"Five steps four quadrants" modularized en bloc dissection technique for accessing hepatic hilum lymph nodes in laparoscopic pancreaticoduodenectomy

BACKGROUND Although en bloc dissection of hepatic hilum lymph nodes has many advantages in radical tumor treatment,the feasibility and safety of this approach for laparo-scopic pancreaticoduodenectomy(LPD)require further clinical evaluation and investigation.AIM To explore the application value of the"five steps four quadrants"modularized en bloc dissection technique for accessing hepatic hilum lymph nodes in LPD patients.METHODS A total of 52 patients who underwent LPD via the"five steps four quadrants"modularized en bloc dissection technique for hepatic hilum lymph nodes from April 2021 to July 2023 in our department were analyzed retrospectively.The patients'body mass index(BMI),preoperative laboratory indices,intraoperative variables and postoperative complications were recorded.The relationships between preoperative data and intraoperative lymph node dissection time and blood loss were also analyzed.RESULTS Among the 52 patients,36 were males and 16 were females,and the average age was 62.2±11.0 years.There were 26 patients with pancreatic head cancer,16 patients with periampullary cancer,and 10 patients with distal bile duct cancer.The BMI was 22.3±3.3 kg/m²,and the median total bilirubin(TBIL)concentration was 57.7(16.0-155.7)µmol/L.All patients successfully underwent the"five steps four quadrants"modularized en bloc dissection technique without lymph node clearance-related complications such as postoperative bleeding or lymphatic leakage.Correlation analysis revealed significant associations between preoperative BMI(r=0.3581,P=0.0091),TBIL level(r=0.2988,P=0.0341),prothrombin time(r=0.3018,P=0.0297)and lymph node dissection time.Moreover,dissection time was significantly correlated with intraoperative blood loss(r=0.7744,P<0.0001).Further stratified analysis demonstrated that patients with a preoperative BMI≥21.9 kg/m²and a TIBL concentration≥57.7μmol/L had significantly longer lymph node dissection times(both P<0.05).CONCLUSION The"five steps four quadrants"modularized en bloc dissection technique for accessing the hepatic hilum lymph node is safe and feasible for LPD.This technique is expected to improve the efficiency of hepatic hilum lymph node dissection and shorten the learning curve;thus,it is worthy of further clinical promotion and application.

Rapid fabrication of modular 3D paper-basedmicrofluidic chips using projection-based 3D printing

Paper-based microchips have different advantages,such as better biocompatibility,simple production,and easy handling,making them promising candidates for clinical diagnosis and other fields.This study describes amethod developed to fabricate modular three-dimensional(3D)paper-based microfluidic chips based on projection-based 3D printing(PBP)technology.A series of two-dimensional(2D)paper-based microfluidic modules was designed and fabricated.After evaluating the effect of exposure time on the accuracy of the flow channel,the resolution of this channel was experimentally analyzed.Furthermore,several 3D paper-based microfluidic chips were assembled based on the 2D ones using different methods,with good channel connectivity.Scaffold-based 2D and hydrogel-based 3D cell culture systems based on 3D paper-based microfluidic chips were verified to be feasible.Furthermore,by combining extrusion 3D bioprinting technology and the proposed 3D paper-based microfluidic chips,multiorgan microfluidic chips were established by directly printing 3D hydrogel structures on 3D paperbased microfluidic chips,confirming that the prepared modular 3D paper-based microfluidic chip is potentially applicable in various biomedical applications.

Customized scaffolds for large bone defects using 3D‑printed modular blocks from 2D‑medical images

Additive manufacturing(AM)has revolutionized the design and manufacturing of patient-specific,three-dimensional(3D),complex porous structures known as scaffolds for tissue engineering applications.The use of advanced image acquisition techniques,image processing,and computer-aided design methods has enabled the precise design and additive manufacturing of anatomically correct and patient-specific implants and scaffolds.However,these sophisticated techniques can be timeconsuming,labor-intensive,and expensive.Moreover,the necessary imaging and manufacturing equipment may not be readily available when urgent treatment is needed for trauma patients.In this study,a novel design and AM methods are proposed for the development of modular and customizable scaffold blocks that can be adapted to fit the bone defect area of a patient.These modular scaffold blocks can be combined to quickly form any patient-specific scaffold directly from two-dimensional(2D)medical images when the surgeon lacks access to a 3D printer or cannot wait for lengthy 3D imaging,modeling,and 3D printing during surgery.The proposed method begins with developing a bone surface-modeling algorithm that reconstructs a model of the patient’s bone from 2D medical image measurements without the need for expensive 3D medical imaging or segmentation.This algorithm can generate both patient-specific and average bone models.Additionally,a biomimetic continuous path planning method is developed for the additive manufacturing of scaffolds,allowing porous scaffold blocks with the desired biomechanical properties to be manufactured directly from 2D data or images.The algorithms are implemented,and the designed scaffold blocks are 3D printed using an extrusion-based AM process.Guidelines and instructions are also provided to assist surgeons in assembling scaffold blocks for the self-repair of patient-specific large bone defects.

