Revolutionary entrapment model of uniformly distributed swarm robots in morphogenetic formation

This study proposes a method for uniformly revolving swarm robots to entrap multiple targets,which is based on a gene regulatory network,an adaptive decision mechanism,and an improved Vicsek-model.Using the gene regulatory network method,the robots can generate entrapping patterns according to the environmental input,including the positions of the targets and obstacles.Next,an adaptive decision mechanism is proposed,allowing each robot to choose the most well-adapted capture point on the pattern,based on its environment.The robots employ an improved Vicsek-model to maneuver to the planned capture point smoothly,without colliding with other robots or obstacles.The proposed decision mechanism,combined with the improved Vicsek-model,can form a uniform entrapment shape and create a revolving effect around targets while entrapping them.This study also enables swarm robots,with an adaptive pattern formation,to entrap multiple targets in complex environments.Swarm robots can be deployed in the military field of unmanned aerial vehicles’(UAVs)entrapping multiple targets.Simulation experiments demonstrate the feasibility and superiority of the proposed gene regulatory network method.

The RNA helicase DDX46 inhibits innate immunity by entrapping m^6 A-demethylated antiviral transcripts in the nucleus

With the support by the National Natural Science Foundation of China,the research team directed by Prof.Cao Xuetao(曹雪涛)at the National Key Laboratory of Medical Molecular Biology&Department of Immunology,Chinese Academy of Medical Sciences,and the National Key Laboratory of Medical Immunology,Second Military Medical University,recently reported that RNA helicase DDX46is

A comparative study for petroleum removal capacities of the bacterial consortia entrapped in sodium alginate,sodium alginate/poly(vinyl alcohol),and bushnell haas agar

The purpose of this study was to identify and compare the degradation efficiencies of free and entrapped bacterial consortia(Staphylococcus capitis CP053957.1 and Achromobacter marplatensis MT078618.1)to different polymers such as Sodium Alginate(SA),Sodium Alginate/Poly(Vinyl Alcohol)(SA/PVA),and Bushnell Haas Agar(BHA).In addition to SA and SA/PVA,which are cost-effective,non-toxic and have different functional groups,BHA,which is frequently encountered in laboratory-scale studies but has not been used as an entrapment material until now.Based on these,the polymers with different surface morphologies and chemical compositions were analyzed by SEM and FT-IR.While the petroleum removal efficiency was higher with the entrapped bacterial consortia than with the free one,BHA-entrapped bacterial consortium enhanced the petroleum removal more than SA and SA/PVA.Accordingly,the degradation rate of bacterial consortia entrapped with BHA was 2.039 day^(-1),SA/PVA was 1.560,SA was 0.993,the half-life period of BHA-entrapped bacterial consortia is quite low(t_(1/2)=0.339)compared with SA(t_(1/2)=0.444)and SA/PVA(t_(1/2)=0.697).The effects of the four main factors such as:amount of BHA(0.5,1,1.5,2,2.5,3 g),disc size(4,5,6,7,8 mm),inoculum concentration(1,2.5,5,7.5,10 mL),and incubation period on petroleum removal were also investigated.The maximum petroleum removal(94.5%)was obtained at≥2.5 mL of bacterial consortium entrapped in 2 g BHA with a 7 mm disc size at 168 h and the results were also confirmed by statistical analysis.Although a decrease was observed during the reuse of bacterial consortium entrapped in BHA,the petroleum removal was still above 50%at 10th cycle.Based on GC-MS analysis,the removal capacity of BHA-entrapped consortium was over 90%for short-chain n-alkanes and 80%for medium-chain n-alkanes.Overall,the obtained data are expected to provide a potential guideline in cleaning up the large-scale oil pollution in the future.Since there has been no similar study investigating petroleum removal with the bacterial consortia entrapped with BHA,this novel entrapment material can potentially be used in the treatment of petroleum pollution in advanced remediation studies.

