In this article, we introduce the concept of soft intervals, soft ordering and sequences of soft real numbers, and some of their structural properties are studied. The notion of soft Lebesgue measure on the soft real numbers has been introduced. Also, a correspondence relationship has been established between the soft Lebesgue measure and the classical Lebesgue measure. Furthermore, we have studied some exciting results and relations between the soft Lebesgue measure and the Lebesgue measure of soft real sets.

In 1999, Molodtsov initiated the theory of soft sets as a new mathematical tool for dealing with uncertainties in many fields of applied sciences. In 2011, Shabir and Naz introduced and studied the notion of soft topological spaces, also defining and investigating many new soft properties as generalization of the classical ones. In this paper, we introduce the notions of soft separation between soft points and soft closed sets in order to obtain a generalization of the well-known Embedding Lemma to the class of soft topological spaces.

This paper proposes a multifunctional soft robotic gripper for a Dobot robot to handle sensitive products. The gripper is based on pneumatic network (PneuNet) bending actuators. In this work, two different models of PneuNet actuators have been studied, designed, simulated, experimentally tested, and validated using two different techniques (3D printing and molding) and three different materials: FilaFlex (3D printed), Elastosil M4601 and Dragonskin Fast 10 silicones (with molds). A new soft gripper design for the Dobot robot is presented, and a new design/production approach with molds is proposed to obtain the gripper's PneuNet multifunctional actuators. It also describes a new control approach that is used to control the PneuNet actuators and gripper function, using compressed air generated by a small compressor/air pump, a pressure sensor, a mini valve, etc., and executing on a low-cost controller board – Arduino UNO. This paper presents the main simulation and experimental results of this research work.

In this paper, we first define the concepts of r-fuzzy soft α-open (semi-open and δ-open) sets on fuzzy soft topological spaces based on the article Aygunoglu et al. (Hacet. J. Math. Stat., 43 (2014), 193-208), and the relations of these sets with each other are established. In addition, we introduce the concepts of fuzzy soft δ-closure (δ-interior) operators, and study some properties of them. Also, the concept of r-fuzzy soft δ-connected sets is introduced and studied with help of fuzzy soft δ-closure operators. Thereafter, we define the concepts of fuzzy soft α-continuous (β-continuous, semi-continuous, pre-continuous and δ-continuous) functions, which are weaker forms of fuzzy soft continuity, and some properties of these functions along with their mutual relationships are discussed. Moreover, a decomposition of fuzzy soft α-continuity and a decomposition of fuzzy soft semi-continuity is obtained. Finally, as a weaker form of a fuzzy soft continuity, the concepts of fuzzy soft almost (weakly) continuous functions are defined, and some properties are specified. Additionally, we explore the notion of continuity in a very general setting called, fuzzy soft (L, M, N, O)-continuous functions and a historical justification is introduced.

The soft robot has many degrees of freedom, strong environmental adaptability and good human-computer interaction ability. As the end-effector of the soft robot, the soft gripper can grasp objects of different shapes without destructivity. Based on the theoretical analysis of the soft robot, the kinematics model of the flexible gripper and the theoretical model of the bending deformation of the air cavity were established. Accordingly, the relationship between the bending angle of the soft gripper and the air pressure was determined. Through the application of finite element software, the bending degree of pneumatic network multi-cavity soft gripper was simulated by finite element software, and the influence of structural parameters of soft actuator on bending deformation was determined. In addition, with the 3D technology conducting the printing of soft gripper fixtures and molds, the injection molding the actuator and the human-computer interaction interface controlling the movement of the gripper, the adaptability of the soft gripper in grasping object was verified. The result shows that the software gripper possesses good flexibility and can better grasp objects of different shapes.

This paper presents a comparative analysis of the ZVZCS soft switching technique with the ZVS and the ZCS counterpart. The generalization of the voltage-current crossover or the energy loss factor obtained from simulation of the prototype converter shows that the ZVZCS significantly reduces the loss and helps to improve the efficiency of the converter as compared to the ZVS or the ZCS. On the other hand, it is also found that the soft switching range of operation of the ZVS and the ZCS are largely affected by the maximum switch voltage and switch current respectively. In contrary, these factors have a negligible effect on the ZVZCS operation which results in an extended range of soft switching operation. Additionally, a detailed LTPICE simulation is performed for selected ZVS, ZCS and ZVSCS topologies from the recent literature and the switching losses in the main switches of the converters are measured. It is observed that the energy losses in the ZVZCS mode are reduced on average by approximately 26 % at turn on and 20 % at the turn off as compared to the ZVS and the ZCS. Besides, the low standard deviation in this mode confirms a stable low loss profile which renders extended soft switching range. An experimental test is also conducted by building the prototype converter to verify the simulation results. It is found that the switching losses are minimum while the converter is operated in the ZVZCS mode. Besides, the efficiency drop remains consistently low as compared to the ZVS and the ZCS in the whole operating range. Resultantly, the simulation and the experimental results are both found to be consistent.

In this study, we present the concept of interval-valued fuzzy soft point and then introduce the notions of neighborhood and quasi-neighbourhood of it in interval-valued fuzzy soft topological spaces. Separation axioms in interval-valued fuzzy soft topology, so-called $q$-$T_{i}$ for $ i=0,1,2,3,4 ,$ is introduced and some of its basic properties are also studied.

Magnetorheological elastomers (MREs) are in demand in the field of high-tech micro- and nano-industries such as biomedical applications and soft robotics due to their exquisite magneto-sensitive response. Among various MRE applications, programmable actuators are emerging as promising soft robots because of their combined advantages of excellent flexibility and precise controllability in a magnetic system. Here, we present the development of a magnetically programmable soft magnetic microarray actuators through field-induced injection molding using MREs, which consist of styrene-ethylene/butylene styrene (SEBS) elastomer and carbonyl iron powder (CIP). The ratio of the CIP/SEBS matrix is designed to maximize the CIP fraction based on a critical solids loading. Further, as part of the design of the magnetization distribution in micropillar arrays, the magnetorheological response of the molten composites is analyzed using the static and dynamic viscosity results for both the on- and off- magnetic states, which reflect the particle dipole interaction and subsequent particle alignment during field-induced injection molding process. To develop high aspect ratio soft magnetic microarray, X-ray lithography is applied to prepare the sacrificial molds with a height-to-width ratio of 10. The alignment of CIP is designed to achieve a parallel magnetic direction along the micropillar columns, and consequently, the micropillar arrays successfully achieve the uniform and large bending actuation of up to approximately 81˚ with an applied magnetic field. This study suggests that the injection molding process offers a promising manufacturing approach to build a programmable soft magnetic microarray actuator.

In this manuscript, we first introduce some properties of r-fuzzy soft α-open sets in fuzzy soft topological spaces based on the manuscript Aygunoglu et al. (Hacet. J. Math. Stat. 2014, 43, 193-208). In addition, we define the concepts of fuzzy soft α-closure (α-interior) operators, and investigate some properties of them. Furthermore, the concept of r-fuzzy soft α-connected sets is defined and characterized with help of fuzzy soft α-closure operators. Thereafter, we introduce and study the concepts of fuzzy soft almost (weakly) α-continuous mappings, which are weaker forms of fuzzy soft α-continuous mappings, and we discuss some properties of fuzzy soft α-continuity. Moreover, we establish that fuzzy soft α-continuity → fuzzy soft almost α-continuity → fuzzy soft weakly α-continuity, but the converse may not be true. It is also we show that the composition is fuzzy soft almost α-continuous mapping if, is fuzzy soft α-continuous mapping and is fuzzy soft almost continuous mapping. Finally, some new types of compactness via r-fuzzy soft α-open sets are defined, and the relationships between them are examined.

Soft set theory is a mathematical tool for dealing with uncertainty. This paper investigates limits of interval type of soft sets (for short, it-soft sets). The concept of it-soft sets is first introduced. Then, limits of it-soft sets are proposed and their properties are obtained. Next, point-wise continuity of it-soft sets and continuous it-soft sets are discussed. Finally, an application for rough sets is given.

In the present study. At first, some properties of r-fuzzy soft β-closed sets are introduced on fuzzy soft topological spaces based on the paper Aygunoglu et al. (Hacet. J. Math. Stat. 2014, 43, 193-208). Also, we define the closure and interior operators with respect to the classes of r-fuzzy soft β-closed and r-fuzzy soft β-open sets, and investigate some of their properties. In addition, the concept of r-fuzzy soft β-connected sets is introduced and characterized with help of fuzzy soft β-closure operators. Thereafter, some properties of a fuzzy soft β-continuity are studied. Furthermore, we introduce and study the concepts of fuzzy soft almost (weakly) β-continuous functions, which are weaker forms of a fuzzy soft β-continuity. Also, the relationships between these classes of functions are specified with the help of some illustrative examples. Finally, we explore new types of fuzzy soft functions called, fuzzy soft β-irresolute (strongly β-irresolute, β-irresolute open, β-irresolute closed and β-irresolute homeomorphism) functions, and discuss some properties of them. Also, we show that fuzzy soft strongly β-irresolute → fuzzy soft β-irresolute → fuzzy soft β-continuity, but the converse may not be true.

In recent times, the soft robotics field is gaining numerous research focus owing to its high level of manipulation capabilities unlike traditional rigid robots, which gives room for an increasing use in other areas. However, compared to traditional rigid gripper robots, being capable of controlling/obtaining overall body stiffness when required is yet to be further explored since soft gripper robots have inherently less rigid properties. unlike previous designs with very complex variable stiffness systems, this paper demonstrates a soft gripper design with minimum system complexity while being capable of varying the stiffness of a continuum soft robotic actuator and proves to have potential applications in gripping objects of various shapes, weights & sizes. The soft gripper actuator comprises two separate mechanisms; the pneumatic mechanism for bending control and the mechanical structure for stiffness variation by pulling tendons using stepper motors which compresses the actuator, thereby changing the overall stiffness. The pneumatic mechanism was first fabricated and then embedded into another silicon layer during which it was as well merged with the mechanical structure for stiffness control. By first pneumatically actuating the actuator which causes bending and then pulling the tendons, we found out that the actuator stiffness value can be increased up to 145 % its initial value, and the gripper can grasp & lift a weight of up to 2.075 kg.

Aiming at the problem that soft robots are challenging to take into account both flexibility and bearing capacity, Using the software Pneu-Net driver as the deformation mode, magnetorheological fluid material phase transformation to achieve variable stiffness, A pneumatic modular soft joint structure with dynamically adjustable deformation and stiffness in all directions is proposed. In this paper, mathematical models of deformation and variable stiffness are established. The correspondence between gas pressure and deformation and applied current and joint stiffness is obtained. The finite element analysis method was used to simulate the deformation characteristics and variable stiffness characteristics of modular joints based on the Yeoh model. Finally, the theoretical and simulation results are verified by deformation and variable stiffness tests. It is proved that the modular joint has good rigid-flexible coupling characteristics.

Emerging soft actuators with various soft materials and traveling-wave motion have been frequently discussed. Various configurations and the resulting performances have been proposed, and it is very challenging for soft actuators in realizing large strokes. This study presents an experimentally validated nonlinear finite element model to predict the deformation produced by a spiral pneumatic rubber actuator to generate traveling-wave motion. The actuator consists of a membrane mounted on a rubber substrate with three air chambers in a spiral configuration, simplifying the actuator's structure. The sequential deformations of the successive chambers interact with each other and produce radial traveling-waves on the membrane surface, driving the objects placed on the actuator. Finite element analysis using ANSYS computer software analyzed the elastic movement by considering the influence of different initial structural types. The structure with three different length ratios was introduced using the four parameters: membrane thickness, chamber width, chamber depth, and wall thickness. The simulation results indicated an optimal structure with specific ratios. A reasonable correlation was obtained during experimental validation; the predicted displacement values were approximately 17% smaller than the experimental values. Finally, the transportation performance of the prototype was tested and a velocity of 2.28 mm/s in the desired direction was achieved. We expect that our demonstration will expand the range of applications of the spiral pneumatic rubber actuator to include conveying or worm-like robots.

In this paper, we present the design, manufacturing and characterization of a soft textile-based clutch (TBC) that switches between locking and unlocking of its linear displacement by exploiting vacuum stimulation. The applied vacuum locks the relative sliding motion between two elaborated textile webbings covered by an elastic silicone rubber bag. Based on different fabrication techniques, such as silicone casting on textile, melt embossing for direct fabrication of miniature patterns on textile and sewing, we developed three groups of TBC samples based on friction and interlocking principles and we compared their performance in blocking configuration. The clutch with interlocking mechanism presented the highest withstanding force (150 N) respect to the one (54 N) recorded for the friction-based clutch. The simple and compact structure of the proposed clutch, together with the intrinsic adaptability of fabric with other clothing and soft materials, make it a proper solution for applications in soft wearable robotics and generally as locking and variable stiffness solution for soft robotic applications.