Fixed-Time Sliding Mode Control With Varying Exponent Coefficient for Modular Reconfigurable Flight Arrays

The modular system can change its physical structure by self-assembly and self-disassembly between modules to dynamically adapt to task and environmental requirements. Recognizing the adaptive capability of modular systems, we introduce a modular reconfigurable flight array(MRFA) to pursue a multifunction aircraft fitting for diverse tasks and requirements,and investigate the attitude control and the control allocation problem by using the modular reconfigurable flight array as a platform. First, considering the variable and irregular topological configuration of the modular array, a center-of-mass-independent flight array dynamics model is proposed to allow control allocation under over-actuated situations. Secondly, in order to meet the stable, fast and accurate attitude tracking performance of the MRFA, a fixed-time convergent sliding mode controller with state-dependent variable exponent coefficients is proposed to ensure fast convergence rate both away from and near the system equilibrium point without encountering the singularity. It is shown that the controller also has fixed-time convergent characteristics even in the presence of external disturbances. Finally,simulation results are provided to demonstrate the effectiveness of the proposed modeling and control strategies.

Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Modularized and Parametric Modeling Technology for Finite Element Simulations of Underground Engineering under Complicated Geological Conditions

The surrounding geological conditions and supporting structures of underground engineering are often updated during construction,and these updates require repeated numerical modeling.To improve the numerical modeling efficiency of underground engineering,a modularized and parametric modeling cloud server is developed by using Python codes.The basic framework of the cloud server is as follows:input the modeling parameters into the web platform,implement Rhino software and FLAC3D software to model and run simulations in the cloud server,and return the simulation results to the web platform.The modeling program can automatically generate instructions that can run the modeling process in Rhino based on the input modeling parameters.The main modules of the modeling program include modeling the 3D geological structures,the underground engineering structures,and the supporting structures as well as meshing the geometric models.In particular,various cross-sections of underground caverns are crafted as parametricmodules in themodeling program.Themodularized and parametric modeling program is used for a finite element simulation of the underground powerhouse of the Shuangjiangkou Hydropower Station.This complicatedmodel is rapidly generated for the simulation,and the simulation results are reasonable.Thus,this modularized and parametric modeling program is applicable for three-dimensional finite element simulations and analyses.

The“Digital”Approach Impact Today:Modularity in Interior Architecture

Understanding digital technology requires a shift in mindset that takes into account the broader implications of design,social dynamics,environmental factors,and cultural influences.Acknowledging the fact that technology is not confined to the virtual domain but rather has a tangible influence on our daily lives and the surrounding environment,the extensive integration and potential of digital technologies offer a distinctive prospect to fundamentally transform our shared comprehension of architecture.Digital technologies are revolutionizing design practices,manufacturing processes,and our engagement with and understanding of the built environment,by fostering the development of novel models that promote equity and inclusivity.The application of“digital technologies”can function as a methodology for examining and expressing the possible paths of emerging digital technologies.Extrapolate the expected impact of digital technologies on the design,development,and occupancy of the environment to achieve a more sustainable future in the long run.This paper will examine the potential connections and origins of digital technology concerning modularity,as well as the implications of modularity on forthcoming architectural developments in customization.

