective approach for surgical treatment of developmental dysplasia of the hip (DDH). However, due to the complex anatomical structure around the hip and limited field of view (FoV) during the surgery, it is challenging for surgeons to perform a PAO surgery. To solve this challenge, we propose a robot-assisted augmented reality (AR)-guided surgical navigation system for PAO. The system mainly consists of a robot arm, an optical tracker, and a Microsoft HoloLens 2 which is a state-of-the-art (SOTA) optical see-through head-mounted display (OST-HMD). For AR guidance, we propose an optical marker-based virtual-physical registration method to estimate a transformation from the optical tracker coordinate system (COS) to the virtual space COS, such that virtual models can be superimposed on the corresponding physical counterparts. Furthermore, to guide the osteotomy, the developed system automatically aligns the bone saw with osteotomy planes planned in preoperative images, and then provides surgeons with not only robot assistance but also AR guidance. Comprehensive experiments were conducted to evaluate both virtual-physical registration accuracy and osteotomy accuracy of the developed navigation system. The proposed virtual-physical registration method achieved an average mean absolute distance error (mADE) of 1.96 ± 0.43 mm. The developed system achieved an average distance deviation of 0.82 ± 0.17 mm and an average angular deviation of 3.77 ± 0.85 . Experimental results demonstrated high virtual-physical registration accuracy. The sub-millimeter distance deviation demonstrated the osteotomy accuracy of the proposed system.

Many ethical issues arise when robots are introduced into elder-care settings. When ethically charged situations occur, robots ought to be able to handle them appropriately. Some experimental approaches use (top-down) moral generalist approaches, like Deontology and Utilitarianism, to implement ethical decision-making. Others have advocated the use of bottom-up approaches, such as learning algorithms, to learn ethical patterns from human behaviour. Both approaches have their shortcomings when it comes to real-world implementations. Human beings have been observed to use a hybrid form of ethical reasoning called Pro-Social Rule Bending, where top-down rules and constraints broadly apply, but in particular situations, certain rules are temporarily bent. This paper reports on implementing such a hybrid ethical reasoning approach in elder-care robots. We show through simulation studies that it leads to better upholding of human values such as autonomy, whilst not sacrificing beneficence.

Most of the fishing currently practiced in Japan is done by small vessels with a small number of fishermen (one or two). One of the most common fishing methods is longline fishing. However, this method requires the vessel to operate at a constant low speed because the depth of the hook must be kept constant while adjusting the speed of the fishing boat to the tidal current. In addition, because the vessel must maneuver and fish at the same time, automation is desired. Thus, we propose a robotic system that can control the depth of the trap at a constant depth even when the speed of the vessel and the current change, and that can successfully fish without the need for skilled fishermen. Fishing can be conducted regardless of the speed of the vessel, whereas currently it is controlled by the speed of the vessel and the tidal current. Therefore, it may contribute to proposing new fishing methods as well as the existing ones. This can contribute to the shortage of successors to the fishing industry and to the revitalization of the fishing industry.

In this paper is shown the dynamic modeling and design of a passivity based controller for the RV-3SB robot. Firstly, the dynamic modeling of the of the Mitsubishi Rv-3SB robot is done by the Euler-Lagrange formulation in order to obtain a decoupled dynamic model considering the actuators orientation besides the position of this analyzed robot. It is important to remark that the dynamic model of the RV-3SB robot is done based in the kinematic model obtention in which is developed by the implementation of screw theory. Then the passivity based controller is obtained by separating the end effector variables and the actuator variables by making an appropriate coordinate transformation. The passivity based controller is obtained by selecting an appropriate storage function and by the Lyapunov theory the passivity based control law is obtained in order to drive the error variaable, which is the difference between the measured end effector position variable and the end effector desired position variable. The passivity based controller makes that the error variable reach the origin in finite time taking into consideration the dissipation properties of the proposed controller in order to stabilizes the desired end effector position. A numerical simulation experiement is performed in order to validate the theoretical results obtained in this research study. It is verified by numerical experimentation that the proposed control strategy is efficient and effective in order to drive the error variable to the origin in comparison with other modified techniques found in the literature. Finally, the appropriate discussion and conclusion of this research study are provided.

By constructing a static map, the library robot can navigate and access documents autonomously, which greatly improves efficiency; however, for libraries where shelves can be moved, map changes do not allow for direct navigation, and also sensors such as radar and camera are relatively expensive, so we propose a low-cost navigation algorithm based on real-time ranging data and map matrices, and designed a mobile archive access robot. In order to obtain real-time distance data, nine near/long range sensors were mounted on the chassis and a composite digital filtering algorithm was designed based on different moving area characteristics; then the access task matrix and map matrix were designed based on the archive access task and the location characteristics of the archive shelf placement, the robot can rely on the range data to update the map matrix during the moving process, complete its own positioning, and use the task matrix The robot can use the task matrix to complete autonomous navigation and access to multiple files. Experiments show that the filtered positioning accuracy can reach 1cm, while the robot can move to the target shelf autonomously, which is more practical and less costly.

Imitation Learning is a discipline of Machine Learning primarily concerned with replicating observed behavior of agents known to perform well on a given task, collected in demonstration data sets. In this paper, we set out to introduce a pipeline for collecting demonstrations and training models that can produce motion plans for industrial robots. Object throwing is defined as the motivating use case. Multiple input data modalities are surveyed, and motion capture is selected as the most practicable. Two model architectures operating autoregressively are examined -- feedforward and recurrent neural networks. Trained models execute throws on a real robot successfully, and a battery of quantitative evaluation metrics is proposed, including extrapolated throw accuracy estimates. Recurrent neural networks outperform feedforward ones in most respects, with the best models having an assessed mean throw error on the order of 0.1...0.2 m at distances of 1.5...2.0 m. The data collection, pre-processing, and model training aspects of our proposed approach show promise, but further work is required in developing Cartesian motion planning tools before it is suitable for application in production.

In-depth research on the rehabilitation mechanism and motion characteristics of a rehabilitation training robot based on 4-UPUS parallel mechanism. The overall design and the working principle of each key component are explained, and the robot rehabilitation scheme is described. The static analysis and modal analysis of the robot bearing structure are carried out to verify whether the static mechanical characteristics of the mechanism meet the application requirements under working conditions.A simplified mathematical model of the six-bar linkage mechanism is established, and the kinematics of the mechanism is solved by the geometric analysis method. The motion characteristic diagram of each key point is obtained through simulation calculation. Establish the motion model of the parallel mechanism, and discuss the working space and motion performance analysis of the mechanism. The forward solution analysis of the mechanism position is carried out by using the numerical analysis method, and the three-dimensional graphics of the attitude angle and linear displacement of the reachable working space are obtained.Taking the UPUS single branch chain as the analysis object, the single open chain analysis method is used to solve the kinematics image of the corresponding surface in the working space of the mechanism, which verifies the correctness of the kinematics theoretical solution and the feasibility of simulation.The research results show that the 4-UPUS parallel mechanism rehabilitation training robot can cooperate with the ankle joint for rehabilitation training. It makes up for the single movement of the current lower limb rehabilitation robot and the unsatisfactory rehabilitation effect, and provides a reference for the practical application of the subsequent ankle joint rehabilitation robot system.

We transformed the existing learning program Language Shower, which is used in some Norwegian day-care centers in the Grorud district of Oslo municipality, into a digital solution using an app for smartphone or tablet with the option for further enhancement of presentation by a NAO robot. The solution was tested in several iterations and multiple day-care centers over several weeks. Measurements of the children’s progress across learning sessions indicate a positive impact of the program using a robot as compared to the program without robot. In-situ observations and interviews with day care center staff confirmed the solution’s many advantages, but also revealed some important areas for improvement. In particular, the speech recognition needs to be more flexible and robust, and special measures have to be in place to handle children speaking simultaneously.

Designing and development of agricultural robot is always a challenging issue, because of robot intends to work an unstructured environment and at the same time, it should be safe for the surrounded plants. Therefore, traditional robots cannot meet the high demands of modern challenges, such as working in confined and unstructured workspaces. Based on current issues, we developed a new tomato harvesting wire-driven discrete continuum robot arm with a flexible backbone structure for working in confined and extremely constrained spaces. Moreover, we optimized a tomato detaching process by using newly designed gripper with passive stem cutting function. Moreover, by designing the robot we also developed ripe tomato recognition by using machine learning. This paper explains the proposed continuum robot structure, gripper design, and development of tomato recognition system.

We present an Arduino-based automatic robotic system which is used for cutting grass or lawns, mostly healthy grass which needs to cut neatly like in a public park or a private garden. The purpose of this proposed project is to design a programmable automatic pattern design grass cutting robot with solar power which no longer requires time-consuming manual grass-cutting, and that can be operated wirelessly using an Android Smartphone via Bluetooth from a safe distance which is capable of cutting the grass in indeed required shapes and patterns; the cutting blade can also be adjusted to maintain the different length of the grass. The main focus was to design a prototype that can work with a little or no Physical user interaction. The proposed work is accomplished by using an Arduino microcontroller, DC geared Motors, IR obstacle detection sensor, motor shield, relay module, DC battery, solar panel, and Bluetooth module. The grass-cutting robot system can be moved to the location in the lawn remotely where the user wants to cut the grass directly or in desired patterns. The user can press the desired pattern button from the mobile application, and the system will start cutting grass in the similar design such as a circle, spiral, rectangle, and continue pattern. Also, with the assistance of sensors positioned at the front of the vehicle, an automatic barrier detection system is introduced to enhance safety measurements to prevent any risks. IR obstacle detector sensors are used to detect obstacles, if any obstacle is found in front of the robot while traveling; it avoids the barrier by taking a right/right turn or stop automatically appropriately, thereby preventing the collision. Also, the main aim of this project is the formation of a grass cutter that relieves the user from mowing their own grasses and reduces environmental and noise pollution. The proposed system is designed as a lab-scale prototype to experimentally validate the efficiency, accuracy, and affordability of the systems. The experimental results prove that the proposed work has all in one capability (Simple and Pattern based grass cutting with mobile-application, obstacle detection), is very easy to use, and can be easily assembled in a simple hardware circuit. We note that the systems proposed can be implemented on a large scale under real conditions in the future, which will be useful in robotics applications and cutting grass in playing grounds such as cricket, football, and hockey, etc.