Leader-Following Entrapping Control of AUVs Using Bearing Measurements in Local Coordinate Frames

In this paper,the entrapping control problem of discrete-time AUVs with local coordinate frames is studied.To achieve entrapment in arbitrarily shaped orbits and formations,we design a bearingbased leader-following framework fully in the discrete-time domain with four parts:the orientation estimation unit,estimator unit,controller unit and parameters tuning unit.With bearing measurements and communication information,the orientation estimation unit can estimate orientations of local coordinate frames infinite time,and the estimator unit can achieve local localization.Based on estimation,the controller unit can drive each AUV to track the desired orbit or formation with an arbitrary shape.We present su±cient conditions under which stability of the overall system is proved using the theorem offinite-time stability and LaSalle's theorem for the discrete-time system.Moreover,the parameters tuning unit can calculate optimal parameters to improve overall performance.Additionally,we extend our schemes to nonholonomic AUVs with unicycle models.Finally,simulation results demonstrate the effectiveness of the proposed scheme.

Target Entrapment Based on Adaptive Transformation of Gene Regulatory Networks

The complexity of unknown scenarios and the dynamics involved in target entrapment make designing control strategies for swarm robots a formidable task,which in turn impacts their efficiency in complex and dynamic settings.To address these challenges,this paper introduces an adaptive swarm robot entrapment control model grounded in the transformation of gene regulatory networks(AT-GRN).This innovative model enables swarm robots to dynamically adjust entrap-ment strategies by assessing current environmental conditions via real-time sensory data.Further-more,an improved motion control model for swarm robots is designed to dynamically shape the for-mation generated by the AT-GRN.Through two sets of rigorous experimental environments,the proposed model significantly enhances the trapping performance of swarm robots in complex envi-ronments,demonstrating remarkable adaptability and stability.

Ultrasound-guided peripheral nerve blocks for anterior cutaneous nerve entrapment syndrome after robot-assisted gastrectomy: A case report

BACKGROUND Anterior cutaneous nerve entrapment syndrome(ACNES)is a condition mani-festing with pain caused by strangulation of the anterior cutaneous branch of the lower intercostal nerves.This case report aims to provide new insight into the selection of peripheral nerve blocks for the ACNES treatment.CASE SUMMARY A 66-year-old woman manifested ACNES after a robot-assisted distal gastrec-tomy.An ultrasound-guided rectal sheath block was effective for pain triggered by the port scar.However,the sudden severe pain,which radiated laterally from the previous site,remained.A transversus abdominis plane block was performed for the remaining pain and effectively relieved it.CONCLUSION In this case,the trocar port was inserted between the rectus and transverse abdominis muscles.The intercostal nerves might have been entrapped on both sides of the rectus and transversus abdominis muscles.Hence,rectus sheath and transverse abdominis plane blocks were required to achieve complete pain relief.To the best of our knowledge,this is the first report on use of a combination of rectus sheath and transverse abdominis plane blocks for pain relief in ACNES.

Analysis of Standards and Effects of Police Indirect Court of Human Rights——Taking“Akbay and Others v.Germany”as an Example

The European Court of Human Rights(ECtHR)has ruled that illegal indirect entrapment must meet three criteria simultaneously.This mixed standard requires that the previous direct entrapment violates the“essentially passive,”subsequent indirect entrapment satisfies the“reasonable foreseeability,”and police entrapment of secondary defendants to commit crimes is considered“decisive.”The legal consequences of indirect entrapment are distinguished between general indirect entrapment and illegal indirect entrapment.The basic position of the ECtHR on the consequences of illegal indirect entrapment has shifted from supporting mitigating penalties to recognizing procedural dismissal,and general indirect entrapment is considered a mitigating factor in sentencing.Against the backdrop of increasing internationalization of criminal justice standards,the above criteria and positions have strong implications for the improvement of relevant rules in China.