The aim of this article is introduced the concept of double framed T-soft fuzzy set (DFT-soft fuzzy set) which is the combination of soft set and fuzzy set. We also defined the notions and apply this concept in BCK/BCI-algebras. By using example, we also discussed the concept of double framed T-soft fuzzy algebra (DFT-soft fuzzy algebra) and double framed B-soft fuzzy algebra (DFB-soft fuzzy algebra) and also investigated their properties. Each double framed T-soft fuzzy algebra is double framed B-soft fuzzy algebra but by using example, we proved that converse may or may not be possible.

Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.

Introduction: Caries is a public health problem in Kosovo among children, Caries is a multifactorial microbial disease and connection of this disease with soft drinks and food habits between children and their poor oral health is very strong. Aim: The aim of present study is to evaluate prevalence of caries among 12 to 16 years old students in municipality of Suhareka and to analyze related risk factors that contribute in occurrence of caries. Material and methods: To observe parameters of soft drink we used experimental method and a cross-sectional study was carried out among 120 adolescents in “Sadri Duhla” elementary school in Duhel and “7 Marsi” elementary school in city of Suhareka. Oral clinical examination and self administered questionnaire were used to collect information about dental caries and its correlation to soft drinks and food habits. Examination was done between May and October in the year 2023. Impact of soft drink in caries was assessed through DMFT index and frequency of consumption of soft drinks. The data were collected statistically using SPSS version 26 and presented in tables and graphs. Results: The highest result of DMFT (4.36) with standard deviation 1.23 was noted in the group consuming more than 16 cans per week also the highest score in adolescent compared to frequency of consumed cans per week. Soft drinks found in Kosovo’s mar-kets are acidic with low pH, 93.75% of them had a pH below 4 which are considered erosive and only 6.25% are minimally erosive with a pH > 4, in terms of buffer capacity soft drinks can be ordered like this energy drinks >soda >100% fruit juice > fruit drinks. Improper tooth-brushing, dental visits only in case of pain and not preventive visits were significantly related to dental caries. Conclusion: The results of the research awarned us for high frequency consumption of soft drinks related to dental caries. It is recommended to be aware of the use of soft drinks, regular visits to the doctor, higher maintenance of oral health by using paste with sufficient fluoride content also brushing teeth 1 hour after consuming acidic food.

Introduction: Soft tissue sarcomas (STS) are low-incidence tumors whose clinical and histopathological factors are associated with adverse oncological outcomes. This study evaluated prognostic factors (PF) associated with tumor recurrence and overall survival (OS) in patients diagnosed with STS of the extremities, treated at the Instituto Nacional de Cancerología (INC), Bogotá, Colombia. Materials and methods: An analytical observational study of a historical cohort was carried out, including patients diagnosed with STS and managed surgically in the Functional Unit for Breast and Soft Tissue Tumors of the INC from January 2008 to December 2018. Results: A total of 227 patients were included; 74.5% had tumors greater than 5 cm. Most patients (29.1%) were in stage IIIB at diagnosis. Age was associated with higher mortality (HR=1.01; CI95%: 1–1.02; p=0.048); tumor persistence at admission to the INC (HR=2.34; CI95%: 1.25–4.35; p=0.007), and histologic grade III (HR=5.36; CI95%: 2.29–12.56; p=<0.001) showed statistical significance in the multivariate analysis for recurrence of any type, as were the PFs associated with a higher risk of local recurrence (HR=2.85; CI95%: 1.23–6.57; p=0.014 and HR=6.09; CI95%: 2.03–18.2; p=0.001), respectively. Tumor size (HR=1.03; CI95%: 1–1.06; p=0.015) and histologic grade III (HR=4.53; CI95%: 1.42–14.49; p=0.011) were associated with a higher risk of distant recurrence. Conclusion: This cohort showed that in addition to histologic grade and tumor size, tumor persistence at the time of admission has an impact on disease recurrence, so STS should be managed by a multidisciplinary team with experience in this pathology in high-volume reference centers.

Aggressive angiomyxoma (AAM) is a rare and benign mesenchymal tumor, localized predominantly in the female pelvis. Its invasive growth and local recurrence are challenging for professionals. Histologically, AAM is a tumor with a myxoid, highly vascularized stroma. The diagnosis is made relatively late due to nonspecific symptoms. Treatment of AAM is extensive local surgical excision. Gonadotropin-releasing hormone agonists are added postoperatively. The prognosis is good and metastasis is rare. We present a case of an AAM located in the left greater labial area in a 50-year-old woman initially diagnosed as left inguinal hernia. The tumor was extirpated under epidural anaesthesia on the date of the patient's informed consent. The patient was prescribed postoperative therapy with Zoladex 3,6 mg according to the schedule. The patient was subjected to monthly gynecological check-ups for one year after the surgical intervention. To date, no recurrence of the underlying disease has been detected. Long-term results show a good trend. In conclusion, we can say that the optimal treatment of AAM is wide local excision. Рadicality is not recommended because of the risk of postoperative complications. Postoperative administration of GnRH-a is advisable to avoid recurrences. All patients undergo regular follow-up examinations for long-term.

The importance of bio robotics has been increasing day by day. Researchers are trying to mimic nature in a more creative way so that, the system can easily adopt the complex nature and its environment. Hence, bio robotic gripper plays a role in physical connection between the environment and bio robotics system. While handling the physical world in biorobots gripper, the complexity occurs in feedback system where sensor plays a vital role. Therefore, human centered gripper sensor has a good impact on bio robotics field. But categorical classification and their selection process is not very systematic. This review paper follows PRISMA methodology to summarize the previous works on bio robotics gripper sensor and its selection process.. This paper discusses challenges in soft robotics systems, and the importance of sensing systems to facilitate critical control mechanisms along with their selection considerations. Furthermore, a classification of soft actuation based on gripper has been introduced. Moreover, some unique characteristics for soft robotics sensor are explored namely compliance, flexibility, multifunctionality, sensor nature, surface properties, and material requirements. In addition, a categorization of sensors for soft robotic gripper in terms of modalities has been established ranging from the tactile and force sensor to slippage sensor. Various tactile sensors ranging from piezoelectric sensing to optical sensing are explored as it has utmost importance in soft gripper to effectively address the increasing requirements for intelligence and automation. Finally, taking everything into consideration, a flow diagram has been suggested for selecting sensors specific to soft robotics applications.

We compare two methods for creating a microfluidic device from an initial positive master with the same surface relief as the final device. The first method uses urethane or epoxy resin to create an intermediate master for PDMS casting. This method has a very low failure rate but a longer processing time. The second method utilizes PDMS double casting where the intermediate master is passivated PDMS. This method has a higher failure rate but a significantly shorter processing time. Detailed methodology for both methods is included along with a comparison of the strengths and weaknesses of each method. The resin intermediate is a simpler method while PDMS double casting is faster and more scalable. Ultimately it is found that PDMS double casting is preferable in most situations.

Soft drinks exist in various forms and brands and are marketed by different brewery industries across the country. Nigeria been an underdeveloped country were aforesaid health problems are common, people tends to consume them lots believing it gives more energy. This study was therefore set to assess the sugar content from different soft drinks sold in Nigeria. Ten (10) soft drinks registered and licensed in Nigeria by their respective companies were purchased from a supermarket in Ihumudumu environment of Ekpoma, Nigeria. The sugar contents were assessed using standard methods. Result showed significant differences (p<0.05) in ranges of 0.36g/100ml (Limca) to 3.88g/100ml (Teem Bitter Lemon). Conclusively, the sugar contents were all below recommended value and it can be consumed by those who need low sugar in the body.

This study reports a general scenario for the out-of-equilibrium features of collapsing polymeric architectures. We use molecular dynamics simulations to characterize the coarsening kinetics, in bad solvent, for several macromolecular systems with an increasing degree of structural complexity. In particular, we focus on: flexible and semiflexible polymer chains, star polymers with 3 and 12 arms, and microgels with both ordered and disordered networks. Starting from a powerful analogy with critical phenomena, we construct a density field representation that removes fast fluctuations and provides a consistent characterization of the domain growth. Our results indicate that the coarsening kinetics presents a scaling behaviour that is independent of the solvent quality parameter, in analogy to time-temperature superposition principle. Interestingly, the domain growth in time follows a power-law behaviour that is approximately independent of the architecture for all the flexible systems; while it is steeper for the semiflexible chains. Nevertheless, the fractal nature of the dense regions emerging during the collapse exhibits the same scaling behaviour for all the macromolecules. This, suggests that the faster growing length scale in the semiflexible chains originates just from a faster mass diffusion along the chain contour, induced by the local stiffness. The decay of the dynamic correlations displays scaling behavior with the growing length scale of the system, which is a characteristic signature in coarsening phenomena.

The main weakness of non-silicone hydrogel contact lenses is their low oxygen permeability (Dk). Hence, we have tried to optimize their Dk using various concentrations and lengths of the ethylene glycol dimethacrylate (EGDMA) crosslinker in a mixture of N, N- Dimethylacrylamide and Cyclohexyl methacrylate monomers. After synthesizing the different contact lenses, we evaluated the impact of the different EGDMA conditions on their chemical, optical, and mechanical properties. The water content, the contact angle, the refractive index, the transmittance, and the young moduli of the synthesized lenses were slightly affected by crosslinker conditions. On the contrary, the elongation at break and, more importantly, the oxygen permeability, which reached values of up to 74.93 Fatt units, were considerably impacted by crosslinker conditions. This study demonstrates, for the first time to our knowledge, that, in addition to water, other usual hydrogel components, like crosslinkers, can modulate the Dk of non-silicone contact lenses. It also provides a simple and scalable method to fabricate more permeable non-silicone lenses.

Soft robotic manipulators consisting of serially-stacked segments combine actuation and structure in an integrated design. This design can be miniaturised while providing suitable actuation for applications such as minimally invasive surgery and for inspections in confined environments. The control of these robots, however, remains challenging, due to the difficulty in accurately modelling the robots, in coping with their redundancies, and in solving their full inverse kinematics. In this work, we explore a hybrid approach to control serial soft robotic manipulators that combines machine learning (ML) to estimate the inverse kinematics with a closed-loop control to compensate the remaining errors. For the ML part, we compare various approaches, including both kernel-based learning and more general neural networks. We validate the selected ML model experimentally. For the closed-loop control part, we first explore Jacobian formulations using both synthetic models and numerical approximations from experimental data. We then implement integral control actions using both these Jacobians, and evaluate them experimentally. In an experimental validation, we demonstrate that the hybrid control approach achieves setpoint regulation in a robot with 6 inputs and 4 outputs.

Proteins have the ability to adsorb on the surface of materials, such as soft contact lenses (SCLs), and can affect the hydrophobicity, roughness and surface properties of the contact lenses (CLs), which, in turn, can influence the friction between the lenses and the ocular surface. Excessive friction between contact lenses and the ocular surface can lead to discomfort for the wearer and may cause irritation or inflammation of the cornea, better known as corneal ulcers (keratitis). Bovine serum albumin (BSA) is often used as a standard protein in biocompatibility testing of materials, including contact lenses. One standard commercial contact lenses was tested under lubricated conditions to access the coefficient of friction (CoF), being the contact lubricated with a tear like fluid (TLF) solution containing six different concentrations of BSA. In all cases, a good linearity of the results of the friction force was verified, so the first friction law can be applied to determine the value of the coefficient of friction. It was found that friction increases with increasing protein concentration.

The article presents several innovative systems developed through student laboratory projects, including two autonomous vehicles, a four-legged walking robot, an active ankle-foot orthosis, a ball on beam balancing mechanism, a ball on plate system, and a manipulator arm—all powered by pneumatic artificial muscles (PAMs). Fluidic muscles offer significant potential in various mechatronic systems, robots, and manipulators due to their flexible, lightweight nature and compliance. Their ability to produce smooth and adaptable motions is particularly beneficial in applications requiring natural and human-like movement, such as rehabilitation and assistive devices. Although PAMs powered control systems face challenges with nonlinear phenomena, their biologically inspired design holds promise for future applications across various industries. These may include innovative applicability in industrial, automotive, and aerospace sectors, as well as use in sports, medical aids, entertainment, and animatronics. Incorporating self-made laboratory systems actuated by PAMs into control systems education offers a comprehensive learning opportunity that combines theoretical concepts with hands-on experience. This approach develops the necessary skills of future engineers, expanding their understanding of technical principles and preparing them for future challenges in engineering practice.