Roaming complexity in terrains and unexpected environments poses significant difficulties in robotic exploration of an area. In a broader sense, robots have to face two common tasks during exploration namely walking on the drylands and swimming through the water. This research aims to design and develop an amphibious robot, which incorporates webbed duck feet design to walk on different terrains, swim in water and tackle obstructions on its way. The designed robot is compact and easy-to-use and also has the abilities to work autonomously. Such a mechanism is implemented by designing a novel robotic webbed foot consisting of two hinged plates. Due to the design, the webbed feet are able to open and close with the help of water pressure. The Klann linkage has been used to convert rotational motion to walking and swimming as an animal’s gait. Because of its amphibian nature, the designed robot can be used for exploring the tight caves, closed spaces and moving on uneven challenging terrains such as sand, mud or water. The presented model and design of the amphibious robot has been inspired by the working principle of duck feet. The propulsion generated through this feet system has been observed to be better and more controlled then the initial design and prototype of designed duck feet robot reported in [1]. The direction of movement can be managed, and the speed can be controlled using a larger contact area with water. Since duck is able to roam on both land and water, their feet movement during walking and swimming is adopted in designing the robot’s four legs. Klann linkage is used to mimic such duck feet motion and the control mechanism of the feet is driven by DC motors and DC servo motors which are governed by an Arduino microcontroller. The robot is capable of sensing the presence of water through conductive sensors and detects obstacles using ultrasonic sensor while walking. Due to its amphibian nature and other features in movement, the robot is capable of traversing diversified terrains. It is envisaged that the proposed design will be appreciated in the industry to design amphibious robots in near future.

In this paper, we propose two novel methods for robot-world/hand-eye calibration and provide a comparative analysis against six state-of-the-art methods. We examine the calibration problem from two alternative geometrical interpretations, called hand-eye and robot-world-hand-eye, respectively. The study analyses the effects of specifying the objective function as pose error or reprojection error minimization problem. We provide three real and three simulated datasets with rendered images as part of the study. In addition, we propose a robotic arm error modeling approach to be used along with the simulated datasets for generating a realistic response. The tests on simulated data are performed in both ideal cases and with pseudo-realistic robotic arm pose and visual noise. Our methods show significant improvement and robustness on many metrics in various scenarios compared to state-of-the-art methods.

Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.

The important characteristic that could assist in autonomous navigation is the ability of a mobile robot to concurrently construct a map for an unknown environment and localize itself within the same environment. This computational problem is known as Simultaneous Localization and Mapping (SLAM). In literature, researchers have studied this approach extensively and have proposed a lot of improvement towards it. More so, we are experiencing a steady transition of this technology to industries. However, there are still setbacks limiting the full acceptance of this technology even though the research had been conducted over the last 30 years. Thus, to determine the problems facing SLAM, this paper conducted a review on various foundation and recent SLAM algorithms. Challenges and open issues alongside the research direction for this area were discussed. However, towards addressing the problem discussed, a novel SLAM technique will be proposed.

Wearable technology has been proposed as a potential tool to change the way of human life, such as the smart bracelet and the Google Glass. In the wearable technology, the inertial sensor has great significance in tracking the object movements. The paper focused on detecting the movements of user’s finger based on the inertial sensor to give the control signals. Firstly, the attitude matrix, which represented the transformation relation of carrier coordinate system and the navigation coordinate system, was obtained. Secondly, the attitude matrix was expressed based on the quaternions. Thirdly, the finger gesture was processed by the attitude matrix to get the attitude angle. Finally, the robot was controlled by attitude angle to make the moving action. The experimental results showed the detection of the finger movement is effective.

The treasury of a DAO is purported to uphold the value of the DAO-issued token, and this study represents a pioneering effort to delve into these realms. We explore the relationship between the treasury and market capitalization in two DAO projects, namely Olympus DAO and KlimaDAO. Employing Granger Causality tests, we scrutinize the relationship between market capitalization and the treasuries of these DAOs. Furthermore, we use an EGARCH model to investigate the in-fluence of carbon offset tokens on KlimaDAO’s market capitalization, incorporating this variable into the model's conditional mean equation. The findings reveal a significant relationship between market capitalization and the treasuries of the DAOs, indicating a potential impact of market capitalization on treasuries. Additionally, the well-specified EGARCH model highlights the sig-nificance of carbon offset tokens, suggesting their potential to influence the overall market capi-talization of a DAO project and support its value.

When participants in a statistical learning paradigm are asked to learn from two incompatible or competing inputs, they often fail to learn from one or both inputs. This study presents the results of two experiments that were both completed by one group of typically developing four-year-old children. One experiment targeted word-medial consonant patterns (phonotactics), whereas the other targeted strong-weak and weak-strong stress patterns (prosody). The order of the experiments was critical for learning outcomes in the phonotactics experiment: When children learned phonotactics first, their production accuracy increased following exposure to a high frequency input. When children learned phonotactics second, however, their production accuracy dropped when they were exposed to the high frequency input. Results from the prosody experiment were inconclusive, with limited evidence of any learning effect. Overall, the results suggest that children may conflate learning experiences, and patterns learned from an initial experimental input compete with patterns in a subsequent experiment. When considering natural language acquisition, the results suggest that an isolated episode of learning may lead to generalizations that are incompatible with later input, and possibly, with larger patterns in the language.

In our publication from 8 years ago1 we calculated RKKY interaction between two magnetic impurities in graphene. The consideration was based on the perturbation theory for the thermodynamic potential in the imaginary time representation and direct evaluation of real space spin susceptibility. Only the case of zero temperature was considered. We show in this short notice that the approach can be easily generalized to the case of finite temperature.

The human angiotensin-converting enzyme 2 (ACE2) has a crucial role on blood pressure control; however, ACE2 is also the primary SARS-CoV-2 (S domain) virus receptor. Inhibiting or even reducing the expression of the native ACE2 might diminish the viral entry into the cells, but may cause a failure of ACE2 biological activity, primarily in patients with comorbidities, including diabetes mellitus or hypertension. Since the ACE2 catalytic site and the SARS-Cov-2 receptor are distinct, we designed a Crispr-Cas9 model system, predicting the respective sequences for a guide RNA (gRNA) and a single-stranded oligo dideoxy nucleotide (ssODN), to introduce point mutations into the exon 1 of the human ACE2 gene, which encodes the alpha-helix, implicated on the binding of the SARS-CoV-2 envelope S protein. Protein modeling predicted that the specific substitutions of residues Phe28, Lys31, and Tyr41 for Ala at the ACE2 alpha-helix do not significantly alter ACE2 native conformation. The analysis of the impact of these mutations on ACE2 receptor function predicted a weakening of the binding of the SARS-CoV-2 protein S. An experimental genome editing of cells based on these Crispr-Cas9 elements might reduce the SARS-CoV-2 ability to enter the epithelial cell, preserving the biological activity of ACE2 enzyme.

Compared to traditional multi-robot path planning problems, multi-chain robot path planning (MCRPP) is more challenging because it must account for collisions between robot units and between the bodies of a chain and the leading unit during towing. To address MCRPP more efficiently, we propose a novel algorithm called Multi-Train Safe Interval Path Planning (MT-SIPP). Based on safe interval path planning principles, we categorize conflicts in the multi-train planning process into three types: travel conflicts, waiting conflicts, and station conflicts. To handle travel conflicts, we use an improved k-robust method to ensure trains avoid collisions with other trains during movement. To resolve waiting conflicts, we apply a time correction method to ensure the safety of positions occupied by trains during waiting periods. To address station conflicts, we introduce node constraints to prevent other trains from occupying the station positions of trains that have reached their target stations and are stopped. Experimental results on three benchmark maps show that the MT-SIPP algorithm achieves about a 30% improvement in solution success rate and nearly a 50% increase in the maximum number of solvable instances compared to existing methods. These results confirm the effectiveness of MT-SIPP in addressing the challenges of MCRPP.