Various Aetiologies of Non-Traumatic Coccydynia Cause Pain in the Posterior Sacrococcygeal Leg of the Pelvic Tripod: A Burden on the Healthcare Sector

Introduction: Coccydynia, television disease, and coccygodynia are the different names given to this disabling disease, which can become chronic. It was described by Simson in 1859. Coccydynia means pain at the end of the vertebral column. Non-traumatic coccydynia is a diagnosis, which is never straightforward like traumatic coccydynia because the onset is unclear, and both the patient and the unaware clinician face many challenges in treating it on time and with accuracy. Coccyx was likened to a cuckoo bird’s beak as a curved bone of fused 3 to 5 vertebrae with remnant disc material in some rare cases, unfused segments, linear scoliosis or subluxations and deformities. Stress X-rays of the coccyx in the antero-posterior and lateral views in standing and sitting reveal the “Dynamic Instability” due to congenital coccygeal morphological, pathological and mechanical variations. Material and Methods: This is a complex study having retrograde data collected from online publications from various databases, like PubMed, Embase, and Cochrane Library and also antegrade data collected from 100 patients with their consent from patients in Adam and Eve Specialised Medical Centre-based at Abu Dhabi, UAE and data was processed in the research centre of Krushi Orthopaedic Welfare Society based in India between 2014-2024 following all guidelines of Helsinki and approved by the ethics board of Krushi Orthopaedic Welfare Society. Clinical Presentation: The coccyx is painful, with aches, spasms, and an inability to sit. This affects daily activities without any particular date of onset. The onset remains insidious for the non-traumatic variety of coccydynia. Aetiology and Patho Anatomy: Non-traumatic coccydynia can be caused by a myriad of reasons, like congenital morphological variations, acquired dynamic instabilities, and hidden trauma remaining quiescent to re-surface as a strain-induced pain. Radiological Presentations: Unless clarity is focused on these coccygeal views, the errors of the unevacuated rectum, non-dynamic standing views, improper X-ray exposure and refuge by insurance companies to approve the much needed but multiple views in radiological investigation (Stress X-ray), MRI scan, lack of awareness by the clinician, all lead to missed diagnosis with its repercussions as congenital variations in morphology, acquired changes in structure/mobility, pathologies like tumours like congenital teratoma & adult onset chordoma, Tarlov cysts, pilonidal sinus or infections—even tuberculosis, dural syndrome, stiff coccyx due to ankylosing spondylitis and many others like relation to neurosis have all been documented. Treatment options are outside the scope of this research topic, as only the differential diagnosis is being stressed here, so that the clinician and the patient do not overlook the varying aetiology, which is the first step to timely and appropriate treatment. Conclusion: Level 3 evidence is available pointing towards many aetiologies causing non-traumatic coccydynia, and in this study of 100 patients by Krushi O W S, a non-profit organisation, the results were as follows: 1) Coccydynia is more common in Type II coccyx and bony spicules. 2) Coccydynia is more prevalent when the sacrococcygeal joints are not fused. 3) Coccydynia is more prevalent when there is subluxation at the intercoccygeal joints. 4) Coccydynia is more when the sacral angle is lower. 5) Coccydynia is associated with higher sacrococcygeal curved length. 6) Coccydynia is associated with a lower sacrococcygeal curvature index. 7) Gender variations: The coccygeal curvature index was lower in females with coccydynia;the intercoccygeal angle was lower in males. 8) Both obese and thin individuals can get affected due to different weight-bearing mechanics in play.

Adsorption dynamics of ethane from air in structured fixed beds with different microfibrous composites