The process industry is confronted with rising demands for flexibility and efficiency. One way to achieve this are modular process plants that consist of pre-manufactured modules with their own decentralized intelligence. Plants are then composed of these modules as unchangeable building blocks and can be easily re-configured for different products. Condition monitoring of such plants is necessary, but available solutions are not applicable. The authors suggest an approach in which model-based symptoms are derived from few measurements and observers that are based on manufacturer knowledge. The comparisons of redundant observers lead to residuals that are classified to obtain symptoms. These symptoms can be communicated to the plant control and are inputs to an easily adaptable diagnosis. The implementation and validation at a modular mixing plant showcases the feasibility and the potential of this approach.

Chemical investigation of the Chinese soft coral Lobophytum sp. has resulted in the isolation of six new compounds, namely lobosteroids A–F (1–6), along with four known compounds. Their structures were determined by extensive spectroscopic analysis and comparison with the spectral data reported in the literature. Among them, the absolute configuration of 1 was determined by X-ray diffraction analysis. These steroids characterized by either the presence of an α,β-αꞌ,βꞌ-unsaturated carbonyl or an α,β-unsaturated carbonyl moiety in ring A, or the existence of a 5α,8α-epidioxy system in ring B, as well as diverse oxidation sites of side chains. The prelimi-nary antibacterial bioassay showed all compounds exhibited significant antibacterial activities against the fish pathogenic bacteria Streptococcus parauberis FP KSP28 and Phoyobacterium damselae FP2244 with all inhibition rates more than 90% at the concentration of 150 µM. And at the same concentration, compounds 2, 6–10 also displayed potent inhibitory effects against vancomy-cin-resistant Enterococcus faecium bacteria G7 with all inhibition rates more than 90%.

Drops are the most important and most common energy dissipator in irrigation networks and erodible canals and consequently, their performance must be well understood. This study was designed to evaluate the capability of Artificial Intelligence (AI) methods including ANN, ANFIS, GRNN, SVM, GP, MLR, and LR to predict the relative energy dissipation (∆E/E0) in vertical drops equipped with a horizontal screen. For this study, 108 experiments were carried out to investigate energy dissipation with variable discharge, varying drop height, and porosity of the horizontal screens. Parameters yc/h, yd/yc, and p are considered as input variables and ∆E/E0 is the output variable. The efficiency of models was compared using Taylor's diagram, Box Plot of the applied error distribution, correlation coefficient (CC), mean absolute error (MAE) and root-mean-square error (RMSE). Results indicate that the performance of the ANFIS_gbellmf based model with CC value of 0.9953, RMSE value of 0.0069 and MAE value of 0.0042 was superior to other applied models. Also, the linear regression model with CC=0.9933, RMSE=0.0083, and MAE= 0.0067performs better than the multiple linear regression model in this study. Results of a sensitivity study suggest that yc/h is the most effective parameter for predicting ∆E/E0.

This research paper contributes to the literature of deterrence theory in general, and in particular with respect to white-collar crime, offering valuable inside by using a unique data set of fraud and violation of trust incidents for Paraguay. Descriptive evidence show a clear and continuous misallocation of funds and human capital, and therefore providing less efficient services for the public. Regression analysis suggests that clearance rate exerts a highly significant effect in deterring fraud but results are not clear for violation of trust incidents. Despite the limitations of available data, results confirm deterrence theory in Paraguay. However, to more than two-thirds of victims, not even the attempt was made to seek justice. As a side-result, it seems that a soft on crime strategy, induced from the former German penal code, has led to an increasing share of pre-trial diversion and therefore enhancing white-collar crimes like fraud and violation of trust due to impunity.

The increasing trend of studying the innate softness of robotic structures and amalgamating it with the benefits of the extensive developments in the field of embodied intelligence has led to sprouting of a relatively new yet extremely rewarding sphere of technology. The fusion of current deep reinforcement algorithms with physical advantages of a soft bio-inspired structure certainly directs us to a fruitful prospect of designing completely self-sufficient agents that are capable of learning from observations collected from their environment to achieve a task they have been assigned. For soft robotics structure possessing countless degrees of freedom, it is often not easy (something not even possible) to formulate mathematical constraints necessary for training a deep reinforcement learning (DRL) agent for the task in hand, hence, we resolve to imitation learning techniques due to ease of manually performing such tasks like manipulation that could be comfortably mimicked by our agent. Deploying current imitation learning algorithms on soft robotic systems have been observed to provide satisfactory results but there are still challenges in doing so. This review article thus posits an overview of various such algorithms along with instances of them being applied to real world scenarios and yielding state-of-the-art results followed by brief descriptions on various pristine branches of DRL research that may be centers of future research in this field of interest.

Coastal protection solutions can be categorized as grey, hybrid, or natural. Grey infrastructure includes artificial structures like dykes. Natural habitats like seagrasses are considered as natural protection infrastructure. Hybrid solutions combine both natural and grey infrastructure. Evidence suggest that grey solutions can negatively impact the environment, while natural habitats prevent flooding without such adverse effects and provide many ecosystem services. New types of protective solutions, called biomimetic solutions, are inspired by natural habitats and reproduce their features using artificial materials. Few studies have been conducted on these new approaches. This study aims to quantify wave dissipation observed in-situ above a biomimetic solution inspired by kelps, known for their wave dampening properties. The solution was deployed in full water column nearby Palavas-les-Flots in southern France. A one-month in-situ experimentation showed that the biomimetic solution dissipates around 10% of total wave energy on average, whatever the meteo-marine conditions. Wave energy dissipation is frequency dependent: short waves are dissipated, while low-frequency energy increased. An anti-dissipative effect occurs for forcing conditions with frequencies close to the eigen mode linked to the biomimetic solution's geometry, suggesting that resonance should be considered in designing future biomimetic protection solutions.

The recent commercial availability of stacked dielectric elastomer actuators (SDEAs) has unlocked new opportunities for their application as "artificial skeletal muscles" in rehabilitation robots and powered exoskeletons. Composed of multiple layers of thin, elastic capacitors, these actuators present a lightweight, soft, and acoustically noiseless alternative to traditional DC motor actuators commonly used in rehabilitation robotics, thereby enhancing the natural feel of such systems. Building on our previous research, this study aimed to evaluate the most recent version of commercial SDEAs to assess their potential for mechanizing rehabilitation robots. We quantified the stress and strain behavior and stiffness of these actuators in both single and 1x3 configurations (with three SDEAs connected in series). The actuators demonstrated the capability to generate up to 25 N of force, 103 KPa, a value closely resembling human biceps, with a longitudinal strain measured at about 11%. The significant increase in force generation from 10 N, in the previous version, to 25 N and displacement from 3.3% to 11% substantially enhances the applicability of this actuator rehabilitation robotics. SDEAs' high force generation capability, combined with their strain and stress characteristics comparable to that of human biological muscles make them ideal alternative actuators for biomimetic robots and applications where actuators must operate in the vicinity of the human body.

The breast holds significant importance in women's lactation process. The breast has diverse tissues such as glandular, Cooper’s ligament, lactiferous ducts, adipose, muscles, and skin with various mechanical properties. Most soft tissues exhibit nonlinear, viscoelastic, and anisotropic mechanical behaviour. Stiffness is one of the commonly used mechanical properties for measuring mechanical behaviour in soft tissues. However, this is typically used in simplifying cases where analysis is limited to within the linear elastic region. Young’s modulus is the prevailing measure for quantifying stiffness in tissues. This systematic review examines commonly used techniques for mechanically characterising breast soft tissues to close the gap in the literature. Additionally, this systematic review summarises the mechanical behaviour of the breast tissues available in the literature and highlights the uncovered areas to understand the mechanical behaviour of breast tissues fully. These include a) more mechanical behaviour studies, allowing more accurate modelling for other applications, b) Viscoelastic analysis studies, and c) mechanical analysis on other breast tissues, such as the lactiferous duct, also known as the milk duct. The data obtained in the review can be used as inputs in computational models to analyse the behaviour of the breast tissues.

Purpose of research was to determine changes in optical quality for monthly disposable soft contact lenses (SCL) wearers with new and monthly worn SCL. Retinal straylight was assessed in SCL wearers using a C-Quant straylight meter. The study included 33 participants (age 22 ± 1.4 years) who wore monthly disposable silicone hydrogel contact lenses. Measurements were taken with month-old SCL that had been worn for no more than 4 hours. Participants then replaced the old lenses with new ones. After a 15-minute adaptation period, straylight measurements were taken with the new SCL. A questionnaire was administered to all participants, inquiring about vision complaints and the type of contact lens material used. The decimal logarithm of the stray-light parameter, log(s), was notably higher with month-old SCL (log(s) = 0.97±0.17) than with brand-new SCL (log(s) = 0.86±0.15), p < 0.001. The average increase in retinal straylight after a month of SCL use was log(s) = 0.11 ± 0.08. The questionnaire revealed that 35% of participants observed a reduction in visual quality after wearing the contact lenses for a month. Results showed that monthly disposable soft contact lenses could reduce visual quality when scheduled replacement time has been reached.

We prove an analog of the removable singularity theorem for bounded harmonic functions on stratified sets. The harmonic functions are understood in the sense of the soft Laplacian. The result can become one of the main technical components for extending the well-known Poincaré–Perron’s method of proving the solvability of the Dirichlet problem for the soft Laplacian.

Alveolar soft part sarcoma (ASPS) is a rare mesenchymal neoplasm. It affects young adults more and occurs more frequently in the extremities. ASPS is exceedingly rare in the nasal cavity. We report a case of ASPS in the nasal cavity of a 17-year-old female. Its most striking features included organoid and pseudoalveolar arrangement of tumor cells, which were large and polygonal, with vesicular nuclei and abundant eosinophilic cytoplasm rich in granules. There were PAS-positive, diastase-resistant crystalline rods within the cytoplasm. Our case displayed inapparent pseudoalveolar growth pattern and frank pleomorphism. The diagnosis of ASPS, which presents uncommon morphologic findings in unusual sites, is challenging. Recognition of ASPS is greatly assisted by attention to its characteristic cytological features, including intracytoplasmic crystals and immunohistochemistry showing absence of skeletal muscle, epithelial, and neuroendocrine markers.

Five new cembrane-type diterpenes, lobocalines A–E (1–5), and four new steroids, lobocalines F–I (9–12), along with six known related compounds (6–8 and 13–15) were isolated from the Yalong Bay soft coral Lobophytum catalai. The structures of the new compounds were elucidated by extensive spectroscopic analysis, NMR calculation with DP4+ analysis, time-dependent density functional theory-electronic circular dichroism (TDDFT-ECD) calculations, X-ray diffraction analyses, and the comparison with the reported spectroscopic data of known compounds. Further, with the aid of X-ray diffraction analysis, the structure of lobocrasol B (15) was firmly revised as 15a. In in vitro bioassays, compound 2 showed moderate antibacterial activities against fish pathogenic bacteria Streptococcus parauberis KSP28 and Phoyobacterium damselae FP2244 with minimum inhibitory concentration (MIC) values of 8.7 and 17.3 µg/mL, respectively. All the steroids exhibited antibacterial activities against the S. parauberis KSP28 with MIC values ranging from 12.3 to 53.6 µg/mL. Compounds 2, 7 and 14 have remarkable inhibitory effects on the hemolysin production of Staphylococcus aureus, while compounds 8–12 have medium inhibitory effects on the pyocyanin production in Pseudomonas aeruginosa.