Background: Robot-assisted laparoscopic surgery robot-assisted surgical system has gained significant popularity over open and laparoscopic interventions. However, given its high costs, it remains unclear what clinical advantages robot-assisted laparoscopic surgery offers over conventional laparoscopic surgery. Objective: This umbrella review aims to synthesize and compare the clinical outcomes of robot-assisted laparoscopic surgery versus conventional laparoscopic surgery for five surgical procedures. Inclusion criteria: All systematic reviews and meta-analyses published in the past five years that compared the clinical outcomes of conventional laparoscopic surgery and robot-assisted laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and/or prostatectomy were included. Methods: A systematic literature search was conducted in PubMed and Scopus. The quality of all included reviews was assessed with the AMSTAR 2 quality assessment tool. Each review’s study characteristics (and a list of primary sources) were extracted, along with the quantitative and qualitative data for the following ten clinical outcomes: blood loss, rate of conversion to open surgery, hospitalization costs, incisional hernia rate, intraoperative complication rate, postoperative complication rate, length of hospital stay, operative time, readmission rate and wound infection rate. Results: Fifty-two systematic reviews and (network) meta-analyses were included in this umbrella review, covering more than 1,288,425 patients from 1046 primary sources published between 1996 and 2022. The overall quality of the included reviews was assessed to be low or critically low. Robot-assisted laparoscopic surgery yielded comparable results as conventional laparoscopic surgery in terms of blood loss, conversion to open surgery rate, intraoperative complication rate, postoperative complication rate, readmission rate and wound infection rate for most surgical procedures. While the hospitalization costs of robot-assisted laparoscopic surgery were higher and the operative times of robot-assisted laparoscopic surgery were longer than conventional laparoscopic surgery, robot-assisted laparoscopic surgery reduced the length of hospital stay of patients in nearly all cases. Conclusion: Robot-assisted laparoscopic surgery achieved comparable results with conventional laparoscopic surgery for cholecystectomy, colectomy, hysterectomy, nephrectomy and prostatectomy based on ten clinical outcomes. Further research is needed to prove that robot-assisted laparoscopy is as safe and reliable as conventional laparoscopic surgery.

Delta parallel robot has been widely used in precision parts processing, handling, sorting, and precision assembly, with high efficiency and motion stability being its important performance indexes. Any small line segment corner in trajectory planning causes tangential discontinuous trajectory abrupt change, and the process vibration and shock caused by it seriously affect its high-speed and high-precision performance. In this paper, a trajectory planning method combining Cartesian space and joint space is proposed. Firstly, the vector method and micro-element integration method are used to establish the complete kinematics and dynamics equations of the Delta parallel robot, and the inverse kinematics/dynamics model-solving program is written based on Matlab software. Secondly, the end-effector trajectory of the Delta parallel robot is planned in Cartesian space, and the data points and inverse control points of the end-effector trajectory are obtained by the normalization method. Finally, the data points and control points are mapped to the joint space through the inverse kinematics equation, and the fifth-order B-spline curve is adopted for quadratic trajectory planning, which realizes the high-order continuous smoothing of trajectory planning. The simulation and experiment results show that the trajectory smoothing performance of continuous high-order curvature change can be improved using the proposed method, the tracking error of the end-effector is reduced by 21.12%, and the peak torques change of three joints is reduced by 3.5%, 11.6% and 1.6%, respectively.

The benefits of multi-robot systems are substantial, bringing gains in efficiency, quality, and cost, and are useful in a wide range of environments from warehouse automation, to agriculture, and even extend in part to entertainment. In multi-robot system research, the main focus is on ensuring efficient coordination in the operation of the robots, both in task allocation and navigation. However, much of this research seldom strays from theoretical bounds; there are many reasons for this, with the most prominent and impactful being resource limitations. This is especially true for research in areas such as multi-robot path planning (MRPP) and navigation coordination. This is a large issue in practice as many approaches are not designed with meaningful real-world implications in mind and are not scalable to large multi-robot systems. This survey aims to look into the coordination and path-planning issues and challenges faced when working with multi-robot systems, especially those using a prioritised planning approach and identify key areas which are not well-explored and the scope of applying existing MRPP approaches to real-world settings.

As a stimulus signal, coded electrical signals can control the motion behavior of animals, which has been widely used in the field of animal robots. In current research, most of the stimulus signals used by researchers are traditional waveform, such as square waves. To enrich the stimulus waveform, a wireless animal robot stimulation system based on neuronal electrical signal characteristics is presented in this paper. The stimulator uses the CC1101 wireless module to control animal behavior through brain stimulation. The LabVIEW-based graphical user interface(GUI) can manipulate brain stimulation remotely while the stimulator powered by battery. Additionally, the spikes of animals have been simulated by this system through Direct Digital Synthesizer(DDS) algorithm. The GUI enable users to customize the combination of these analog spike signals. The recombined signals are sent to the stimulator through CC1101 as stimulus signals. In vivo experiments conducted on five pigeons verified the efficacy of the stimulation mechanism. The analog spike signal with an amplitude of 3-5V successfully caused the pigeon’s turning behavior. The feasibility of the analog spike signals as stimulus signals was successfully verified. Increased the diversity of stimulus waveform in the field of animal robots.

This paper introduces an alternative method to design the path following controller of an under-actuated spherical mobile robot, which has a single pendulum structure its inside as a driving mechanism. The mechanism has an under-actuated problem; two inputs for the roll and pitch but no direct input for the yaw. In order to overcome this problem, the proposed method defines a virtual reference input for the heading direction. The virtual reference input works as a control input since it can be arbitrarily designed just like the reference input of a conventional system. The control scheme using the defined virtual reference input achieves the stabilization and path following control of the under-actuated spherical mobile robot without any additional control technique. The stability of the proposed control scheme is guaranteed by Lyapunov stability analysis, and simulation results are given to demonstrate its performance.

Social robots may become an innovative means to improve the well-being of individuals. Earlier research showed that people easily self-disclose to a social robot even in cases where that was unintended by the designers. We report on an experiment of self-disclosing in a diary journal or to a social robot after negative mood induction. The off-the-shelf robot was complemented with our inhouse developed AI chatbot and could talk about ‘hot topics’ after having it trained with thousands of entries on a complaint website. We found that people who felt strong negativity after being exposed to shocking video footage benefited the most from talking to our robot rather than writing down their feelings. For people less affected by the treatment, a confidential robot chat or writing a journal page did not differ significantly. We discuss emotion theory in relation to robotics and possibilities for an application in design (the emoji-enriched ‘talking stress ball’). We also underline the importance of - otherwise disregarded - outliers in a data set that is of a therapeutic nature.

This paper proposed a triangular inequality-based rewiring method for the Rapidly exploring Random Tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm’s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.

This paper describes the development of a laser-based people detection and obstacle avoidance algorithm for a differential-drive robot, which is used for transporting materials along a reference path in hospital domains. Detecting humans from laser data is an important functionality for the safety of navigation in the shared workspace with people. Nevertheless, traditional methods normally utilize machine learning techniques on hand-crafted geometrical features extracted from individual clusters. Moreover, the datasets used to train the models are usually small and need to manually label every laser scan, increasing the difficulty and cost of deploying people detection algorithms in new environments. To tackle these problems, (1) we propose a novel deep learning-based method, which uses the deep neural network in a sliding window fashion to effectively classify every single point of a laser scan. (2) To increase the speed of inference without losing performance, we use a jump distance clustering method to decrease the number of points needed to be evaluated. (3) To reduce the workload of labeling data, we also propose an approach to automatically annotate datasets collected in real scenarios. In general, the proposed approach runs in real-time, performs much better than traditional methods, and can be straightforwardly extended to 3D laser data. Secondly, conventional pure reactive obstacle avoidance algorithms can produce inefficient and oscillatory behaviors in dynamic environments, making pedestrians confused and possibly leading to dangerous reactions. To improve the legibility and naturalness of obstacle avoidance in human crowded environments, we introduce a sampling-based local path planner, similar to the method used in autonomous driving cars. The key idea is to avoid obstacles by switching lanes. We also adopt a simple rule to decrease the number of unnecessary deviations from the reference path. Experiments carried out in real-world environments confirmed the effectiveness of the proposed algorithms.

Robots for communication are developed extensively with emphasis on sympathy. This study deals with the growth of character and the control of its operation accordingly. The child has time to be alone with the nature of his/her robot friend. The child can interact with other people's emotional expressions through a robot. Step by step, the robot character will grow as the child grows. Through design studies, qualitative processes such as {customer experience audit, eye tracking, mental model diagrams, semantic differences} have been executed for the results. The participatory behavior research approach through user travel is mapped from the user's lead to the evidence-based design. This research considers how the synthetic characteristics can be applied to the physical growth of robot toys through the product design process. With the development of robot toy "Buddy", we tried making two variations on the robot to achieve recognizable growth. (1) A one-dimensional height scaling and (2) facial expression including the distance between two eyes on the screen. Observations represented children's reactions when "Buddy" was released to with the children. As an independent synthetic character, the robot was recognized by children who had the designed function. Robots for training may require more experimentation.

The active power-assist function greatly expands the potential applications of exoskeleton robots, yet the motion intention estimation (MIE) for active power-assist strategy is quite problematic. Through the analysis of the conduction path and the different stage manifestations of motion intention in human body, we confirmed that the joint torque of human body meets the basic requirements of MIE for the active power-assist that we suggest, namely: (i) it reflects the direction and intensity of the wearer’s efforts; (ii) it precedes the human limb motion; (iii) it generates real-time and continuous output. Thus, an online calculation method of human joint torque was proposed. The sensing system integrated in exoskeleton robots was designed to perceive motion data and foot contact force of a human body. A special inverse dynamics with a parameterized model of the human body was proposed. Contrast experiments were carried out with the motion capture system, which results’ accuracy and similarity were evaluated via the root mean square error and correlation coefficient. The comparative analysis of two synchronous results shows good accuracy of the proposed MIE method, which lays the foundation for the realization of active power-assist.

In this work is represented conceptual model of robot-manipulator for capture and holding no-cooperation client spacecraft, which has Payload Adapter interface PAS 1666 S, PAS 1194 C, PAS 1666 MVS, PAS 1184 VS, when there are dynamic errors of linear and angular position of client spacecraft in the interval +/-5 deg. per minute and +/-0.1 meters per minute respectively.