Adsorption dynamics of ethane in two granular fixed beds and structured fixed beds with microfibrous composites was studied.5A zeolite membrane 5A/PSSF(paper-like sintered stainless steel fiber)and microfibrous entrapped activated carbon(MEAC)composites were prepared by wet layup papermaking/sintering technique and in-situ hydrothermal method.Microfibrous composites were characterized by X-ray diffraction,scanning electron microscopy and N2 adsorption/desorption.Structured fixed beds were designed by filling granular adsorbents(5A zeolite or activated carbon)and microfibrous composites at the inlet and outlet of the beds,respectively.Effects of flow rate,bed height and structure on the breakthrough curves were investigated.The length of unused bed(LUB)was determined,and Yoon–Nelson model was used to fit the breakthrough curves.The experimental results showed ethane was effectively adsorbed on the granular adsorbents and microfibrous composites.Both composites could decrease the LUB values and enhance bed utilization.All breakthrough curves fitted well to Yoon–Nelson model,with correlation coefficient exceeding 0.89.The adsorption rate of ethane could be improved in the structured fixed beds,which showed an enhanced mass transfer efficiency for ethane adsorption.LUB values of structured fixed beds with 5A/PSSF composites were larger,the bed utilization values were lower,and the adsorption rate constants were higher than those with MEAC composites under the same conditions.

Treatment of posterior interosseous nerve entrapment syndrome with ultrasound-guided hydrodissection:A case report

BACKGROUND Posterior interosseous nerve(PIN)entrapment syndrome is one of the causes of weakness and pain of the arm muscles,which is prone to missed diagnosis and misdiagnosis in clinic practice.This paper reports a case of PIN entrapment syndrome,with PIN injury indicated by electrophysiology.Musculoskeletal ultrasound was applied to identify that the entrapment point was located at the inlet of the Frohse arch and the outlet of the supinator muscle.Treatment with ultrasound-guided nerve hydrodissection was performed on the entrapment point,which significantly improved the symptoms.Ultrasound-guided nerve hydrodissection is an effective therapeutic method for PIN entrapment syndrome.CASE SUMMARY A male patient,35 years old,worked as an automobile mechanic.He felt slightly weak extension activity of his right fingers 2 years ago but sought no treatment.Later,the symptoms gradually became aggravated and led to finger drop,particularly severe in the right middle finger,accompanied by supination weakness of the right forearm.Neural electrophysiological examination showed that the patient had partial PIN injury of the right radius.Musculoskeletal ultrasound examination indicated PIN entrapment at the inlet of the Frohse arch and the outlet of the supinator muscle.Therefore,PIN entrapment syndrome was diagnosed.After treatment with ultrasound-guided nerve hydrodissection around the entrapment point,the dorsiflexion weakness of the right hand was significantly improved compared with before treatment.CONCLUSION Ultrasound-guided hydrodissection is efficacious for PIN entrapment syndrome,with high clinical value and great application prospects.

Advancing the Backtrack Optimization Technique to Obtain Forecasts of Potential Crisis Periods

Financial crisis is an unfortunate reality that overshadows any financial system regardless its profitability and the level it functions. The appearance of crises across financial markets, especially during the 1990s that the internationalized markets adopted a rather approachable character, imposed severe costs in financial and social systems. With this paper is proposed the generation of a future interval of time that is vulnerable to enclose the burst of a financial crisis. A time series consisted of approximations of the local Lipschitz constant is examined and in the proposed forecasting approach this constant holds the crisis indicator role. Further the application of two different optimization techniques over the Lipschitz-made time series results to the generation of a future period of time;this interval is likely to envelop the burst of a forthcoming crisis. The usage of a future interval of time empowers the predicting ability of the methodology by providing warning signs priory to the actual crisis burst. To this direction, the obtained results offer strong evidence that the method may be characterized as an Early Warning System (EWS) for financial crisis prediction.

Microstructure evolution of hot pressed AZ91D alloy chips reheated to semi-solid state

AZ91D magnesium alloy chips, which were directly collected on the spot of machining process, were recycled to prepare billet via hot pressing for semi-solid processing. The semi-solid microstructure evolution of the billet during reheating was investigated. The results indicate that there are three stages during reheating to semi-solid state: the dissolution of Mg17Al12 and diffusion of Al into α-Mg matrix, the melting of the region with high content of solute and formation of isolated solid particles, and spheroidization and growth of solid particles. Meanwhile, a number of entrapped liquid droplets form within solid particles. In addition, the number and size of entrapped liquid droplets rely on the holding time in the semi-solid temperature range. With increasing isothermal holding time, the solid fraction remains unchanged when the solid-liquid system reaches the dynamic equilibrium at last, while the solid particles become more globular and the average size of solid particles increases owing to the decreasing of interfacial energy and the effect of interfacial tension.