Background: This study aimed to investigate the effect of fascial manipulation (FM) of the deep cervical fascia (DCF) and sequential yoga poses (SYP) on pain and function in individuals with mechanical neck pain (MNP). Method: Following the predefined criteria, ninety-nine individuals with MNP were recruited, randomised and assigned to either the intervention group (IG) (n=51) or the control group (CG) (n=48). Individuals in the IG received FM (4 sessions in 4 weeks) along with the home-based SYP (4 weeks). The CG participants received the usual care (cervical mobilization and thoracic manipulation (4 sessions in 4 weeks) along with unsupervised therapeutic exercises (4 weeks). The participants underwent baseline and weekly follow-up measurements of pain using a numerical pain rating scale (NPRS) and elbow extension range of motion (EEROM) during upper limb neurodynamic test 1 (ULNT1). The baseline and the 4th session follow-up measurements of the Patient-specific Functional Scale (PSFS) and Fear-avoidance Behavior Questionnaire (FABQ) were also taken. Results: A repeated-measures ANOVA was performed. The mean differences between the IG and CG on NPRS 3rd and 4th sessions are -1.009 (p&lt; 0.05) and -1.701 (p&lt; 0.001), respectively; on EEROM in the 4th session is 20.120 (p&lt; 0.001); on FABQ during the follow-up is -5.036 (p&lt;0.001), showing a statistically significant difference, whereas on PSFS during follow-up is 0.263 (p=0.566), suggesting no significant differences in PSFS. Conclusion: FM and SYP can aid in reducing pain and fear avoidance behavior as well as improving the function and extensibility of the upper quarter region.

Marine soft corals are prolific sources of various natural products that have served as a wealthy reservoir of diverse chemical scaffolds for new drug leads. The genus Litophyton contains almost 100 species but only a small part of them had been classified and chemically investigated, which calls for more attentions from the global researchers. In the current work, 109 secondary metabolites have been discussed based on published data from 1975 to July, 2023, covering a period of near five decades. The studied species of the genus Litophyton inhabited various tropical and temperate regions and afforded a variety of biologically active natural products such as terpenes, steroids, alkaloids, and lipids. A wide spectrum of pharmacological effects of these compounds had been evaluated, including cytotoxic, anti-HIV, antibacterial, antifungal, anti-malarial, antifeedant, molluscicidal, PTP1B inhibitory, and insect growth inhibitory activities. This review aims to provide an up-to-date literature survey and comprehensive insight into chemical structures, taxonomical distributions, and biological activities of the reported metabolites from the title genus whenever available.

Accidental soft tissue injuries are a frequent injury. We report a case involving a 37-year-old man with a soft tissue wound failing conservative treatment. The use of applied fibrin membranes and concentrated growth factors yielded a resolution of the injury in 16 months without need of skin grafting.

Fifteen new diterpenoids, namely xishaklyanes A-O (1-15), along with three known related ones (16-18), were isolated from the soft coral Klyxum molle collected from Xisha Islands, South China Sea. The stereochemistry of the new compounds were elucidated by a combination of detailed spectroscopic analyses, chemical syntheses, quantum chemical calculations and comparison with the reported data. The absolute configuration of compound 18 was established by the modified Mosher's method for the first time. In bioassay, some of these compounds exhibited considerable antibacterial activities on fish pathogenic bacteria, and compound 4 showed the most effective activity with MIC of 0.225 g/mL against Lactococcus garvieae.

Fe rich soft magnetic alloys are candidates for applications as magnetic sensors and actuators. These alloys can also be added to hard magnetic compounds to obtain spring magnets. In this work we produce two nanocrystalline Fe-Zr-B-Cu alloys by the powder metallurgy powder technology of mechanical alloying. The increase of the boron content favors the reduction of the crystalline size. Thermal analysis (by differential scanning calorimetry) shows at temperatures between 450 and 650 K wide exothermic processes, associated with the relaxation of tensions of the alloys produced by milling. At high temperatures, a main crystallization peak is found. The apparent activation of this process was determined by Kissinger and isoconversional methods. The values are compared with those found in the scientific literature. Likewise, adapted thermogravimetry permits to determine the Curie temperature. The functional response has been analyzed by hysteresis loop cycles. According to the composition, the decrease of the Fe/B ratio diminishes the magnetic soft behavior.

Orbital fractures are a common finding in facial trauma and serious complications may arise when orbital reconstruction is not done properly. The virtual planning can be used to manufacture patient-specific titanium orbital implants (PSI) through the process of selective laser melting. This method is currently considered the most accurate technique for orbital reconstruction. Even with the most accurate tehniques of bone reconstruction, there are still situations where enophthalmos is present after reconstruction which may be produced by intraorbital soft tissue atrophy. The aim of this paper was to evaluate the orbital soft tissue after postraumatic reconstruction of the orbital walls fractures. 10 patients diagnosed with unilateral orbital fractures were included in this study. A CT scan of the head region with thin slices (0.6mm) and soft and bone tissue windows was done. After data processing, the STL files were exported and the intraorbital fat tissue volume and the muscular tissue volume were masured. The volumes of affected orbit tissues were compared with the volumes of the healthy orbit tissues for each patient. Our findings conclude that a higher or a lower grade of fat and muscular tissue loss is present in all cases of reconstructed orbital fractures.

Magnetic properties of soft magnetic composites are highly sensitive to the processing conditions. In this paper we focus on the possibility to model this effect using the Jiles-Atherton-Sablik theory. It is assumed that the effect of varying compaction pressure may be described by direct introduction of stress-dependent term in the model equations. The values of model parameters are kept constant. Verification of the proposed approach is carried out using measurement data from self-developed iron-based composite cores.

Polyurethanes (PUs) with self-healing at 20 °C, acceptable mechanical properties and high adhesion were synthesized by using blends of polycarbonate polyols of molecular weights 1000 and 2000 Da (CD1000 + CD2000). The structural, thermal, rheological, mechanical and adhesion (single lap-shear tests) properties of the PUs were assessed. The length of the polycarbonate soft segments and the interactions between them determined the self-healing ability, the mechanical properties and the adhesion of the PUs. PUs with higher CD1000 polyol content exhibited shorter self-healing times and dominant viscous properties due to a higher amount of free carbonate groups, significant carbonate-carbonate interactions and low micro-phase separation. As the CD2000 polyol content increased in the PUs, slower kinetics and longer self-healing times were obtained, and higher mechanical and adhesion properties as well, due to a dominant rheological elastic behavior, higher crystallinity of the soft segments and greater micro-phase separation. All PUs synthesized with CD1000 +CD2000 blends exhibited a mixed phase due to interactions between the polycarbonate soft segments of different lengths which favored self-healing and mobility of the polymer chains leading to an increase of the mechanical properties. The adhesion properties of the PUs were similar to the highest ones reported in the literature.

Robotic exoskeletons are being actively applied to support the activities of daily living (ADL) for patients with hand motion impairments. In terms of actuation, soft materials and sensors have opened new alternatives upon conventional rigid body structures. In this arena, biomimetic soft systems are playing an important role for modeling and controlling the human hand kinematics without the restrictions of rigid mechanical joints, while having an entire deformable body with limitless points of actuation. In this paper, we address the computational limitations for modeling large-scale articulated systems for soft robotic exoskeletons, by integrating a parallel architecture to compute the exoskeleton’s dynamics equations of motion (EoM), obtaining a computation with O(log2n) complexity for the highly-articulated n degrees of freedom.

This study explores the application of AncorLam HR (Höganäs, Sweden), a soft magnetic composite (SMC) material, in the stator core of an axial flux permanent magnet (AFPM) drive motor. Building on previous research that provided mechanical and thermal properties of AncorLam HR, the study focuses on analyzing how the manufacturing process affects the motor core's shape. A bulk prototype was created based on Case 3, which demonstrated the least deviation in density and internal stress. The prototypes were produced under the specified conditions of SPM 7 and 90°C, resulting in an average density and simulation density error of 0.54%, which confirms the effectiveness of the process. To further verify the reliability, the microstructure of the AncorLam HR powder and the resulting bulk prototype was analyzed. Scanning electron microscopy (SEM) measurements at 5mm, 20mm, and 25mm on Sample 2, which had the highest density, confirmed the consistency between simulation and prototype density trends. Additionally, electron backscatter diffraction (EBSD) analysis revealed a random orientation of the powder, while X-ray diffraction (XRD) showed consistent iron (Fe) peaks at 44.9°, 65.0°, and 82.3° in both the powder and bulk prototypes, indicating no significant change in the internal phase structure. Further analysis using energy-dispersive spectroscopy (EDS) and transmission electron microscopy (TEM) identified that the phosphorus (P) content was eliminated during the molding process, which led to the destruction of the insulating layer, a critical performance factor for SMC materials. In AFPM motor simulations, the average torque was measured at 34.5 mN·m, with core loss increasing as frequency increased. The observation of iron loss spikes during motor startup indicates the need for further research to optimize material selection. This study confirms the viability of using AncorLam HR in electric vehicle motor cores and provides essential data for improving the performance of AFPM motors. Future research should prioritize optimizing SMC materials to enhance the performance and efficiency of AFPM motor applications.

In nature and engineering applications, flexible fiber beds covering biological surfaces can play a role in reducing resistance. These fibers deform under the action of fluids, and this deformation affects the fluid flow state, forming a complex fluid-solid interaction phenomenon. To quantitatively analyze such issues, the physical model is simplified to the deformation problem of an soft hair bed caused by Stokes flow, and the deformation problem of a single fiber caused by Stokes flow is further studied. The deformation problem of an elastic single fiber in a channel caused by Stokes flow can be described by a nonlinear integral equation. We have obtained a new series solution, which has been compared with the previous perturbation method to verify the accuracy and effectiveness of the series solution. Meanwhile, we have further provided an extended form of flexible fiber deformation through experimental fitting. This fluid-solid interaction problem involves multiple fields and is very important in many natural and engineering systems. The research in this paper can not only help us better understand complex phenomena in nature but also delve into the interaction mechanism between fluids and solids, providing a theoretical basis for future scientific research and engineering applications.

This paper illustrates an experimental activity for the closed-loop position control of an actuator made using shape memory alloy (SMA) wire. A solution with the self-sensing effect was implemented to miniaturize the systems, i.e., without external sensors. A proportional control algorithm was initially used, demonstrating the idea's feasibility: the wire can behave simultaneously as an actuator and sensor. An experimental investigation was subsequently conducted for the optimization of the developed actuator. As for the material, a Flexinol wire, Ni-Ti alloy, with a diameter of 0.150 mm and a length of 200 mm, was used. Preliminarily, a characterization of the SMA wire at constant and variable loads was carried out: the characteristics detected are elongation vs. electric current and elongation vs. electrical resistance. The control system is PC-based with a data acquisition card (DAQ). A drive board has been designed and built to read the wire's electrical resistance and power it by pulse width modulation (PWM). A notable result is that the actuator works with good precision and in dynamic conditions, even when it is called to support a load up to 65% different from that for which the electrical resistance-length correlation has previously been experimentally obtained, on which the control is based. This opens up the possibility of using the actuator in a counteracting configuration with a spring, which makes hardware implementation and control management simple.

The advantage of FPGAs lies in the ability to implement a fully hardware solution for interfacing with various input/output (I/O) devices. Each block can work in parallel with all the others, simplifying the satisfaction of timing constraints. However, this hardware utilization consumes FPGA resources that could otherwise be allocated to the primary project. An alternative involves employing a small "soft-core" processor implementing I/O in software. With the goal to design and evaluate a new tiny soft-core processor optimized for FPGA resources in I/O , a novel processor named Baby8 is developed. It is an 8-bit CISC soft-core processor optimized for reduced FPGA resources including program size for 8-bit applications. The number of instructions is not large but any instruction can access arbitrary memory locations. The performance and resource utilization of the newly designed processor are evaluated and compared with a variety of other soft-core processors. The results demonstrate its competitive performance, achieving an average maximum clock frequency of approximately 57 MHz and a power consumption of around 2mW. Furthermore, it conserves nearly half of the FPGA resources in implementation.

Biomimetic stimuli-responsive materials can respond to various external stimuli in the form of structural or morphological transformations by actively or passively converting input energy into mechanical energy. They are the core element of soft actuators for typical smart devices like soft robots, artificial muscles, intelligent sensors and nanogenerators. While significant progresses have been made in bioinspired stimuli-responsive materials, they have not yet achieved the remarkable properties in biological systems. In this review, we will discuss recent advances in biomimetic stimuli-responsive materials that are instrumental for soft actuators. Different stimuli-responsive principles for soft actuators are firstly discussed, including fluidic, electrical, thermal, magnetic, light and chemical stimuli. We further summarize the state-of-the-art stimuli-responsive materials for soft actuators and explore the advantages and disadvantages of using electroactive polymers, magnetic soft composites, hydrogels, liquid crystal elastomers, shape memory alloys and chemical-responsive materials. Finally, we provide a critical outlook on the field of stimuli-responsive soft actuators, and emphasize the challenges in the process of their implementation to various industries.