Various approaches to Quantum Gravity suggest an existence of a minimal measurable length. The cost to have such minimal length could be modified uncertainty principle, modified dispersion relation, non-commutative geometry or breaking of continuous Lorentz symmetry. In this paper, we propose that minimal length can be obtained naturally through spin-orbit interaction. We consider Dresselhaus anisotropic spin-orbit interaction as the perturbative Hamiltonian. When applied to a particle, it implies that the space, which seizes this particle, should be quantized in terms of units that depend on particle’s mass. This suggests that all measurable lengths in the space are quantized in units depending on existent mass and the Dresselhaus coupling constant. On one side, this indicates a breakdown of the space continuum picture near the scale of tabletop experiments, and on the other side, it proposes that spin-orbit interaction is a possible quantum gravity effect at low energy scale that leads naturally to space quantization.

Tracking information diffusion is a non-trivial task and it has been widely studied across different domains and platforms. The advent of social media has led to even more challenges, given the higher speed of information propagation and the growing impact of social bots and anomalous accounts. Nevertheless, it is crucial to derive a trustworthy information diffusion graph, which is capable of highlighting the importance of specific nodes in spreading the original message. The paper introduces the interaction strength, a novel metric to model retweet cascade graphs by exploring users’ interactions. Initial findings show the soundness of the approaches based on this new metric with respect to the state-of-the-art model, and its ability to generate a denser graph, revealing crucial nodes that participated in the retweet propagation. Reliable retweet graph generation will enable a better understanding of the diffusion path of a specific tweet.

Design and advancement of the durable urban train infrastructures are of utmost importance for reliable mobility in the smart cities of the future. Given the importance of urban train lines, tunnels, and subway stations, these structures should be meticulously analyzed. In this research, two-dimensional modeling and analysis of the soil-structure mass of the Alan Dasht station of Mashhad Urban Train are studied. The two-dimensional modeling was conducted using Hashash’s method and displacement interaction. After calculating the free-field resonance and side distortion of the soil mass, this resonance was entered into PLAXIS finite element program, and finally, stress and displacement contours together with the bending moment, shear force and axial force curves of the structure were obtained.

In this paper, I propose new models of quantum information processing using the exchange interaction in physical systems. The partial SWAP operator that can be realized using the exchange interaction is used as the underlying resource for defining models of quantum computation, quantum communication, quantum memory and decoherence-free subspaces. Given the non-commutativity of these operators (for adjacent operators operating on a common qubit), a number of quantum states and entanglement patters can be obtained. This zoo of states can be classified, due to the parity constraints and permutation symmetry of the states, into invariant subspaces that are used for the definition of some of the applications in this paper.

This thesis completion works it out to deepen into diverse modeling techniques for Point Absorbers. A combined frequency-time domain model is conceived, designed and developed in Matlab with FoRtran as a base., leading to obtain physical variables of primary importance, namely position, velocity and power to Energy net balance relationships of absorption. Integration of different degrees of freedom with heave as main executable leads in turn to a single buoy motion focus. Acquisition of the needed hydrodynamic coefficients is provided though application of NEMOH & BEMIO solvers due to the Boundary Element Methodology. Initially, this Wave-to-motion model is validated through comparison with previous experimental results for a floating cone cylinder shape (Buldra-FO3). A single, generic, vertical floating cylinder is contemplated then, that responds to the action of the passing regular waves excitation. Later, two equally sized vertical floating cylinders aligned with the incident wave direction are modeled for a variable distance between the bodies. For both unidirectional regular and irregular waves as an input in deep water, we approximate the convolutive radiation force function term through the Prony method. By changing the spatial disposition of the axisymmetric buoys, using for instance triangular or rectangular shaped arrays of three and four bodies respectively, the study delves into motion characteristics for regular waves. The results highlight efficient layouts for maximizing the energy production whilst providing important insights into their performance, revealing displacement amplification- and capture width-ratios, while deriving in possible interpretations of scenarios related to the the known park effect. These terms are encompassed by the novelty of a new conceptual Post-Processing methodology in the field, which leads to obtain an optimal distance for the separated bodies with effective energy absorption in a regular wave regime. In conclusion, this computational excursion envisions and proposes potentials fields of study, which will surely enhance new connections and link this renewable energy form.

The human gastrointestinal gut contains about 100 trillion of microorganisms including up to 5000 different types of bacteria called the "gut microbiome". Alterations in the composition of gut microorganisms (dysbiosis) can cause threatening for life diseases. This present seeks to evaluate if finally diet and more specifically functional foods affect the intestinal microbiome, and if obesity and the metabolic syndrome (Mets) are associated with the intestinal microbiome. This systematic review was accomplished according to PRISMA guidelines mostly using the key words functional foods, microbiome, obesity, Mets, Mediterranean diet. The search was carried out of recent scien-tific articles from the databases Pubmed, Scopus, and Google Scholar. The most studies discussed in this review showed a potential therapeutic effect of the Mediterranean diet rich in beneficial nutrients, on body weight, fat deposition, in correlation with modulation of the synthesis of gut microbiome. This literature review demonstrates a possible relationship between the metabolites of the microflora, the endotoxemia, obesity and Mets. The role of probiotics, prebiotics, and polyphe-nols in the prevention of obesity and Mets is of high importance in promoting healthy aging. The future challenge is to understand how different dietary patterns can regulate the composition of the gut microflora and whether these changes could be long-term.

Autonomous navigation in dynamic environments poses a significant challenge in the field of ro-botics with the primary goals of ensuring both smooth and safe movement. This study introduces control strategy based on an Adaptive Neuro-Fuzzy Inference System (ANFIS) to enhance au-tonomous robot navigation in dynamic environments, emphasizing on collision-free path plan-ning. This strategy employs, a path planning technique to develop a trajectory that allows the ro-bot to navigate smoothly while avoiding collisions with both static and dynamic obstacles. The developed control system incorporates four ANFIS controllers: two are tasked with guiding the robot toward its end point, and the other two are activated for obstacle avoidance. The experi-mental setup conducted in CoppeliaSim involves a mobile robot equipped with ultrasonic sensors navigating in an environment with static and dynamic obstacles. Simulation experiments are conducted to demonstrate the model's capability in ensuring collision-free navigation, employing a path planning algorithm to ascertain the shortest route to the target destination. The simulation results highlight the superiority of the ANFIS-based approach over conventional methods, partic-ularly in terms of computational efficiency and navigational smoothness.

Robot manipulators are robotic systems that are frequently used in automation systems and able to provide increased speed, precision and efficiency in the industrial applications. Due to their nonlinear and complex nature, it is crucial to optimize the robot manipulator systems in terms of trajectory control. In this study, positioning analysis based on artificial neural networks (ANN) were performed for robot manipulator systems used in the textile industry and the optimal ANN model for the high-accuracy positioning was improved. The inverse kinematic analysis of a 6 degree of freedom (DOF) industrial denim robot manipulator were carried out via 4 different learning algorithms of Delta-Bar-Delta (DBD), Online Back Propagation (OBP), Quick Back Propagation (QBP) and Random Back Propagation (RBP) for proposed neural network predictor. From the results obtained, it was observed that QBP based 3-10-6 type ANN structure produced the optimal results in terms of estimation and modelling of trajectory control. In addition, 3-5-6 type ANN structure was also improved and its Root Mean Square Error (RMSE) and statistical R2 performances were compared to that of 3-10-6 ANN structure. Consequently, it can be concluded that the proposed neural predictors can successfully be employed in real-time industrial applications for robot manipulator trajectory analysis.

Measuring sound pressure is a complex and tedious task in industrial environments. Classical methods can be costly, inaccurate, and potentially dangerous for workers. Integrating robotics and computer vision into acoustic measurement processes offers an innovative solution to these problems. This paper uses a Doosan Robotic Vision System to investigate an innovative automatic acoustic sound pressure measurement solution. The Doosan robot, equipped with a scanning camera and microphone, captures acoustic data and produces a map of the machine’s acoustic radiation using computer vision algorithms. The measurement technique is accurate, efficient, and safe for workers. It can also be used for continuous monitoring of the industrial acoustic environment. The developed measurement method offers a promising way to automate acoustic measurement, which can be performed faster and with better accuracy to help industries improve their product sound quality and reduce noise levels. The method was compared to analytical predictions. A 3D acoustic mapping was conducted to visualize the spatial distribution of sound sources within the environment. The experimental results show a good correlation with the theory.

According to the requirement of 20kg load of casting barrel, we design a three-dimensional model of the robot and analyze the three stages of liquid level change in the casting barrel during the casting process. Through the analysis, it is determined that the time and angle function is an implicit function, and it is impossible to find the analytical expression of time about angle. The kinetic function of the casting barrel is simulated by MATLAB, and it is found that the function image has mutation points, and when the original function is fitted and approximated by fifth-degree polynomial interpolation, the fifth-degree polynomial function image of the time versus the angular acceleration has a large amplitude of oscillation, especially the mutation points. A PID algorithm based on the discretization of the time and acceleration function is introduced for correction, and the results show that this method effectively reduces the oscillation amplitude of the image and improves the coincidence with the original function.