Illumination Adaptive Identification Algorithm of a Reconfigurable Modular Robot

Reconfigurable modular robots feature high mobility due to their unconstrained connection manners.Inspired by the snake multi-joint crawling principle,a chain-type reconfigurable modular robot(CRMR)is designed,which could reassemble into various configurations through the compound joint motion.Moreover,an illumination adaptive modular robot identification(IAMRI)algorithm is proposed for CRMR.At first,an adaptive threshold is applied to detect oriented FAST features in the robot image.Then,the effective detection of features in non-uniform illumination areas is achieved through an optimized quadtree decomposition method.After matching features,an improved random sample consensus algorithm is employed to eliminate the mismatched features.Finally,the reconfigurable robot module is identified effectively through the perspective transformation.Compared with ORB,MA,Y-ORB,and S-ORB algorithms,the IAMRI algorithm has an improvement of over 11.6%in feature uniformity,and 13.7%in the comprehensive indicator,respectively.The IAMRI algorithm limits the relative error within 2.5 pixels,efficiently completing the CRMR identification under complex environmental changes.

Design and Development of Small Modular Courses for“Education-Training Integration”in Vocational Colleges:A Case Study

Vocational education plays a vital role in the development of skilled technical professionals and the advancement of the economy.However,the emphasis on campus education often neglects the importance of external training,hindering the overall development of vocational education.This study aims to address this issue by exploring the design and development of small modular courses that integrate training and education in vocational colleges,focusing on the mechanics course as a case study.The research methods employed in this study include an in-depth analysis of enterprise training needs,the development of digital teaching resources utilizing the finite element method(FEM),and the implementation of a small modular course integrating education and training.The data analysis reveals positive outcomes in terms of learners’comprehension and engagement with complex mechanics formulas through the use of stress nephograms and other digital resources.This research provides a new perspective on curriculum design and offers insights into the integration of training and education in vocational colleges.The findings underscore the significance of incorporating innovative teaching methodologies and digital resources in enhancing the quality and relevance of vocational education,ultimately contributing to the cultivation of skilled professionals and the growth of the vocational education sector.

Application Strategies of Modular Design in Assembled Teaching Buildings

As an efficient,environmentally friendly,energy-saving construction method,assembled buildings are now widely used in campus building construction.Modular design thinking is system-based design thinking,and its application to the design of an assembled teaching building project will comprehensively improve the rationality of the teaching building and component design.The paper focuses on the application of modular design thinking in assembled teaching building design,aiming to provide references for China’s architectural design units,giving full play to the advantages of modular design thinking in future teaching building design projects,and enhancing the level of design,for the construction of the teaching building and the basis of the technical guarantee.

Genetic and Correlation Analysis of Grain Characters in Three-line Hybrid Rice

Abst[Objective] This study was to understand the genetic dynamics of three-line hybrid rice, and explore the respective effect of sterile line and restoring line on grain characters of hybrid rica. [Method] Four three-line stedle lines and 27 restoring lines（cultivars） commonly culti- vated in Central China region were regarded as expadmental materials to conduct 4 x27NCII cross design, and the grain characters of three-line hybrid rico were analyzed at genetic and correlation levels. [ Result] Four characters of grain length, grain width, 1 000-grain weight and length- width ratio play the leading role in additive gene effect; these four characters were simultaneously influenced by male parent and female parent, but the effect from male parent was relatively larger. The grain length, grain width, 1 000-grain weight and length-width ratio all have high brood hedtabUities（ respectively 99.65%, 98.31%, 95.27% and 98.81% ）. Correlation analysis showed that grain length was positively correlated with 1 000-grain weight and length-width ratio at extremely significant level; 1 000-grain weight was positively correlated with grain length and length- width ratio at extremely significant level, and was insignificantly correlated with grain width; grain width was negatively correlated with grain length and length-width ratio at extremely significant level. Path analysis showed that the direct path coefficients of grain length, grain width and 1 0（30- grain weight to length-width ratio were 0.624 6, -0.555 9 and -0.015 8, respectively. [ Conclusion] This study systematically analyzed the effects of stedle line and restoring line on grain characters of hybrid rice, which provided theoretical basis for breeding high quality and yield hy- brid dce.