Gastric mixing relies both on enzymatic reactions and mechanical solicitations through antral contraction waves (ACWs). This work aims at discussing the influence of ACWs frequency and digesta viscosity on human gastric mixing efficiency by comparison with that of a soft elastic reactor (SER), that induces mixing by vibration of its wall in a similar way as ACWs promote stomach motility. The SER mixing curve was considered in order to determine the flow regime reached during gastric mixing. The number of contractions required to achieve homogenization was found to depend on the viscosity of the stomach content and the ACWs amplitude. Moreover, it was deduced from the same range of SER and ACWs operating points that the mechanical solicitation provided by human peristalsis was low and that gastric mixing was confined in laminar regime. Further efforts are needed to investigate the role of other physiological processes such as gastric secretions and emptying in overall gastric mixing performance.

Wearable exoskeleton solutions for upper limb rehabilitation or assistance, particularly for the hand area, have become increasingly attractive to researchers, proving to be effective over time in treating hand movement impairments following various neurological diseases. In the present work, the development of a wearable exoskeleton-type device for active hand rehabilitation has been addressed, based on fluid actuators made of elastomeric material and on myoelectric control by capturing myoelectric signals from the forearm area. The flexion movement of the fingers (phalanges) is actively assisted by pneumatic actuation of the built-in actuators and the extension movement is assisted by a depressurization control of the actuator. The device has been designed to be as easy to use as possible, light in weight, and to provide a high degree of comfort when used by the patient for rehabilitation training or daily life activities (ADL), which can be performed in the comfort of one's own home.

Conducting related research is crucial since there are still many problems that need to be resolved in the research on soft robots in the areas of material selection, structure design and manufacture, and drive control. Soft manipulators, a subset of soft robots, are now a popular area of study for many researchers. In comparison to typical manipulators, soft manipulators feature a high degree of gripping flexibility and a basic morphological structure. They are composed of flexible materials. It has a wide range of potential applications in healthcare, rehabilitation, bionics, and detection, and it can compensate for the drawbacks of rigid manipulators in some use scenarios. A modular soft-body torsional gripping system is developed after a torsional and gripping actuator is conceived, constructed, and its performance is examined. The torsion actuator and the grasping actuator can be combined in the system in a modular fashion. With the help of RGB-D vision algorithms, this multi-modular setup makes it possible to combine soft actuators with various twisting degrees and achieve exact gripping. Through pneumatic control, the target object is precisely grasped and rotated at various angles, enabling rotation of the target object in three dimensions.

A better understanding of diseases progress in tissues vest on the accurate understanding of tissues under mechanical loading. Also, development of therapies for injuries may depend on the available mechanical data for soft tissues. In this study, the raw data of biaxial tensile testing of sclera soft tissue is presented in this paper. Biaxial mechanical testing of soft tissues presents details understanding of how soft tissues behave when compared to uniaxial testing. Biomechanical properties of soft tissues are vital in the development of accurate computational models. Reliable computational models of studying mechanisms of diseases depends mainly on the accurate and more details mechanical behavior of soft tissues. These accurate and detailed computational models may be utilized to further develop the understanding and therapies of various diseases. The mechanical tensile testing was conducted on the passive sheep sclera. Engineering stress vs strain of several samples of the sheep sclera are further presented determined from force and displacement experimental data. The goal of this paper is to make available biaxial data of sheep sclera soft tissue that can be further utilized.

The impact of the cell community on its individual components in the prokaryotic realm is often overlooked. However, in the case of intracellular pathogens, where each infected cell can be considered as a single community, understanding how a population adapts to its environment to evolve and successfully propagate is key. Chlamydia infections are characterised by a silent propagation of the bacteria within individual hosts and the wider population. Chlamydia are strict intracellular pathogens residing within a specialised membrane-bound compartment called the inclusion. The life cycle of Chlamydia involves altering between the invasive elementary bodies (EBs) and replicative reticulate bodies (RBs). We have used cryo-soft X-ray tomography to observe individual inclusions, combining excellent resolution (40 nm) and large volume imaging (up to 16 µm). Combined with a semi-automated segmentation pipeline, we were able to consider each inclusion as an individual bacterial niche. Within the inclusion, we identified and classified different forms of the bacteria and confirmed the recent finding that RBs have a variety of volumes (small, large and abnormal). Moreover, we demonstrate that the proportions of these different RB forms depend on the bacterial concentration in the cell demonstrating the impact of the group on its individual component. We conclude that each inclusion operates as an autonomous community which regulates the characteristics of individual bacteria within the inclusion

The booming wearable market and recent advances in material science has led to the rapid development of the various wearable sensors, actuators, and devices that can be worn, embedded in fabric or accessories, or tattoos directly onto the skin. Wearable actuators, a subcategory of wearable technology, have attracted enormous interest from researchers in various disciplines and many wearable actuators and devices have been developed in the past few decades to assist and improve people's everyday lives. In this paper, we review the actuation mechanisms, structures, applications, and limitations of recently developed wearable actuators including pneumatic and hydraulic actuators, shape memory alloys and polymers, thermal and hygroscopic materials, dielectric elastomers, ionic and conducting polymers, piezoelectric actuators, electromagnetic actuators, liquid crystal elastomers, etc. Examples of the recent applications such as wearable soft robots, haptic devices, and personal thermal regulation textiles are highlighted. Finally, we point out the current bottleneck and suggest the prospective future research directions for wearable actuators.

The dynamical processes of living systems are characterized by the cooperative interaction of many units. This claim enables us to portray the embryo-fetal development of the central and peripheral nervous systems in terms of assemblies of building blocks. We describe how the structure and arrangement of nervous fibers is - at least partially - dictated by biophysical and topological constraints. The far-flung field of soft-matter polymers/nematic colloids sheds new light on the neurulation in mammalian embryos, suggesting an intriguing testable hypothesis: the development of the central and peripheral nervous systems might be correlated with the occurrence of local thermal changes in embryo-fetal tissues. Further, we show a correlation between the fullerene-like arrangement of the cortical microcolumns and the Frank-Kasper phases of artificial quasicrystals assemblies. The last, but not the least, we explain how and why the multisynaptic ascending nervous fibers connecting the peripheral receptors to the neocortical areas can be viewed as the real counterpart of mathematical tools such as knot theory and braid groups. Their group structure and generator operations point towards a novel approach to long-standing questions concerning human sensation and perception, leading to the suggestion that the very arrangement and intermingling of the peripheral nervous fibers contributes to the cortical brain activity. In touch with the old claims of D’Arcy Thompson, we conclude that the arrangement and the pattern make the function in a variety of biological instances, leading to countless testable hypotheses.

Biofuels and biochemicals play significant roles in the transition towards a fossil-free society. However, large-scale biorefineries are not yet cost-competitive with their fossil-fuel counterparts, and it is important to identify biorefinery concepts with high economic performance. For evaluating early-stage biorefinery concepts, one needs to consider not only the technical performance and process costs but also the economic performance of the full supply chain and the impacts on feedstock and product markets. This article presents and demonstrates a conceptual interdisciplinary framework that can constitute the basis for evaluations of the full supply-chain performance of biorefinery concepts. This framework considers the competition for biomass across sectors, assumes exogenous end-use product demand, and incorporates various geographical and technical constraints. The framework is demonstrated empirically through a case study of a sawmill-integrated biorefinery producing liquefied biomethane from forestry and forest industry residues. The case study results illustrate that acknowledging biomass market effects in the supply chain evaluation implies changes in both biomass prices and the allocation of biomass across sectors. The proposed framework should facilitate the identification of biorefinery concepts with a high economic performance which are robust to feedstock price changes caused by the increase in biomass demand.

In this systematic survey, an overview of non-conventional and soft-actuators is presented. The review is performed by using well-defined performance criteria with a direction to identify the exemplary applications in robotics. In addition to this, initial guidelines to measure the performance and applicability of soft actuators are provided. The meta-analysis is restricted to four main types of soft actuators: shape memory alloys (SMA), fluidic elastomer actuators (FEA), dielectric electro-activated polymers (DEAP) and shape morphing polymers (SMP). In exploring and comparing the capabilities of these actuators, the focus was on seven different aspects: compliance, topology, scalability-complexity, energy efficiency, operation range, performance and technological readiness level. The overview presented here provides a state-of-the-art summary of the advancements and can help researchers to select the most convenient soft actuators using the comprehensive comparison of the performance criteria.

Accidental arterial embolization of hyaluronic acid (HA) fillers can lead to severe complications, including skin ischemia, blindness, and stroke. Currently, the intra-arterial dispersal and fragmentation behavior of HA gels is unknown but is critical to our understanding of the pathomechanism of these injuries. This work introduces the Pulsatile Unit for the Laboratory Simulation of Arterioembolic Restrictions (PULSAR) and evaluates the intravascular behavior of different HA gels. The fragmentation and dispersal behaviors of four HA gels with distinct rheological properties were evaluated via high-resolution videography and ImageJ particle size and morphology analysis. The gels' elastic modulus (G'), loss modulus (G''), tan(δ), and HA concentration were subsequently correlated with their intra-arterial behaviors. This study effectively confirms the extensive fragmentation of HA gels upon arterial inoculation, with particle sizes ranging from &lt;50 µm to &gt;1 mm. Gel particle size and morphology correlate most significantly with tan(δ). Conversely, arterial flow rates do not significantly influence gel fragmentation behavior, though the probability of proximal, macrovascular obstruction is affected. Overall, this study validates the PULSAR model for simulation of arterial dynamics and the testing of intravascular filler kinematics. The findings highlight the importance of gel viscoelasticity and flow parameters in determining particle size, dispersibility, and occlusive potential.

Soft magnetic composites cores were produced by Spark Plasma Sintering (SPS) from Ni3Fe@ZnFe2O4 and NiFeMo@ZnFe2O4 pseudo-core-shell powders. In the Fe-Ni alloys@ZnFe2O4 pseudo-core-shell composite powders, the core is a large nanocrystalline Permalloy or Supermalloy particle obtained by mechanical alloying, and the shell is a pseudo continuously layer of Zn ferrite particles. The pseudo-core-shell powders have been compacted by SPS at temperatures between 500-700 ºC, with a holding time of 0 minutes. Several techniques were used for the characterisation of the powders and sintered compacts: X-ray diffraction, scanning electron microscopy, energy dispersive X-ray spectroscopy, magnetic hysteresis measurements (DC and AC) and electrical resistivity. The electrical resistivity is stabilised at values of about 7·10-3 Ω·m for sintering temperatures between 600-700 °C and this value is 3 orders of magnitude higher than the electrical resistivity of sintered Fe compacts. The best relative initial permeability was obtained for the Supermalloy/ZnFe2O4 composite compacts sintered at 600 ºC, which decreases linearly for the entire frequency range studied, from around 95 to 50. Up a frequency of 2,000 Hz the power losses are lower than 1.5 W/kg. At the frequency of 10 kHz, the power losses are larger, but they remain at a low level. In the case of Supermalloy/ZnFe2O4 composite compact SPS-ed at 700 °C, the specific power losses are even lower than 5 W/kg. The power losses decomposition proved that intra-particles losses give the main part of the losses.

The development of ballistic protection vests (BPVs) has become increasingly significant, particularly in the design of soft panels, which are critical to the overall size and configuration of these vests. Despite their importance, a standardized design process for soft panels is lacking in the literature. This research addresses this gap by creating soft panels tailored to the body types of regional soldiers while adhering to relevant standards. We propose a comprehensive design algorithm and evaluate the applicability of the National Institute of Justice (NIJ) standard 0101.06 test templates for configuring these panels. This study aims to design soft ballistic panels for BPVs that cater to the body type requirements of regional soldiers and comply with NIJ 0101.06 standards. We have developed an algorithm for designing soft panels and analyzed the feasibility of using NIJ test templates for their configuration. The research encompasses a detailed literature review, analysis of existing BPV soft panels, and comparison with NIJ test templates. The panels were designed and scaled using computer-aided design (CAD) systems and evaluated through by physical fitting on mannequins and virtual fitting using the Clo3D program. Our findings indicate that the NIJ standard test templates are only partially applicable to the design of soft panels. The developed methodology includes an algorithm and size specifications tailored to regional covers. A coefficient (K) was identified to calculate the soft panel surface area prior to design, thereby saving time and resources.