This paper proposed a three-layer distributed simulation network architecture: 1. Distributed virtual simulation network, 2. Perception and control sub-network, and 3. Collaborative communication service network. This simulation architecture runs on a distributed platform. The platform can provide a unique virtual scenario and several simulation services to verify the individual robot system's basic perception, control, and planning algorithms and the distributed collaborative algorithms of heterogeneous multi-robot systems. Furthermore, we designed a simulation experiment scenario for classical heterogeneous robot systems such as unmanned aerial vehicles (UAVs) and unmanned ground vehicles (UGVs). At last, We gave a rough estimation model of the bandwidth.

Fully mechanized mining face production involves complex geological conditions; mining pressure; gas, water, fire and other mining environments. The working face needs a shearer, hydraulic support, a scraper conveyor and other equipment for coordination. The deep integration of intelligent technology with factors such as "humans, machines, the environment, and management" in the workplace is the core content of intelligent coal mines. This paper puts forward an advanced framework for coal mining robot technology systems, including single robots, robotized equipment, robot clusters and unmanned systems. The framework clarifies the common key technologies of coal mining robot research and development and cross-integration with new technologies such as 5G, the industrial internet, big data, artificial intelligence, and digital twins to improve the autonomous and intelligent application of coal mining robots. By establishing a scientific and complete standard system for coal mining robots, we aim to achieve customized research and development and standardized production of various types of robots. A specific analysis was conducted on the research progress of common key technologies such as explosion-proof design, mechanical system innovation, power drive, intelligent sensing, positioning and navigation, and underground communication of coal mining robots. The current research and application status of various types of coal mining robots in China are summarized. A new direction for future coal mine robot research and development is proposed. Moreover, robotic mining systems should be promoted to enhance the overall intelligence level and mining efficiency of mining equipment. To develop human‒machine environment-integrated robots to improve the autonomy and collaboration level of coal mining robots. The digital twinning of the entire mine robot system should be accelerated, the normalized operation level of coal mine robots should be improved, research on coal mining robots, support robots, and transportation robots should be carried out, intelligence should be achieved in fully mechanized mining faces, and equipment support for fewer and unmanned fully mechanized mining faces should be provided. The practical process of implementing coal mining robotization has been summarized, and the technical and engineering feasibility of the coal mining machine population has been verified.

In mobile robotics, laser scanners have a wide spectrum of indoor and outdoor applications, both in structured and unstructured environments, due its accuracy and precision. Most works that use this sensor have their own data representation and their own case-specific modeling strategies, and no common formalism is adopted. To address this issue, this manuscript presents an analytical approach for identification and localization of objects using a 2D LiDARs Our main contribution lies in formally defining laser sensor measurements and their representation, the identification of objects, their main properties and their location in a scene. We validate our proposal with experiments in generic semi-structured environments common in autonomous navigation, and we demonstrate its feasibility on multiple object detection and identification, following strictly its analytical representation. Finally, our proposal further encourages and facilitates the design, modeling and implementation of other applications that use laser scanners as a distance sensor.

Cochlear implantation (CI) allows rehabilitation for patients with severe to profound hearing impairment. Although the use of a robotic assistant provides technical assistance to the surgeon, the assessment of the impact of its use on auditory outcomes remains uncertain. We aim to com-pare the hearing results of patients who underwent bilateral cochlear implantation, one side was performed with manual insertion and the other side with robot-assisted insertion. The electrode array intrascalar positioning and the surgery duration were also studied. This retrospective intra-individual study involved 10 patients who underwent bilateral cochlear implantation. The study included 2 infants and 8 adults. The unique composition of this cohort enabled us to utilize each patient as their own control. Regarding speech disyllabic recognition, pure tone average, ECAP, ratio of array translocation, basilar membrane rupture, percentage of translocated electrodes there was no difference between manual and robot-assisted CI groups. This study is the first to compare intra-individual hearing performance after cochlear implantation either manually or robot-assisted. The number of patients and the time delay between manual and robotic implantation may have led to a lack of power, but there was no apparent difference in hearing performance between manual and robotic implantation.

In this paper is presented the design and syntheis of a dynamic output feedback neural network controller for a non-holonomic mobile robot. First the dynamic model of a non-holonomic mobile robot is presented, in which these constraints are considered for the mathematical derivation of a feasable representation for this kind of robot. Then two control strategies are provided based on kinematic control for this kind of robot. The first control strategy is based on driftless control, this means, that considering that the velocity vector of the mobile robot is orthogonal to its restriction a dynamic output feedback and neural network controller is designed in order that the control action would be zero only when the velocity of the mobile robot is zero. The Lyapunov stability theorem is implemented in order to find a suitable control law. Then another control strategy is designed for trajectory tracking purposes, which similar to the driftless controller, a kinematic control scheme is provided but suitable to implement in more sophisticated hardware. In both control strategy a dynamic control law is provided along with a feedforward neural network controller, so in this way, by the Lyapunov theory the stability and convergence to the origin of the mobile robot position coordinates is ensured. Finally, two numerical experiment are presented in order to validate the theoretical results synthetized in this research study. Discussions and conclusions are provided in order to analyze the results found in this research study.

The Complete Coverage Path Planning (CCPP) is a key technology in the field of agricultural robot, and has great significance for improving the efficiency and quality of tillage, fertilization, harvesting and other agricultural robot operations, as well as reducing the operation energy consumption. The traditional boustrophedon or heuristic search algorithm based CCPP methods, when coping with the field with irregular boundaries, obstacles and other complex environments, still face many problems and challenges, such as large repeated work areas, multiple turns or U-turns, low operation efficiency and prone to local optimum. In order to solve the above problems, an improved-genetic-algorithm-based CCPP method was proposed in this paper, which introduces the idea of chromosome pairs and multi-points mutation to improve its global optimization ability in complex environments, reduce the repeated work areas and the number of turns and U-turns, and thereby improve the operation efficiency. The simulation and experimental results on simple regular fields showed that the proposed improved genetic algorithm-based CCPP method achieved the comparable performance with the traditional boustrophedon-based CCPP method. However, on the complex irregular fields, although the proposed CCPP method increased the number of turns by 13.76%, the area of repeated operation and the number of U-turns were decreased by 38.54% and 35.00% respectively, and saves the battery voltage by 7.82% on average compared to the boustrophedon-based CCPP method. This proved that the proposed CCPP method has strong adaptive capacity to the environment, and has practical application value in improving the efficiency and quality of agricultural machinery operations, and reducing the energy consumption.

Longer operating time in radical prostatectomy may escalate the risk of perioperative complications. Various factors like cancer extent, procedure’s level of difficulty, habitus and previous surgeries may lengthen robotic assisted radical prostatectomy (RARP) and therefor compromise outcomes. Objective: this study investigates the influence of operating time on outcomes after RARP in real life settings in a monocentric single surgeon study. Methods: 500 consecutive patients who underwent RARP between April 2019 and August 2022 were included. Patients were divided in three groups. Short (n=157; 31.4%) under or equal to 120 minutes, average (n=255; 51%) between 121 and 180 minutes, long (n=88; 17,6%) above 180 minutes console-time. Demographic, baseline and perioperative data were analyzed and compared between groups. Univariate logistic regression was completed to investigate the association between console-time and outcomes and to predict factors which may prolong surgery. Results: hospital stay and catheter days were significantly longer in group 3 with medians 6 and 7 days (p<0.001 and <0.001, respectively). Those findings were confirmed in univariate analysis, p=0.012 for Catheter days and p<0.001 for Hospital stay. Moreover, major complications were higher in patients with longer procedures p=0.008. Prostate volume was the only predictor for prolonged console time (p=0.005). Conclusion: RARP is a safe procedure and most patients will be discharged uneventfully. Yet longer console-time is associated with longer hospital stay, catheter days and major complications. Caution has to be taken in large prostate to avoid longer procedures, which may prevent postoperative advert events.

Factory safety inspections are crucial for ensuring safe production. However, manual inspections present issues such as low efficiency and high workload. Inspection robots provide an efficient and reliable solution for completing patrol tasks. The development of robot localization and path planning technologies provides guarantees for factory inspection robots to autonomously complete inspection tasks in complex environments. This paper studies mapping and localization, as well as path planning methods for robots in order to meet the application requirements of factory inspections. Two SLAM application systems based on multiple-line laser radar and vision are designed for different scenarios in consideration of the limitations of cameras and laser sensors in terms of their own characteristics and applicability in different environments. To address the issue of low efficiency in inspection tasks, a hybrid path planning algorithm that integrates the A-star algorithm and time elasticity band algorithm is proposed. This algorithm effectively solves the problem of path planning in complex environments that is prone to falling into local optimal solutions, thereby improving the inspection efficiency of robots. Experimental tests show that the designed SLAM and path planning methods can meet the needs of robot inspection in complex scenes and have good reliability and stability. The code used in this article is open source and can be accessed at https://github.com/Mxiii99/RSPP_CS.git.

Performing predictive maintenance (PdM) is challenging for many reasons. Dealing with large datasets which may not contain run-to-failure data (R2F) complicates PdM even more. When no R2F data are available, identifying condition indicators (CIs), estimating the health index (HI), and thereafter, calculating a degradation model for predicting the remaining useful lifetime (RUL) are merely impossible using supervised learning. In this paper, a 3 dof delta robot used for pick and place task is studied. In the proposed method, autoencoders (AEs) are used to predict when maintenance is required based on the signal sequence distribution and anomaly detection, which is vital when no R2F data is available. Due to the sequential nature of the data, non-linearity of the system, and correlations between parameter time series, convolutional layers are used for feature extraction. Thereafter, a sigmoid function is used to predict the probability of having an anomaly given CIs acquired from AEs. This function can be manually tuned given the sensitivity of the system or optimized by solving a minimax problem. Moreover, the proposed architecture can be used for fault localization for the specified system. Additionally, the proposed method is capable of calculating RUL using Gaussian process (GP), as a degradation model, given HI values as its input.