Reproduction of the Three-line Genic Male Sterile Line Parent Mian 7MB-1 （Brasscia Napus L.） and Seed Production of F1 Based on Somatic Tissue Culture

[Objective] The aim was to study the reproduction of the three-line genic male sterile （GMS） lineparent Mian7MB-1 （B. NapusL.） and the seed production of F1 through somatic tissue culture. [Methed] Through hybridization, a new breeding material Mian 7MB-1 in three-line genic temporary maintainer line propagated by tissue culture was used to improve the sterile plant rate of rapeseed in dual-purpose recessive GMS line, such as Mian 7AB type, S45AB type, and etc. And then the variety comparative test was performed. [Result] In order to avoid some fertility restoration phenomena occurring during the process of self-reproduction, Mian 7AB was propagated in bulk with somatic tissue culture of temporary maintainer line plant stem. The propagated temporary maintainer line seedlings were applied to the breeding and seed production of net room male sterile line parent, promoting the sterile plant rate of the male sterile line parent to 91.7% -93.5%. The male sterile line parents per hectare were enough for the seed production of hybrid F1 in 7 500 -15 000 hm^2. [ Conclusion ] Compared with the original dual-purpose GMS line, the seed production ultilizing male sterile line with high sterile plant rate greatly reduced the labor, significantly improved the seed yield, ensuring the seed quality and forming a perfect breeding and seed production system.

Technical Specification for Producing Hybrid Pepper Seed Using Three-line Male Sterility

This paper described the whole process of three line hybrid pepper seed production in detail, including requirement of the seed production base, parent culti- vation, field management, and specified the key operation techniques in seed pro- duction, such as parental impurity removal to preserve pure state, pollen collection, pollination and seed collecting essentials. This specification is of guiding significance for the production of hybrid pepper seed and ensuring the purity of hybrid pepper seed.

Studies on the Developmental Genetics of Tiller Number in Three-line Indica Hybrid Rice

Following NCI design, the developmental genetic behavior of tiller number (TN) in three-line indica hybrid rice was studied using additive-dominance developmental genetic models and the corresponding statistical methods. The results showed that dominance effects were predominant for TN. The expression of those additive effects were affected by environment and genotype interaction, but the expression of dominance effects were not affected. Heterosis was the strongest in the middle developmental periods of TN. Additive effects and dominance effects were selectively expressed throughout in the entire tillering developmental stage. Analysis of genetic correlation between TN at different stages and the productive panicles indicated that a close correlation appeared earlier in the populations with higher heterosis than in those with less heterosis. Utilization of heterosis at the middle tillering stage might enhance the final biomass but reduce the percentage of productive panicles.

Product Specification Analysis for Modular Product Design Using Big Sales Data

Big data on product sales are an emerging resource for supporting modular product design to meet diversified customers’requirements of product specification combinations.To better facilitate decision-making of modular product design,correlations among specifications and components originated from customers’conscious and subconscious preferences can be investigated by using big data on product sales.This study proposes a framework and the associated methods for supporting modular product design decisions based on correlation analysis of product specifications and components using big sales data.The correlations of the product specifications are determined by analyzing the collected product sales data.By building the relations between the product components and specifications,a matrix for measuring the correlation among product components is formed for component clustering.Six rules for supporting the decision making of modular product design are proposed based on the frequency analysis of the specification values per component cluster.A case study of electric vehicles illustrates the application of the proposed method.

Modular Extremely Large-Scale Array Communication:Near-Field Modelling and Performance Analysis

This paper investigates the wireless communication with a novel architecture of antenna arrays,termed modular extremely large-scale array(XLarray),where array elements of an extremely large number/size are regularly mounted on a shared platform with both horizontally and vertically interlaced modules.Each module consists of a moderate/flexible number of array elements with the inter-element distance typically in the order of the signal wavelength,while different modules are separated by the relatively large inter-module distance for convenience of practical deployment.By accurately modelling the signal amplitudes and phases,as well as projected apertures across all modular elements,we analyse the near-field signal-to-noise ratio(SNR)performance for modular XL-array communications.Based on the non-uniform spherical wave(NUSW)modelling,the closed-form SNR expression is derived in terms of key system parameters,such as the overall modular array size,distances of adjacent modules along all dimensions,and the user's three-dimensional(3D)location.In addition,with the number of modules in different dimensions increasing infinitely,the asymptotic SNR scaling laws are revealed.Furthermore,we show that our proposed near-field modelling and performance analysis include the results for existing array architectures/modelling as special cases,e.g.,the collocated XL-array architecture,the uniform plane wave(UPW)based far-field modelling,and the modular extremely large-scale uniform linear array(XL-ULA)of onedimension.Extensive simulation results are presented to validate our findings.