In the realm of virtual and augmented reality (VR/AR) and teleoperation applications, haptic feedback plays a role in enhancing task performance. One of the main goals of this study is to simplify haptic device hardware while improving its capacity to provide various stimuli at different intensities. In response to these challenges, this research introduces the Pneumatic Unit Cell (PUC), a soft-pneumatically driven device—a hollow silicone cylinder with the ability to provide both static pressure and vibrotactile feedback. Furthermore, Pneumatic Unit Cell's design simplicity has the potential for scalability, modularity, and the flexibility to mount the device on any part of the human body. The focus of the current paper is to study PUCs as an actuator and lay the foundation for future perceptual studies. The characterization studies encompass fabrication and verification of fabrication accuracy through dimensional measurements, characterizing PUCs under static pressure conditions (measuring free deflection and blocking force), and frequency conditions (measuring free deflection). In the static pressure conditions, we applied pressures ranging from 0 to 40 KPa to measure free deflection and from 0 to 30 KPa to measure blocking force. In the frequency conditions, we applied pressures of 10, 20, and 30 KPa, with inflation/deflation rates varying between 0.5 Hz and 100 Hz. The measurements of free deflection under static pressure conditions revealed that 0.9 mm and 1.2 mm PUCs exhibit a linear increase of free deflection with increase in inflation pressure. The results of free deflection measurements under the frequency conditions indicate a direct relationship between free deflection magnitude and applied pressure. The results also demonstrate an inverse relationship to the frequency of inflation/deflation. The characterization results demonstrate a broad range of free deflection observed under both static pressure and frequency conditions, encouraging the potential application of Pneumatic Unit Cell actuators as haptic devices.

The aim of this study was to evaluate the biomechanical changes of the cornea after wearing soft contact lenses (CLs) in healthy myopic patients measured with the Corvis ST® analyzer. This prospective, cross-sectional, single-center study was performed in twenty-two Caucasian patients aged between 19 and 24 years (20.64 ± 1.21 years) range). Five device-specific biomechanical parameters, central corneal thickness and intraocular pressure were measured prior to fitting and one month after CLs wear. Differences between the means of the DA Ratio and the standard deviation of the DA Ratio pre- and post-CLs wear were found to be significant (p value=0.002 in both cases). Significant differences were found between pre- and post-CLs wear values in CCT (p value=0.013). For all other biomechanical measures, no significant differences were observed before and after treatment. A significant association was found between changes in bIOP and classification according to changes in Int. Radius (p value = 0.047) and SSI (p value = 0.026) standard deviations. The corneal biomechanical indices provided by CST demonstrate that fitting of soft CLs is a safe optical compensation method for the stability of corneal stiffness. No significant differences were found pre- and post-CLs wear in the assessment of bIOP.

The effect of cooling rate on the magnetorheological response was investigated for magnetic hydrogels consisting of carrageenan and carbonyl iron particles with a concentration of 50 wt.%. For magnetic gels prepared by natural cooling, the storage moduli at 0 and 50 mT were 3.7×104 Pa and 5.6×104 Pa, respectively, and the change in the modulus was 1.9×104 Pa. For magnetic gels prepared by rapid cooling, the storage moduli at 0 and 50 mT were 1.2×104 Pa and 1.8×104 Pa, respectively, and the change in the modulus was 6.2×103 Pa, which was 3.1 times higher than that for the magnetic gel of rapid cooling. The critical strains, where G‘=G“ on the strain dependence of the storage modulus, for magnetic gels of natural cooling and rapid cooling were 0.023 and 0.034, respectively, indicating that the magnetic gel of rapid cooling has a hard structure compared to that of natural cooling. Oppositely to this, the change in the storage modulus at 500 mT for the magnetic gel of rapid cooling was 1.6×105 Pa, which was 2.5 times higher than that of natural cooling. SEM images revealed that many small aggregations of carrageenan network were found in the magnetic gel of natural cooling and continuous phases of carrageenan network with large sizes were found in the magnetic gel of rapid cooling. It was revealed that, magnetic particles in the magnetic gel of rapid cooling can move and form a chain structure at high magnetic fields by breaking the restriction from the continuous phases of carrageenan.

Low back pain (LBP) is a common musculoskeletal complaint that can impede physical function and mobility. Current management often involves pain medication, but there is a need for non-pharmacological and non-invasive interventions. Soft tissue manipulation (STM) such as massage has been shown to be effective in human subjects, but the molecular mechanisms underlying these findings are not well understood. In this paper, we evaluated potential changes in soft tissue levels of more than thirty pro- or anti-inflammatory cytokines following instrument-assisted STM (IASTM) in rats with chronic, induced LBP using Complete Freund’s Adjuvant. Our results indicate that IASTM is associated with reduced soft tissue levels of RANTES/CCL5 and increased soft tissue levels of IL-4, which are pro-inflammatory and anti-inflammatory factors, respectively, by 120 minutes post-treatment. IASTM was not associated with tissue-level changes in CXCL5/LIX (the murine homologue of IL-8), CXCL7, GM-CSF ICAM-1, IL1-ra, IL-6, IP-10/CXCL10, L-selectin, TNF-α, or VEGF at either 30- or 120 minutes post-treatment. Combined, our findings suggest that IASTM exerts tissue-level effects that are associated with improved clinical outcomes and potentially beneficial changes in pro/anti-inflammatory cytokines in circulation and at the tissue level.

In oral pathology, the appearance of a large ulcerated lesion may suggest a malignant process that requires an early diagnosis given the uneasiness of the patient and his or her family. Finding lingual carcinoma in children is, however, extremely rare We present the case of a 13-year-old girl who came to the oral medicine clinic, referred by her orthodontist, with a large round lesion on the ventral side of the tongue (15 x 12 mm) that did not heal, after three weeks of evolution and after eliminating the existing traumatic factors (orthodontic appliance in the lower jaw) and treatment with topical gel based on PVP (polyvinyl pyrrolidone), glycyrrhetinic acid and hyaluronic acid (Aloclair PLUS®). The objective of this article is analyse the possible causes and provide a review of the literature of a large ulcerated lesions.

In foggy weather scenarios, the scattering and absorption of light by water droplets and particulate matter cause object features in images to become blurred or lost, presenting a significant challenge for target detection in autonomous driving vehicles. To tackle this problem, this study proposes a foggy weather detection method, YOLOv5s-Fog, based on the YOLOv5s framework. The model enhances the feature extraction and expression capabilities of YOLOv5s by introducing a novel target detection layer, SwinFocus. Additionally, this research incorporates decoupled head into the model and replaces the conventional non-maximum suppression method with Soft-NMS. Experimental results demonstrate that these improvements effectively enhance the detection performance for blurry objects and small targets in foggy weather conditions. Compared to the baseline model YOLOv5s, YOLOv5s-Fog achieves a 5.4% increase in mAP on the RTTS dataset, reaching 73.4%. This method provides technical support for rapid and accurate target detection in adverse weather conditions, such as foggy weather, for autonomous driving vehicles.

Palpation is a simple but effective method to differentiate tumors from healthy tissues. Development of miniaturized tactile sensors embedded on endoscopic or robotic devices are the key toward precise palpation diagnosis and the subsequent timely treatment. This paper reports on the fabrication and characterization of a novel tactile sensor with mechanical flexibility and optical transparency that can be easily mounted on soft surgical endoscopes and robotics. Utilizing the pneumatic sensing mechanism, the sensor offers a high sensitivity of 1.25 mbar and negligible hysteresis, enabling the detection of phantom tissues with different stiffnesses ranging from 0 to 2.5 MPa. Our configuration combining pneumatic sensing and hydraulic actuating also eliminates electrical wiring from the functional elements located at the robot end-effector, thereby enhancing the system safety. The optical transparency path in the sensors together with its mechanical sensing capability open interesting possibility in early detection of solid tumor as well as in the development of all in-one soft surgical robots that can perform visual/mechanical feedback and optical therapy.

Condition monitoring is a primary principle for predictive maintenance. In this regard, several techniques have been employed, each of which has its strengths and weaknesses. In this work, the relationships between the electrical (ε', ε", tan δ) and chemical (Fe, Pb, Cu, Cr, Al, Si, Zn) properties of engine lubricants were investigated using soft computing models. The models' performance was evaluated considering some criteria, including RMSE and MAPE. The RBF model was determined as the best one to predict chemical properties (Fe, Pb, Cu, Cr, Al, Si, Zn) through electrical indexes (ε', ε", tan δ). The RBF’s parameters (e.g., hidden size and training algorithm) were then optimized for optimum performance. For instance, in the RBF model implemented to predict Al, the best hidden size and training algorithmic were 15 and 'trainlm', respectively. Finally, by sensitivity analysis it was observed that eliminating any of the inputs does not improve the performance of the RBF model performance. In general, the results of the current research showed that the electrical properties (e.g., ε', ε", tan δ) have the capability of estimating the contaminants in the lubricants which can improve the existing monitoring methods.

To further explore the bearing capacity and sustainable construction of vacuum drainage pipe (VDP) piles, field tests were carried out to compare and analyze the ultimate single pile bearing capacity, pile side friction and pile end resistance of ordinary piles and vacuum drainage pipe piles. The effect of the VDP pile on energy conservation and emission reduction in practical projects is discussed. The results shows that the VDP pile basically eliminated the soil squeeze and did not cause excessive relative displacement of pile and soil after vacuum consolidation. The VDP pile enhances pile side friction resistance, resulting in a 17.6% increase in ultimate bearing capacity compared to traditional piles. The VDP pile method can reduce carbon emissions by 31.4% compared to traditional methods. This study provides guidance for the production and design of VDP piles in the future and demonstrates their potential for energy conservation and emission reduction benefits compared to traditional methods.

A reliable and affordable energy supply is a fundamental prerequisite for reducing poverty, promoting investment, and boosting economic growth in the developing world. Among the different challenges that developing countries face, chronic energy crises are harrowing. The crises result from the unsatisfactory state of the central grid, a misguided energy mix, and ill-informed policies, among other things. The possibility of solving energy crises through a variety of alternative solutions is worth exploring. This review discusses two paths of energy development side by side: a traditional “hard” path of energy development (i.e., central grid extension powered by fossil fuels and nuclear energy expansion) and a relatively recent “soft” path of energy development, which is based on energy conservation and the deployment of renewable energy resources. This paper focuses on one central axis of the discussion: centralization vs. decentralization. This discussion, in turn, has technological, economic/business, and political dimensions. Finally, the paper discusses the significance of the debate from meeting the developing world’s energy demands. The paper intends not to prefer one or another path of energy development, nor it gives recommendations on diffusing or adopting those development paths. Instead, it explores the literature’s central arguments that might help frame the questions for further research. While this debate could be used to ask interesting questions that might help solve the energy crisis in the developing world, the discussion informs countries to advance policies specific to their circumstances under the umbrella of a sound and thoughtful energy productivity policy framework.

Purpose: to assess the effect of photobiomodulation (PBM) on human gingival fibroblast proliferation. Methods: The study was conducted using the primary cell cultures of human fibroblasts collected from systemically healthy donors. Three different laser types: Nd:YAG (1064nm), infrared diode laser (980nm) and prototype led laser emitting 405, 450 and 635nm were used to irradiate fibroblasts. Thanks to the patented structure of that laser, it was possible to irradiate fibroblasts with a beam combining two or three wavelengths. The energy density was 3 J/cm², 25 J/cm², 64 J/cm². The viability and proliferation of cells were determined using the MTT test conducted 24, 48 and 72 hours after laser irradiation. Results: The highest percentage of mitochondrial activity (MA=122.1%) was observed in the group irradiated with the 635nm laser, with an energy density of 64 J/cm² after 48 hours. The lowest percentage of MA (94.0%) was observed in the group simultaneously irradiated with three wavelengths (405 + 450 + 635 nm). The use of the 405nm laser at 25 J/cm² gave similar results to the 635 nm laser. Conclusions: The application of the 635nm and 405nm irradiation caused a statistically significant increase in the proliferation of gingival fibroblasts.

Organised hiking and trekking tours are promoted by many providers in adventure travel. Such guided tours shall be engaging for the tourists and evoke positive attitudes towards enjoying nature. We present the Trekking Engagement Profile as a tool to evaluate engagement factors of such guided tours, based on engagement research performed in a different domain, namely evaluating engagement in museums and science centres. This tool shall strengthen guides’ soft skills and enable them to increase engagement during an ongoing arrangement. For instance, the Trekking Engagement Profile can be applied when tourists indicate that the quality of a guided tour is not entirely to their liking. We show the viability of using the Trekking Engagement Profile in a small study with guides and participants of trekking tours offered by the Norwegian Trekking Association. Further, we offer guidance and charts to promote its practical use.