Maze navigation using one or more robots has become a recurring challenge in scientific literature and real life practice, with fleets having to find faster and better ways to navigate environments such as a travel hub (e.g. airports) or to evacuate a disaster zone. Many methods have been used to solve this issue, including the implementation of a variety of sensors and other signal receiving systems. Most interestingly, camera-based techniques have increasingly become more popular in this kind of applications, given their robustness and scalability. In this paper, we have implemented an end-to-end strategy to address this scenario, allowing a robot to solve a maze in an autonomous way, by using computer vision and path planning. In addition, this robot shares the generated knowledge to another by means of communication protocols, having to adapt its mechanical characteristics to be able to solve the same challenge. The paper presents experimental validation of the four components of this solution, namely camera calibration, maze mapping, path planning and robot communication. Finally, we present the integration and functionality of these methods applied in a pair of NAO robots.

Induction of jasmonate-mediated plant defense against insect herbivory is initiated by a combination of both, mechanical wounding and chemical factors. In order to study both effects independently on plant defense induction, SpitWorm, a computer-controlled device which mimics the damage pattern of feeding insect larvae on leaves and, in addition, can apply oral secretions (OS) or other solutions to the ‘biting site’ during ‘feeding’, was developed and evaluated. The amount of OS left by a Spodoptera littoralis larva during feeding on Phaseolus lunatus (lima bean) leaves was estimated by combining larval foregut volume, biting rate, and quantification of a fluorescent dye injected into the larvae’s foregut prior to feeding. For providing OS amounts by SpitWorm equivalent to larval feeding, dilution and delivery rate were optimized. The effectiveness of SpitWorm was tested by comparing volatile organic compounds (VOC) emissions of P. lunatus leaves treated with either SpitWorm, MecWorm or S. littoralis larvae. Identification and quantification of emitted VOCs revealed that SpitWorm induced a volatile bouquet that is qualitatively and quantitatively similar to herbivory. Additionally, RT-qPCR of four jasmonic acid responsive genes showed that SpitWorm, in contrast to MecWorm, induces the same regulation pattern as insect feeding. Thus, SpitWorm mimics insect herbivory almost identical to real larvae feeding.

Multi-floor environments are usually ignored while designing an autonomous robot for indoor cleaning applications. However, for efficient operation in such environments, the ability of a robotic platform to traverse staircases is crucial. Staircase detection and localization is highly important for planning the traversal on staircases. This paper describes a deep learning approach using Convolutional Neural Networks (CNNs) based Robot Operation System (ROS) to staircase detection and localization. We use an object detection network to detect staircases in images. We also localize these staircases using a contour detection algorithm to detect the target point, a point close to the center of the first step, and the angle of approach to the target point. Experiments are performed with data obtained from images captured on different types of staircases at different view points/angles. Results show that the approach is very accurate in identifying the presence of the staircase in the working environment and is also able to locate the target point with good accuracy.

Large-scale genetic studies have identified numerous genetic risk factors that suggest a central role for innate immune cells in susceptibility to Alzheimer’s disease (AD). CD33, an immunomodulatory transmembrane sialic-acid binding protein expressed on myeloid cells, was identified as one such genetic risk factor associated with Alzheimer’s disease. Several studies explored the molecular outcomes of genetic variation at the CD33 locus. It has been determined that the risk variant associated with AD increases the expression of the large isoform of CD33 (CD33M) in innate immune cells and alters its biological functions. CD33 is thought to signal via the interaction of its ITIM domain and the protein tyrosine phosphatase, SHP-1. Here, we utilize different molecular and computational approaches to investigate how AD-associated genetic variation in CD33 affects its interaction with SHP-1 in human microglia and microglia-like cells. Our findings demonstrate a genotype-dependent interaction between CD33 and SHP-1, which may functionally contribute to the AD risk associated with this CD33 variant. We also found that gene-gene interactions impact AD-related traits.

This article begins with exploring fundamental limits in the universe. It examines key principles, such as the uniformity of physical laws and Energy conservation, that lead to the principles of maximum speed, locality, and maximum density. These universal limits govern physical phenomena, culminating in very interesting results.They led to the exploration of Quantum black holes. Quantum black holes are relativistically revolving miniature charged black holes consisting of a single core at the highest possible density. They are the only structures small enough to keep all charges quantized (including gravitational charges). I then demonstrated that quarks and leptons comprise smaller entities - the Quantum Black Holes. Exploring these elementary particles reveals that they release their Energy outward, altering the curvature of nearby space-time and providing new insights. We can characterize movements and processes in local space-time with four sets of equations representing the four charge types and one set representing Dark Matter. By the end of the article, I prove that Quantum black holes explain the quantization of gravity, the nature of Luminous and dark Matter, the Mass, size, and (quantized) charges quantities of elementary particles and the nature of neutrino oscillations.

This work is an addition to the previously developed two-dimensional model of the shock-plasma interaction extending it into the third dimension. The model allows tracing the evolution of the state of the hypersonic flow and the shock front refracted at a thermal discontinuity. The advantages of using the spherical coordinate system for this type of the problems include more transparency in interpreting the solution and a shortened calculation procedure, because all the changes to the front become reduced to one distortion component only. Although the vorticity generation triggered at the interface is the consequence of the refraction and tied to the steep changes of the front, it is shown here that it is not because of an instant parameter jump at the interface due to refraction itself.

Heat Shock Proteins play a crucial role in maintaining cellular integrity during thermal stress conditions, acting as chaperones and participating in the regulation of cellular responses. The focus was to contribute valuable insights into the potential role of hypericin in modulating these heat shock proteins and its implications for anti-tumoral properties. This study employs computational methods, specifically molecular docking, to investigate the potential biological interactions between the chaperone proteins HSP90 and HSC70 and Hypericin, a natural compound recognized for its anti-tumor properties. Despite the limited existing studies in this domain, this research aims to uncover structural insights into the binding mechanisms between Hypericin and these heat shock proteins. In the docking assessments, hypericin demonstrated notable binding energy results, exhibiting a binding energy of -10.5 kcal/mol with Heat Shock Cognate 71 kDa protein and -11.2 kcal/mol with Heat Shock Protein HSP90-alpha.

Diclofenac is a non-steroidal anti-inflammatory drug (NSAID) from the group of phenylacetic acid derivatives, which has analgesic, anti-inflammatory and antipyretic properties. The interaction of non-steroidal anti-inflammatory drugs with cell membranes can affect their physicochemical properties, which, in turn, can cause a number of side effects in the use of these drugs. Electron paramagnetic resonance (EPR) spectroscopy could be used to study the interaction of diclofenac with the membrane, if its spin-labeled analogs existed. This paper describes the synthesis of spin-labeled diclofenac (diclofenac-SL), which consists of a simple sequence of transformations such as iodination, esterification, Sonogashira cross-coupling, oxidation and saponification. EPR spectra showed that diclofenac-SL binds to in a lipid membrane composed of palmito-yl-2-oleoyl-sn-glycero-3-phosphocholine (POPC). 2H electron spin echo spectroscopy (ESEEM) was used to determine the position of the diclofenac-SL relative to the membrane surface. It has been established that the average its depth of immersion corresponds to the 5th position of the carbon atom in the lipid chain.

S100 is a family of over 20 structurally homologous, but functionally diverse regulatory (calcium/zinc)-binding proteins of vertebrates. The involvement of S100 proteins in numerous vital (patho)physiological processes is mediated by their interaction with various (intra/extra)cellular protein partners, including cell surface receptors. Furthermore, recent studies revealed the ability of specific S100 proteins to affect cell signaling via direct interaction with cytokines. Previously, we have revealed binding of ca. 71% of the four-helical cytokines by S100P protein due to the presence in its molecule of a cytokine-binding site, which overlaps with the binding site for S100P receptor. Here we show that another S100 protein, S100A6 (pairwise sequence identity with S100P of 35%), specifically binds numerous four-helical cytokines. We have studied affinity of recombinant forms of 35 human four-helical cytokines covering all structural families of this fold to Ca2+-loaded recombinant human S100A6, using surface plasmon resonance spectroscopy. S100A6 recognizes 26 of the cytokines from all families of this fold with the equilibrium dissociation constants ranging from 0.3 nM to 12 µM. Overall, S100A6 interacts with ca. 73% of the four-helical cytokines studied to date with selectivity equivalent to that for S100P protein, with the differences limited to binding of Interleukin-2 and Oncostatin-M. The molecular docking study evidences presence in S100A6 molecule of a cytokine-binding site, analogous to that found in S100P. The findings argue the presence in some of the promiscuous members of S100 family of a site specific to a wide range of the four-helical cytokines. This unique feature of the S100 proteins potentially allows them to serve as universal inhibitors of signaling of the four-helical cytokines, which could be of value for reduction of severity of the disorders accompanied by excessive release of the cytokines.