Pharmaceutical Characteristics of Daunorubicin Stealth Liposomes

This report studied on pharmaceutical characteristics of the stealth liposome containing dau-norubicin (DNR). The shape, size, entrapment efficiency and stability of the daunorubicin stealth liposomes (DNRSL) were examined. Visible spectrophotometry and the HPLC method were established for determination of the DNR in the DNRSL. The release of DNR from DNRSL in HBS (pH 7.5) and rat serum at 37 oC were examined. The results showed that the DNRSL had high entrapment efficiency (>85%), small size and slow release.

胡桃夹综合征的诊治进展

胡桃夹综合征（nutcracker syndrome,NCS）,又称左肾静脉压迫综合征（left renal vein entrapment syndrome）,是由于左肾静脉（left renal vein,LRV）穿行于腹主动脉（abdominal artery,AA）与肠系膜上动脉（superior mesenteric artery,SMA）之间[1]或AA与脊柱之间[2]受压导致回流受阻引起左肾及其相关静脉属支内压增高而产生血尿、直立性蛋白尿、

Simulation of mold filling and prediction of gas entrapment on practical high pressure die castings

Element parameters including volume filled ratio,surface dimensionless distance,and surface filled ratio for DFDM(direct finite difference method)were proposed to describe shape and location of free surfaces in casting mold filling processes.A mathematical model of the filling process was proposed specially considering the mass,momentum and heat transfer in the vicinity of free surfaces.Furthermore,a method for gas entrapment was established by tracking flow of entrapped gas.The model and method were applied to practical ADC1 high pressure die castings.The gas entrapment prediction was compared with the fraction and maximum size of porosities in the different casting parts.The comparison shows validity of the proposed model and method.The study indicates that final porosities in high pressure die castings are dependent on both gas entrapment during mold filling process and pressure transfer within solidification period.

Entrapment neuropathies in diabetes mellitus

Neuropathy is a common complication of diabetes mellitus(DM) with a wide clinical spectrum that encompasses generalized to focal and multifocal forms. Entrapment neuropathies(EN), which are focal forms, are so frequent at any stage of the diabetic disease, that they may be considered a neurophysiological hallmarkof peripheral nerve involvement in DM. Indeed, EN may be the earliest neurophysiological abnormalities in DM,particularly in the upper limbs, even in the absence of a generalized polyneuropathy, or it may be superimposed on a generalized diabetic neuropathy. This remarkable frequency of EN in diabetes is underlain by a peculiar pathophysiological background. Due to the metabolic alterations consequent to abnormal glucose metabolism,the peripheral nerves show both functional impairment and structural changes, even in the preclinical stage,making them more prone to entrapment in anatomically constrained channels. This review discusses the most common and relevant EN encountered in diabetic patient in their epidemiological, pathophysiological and diagnostic features.

Recurrent carpal tunnel syndrome: Evaluation and treatment of the possible causes

AIM To investigate the causes of the recurrent carpal tunnel syndrome(CTS) and implemented surgical interventions.METHODS Four hundred and eighty-seven patients, who were diagnosed with CTS and underwent surgical intervention between October 2016 and September 2007, were evaluated in this retrospective study. The age, gender, physical evaluation findings, electrophysiological examination reports and implemented surgical treatment methods were analyzed.RESULTS Thirty-nine of the cases were operated due to recurrent CTS. Further examination of the patients with recurrent CTS revealed that ten cases had diabetic polyneuropathy, three cases had hypothyroidism, two cases had rheumatoid arthritis and one case had systemic amyloidosis. Postoperative electromyography confirmed the neuropathy was due to systemic diseases. The remaining 23 patients with recurrent CTS did not have any systemic disease and all of them had applied previously to another health center. CONCLUSION We concluded that the recurrence rates in CTS might be decreased with exploration and incision of the entire transverse ligament. Damage to the motor and sensory branches of the median nerve could be avoided with an incision on the ulnar side.