The rapid retreat of coastal cliffs poses a profound risk to property, transport infrastructure and public safety both in Ireland and globally. This study combines historical data (maps and orthophotos, 1842 to 2000) with contemporary UAV surveys (2019 to 2023) to quantify cliff top and cliff face retreat along a 250 m wide coastal drumlin at Silverstrand in Galway Bay, Ireland. Retreat rates for the cliff top and cliff face were calculated using 2D mapping and 3D modelling, respectively. Critically, the choice of method appears to have a major impact on apparent rates of cliff top retreat, with output from the 2D mapping approach (0.14 +/- 0.02 m yr-1) being double that of the 3D modelling approach (0.08 +/- 0.02 m year-1). The aperiodic development of a talus cone, which offers temporary protection to the cliff from storm waves, also influences the estimation of cliff retreat. The repeat cycles of talus slope formation and removal in this high wave energy climate suggest that the drumlin transitions between a periodically transport-limited system and supply limited system over short- and long-time periods, respectively, on the continuum of cliff types. These results warrant further research to identify and quantify the rates, patterns, drivers (marine and subaerial processes), and timing of cliff retreat rates in response to climate change.

Continuum robots play the role of end-effector in various surgical robots and endoscopic devices. The robots may be categorized as rigid or soft continuum robots (SCRs). While the SCRs have proven advantages such as safety and compliance, more research and development are required to enhance their capability for specific medical scenarios. This research aims at designing a soft robot considering concepts of geometric and kinematic similarities. The chosen application is a semi-invasive medical application known as Transesophageal Echocardiography (TEE), but the methodology can be implemented in other similar applications. Since established rigid carrier construction make use of principles we find as well embodied in vertebral spines, the paragon for soft robot solution can be the phylogenetic precursor of the spine, the Chorda dorsalis. The feasibility of fabrication of a soft endoscopic device derived from that paragon within a robotics laboratory was shown empirically by producing a three-segment pneumatic SCR. The kinematic model was proposed based on the method of transformation matrices, and an algorithm based on a self-organizing map (SOM) was proposed and applied to realize kinematic similarity. The simulation results indicate that the algorithm acting as an open-loop controller forces the soft robot tip to follow the desired path which in this case is the path of the rigid probe. It is concluded that the solution provides a soft robot that can surrogate and succeed the traditional rigid counterpart owing to size, workspace, and kinematics.

A three-phase multilevel inverter (MLI) synthesized with 31-levels in the output voltage is used to provide ac supply to a three-phase, squirrel-cage induction motor. The gating angles required for thirty power switches in MLI are optimized by both Genetic Algorithm (GA) and Gray Wolf Op-timization (GWO). In the optimization technique, the optimal angles are determined by solving the trigonometric equations from the Fourier analysis for targeting minimum total harmonic distortion (THD) at the MLI output. Simulation model and experimental prototype are developed for performance analysis and validation. The results obtained demonstrate that the MLI is effec-tively able to produce 31-levels of three-phase ac output voltages with THD not exceeding 5% when loaded with a resistive load and a three-phase induction motor. The voltages and currents are measured and recorded for different loads and operating conditions, including the amount of energy consumed by the loads, as well as frequency analysis, which shows the absence of most of the triple harmonics that have a negative impact on the efficiency of the inverter.

Introduction: This study aimed to evaluate whether radiomic features extracted solely from the edema of soft tissue sarcomas (STS) could predict the occurrence of lung metastasis in comparison with features extracted solely from the tumoral mass. Materials and Methods: We retrospectively analyzed magnetic resonance imaging (MRI) scans of 32 STSs including 14 with lung metastasis and 18 without. Segmentation of the tumor mass and edema was performed for each MRI examination. A total of 107 radiomic features were extracted for each mass segmentation and 107 radiomic features for each edema segmentation. A two-step feature selection process was applied. Two predictive features for the development of lung metastasis were selected from the mass-related features, as well as two predictive features from the edema-related features. Two random forest models were created based on these selected features; 100 random subsampling runs were performed. Key performance metrics including accuracy and area under the ROC curve (AUC) were calculated, and the resulting accuracies were compared. Results: The model based on mass-related features achieved a median accuracy of 0.83 and a median AUC of 0.88, while the model based on edema-related features achieved a median accuracy of 0.75 and a median AUC of 0.79. Statistical analysis comparing the accuracies of the two models revealed no significant difference. Conclusion: Both models showed promise in predicting the occurrence of lung metastasis in soft tissue sarcomas. These findings suggest that radiomic analysis of edema features can provide valuable insights into the prediction of lung metastasis in soft tissue sarcomas.

In this paper, we propose a novel approach to the development of green public policies. We emphasize the significance of the System of Systems (SoSs) methodology, which concentrates on understanding and managing complex systems by contemplating their interdependencies and interactions as a single integrated system. Based on this perspective, we view green public policy as a system interacting with the energy, health, pollutants, and economic systems of the SoSs. We employ both Decision-Making Trial and Evaluation Laboratory (DEMATEL) and Interpretive Structural Modeling (ISM) techniques as a method of systematic structural analysis to comprehend the relationships between the aforementioned systems. We provide a comprehensive literature review on the application of these soft operation research (SOR) techniques. We note that SOR methods are suitable for the formulation of effective and long-lasting public policies. Using an example, we demonstrate the primary advantage of DEMATEL and ISM, which is the establishment of easily comprehendible causal relationships between the systems in the SoSs.

In order to study the surface settlement law of subway tunnel engineering site overlying soft soil layer under the action of earthquake, ABAQUS finite element analysis software was used to study the surface settlement law of subway tunnel construction site overlying soft soil layer under the action of three different seismic waves, including El-Centro wave, Kobe wave, and artificial seismic wave with exceedance probability of 10%, based on the Dalian Metro Line 5 with overlying soft soil layer as the engineering background, and the law was analyzed theoretically. Then, the surface settlement law of tunnel top was studied based on El-Centro wave and soft soil parameters, and the sensitivity analysis of soft soil parameters on surface settlement of tunnel top was carried out by orthogonal test method. The results show that under earthquake action, the settlement of the strata within a certain range of the tunnel roof is significantly greater than that of the surrounding strata, forming a settlement trough with a width of about 8 to 20 meters. The width of the settlement trough under the El-Centro wave is the largest, about 19.6 meters, surpassing the artificially synthesized seismic waves with a probability of 10%, which is about 15.6 meters, while the width of the settlement trough under the Kobe wave is the smallest, about 8.5 meters. The ground surface within a range of about 20 meters above the tunnel roof is most strongly affected by the seismic waves and the special lithology of the overlying soft soil layer, and the settlement is the largest. The settlement law of the settlement trough in the overlying strata of the tunnel conforms to the Peck formula. Increasing the elastic modulus of the silty soil can reduce the settlement of the ground surface above the tunnel roof, increasing the Poisson's ratio of the silty soil will increase the settlement of the ground surface above the tunnel roof, increasing the cohesive force of the silty soil to 20 kPa will basically stabilize the settlement of the ground surface above the tunnel roof, and increasing the internal friction angle of the silty soil will basically not change the settlement of the ground surface above the tunnel roof. The sensitivity of the soft soil parameters to the settlement of the ground surface above the tunnel roof is in the order of Poisson's ratio, elastic modulus, cohesive force, and internal friction angle.

Background: Instrument-assisted soft tissue mobilization (IASTM) is thought to alter fluid dynamics in human soft tissue. The aim of this study was to investigate the influence of IASTM on the thoracolumbar fascia (TLF) on the water content of the lumbar myofascial tissue. Methods: 21 healthy volunteers were treated with IASTM. Before and after the procedure and 5 and 10 minutes later, lumbar bioimpedance was measured by bioimpedance analysis (BIA) and TLF stiffness by indentometry. Tissue temperature was recorded at the measurement time points using an infrared thermometer. Results: Bioimpedance increased significantly from 58.3 to 60.4 Ω (p < 0.001) at 10-minute follow-up after the treatment. Temperature increased significantly from 36.3 to 36.6° Celsius from 5 to 10 minutes after treatment (p = 0.029), while lumbar myofascial stiffness did not change significantly (p = 0.84). Conclusions: After the IASTM intervention, there was a significant increase in bioimpedance, likely due to a decrease in water content in myofascial lumbar tissue. Further studies in a randomized control trial design are needed to extrapolate the results in healthy subjects to a symptomatic population as well and to confirm the reliability of BIA in myofascial tissue.

This paper proposes a model based on gene expression programming for predicting discharge coefficient of triangular labyrinth weirs. The parameters influencing discharge coefficient prediction were first examined and presented as crest height ratio to the head over the crest of the weir (p/y), crest length of water to channel width (L/W), crest length of water to the head over the crest of the weir (L/y), Froude number (F=V/√(gy)) and vertex angle () dimensionless parameters. Different models were then presented using sensitivity analysis in order to examine each of the dimensionless parameters presented in this study. In addition, an equation was presented through the use of nonlinear regression (NLR) for the purpose of comparison with GEP. The results of the studies conducted by using different statistical indexes indicated that GEP is more capable than NLR. This is to the extent that GEP predicts the discharge coefficient with an average relative error of approximately 2.5% in such a manner that the predicted values have less than 5% relative error in the worst model.

This research investigates the alignment of soft power and institutional skills in Montenegro's journey towards accession to the European Union (EU), with a particular focus on the environmental sector. An online survey targeting individuals employed in state institutions directly engaged in negotiation processes, notably the Ministry of Sustainable Development and Tourism and the Agency for Nature and Environmental Protection, was conducted. The research conducted an online survey, distributed before and after the summer recess to accommodate the transition of power following parliamentary elections, aimed at assessing the effectiveness of current personnel and identifying areas for improvement in staffing and negotiation strategies within Montenegro's environmental sector. Employing diverse methodologies, the survey's analysis delved into the demographic, social, and professional backgrounds of respondents. It explored their roles within institutions, involvement in environmental negotiations, and possession of relevant skills and expertise. Furthermore, respondents' knowledge of environmental issues, legislation, and challenges facing the country was assessed to gauge institutional capacity for environmental governance. Demographic data, including gender, age, education and regional origin, were collected to understand gender-specific attitudes and regional disparities in environmental perspectives. The sample of 84 individuals, comprising executives and employees from both institutions, provided insights into the age structure and regional diversity of personnel involved in negotiation tasks for Chapter 27. The selection of the Ministry of Sustainable Development and Tourism and the Agency for Nature and Environmental Protection reflects their pivotal roles in shaping Montenegro's environmental policies and addressing climate change challenges. This study aims to illuminate the dynamics of environmental governance within Montenegro's state administration, contributing to the country's path towards EU accession. The research findings highlight the critical need for Montenegro to prioritize strategic initiatives in personnel management, skill development, and institutional capacity-building within its environmental sector. The implications of this research extend beyond academia to inform policymaking and societal action, emphasizing the urgency for Montenegro to bolster its environmental sector capabilities, fostering both EU alignment and sustainable governance practices for the benefit of present and future generations.

The present review compared the efficacy of soft tissue substitutes (STS) and autogenous free gingival graft (FGG) or connective tissue graft (CTG) in mucogingival procedures to increase keratinized tissue (KT) width around teeth and implants. Two independent examiners performed the electronic search on Medline and Cochrane Library based on the following PICO’s format: (P) adult patients; (I) soft tissue substitutes and FGG/CTG; (C) STS vs CTG; STS vs FGG; STS vs CTR; (O) KT width gain; (S) Systematic Reviews, Randomized Controlled Trials. Results showed that around teeth, all biomaterials showed superior performance compared to CAF alone for treating gingival recessions. However, when compared to CTG, ADM yields the most similar outcomes to the gold standard (CTG), even though in multiple recessions CTG still continue to be considered the most favorable approach. Use of STSs (acellular matrix or tissue engineered) in combination with an apically positioned flap resulted in a significantly less gain of KTW compared to what achieved with FGG and APF. Around dental implants, free gingival grafts were deemed more effective than soft tissue substitutes in enhancing keratinized mucosa width.

The Spiking Neural Network (SNN) has attracted more and more attention recently. It adopts binary spike signals to transmit information. Benefitting from the information passing paradigm of SNNs, the multiplications of activations and weights can be replaced by additions, which are more energy-efficient. However, its ``Hard Reset" mechanism for the firing activity would ignore the difference among membrane potentials when the membrane potential is above the firing threshold, causing information loss. Meanwhile, quantifying the membrane potential to 0/1 spikes at the firing instants will inevitably introduce the quantization error thus bringing about information loss too. To address these problems, we propose to use the ``Soft Reset" mechanism for the supervised training-based SNNs, which will drive the membrane potential to a dynamic reset potential according to its magnitude, and Membrane Potential Rectifier (MPR) to reduce the quantization error via redistributing the membrane potential to a range close to the spikes. Results show that the SNNs with the ``Soft Reset" mechanism and MPR outperform their vanilla counterparts on both static and dynamic datasets.