Since the first description of SARS-CoV-2 in China in 2019, thousands of variants have emerged worldwide. For some of them, the constellation of mutations caused changes in virus biology, pathogenicity, infectivityity and transmissibility resulting in dissemination throughout the world. Gamma variant (P.1) differs from SARS-CoV-2 Wuhan strain (B.1) by 12 amino acids in the Spike (S) protein, and presented mutations related to greater affinity for the receptor angioten-sin-converting enzyme 2 (ACE-2) and/or immune escape. The Gamma variant and subvariants were responsible for the second wave of COVID-19 in the Brazilian city of Manaus, characterized by high mortality and rapid transmission. The ability of variants to induce cytokine production may be closely related to their pathogenicity. Herein we observed that there was no significant difference in the quantity of cytokines among macrophages or neutrophils infected with P.1 and B.1 strains. Also, no significant difference was observed in the absolute number of macrophages and neutrophils infected with these variants. Furthermore, no evidence of SARS-CoV-2 replication was observed in macrophages when infected by the two analyzed variants. Our findings suggest that the difference in the epidemiological outcome observed during the P.1 variant spread when compared to B.1, it is not explained by differences in the quantity of cytokines and absolute number of macrophages or neutrophils. Through bioinformatics analysis of the S protein, we observed that the physicochemical differences between the variants and subvariants of P.1, probably refer to the degree of infectivity, due to the impact caused in the recognition of antibodies and receptor af-finity

In our recently published papers, considering Planck mass based light speed growing black hole universe and scaled Hawking’s black hole temperature formula, we have developed a simple procedure for estimating the current Hubble parameter and current cosmic mass. In addition to that, without considering galactic dark matter, starting from 10 km/sec to 500 km/sec, we have tried to fit the observed galactic flat rotation speeds with a concept of super gravity of galactic baryonic mass. To estimate the equivalent mass of currently hypothecated galactic dark matter, we have introduced a timely increasing cosmological reference mass unit. Its current magnitude seems to be around 200 million solar masses. In this paper, considering 200 million solar masses as a characteristic representation of cosmic weak interaction mass unit, we have developed a simple formula for its estimation. We would like to appeal that, weak interaction boosts the gravity of galaxies in proportion with their virtual dark mass as (galactic baryonic mass)^3/2 / (200 million solar masses)^1/2. With further study- dark matter existence and physical properties can be understood in a theoretical approach.

HIV-1 Tat protein interacts with TAR RNA and recruits CDK9/cyclin T1 and other host factors to induce HIV-1 transcription. Thus Tat-TAR RNA interaction, which is unique for HIV-1, represents an attractive target for anti-HIV-1 therapeutics. To target Tat-TAR RNA interaction, we used a crystal structure of TAR RNA with acetylpromazine bound to the bulge of TAR RNA, to dock compounds from Enamine database containing 1.6 million individual compounds. Docking identified 173 compounds that were analyzed for the inhibition of HIV-1 infection. Top ten inhibitory compounds with IC50 ≤ 6 µM were selected and the three least toxic compounds, T6780107 (IC50=2.97 μM), T0516-4834 (IC50=0.2 μM) and T5628834 (IC50=3.46 μM), were further tested for HIV-1 transcription inhibition. Only T0516-4834 compound showed selective inhibition of Tat-induced HIV-1 transcription, whereas T6780107 compound inhibited equally basal and Tat-induced transcription and T5628834 compound only inhibited basal HIV-1 transcription. The T0516-4834 compound also showed strongest inhibition of HIV-1 gag RNA expression and p24 production in CEM T cells infected with HIV-1 IIIB. Of the three compounds, only the T0516-4834 compound disrupted Tat-TAR RNA interaction indicating that it might target TAR RNA. Also, of the three tested compounds, T5628834 but not T6780107 or T0516-4834 disrupted Tat-CDK9/cyclin T1 interaction. Taken together, our study identified novel compound T0516-4834 that disrupted Tat-TAR RNA interaction and inhibited Tat-induced transcription and HIV-1 infection suggesting that this compound might serve as a new lead for anti-HIV-1 therapeutics.

Differential equation models to understand interaction between plant and nutrient solution are presented. The root cells selectively emit H+ ions with active transport consuming ATPs to establish electrical gradient along the cell membrane. It establishes electrical field with Nernst potential to make positively charged ions outside the cell membrane flow into the root cell. Anion influx is also modulated by H+ ion concentration because plant root cell absorbs negatively charged particles with symport. If an anion collides with H+ cell to make net charge as neutral, at symport channel, it can flow through. In this paper, mathematical models for cation and anion absorption are introduced. Cation absorption model was induced from Ohm's law combined with Goldman's equation. Anion absorption model is similar to chemical reaction rate model. Both models have physiological terms influenced by gene expression pattern, species or phenotypes. Cation model also includes terms for ion's kinetic and electrical properties, growth of plant and interaction between the root and the surroundings. Simulation for 20 different sets of coefficients showed that the physiology-related coefficient has important role on nutrition absorption tendencies of plants.

Phase Change Materials (PCMs) are latent heat storage media with high potential of integration in building structures and technical systems. Their solid-liquid transition is commonly utilized for thermal energy storage in building applications. It also means that some kind of encapsulation is necessary. This is often solved with metal containers that also have high thermal conductivity and resistance to mechanical damage enhancing the performance these so called latent heat thermal energy storage (LHTES) systems. However selection of suitable metal is rather challenging. It depends, among other things, on the elimination of undesirable interaction between storage medium and surrounding metal. Heat storage medium must be reliably sealed in metal container especially when the storage system is integrated in systems like domestic hot water storage tanks, where PCM leaks can negatively affect human health. The aim of this study was evaluation of interaction between selected commercially available organic and inorganic PCMs and metals. The evaluation is based on the calculation of corrosion rate and use gravimetric method for determination of the weigh variations of the metal samples. Results show that aluminium is the most suitable container material with lowest mass loss and suffered only minimal visual changes on the surface after prolonged exposure to PCMs.

Mind and brain/matter interaction is one of the important and controversial issues in Islamic philosophy. In fact, in the resources of Islamic philosophy, one of the basic parts of philosophical discussions is related to mind’s nature and its interaction with the brain. Especially, in Avicenna’s philosophy, there are many articles and books which have addressed the topic of mind and brain and the relation between them. Avicenna was a profound philosopher, an expert physicist and a proficient physician of his time. Because of his experimental proficiency in medicine and surgery and his deep philosophical analysis, his discussion about mind and brain is very interesting for our time, due to recent advances in neuroscience. In this article, we have explained one of Avicenna’s arguments (in his famous opus “al-Isharat”) about the incorporeity of mind (self), which is very close to modern neuroscience and physics literature. In addition, we explain his model of mind and brain interaction. Avicenna described the mechanism of the causal effect of mind on the brain via a third identity, which works as an interface between them (in his main book “al-Shifa”). We try to illustrate his model by the use of some examples, inspired from modern physics. Also, we explore the philosophical constraints which must be considered in any model of mind-matter interaction, within the Islamic philosophy framework. In fact, we propose a new understanding of Avicenna’s philosophy which is in agreement with modern physics and neuroscience.

Lower extremity joint kinetic factors are thought to modulate walk–to–run transition (WRT) and run–to–walk transition (RWT). This study aimed to investigate joint stiffness and energetic patterns during the WRT and RWT processes and identify whether gait transitions occurred within a single step or not. Ten healthy subjects participated in treadmill WRT (1.8 m/s – 2.4 m/s) and RWT (2.4 m/s – 1.8 m/s) tests. We investigated two steps before transition (S–2, S–1), two steps after transition (S1, S2) and the transition step (S0). We found significant differences between S2 and S–2 for ankle joint stiffness during WRT and RWT (p &lt; 0.001); and for hip joint stiffness, we found significant differences between S1 and S–1 during WRT and RWT (p ≤ 0.001). Additionally, stance phase mechanical energy generation was observed to transfer from proximal to distal joints at S0 during WRT, and from distal to proximal at S0 during RWT. Transition step ankle kinematic and kinetic patterns were similar to the target locomotion task gait format in both WRT and RWT. Moreover, RWT required longer adaptation time compared with WRT. These findings indicate that WRT and RWT were modulated before and after the actual transitions, not within a single step. Redistribution of joint mechanical work generation was related to gait transition triggers, which modulate the WRT and RWT process.

Pancreatic cancer is an intractable disease with the worst prognosis of all cancers. The currently used treatment regimens do not significantly impact patient survival, and therefore, effective treatment strategies are urgently needed. Drug repurposing, which identifies new indications for existing and approved drugs, has proven to be a promising approach to anti-cancer drug discovery. Indeed the antihelmintic drug, pyrvinium pamoate has shown promise as an anti-pancreatic cancer drug, but to date, the inhibition of mitochondrial function is the only mechanism of action described in pancreatic cancer. This study showed, using pancreatic cancer 2D cell cultures and 3D spheroids, that pyrvinium pamoate exhibited short- and long-term cytotoxicity, inhibited epithelial-to-mesenchymal transition and cell invasion and migration. Mechanistically, pyrvinium pamoate induced DNA damage, inhibited the PI3K/AKT cell survival pathway, and triggered cell cycle arrests, as well as apoptotic and autophagic cell death. Importantly, pyrvinium pamoate acted synergistically with the first-line drug, gemcitabine in 2D and 3D pancreatic cancer cell culture models. This study provided evidence that pyrvinium pamoate is effective as a single agent and in combination with gemcitabine for the treatment of pancreatic cancer.