Direct Estimation of Nitrogen Gases Emitted from Flooded Soils During Denitrification of Applied Nitrogen

Denitrification losses measured by direct method (measuring the evolution of (N2+N2O)-15N) were compared with the apparent denitrification losses (calculated from the difference between the total N loss and ammonia loss), for fertilizers applied to flooded soils. The direct measured denitrification losses from potassium nitrate were 23.0%, 40.0%, and 63.1-79.7% of applied N in rice field, and in incubations of 7 cm deep layer of soil and 2 cm deep layer of soil, respectively; while the corresponding apparent denitrification losses were 96.0%, 98.4%, and 97.7-97.9%, respectively. In field experiments with urea, the direct measured denitrification losses ranged from 0.1-1.8%, which were much less than the apparent denitrification losses (41.3-45.7%). Such discrepancies were primarily due to the entrapment of the gaseous products of denitrification in the soil as revealed by the facts: (1) stirring the floodwater and the surface soil markedly increased the fluxes of (N2+N2O)-15N from urea or potassium nitrate applied to the flooded rice field, and (2) reducing the pressure in the headspace of the incubation bottle with the 7 cm soil layer during gas sampling decreased the discrepancy between the direct measured and apparent denitrifecation losses from 58.4% to 21.2%. The advantage of reducing the pressure in the headspace is that there is minimal disturbance of the soil. Further testing of this technique in rice field is needed to determine its effectiveness in releasing the entrapped gaseous products of denitrification so that denitrification losses can be quantified directly.

Oil Source and Entrapment Epoch of the Ordovician Oil Reservoir in the Kongxi Burial-Hill Zone, Huanghua Depression, North China

An oil flow obtained from the Middle Ordovician Fengfeng Formation carbonate reservoir in the well KG-3, Kongxi burial-hill zone in 1993 marked a breakthrough in petroleum exploration of the high-mature Lower Palaeozoic strata, North China. Both the Lower member of the Fengfeng Formation and the Second Member of the Upper Majiagou Formation in the Middle Ordovician are supposed to be the main source beds. Oil generation peaks range from 1.0% to 1.6% in Ro, showing a “lag effect” of oil generation in high-mature carbonate source rocks under multicyclic tectonic movement conditions. The Kongxi burial-hill zone adjoins a potential Ordovician source kitchen. The KG-3 Ordovician burial-hill reservoir has undergone two oil filling events, i.e., an early event in the Late Carboniferous-Permian and a more significant late event in the early Eogene.

Evaluation of diffusion in gel entrapment cell culture within hollow fibers

AIM: To investigate diffusion in mammalian cell culture by gel entrapment within hollow fibers. METHODS: Freshly isolated rat hepatocytes or human oral epidermoid carcinoma (KB) cells were entrapped in type I collagen solutions and statically cultured inside microporous and ultrafiltration hollow fibers. During the culture time collagen gel contraction, cell viability and specific function were assessed. Effective diffusion coefficients of glucose in cell-matrix gels were determined by lag time analysis in a diffusion cell. RESULTS: Significant gel contractions occurred in the collagen gels by entrapment of either viable hepatocytes or KB cells. And the gel contraction caused a significant reduction on effective diffusion coefficient of glucose. The cell viability assay of both hepatocytes and KB cells statically cultured in hollow fibers by collagen entrapment further confirmed the existence of the inhibited mass transfer by diffusion. Urea was secreted about 50% more by hepatocytes entrapped in hollow fibers with pore size of 0.1 μm than that in hollow fibers with MWCO of 100 ku. CONCLUSION: Cell-matrix gel and membrane pore size are the two factors relevant to the limited mass transfer by diffusion in such gel entrapment of mammalian cell culture.