Prediction of NO_(x)concentration using modular long short-term memory neural network for municipal solid waste incineration

Air pollution control poses a major problem in the implementation of municipal solid waste incineration(MSWI).Accurate prediction of nitrogen oxides(NO_(x))concentration plays an important role in efficient NO_(x)emission controlling.In this study,a modular long short-term memory(M-LSTM)network is developed to design an efficient prediction model for NO_(x)concentration.First,the fuzzy C means(FCM)algorithm is utilized to divide the task into several sub-tasks,aiming to realize the divide-and-conquer ability for complex task.Second,long short-term memory(LSTM)neural networks are applied to tackle corresponding sub-tasks,which can improve the prediction accuracy of the sub-networks.Third,a cooperative decision strategy is designed to guarantee the generalization performance during the testing or application stage.Finally,after being evaluated by a benchmark simulation,the proposed method is applied to a real MSWI process.And the experimental results demonstrate the considerable prediction ability of the M-LSTM network.

Vision-based Localization from Three-Line Structures (TLS)

This paper presents a novel vision based localization algorithm from three-line structure ( TLS) .Two types of TLS are investigated: 1) three parallel lines ( Structure I) ; 2) two parallel lines and one orthogonal line ( Structure II) .From single image of either structure,the camera pose can be uniquely computed for vision localization.Contributions of this paper are as follows: 1 ) both TLS structures can be used as simple and practical landmarks,which are widely available in daily life; 2) the proposed algorithm complements existing localization methods,which usually use complex landmarks,especially in the partial blockage conditions; 3) compared with the general Perspective-3-Lines ( P3L) problem,camera pose can be uniquely computed from either structure.The proposed algorithm has been tested with both simulation and real image data.For a typical simulated indoor condition ( 75 cm-size landmark,less than 7.0 m landmark-to-camera distance,and 0.5-pixel image noises) ,the means of localization errors from Structure I and Structure II are less than 3.0 cm.And the standard deviations are less than 3.0 cm and 1.5 cm,respectively.The algorithm is further validated with two actual image experiments.Within a 7.5 m × 7.5 m indoor situation,the overall relative localization errors from Structure I and Structure II are less than 2.2% and 2.3% ,respectively,with about 6.0 m distance.The results demonstrate that the algorithm works well for practical vision localization.

Image Motion Compensation of Off-Axis TMA Three-Line ArrayAerospace Mapping Cameras

To enhance the image motion compensation accuracy of off-axis three-mirror anastigmatic( TMA)three-line array aerospace mapping cameras,a new method of image motion velocity field modeling is proposed in this paper. Firstly,based on the imaging principle of mapping cameras,an analytical expression of image motion velocity of off-axis TMA three-line array aerospace mapping cameras is deduced from different coordinate systems we established and the attitude dynamics principle. Then,the case of a three-line array mapping camera is studied,in which the simulation of the focal plane image motion velocity fields of the forward-view camera,the nadir-view camera and the backward-view camera are carried out,and the optimization schemes for image motion velocity matching and drift angle matching are formulated according the simulation results. Finally,this method is verified with a dynamic imaging experimental system. The results are indicative of that when image motion compensation for nadir-view camera is conducted using the proposed image motion velocity field model,the line pair of target images at Nyquist frequency is clear and distinguishable. Under the constraint that modulation transfer function( MTF) reduces by 5%,when the horizontal frequencies of the forward-view camera and the backward-view camera are adjusted uniformly according to the proposed image motion velocity matching scheme,the time delay integration( TDI) stages reach 6 at most. When the TDI stages are more than 6,the three groups of camera will independently undergo horizontal frequency adjustment. However, when the proposed drift angle matching scheme is adopted for uniform drift angle adjustment,the number of TDI stages will not exceed 81. The experimental results have demonstrated the validity and accuracy of the proposed image motion velocity field model and matching optimization scheme,providing reliable basis for on-orbit image motion compensation of aerospace mapping cameras.

Modular flexible“Tetris”microsatellite platform based on sandwich assembly mode

In this paper,a flexible modular“Tetris”microsatellite platform is studied to implement the rapid integration and assembly of microsatellites.The proposed microsatellite platform is fulfilled based on a sandwich assembly mode which consists of the isomorphic module structure and the standard mechanical-electric-data-thermal interfaces.The advantages of the sandwich assembly mode include flexible reconfiguration and efficient assembly.The prototype of the sandwich assembly mode is built for verifying the performance and the feasibility of the proposed mechanical-electric-data-thermal interfaces.Finally,an assembly case is accomplished to demonstrate the validity and advantages of the proposed“Tetris”microsatellite platform.