Older adults with obesity have an increased risk for cognitive decline and subsequent Alzheimer’s disease. Previous research has focused on the impact of individual nutrients and overall dietary patterns to improve cognitive function. The Brain and Body Health (BB-Health) study aims to demonstrate the feasibility of a multicomponent nutritional supplement (MCNS) and weight loss (WL) intervention for individuals with overweight and obesity who are not consuming a healthy diet. BB-Health is a parallel-group randomized placebo-controlled 2x2 factorial pilot trial comparing the MCNS, WL, and MCNS+WL with a Control group. Eligible participants are 55 to 85 years of age with a body mass index 27.0 to 39.9 kg/m2. Major exclusion criteria include type 2 diabetes, moderate or severe cognitive impairment, and self-reported healthy dietary pattern. The BB-Health feasibility trial is registered as NCT05542199 at clinicaltrials.gov. The BB-Health objectives are to report: 1) recruitment and enrollment, including pace and descriptive statistics of the study sample; 2) adherence to the administered interventions; 3) successful data collection and performance of outcome assessments, including evaluation of change in key outcomes over time that are powered for this pilot study; and 4) summary statistics on outcomes for use in planning a subsequent, larger trial. The outcomes of interest are age-sensitive cognitive assessments, cerebral hemodynamics, and related health parameters. All measurements are collected at baseline, 3-, 6-, and 12-month visits. If the BB-Health protocol demonstrates feasibility, the novel MCNS with and without a parallel WL intervention has potential to be administered in a confirmatory randomized trial to evaluate ability to prevent age-related cognitive decline and improve brain health. The BB-Health Feasibility Study could significantly contribute to our understanding of the influence of diet and weight management on cognitive health

Vibration problems have become one of the most important factors affecting robot performance. To this end, a terminal residual vibration suppression method based on joint trajectory optimization is proposed to improve the accuracy and stability of robot motion. Firstly, based on the characteristics of the friction nonlinearity due to joint coupling and physical feasibility of dynamic parameters, a semidefinite programming method is used to identify dynamic parameters with actual physical meaning, thereby obtaining an accurate dynamic model. Then, based on the result of the residual vibration time domain analysis, a joint trajectory optimization model with the goal of minimizing joint tracking error is established. The Chebyshev collocation method is used to discretize the optimization model. The dynamic model is used as the optimization constraint, and barycentric interpolation is used to obtain the optimized joint motion trajectory. Finally, industrial robot experiments prove that the vibration suppression method proposed in this article can reduce the maximum acceleration amplitude of residual vibration by 62% and the vibration duration by 71%. Compared with the input shaping method, the method proposed in this paper can reduce the terminal residual vibration more effectively and ensure the consistency of running time and trajectory.

Abstract. This paper proposes a Second Order Terminal Sliding Mode (2TSM) approach to the trajectory tracking of Differential Drive Mobile Robot (DDMR). Within this cascaded control scheme, the 2TSM dynamic controller, at the inner most loop, tracks the robot’s velocity quantities; while a kinematic controller, at the outer most loop, regulates the robot’s positions. In this manner, chattering is greatly attenuated and finite time convergence is guaranteed by the second order TSM manifold which involves higher order derivatives of the state variables, resulting in inherently robust as well as fast and better tracking precision. The simulation results demonstrate the merit of the proposed control methods.

Automation is the key aspect of science and technology field and refers to controlling the systems for efficient output requirements. The development of robotics and similar, technologies in 21st century is a vast topic of research and significant progress has been made on this field. This research study focuses on building a ribbon-cutting robot with a Bluetooth interface for event inaugurations. The entire system hinges on constructing a prototype that is mounted on a robotic car frame with four wheels and an Arduino controller. In this case, ribbons are cut using a nickel wire, and it may be paired with an Android device via Bluetooth or an application. The robot is one of the first steps toward the development of autonomous, cognitive robots and can be used in a variety of events. Efficient temperature monitoring is done with help of LM35 sensor and Bluetooth based communication in order to monitor the conditions and effectively control the actions for which robot is designed. The robot has significantly allowed authors for desired tests on ribbon cutting and final results obtained were very exciting for its desired application target. Ribbon-cutting robots find applications in various events, including inaugurations, exhibitions, and ceremonies. Their precision and novelty add value to such occasions.

The human-centric approach is a leading trend for future production processes, and collaborative roboticists are key to its realization. This article addresses the challenge of designing a new cus-tom-made non-conventional machine or robot involving toolpath control (interpolated axes) with collaborative functionalities but by using “general-purpose standard" safety and motion control technologies. This is done on a non-conventional Cable-Driven Parallel Robot (CDPR). Safety is assured by safe commands to individual axes, known as Safe Motion Monitoring Functionalities, which limits the axes speed in the event of human intrusion. At the same time, the robot's Motion Controller applies an override to the toolpath speed to accommodate the robot's path speed to the axis’s limitations. The implementation of a new Pre-Warning Zone, prevent unnecessary stops due to the approach of the human operator. The article also details a real experiment that validates the effectiveness of the proposed strategy.

Through the refinement of approaches to applying visual augmentation to virtual environments, the possibilities of utilising this process in robotics continues to be explored. However these endeavours have only yielded a collaborative relationship between the two technologies, where the augmented reality (AR) component is separate from the robot functionality. Regarding telepresence robots, research has shown that their perceived usefulness wanes in comparison to that of video conferencing tools as they do not offer a level of immersion and modified visual experience to justify their use. Therefore this paper contributes a novel virtually augmented robot (VAR) model that embeds AR functionality into telepresence, through the use of augmentation and facial recognition sub-models and algorithms. Experimental results show that using pulse width modulation (PWM), duty cycles, digital signals and accelerometer angles provides an approach for stabilising robot motion and the transference of human to robot head movement. The results also show the benefit of having a robot model with intrinsic AR functionality, as it offers a greater level of immersion and visual control of an environment.

Robot workpiece machining is interesting in industry since it offers some advantages, such as higher flexibility in comparison with the conventional approach based on the CNC technology. However, in recent years we have been facing a strong progressive shift to custom based manufacturing and low volume/high mix production, which require a novel approach to automation by the employment of collaborative robotics. However, collaborative robots feature only limited motion capability, to provide safety in cooperation with human workers. Thus, it is highly necessary to perform more detailed robot task planning to ensure its feasibility and optimal performance. In this paper, we deal with the problem of studying kinematic robot performance in the case of such manufacturing tasks, where the robot tool is constrained to follow the machining path embedded on the workpiece surface at a prescribed orientation. The presented approach is based on the well-known concept of manipulability, although the latter suffers from physical inconsistency due to mixing different units of linear and angular velocity in a general 6 DOF task case. Therefore, we introduce the characteristics of the workpiece surface constraint in the robot kinematic analysis, that enables evaluation of its available velocity capability in a reduced dimension space. Such constrained robot kinematics transform the robot`s task space to a two-dimensional surface tangent plane, and the manipulability analysis may be limited to the space of linear velocity only. Thus, the problem of physical inconsistency is avoided effectively. We show the theoretical derivation of the proposed method, which was verified by numerical experiments.

As a typical visual positioning system, monocular ranging is widely used in various fields. However, when the distance increases, there is a greater error. YOLOv8 network has the advantages of fast recognition speed and high accuracy. This paper proposes a method by combining YOLOv8 network recognition with a monocular ranging method to achieve target localization and grasping for the NAO robots. By establishing a visual distance error compensation model and applying it to correct the estimation results of the monocular distance measurement model, the accuracy of the NAO robot's long-distance monocular visual positioning is improved. Additionally, a grasping control strategy based on pose interpolation is proposed. Throughout, the proposed method's advantage in measurement accuracy was confirmed via experiments, and the grasping strategy has been implemented to accurately grasp the target object.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

This paper aims at computing feasible control strategies and the corresponding feasible state trajectories to drive an autonomous rear-axle bicycle robot from a given initial state to a final state such that the total running cost is minimized. Pontryagin’s Minimum Principle is applied and derives the optimality conditions from which the feasible control functions, expressed as functions of state and costate variables, are substituted into the combined state-costate system to obtain a new free-control state-costate nonlinear system of ordinary differential equations. A computer program was written in Scilab to solve the combined state-costate system and obtain the feasible state functions, the feasible costate functions and the feasible control functions. Associated Computational Simulations were provided to show the effectiveness and the reliability of the approach.

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

Adhesion systems are very important in robots for infrastructure inspection (especially in vertical walls). They present the challenge of optimizing the ratio vacuum/power consumption in battery-powered robots. In this paper a CFD (Computer Fluid Dynamics) modelling and optimization process of a robot adhesion system is carried out to determine the best performing configuration in terms of vacuum and power consumption. Analytical and numerical models were developed to predict the behaviour of the system for different configurations. The models were validated, using test rig measurements, by calibrating an arbitrary defined inlet height that simulates the leakage flow. Then, different geometric parameters were varied to determine the best performing configuration based on the vacuum/power consumption ratio value. The model presented in the paper was capable of predicting the behaviour of the system for different configurations, with a margin of error of 15% for the vacuum prediction and a 25% for the motor power calculation. Finally, the model was used to optimize parameters of the system, like the number of blades of the impeller. The adhesion system was conceived for the modular autonomous climbing legged robot ROMERIN.

In the design of educational robots, it seems undecided whether robots should show social behaviors and look human-like or that such cues are indifferent to learning. We conducted an experiment with different designs of social robots, rehearsing the multiplication tables with primary school children in Hong Kong. Results show that affective bonding tendencies may occur but did not significantly contribute to the learning progress of these children, perhaps due to the short interaction period. Nonetheless, 5 minutes of robot tutoring improved their scores with about 30% and only for a few challenged children, performance dropped. We discuss that topics such as teaching language skills may be fostered by human likeness in appearance and behaviors but that for STEM-related subjects, the social aspects of robots hardly matter.

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.