Traumatic myiasis is a parasitic infestation resulting from feeding fly larvae in traumatic lesions in the cutaneous tissues of vertebrate hosts. Species that cause traumatic myiasis are found in the families Calliphoridae and Sarcophagidae. This study evaluated the traumatic myiasis cases detected during examining animals brought to Dicle University Wildlife Rescue, Rehabilitation, Training, Practice, and Research Center with wound complaints between 2020-2022. Species determinations of the larvae collected from traumatic myiasis cases were detected in five different animals were made as morphological and molecular, and four species were detected, including Lucilia sericata, Wohlfahrtia magnifica, Calliphora vicina, and Calliphora vomitria. We report a case of traumatic myiasis in the Euphrates softshell turtle and Wild goat for the first time. In order to reduce the exposure of wild animals to traumatic myiasis, new strategies for fly control need to be developed.

Soft Rot Pectobacteriaceae (SRP) bacteria as Pectobacterium and Dickeya are phytopathogenic agents responsible of blackleg disease on several crop as potato, affecting the yield and depressing the seed production quality. However, neither conventional nor biocontrol product are available on the market to control this disease. In this study Pseudomonas PA14H7, a bacteria isolated from potato rhizosphere, was selected as a potential antagonist agent against Dickeya. In order to understand the mechanism involved in this antagonism we managed to identify the main active(s) molecule(s) produced by PA14H7. In that way, cell-free supernatant (CFS) of PA14H7 cultures were extracted and analyzed by LC-MS, GC-MS and NMR. We have correlated biological activity in extracted CFS-PA14H7 to the presence of 7-hydroxytropolone (7-HT) complexed with iron. Even if this molecule is produced by other Pseudomonas and mostly known for its antibacterial and antifungal activities, it is the first description of its involvement as an effective molecule against pectinolytic bacteria. We have synthesized 7-HT in order to determine the real amount produced by PA14H7 and to compare its activity at the same concentration with that of CFS-PA14H7. This study aims to understand the origin of the antagonist activity of PA14H7 as a potential biocontrol agent against potato blackleg.

Necrotizing fasciitis is a life-threatening soft-tissue infection affecting the deep fascia and subcutaneous tissue. It is characterized by a fulminant course and high mortality rates. NF of the head and neck is very rare, most cases being odontogenic in origin. Streptococcus spp. and Staphylococcus spp. are the most common isolated organisms. If the infection progresses to descending mediastinitis the prognosis becomes very poor. Since the initial clinical features can be similar to those of a non-necrotizing deep cervical infection, a high degree of suspicion is critical for an early diagnosis. Computed tomography scan can be useful in the diagnosis and to define the extent of the infection. Early and aggressive surgical debridement of all compromised tissue and antibiotic therapy and fluid resuscitation are essential and should not wait for bacterial culture results. Despite prompt and adequate treatment, mortality of CNF can be as high as 35%.

Laminate structures composed of stiff plates and thin soft interlayers are widely used in aerospace, automotive and civil engineering encouraging the development of reliable non-destructive strategies for their condition assessment. In the paper, elastodynamic behaviour of such laminate structures is investigated with emphasis on its application in ultrasonic based NDT and SHM for the identification of interlayer mechanical and interfacial contact properties. A particular attention is given to the practically important frequency range, in which the wavelength considerably exceeds the thickness of the film. Three layer model with spring-type boundary conditions employed for imperfect contact simulation is used for numerical investigation. Novel effective boundary conditions are derived via asymptotic expansion technique and used for analysis of the peculiar properties of elastic guided waves in considered laminates. It is revealed that the thin and soft film influences the behaviour of the laminate mainly via the effective stiffnesses being a combination of the elastic moduli of the film, its thickness and interface stiffnesses. To evaluate each of these parameters separately (or to figure out that the available experimental data are insufficient), a step-wise procedure employing the effective boundary conditions is proposed and tested versus the laser Doppler vibrometry data for Lamb waves in Aluminium/Polymer film/Alumunium structure. The possibility of using film-related thickness resonance frequencies to estimate the film properties and contact quality is also demonstrated. Additionally, the rich family of edge waves is also investigated, and the splitting of fundamental edge waves into pairs is revealed.

To date, most people prefer softer and stickier rice with high glycaemic index, which has led to the study of the association between the dietary fibre profile and the textural properties to balance between the eating quality, and health benefits. A slight variation was observed in the dietary fibre composition among rice varieties with different amylose content. The percentage of insoluble dietary fibre (IDF) in whole grain rice varied from 1.65–4.32 while the percentage of soluble dietary fibre (SDF) ranged from 0.26–1.37. We demonstrated that the SDF/IDF ratio was higher in soft texture rice with low amylose and it shared a negative correlation with hardness and chewiness of cooked whole grain rice determined by a texture analyser, which suggested that the distribution of SDF throughout the rice endosperm influences the reduction of the hardness of cooked rice. According to the importance of dietary fibre, we proposed a simple linear regression method to estimate the amount of IDF and total dietary fibre with r = 0.97 and 0.92, respectively, of whole grain rice based on its bran layer, determined by the alternative alkaline method. Furthermore, low amylose rice has higher content of -glucan and pectin, which are classified as soluble dietary fibre, than high amylose rice. The percentage of -glucan and pectin in whole grain rice ranged from 0.03 and 0.07 respectively, for high amylose rice to 0.14 and 0.27 respectively for low amylose rice,

Several types of soft tissue sarcomas have peripheral infiltrative growth characteristics called tail-like lesions. The efficacy of neoadjuvant therapy for tumors with tail-like lesions has not been elucidated. From 2012 to 2019, we analyzed 36 patients with soft tissue sarcoma with tail-like lesions treated with neoadjuvant therapy, including chemotherapy, radiotherapy, or both. The ef-fect of neoadjuvant therapy on the tail sign was investigated by analyzing the change in tail-like lesions during neoadjuvant therapy and histological responses. The median length of the tail-like lesion reduced from 29.5 mm at initiation to 19.5 mm after neoadjuvant therapy. The extent of shrinkage in tail-like lesion was related to the histopathological responses in the main part. Com-plete disappearance of the tail-like lesion was observed in 12 patients; however, it was not related to achieving a microscopically negative margin. The oncologic outcomes did not significantly differ between cases with complete disappearance of tail-like lesions or not. This study indicated the shrinkage of tail-like lesions did not have significant effect on complete resection or improve-ment of clinical outcomes. A more comprehensive evaluation is needed to elaborate on the surgi-cal strategy.

This study aimed to obtain and characterize extracted hemp oil enriched in cannabidiol (CBD) by decarboxylation of cannabidiolic acid (CBDA) and to give new insights into its antioxidant and anticancer effects. Optimization of CBDA decarboxylation in hemp oil was performed, and CBD and CBDA contents and purities were determined by “flash chromatography”, 1H- and 13C-NMR. The antioxidant properties of CBD-enriched oil were investigated by Fe2+ chelating activity, Fe3+ reducing antioxidant power assay, O2− scavenging activity, HO− scavenging ability and lipid peroxidation inhibitory assay and its cytotoxicity, apoptosis- and oxidative stress-inducing effects on NHDF, MeWo, HeLa, HepG2 and HOS cells were determined. The CBD concentration in hemp oil was increased by CBDA soft decarboxylation optimized at 90°C, for 1 h and resulted oil was capable of reducing iron, scavenging free radicals, and inhibiting lipid peroxidation in cell-free oxidative conditions. CBD-enriched oil promoted NHDF proliferation at up to 15 µg CBD/mL, while inducing apoptosis and ROS production and modulating antioxidant enzymes’ gene expression in cancer cells, being selective for osteosarcoma cells and induced apoptosis by p53- and ROS-independent mechanisms. CBD-enriched hemp oil demonstrated antioxidant properties in oxidative conditions and promoted normal fibroblasts’ proliferation, while inducing apoptosis and ROS production in cancer cells.

This paper introduces a closed-loop control strategy for maintaining consistency of liquid temperature in commercial Drop on Demand (DoD) inkjet printing. No additional sensors or additional actuators are installed in the printhead while achieving the consistency in liquid temperature. To this end, this paper presents a novel in situ sensing-actuation policy at every individual liquid-nozzle, where the jetting mechanism has three distinct roles. It is used for jetting liquid droplet onto the print media based on the print-job. It is used as a soft sensor to estimate the real-time liquid temperature of the jetting nozzle. While not jetting liquid, it is used as a heating actuator to minimize the gradient of liquid temperature among nozzles. The soft sensing based in situ controller is implemented in an experimentally validated digital twin that models the thermo-fluidic processes of the printhead. The digital twin is scalable and flexible to incorporate an arbitrary number of liquid-nozzles, making the control strategy applicable for future designs of the printhead.

Since the first description of bisphosphonate-related osteonecrosis of the jaw (BRONJ) numerous research groups have focused on possible pathological mechanisms including the suppression of the bone turnover of the jaw, antiangiogenic effects and soft tissue toxicity. In our review we focused on summarizing the role of the soft tissues in the development and progression of BRONJ. The biological behavior of fibroblasts can be significantly influenced by bisphosphonates (BP) such as a concentration dependent reduction of cell viability. High concentrations of BP can induce apoptosis and necrosis of the cells. Comparable effects could be detected for keratinocytes. Compared to non-nitrogen containing bisphosphonates nitrogen-containing BP have worse effects on cell biology by blocking the mevalonate pathway. Next to this the cell architecture and the expression levels of several genes and proteins are significantly disturbed by BP. These inhibitory effects of BP are in accordance with BP related reduced angiogenesis and neovascularization and could underline the hypothesis that inhibition of fibroblasts and keratinocytes results in delayed wound healing and can induce and trigger BRONJ.

This paper adopts a systems firm-centered perspective on the environmental assessment of recyclable glass and PET soft drink containers. We employ LCA and discrete-event simulation modelling for the environmental assessment of the two soft drinks packaging alternatives in operational terms, over the entire supply chain, over a period of three years. The assessment is based on real data collected from a large soft-drinks producer and its suppliers. The research and practice contribution of the paper is twofold: first, it introduces a methodological framework for environmental assessment of companies’ packaging environmental impact under different product and operations strategies, and secondly, it provides a holistic environmental assessment of the two packaging materials (PET and glass) taking into account specific operational issues, such as product mix and recycling and reuse options, and activity interdependences and stochasticity. The results of the simulation experiments confirm at system level, for glass, the importance for sustainability, to increase the number of reuse cycles and the percentage of used bottles collected for refilling, whereas for PET, to increase the percentage of recycled PET in new bottles.

With the galaxy J101652.52 as a model galaxy, this paper studied on the temporal duration of optically observed spiral patterns in disc galaxies is based on the finite reservoir of hydrogen available without replenishment following the initial formation of these well-isolated galaxies. The galaxy J101652.52 exhibits a grand design spiral pattern of two wide open spiral arms with perfect central symmetry, has only rear side trail effect, which clearly indicates that there is no corotation circle, therefore, the Density wave theory proposed for the spiral arm formation may not be applicable in this galaxy. The results reveal a gradual decline in observable spiral arms regardless of any spiral arm formation mechanism. This reduction occurs after half-loop rotation (as defined in the paper) as hydrogen reserves deplete, hindering new star formation. Ultimately, spiral patterns may possibly become optically invisible at normal conditions after a full-loop rotation (as defined in the paper) with hydrogen depletion, even if the formation mechanism remains active. The spiral galaxies with spiral arms decoupled from galactic bars or having soft spiral structures shall have similar results as long as that the spiral pattern rotation speed is significant different from the galactic matter rotation speed. Most of observed spiral galaxies have soft spiral structures, their spiral patterns dynamically change constantly. The results of this study support the idea of short-lived spiral patterns compared to the lifespan of the spiral galaxies. The spiral arm formation may occur once like the onetime firework show in a galaxy’s life based on the limited availability of hydrogens. A concise, universally applicable mechanism for spiral arm formation across various galaxies should exist which provides a single mathematical formula to describe the broad range of morphologies of the spiral arms with few adjustable parameters. Some exceptions may be explained within this framework. Furthermore, the observed data on spiral pattern and galactic bar rotation speeds in the Milky Way require rigorous verification, particularly concerning the winding problem.