A 1-bit electronically reconfigurable beam steerable metasurface reflectarray with multiple polarization manipulations

A 1-bit electronically controlled metasurface reflectarray is presented to achieve beam steering with multiple polarization manipulations. A metsurface unit cell loaded by two PIN diodes is designed. By switching the two PIN diodes between ON and OFF states, the isotropic and anisotropic reflections can be flexibly achieved. For either the isotropic reflection or the anisotropic reflection, the two operation states achieve the reflection coefficients with approximately equal magnitude and 180°out of phase, thus giving rise to the isotropic/anisotropic 1-bit metasurface unit cells. With the 1-bit unit cells, a 12-by-12 metasurface reflectarray is optimally designed and fabricated. Under either y-or x-polarized incident wave illumination, the reflectarray can achieve the co-polarized and cross-polarized beam scanning, respectively, with the peak gains of 20.08 d Bi and 17.26 d Bi within the scan range of about ±50°. With the right-handed circular polarization(RHCP) excitation, the left-handed circular polarization(LHCP) radiation with the peak gain of 16.98 d Bic can be achieved within the scan range of ±50°. Good agreement between the experimental results and the simulation results are observed for 2D beam steering and polarization manipulation capabilities.

A single micro-LED manipulation system based on micro-gripper

Micro-LEDs(μLEDs)have advantages in terms of brightness,power consumption,and response speed.In addition,they can also be used as micro-sensors implanted in the body via flexible electronic skin.One of the key techniques involved in the fabrication ofμLED-based devices is transfer printing.Although numerous methods have been proposed for transfer printing,improving the yield ofμLED arrays is still a formidable task.In this paper,we propose a novel method for improving the yield ofμLED arrays transferred by the stamping method,using an innovative design of piezoelectrically driven asymmetric micro-gripper.Traditional grippers are too large to manipulateμLEDs,and therefore two micro-sized cantilevers are added at the gripper tips.AμLED manipulation system is constructed based on the micro-gripper together with a three-dimensional positioning system.Experimental results using this system show that it can be used successfully to manipulateμLED arrays.

Pre‑hatch thermal manipulation of embryos and post‑hatch baicalein supplementation mitigated heat stress in broiler chickens

Background High environmental temperatures induce heat stress in broiler chickens,affecting their health and pro-duction performance.Several dietary,managerial,and genetics strategies have been tested with some success in mitigating heat stress(HS)in broilers.Developing novel HS mitigation strategies for sustaining broiler production is critically needed.This study investigated the effects of pre-hatch thermal manipulation(TM)and post-hatch baica-lein supplementation on growth performance and health parameters in heat-stressed broilers.Results Six hundred fertile Cobb 500 eggs were incubated for 21 d.After candling on embryonic day(ED)10,238 eggs were thermally manipulated at 38.5℃ with 55%relative humidity(RH)from ED 12 to 18,then transferred to the hatcher(ED 19 to 21,standard temperature)and 236 eggs were incubated at a controlled temperature(37.5℃)till hatch.After hatch,180-day-old chicks from both groups were raised in 36 pens(n=10 birds/pen,6 replicates per treatment).The treatments were:1)Control,2)TM,3)control heat stress(CHS),4)thermal manipulation heat stress(TMHS),5)control heat stress supplement(CHSS),and 6)thermal manipulation heat stress supplement(TMHSS).All birds were raised under the standard environment for 21 d,followed by chronic heat stress from d 22 to 35(32–33℃ for 8 h)in the CHS,TMHS,CHSS,and TMHSS groups.A thermoneutral(22–24℃)environment was maintained in the Control and TM groups.RH was constant(50%±5%)throughout the trial.All the data were analyzed using one-way ANOVA in R and GraphPad software at P<0.05 and are presented as mean±SEM.Heat stress significantly decreased(P<0.05)the final body weight and ADG in CHS and TMHS groups compared to the other groups.Embryonic TM significantly increased(P<0.05)the expression of heat shock protein-related genes(HSP70,HSP90,and HSPH1)and antioxidant-related genes(GPX1 and TXN).TMHS birds showed a significant increment(P<0.05)in total cecal volatile fatty acid(VFA)concentration compared to the CHS birds.The cecal microbial analysis showed significant enrichment(P<0.05)in alpha and beta diversity and Coprococcus in the TMHSS group.Conclusions Pre-hatch TM and post-hatch baicalein supplementation in heat-stressed birds mitigate the detrimental effects of heat stress on chickens’growth performance,upregulate favorable gene expression,increase VFA produc-tion,and promote gut health by increasing beneficial microbial communities.

A Novel Disturbance Observer Based Fixed-Time Sliding Mode Control for Robotic Manipulators With Global Fast Convergence

This paper proposes a new global fixed-time sliding mode control strategy for the trajectory tracking control of uncertain robotic manipulators.First,a fixed-time disturbance observer(FTDO) is designed to deal with the adverse effects of model uncertainties and external disturbances in the manipulator systems.Then an adaptive scheme is used and the adaptive FTDO(AFTDO) is developed,so that the priori knowledge of the lumped disturbance is not required.Further,a new non-singular fast terminal sliding mode(NFTSM) surface is designed by using an arctan function,which helps to overcome the singularity problem and enhance the robustness of the system.Based on the estimation of the lumped disturbance by the AFTDO,a fixed-time non-singular fast terminal sliding mode controller(FTNFTSMC)is developed to guarantee the trajectory tracking errors converge to zero within a fixed time.The settling time is independent of the initial state of the system.In addition,the stability of the AFTDO and FTNFTSMC is strictly proved by using Lyapunov method.Finally,the fixed-time NFESM(FTNFTSM) algorithm is validated on a 2-link manipulator and comparisons with other existing sliding mode controllers(SMCs) are performed.The comparative results confirm that the FTNFTSMC has superior control performance.

Triboelectric‘electrostatic tweezers'for manipulating droplets on lubricated slippery surfaces prepared by femtosecond laser processing

The use of‘Electrostatic tweezers'is a promising tool for droplet manipulation,but it faces many limitations in manipulating droplets on superhydrophobic surfaces.Here,we achieve noncontact and multifunctional droplet manipulation on Nepenthes-inspired lubricated slippery surfaces via triboelectric electrostatic tweezers(TETs).The TET manipulation of droplets on a slippery surface has many advantages over electrostatic droplet manipulation on a superhydrophobic surface.The electrostatic field induces the redistribution of the charges inside the neutral droplet,which causes the triboelectric charged rod to drive the droplet to move forward under the electrostatic force.Positively or negatively charged droplets can also be driven by TET based on electrostatic attraction and repulsion.TET enables us to manipulate droplets under diverse conditions,including anti-gravity climb,suspended droplets,corrosive liquids,low-surface-tension liquids(e.g.ethanol with a surface tension of 22.3 mN·m^(-1)),different droplet volumes(from 100 nl to 0.5 ml),passing through narrow slits,sliding over damaged areas,on various solid substrates,and even droplets in an enclosed system.Various droplet-related applications,such as motion guidance,motion switching,droplet-based microreactions,surface cleaning,surface defogging,liquid sorting,and cell labeling,can be easily achieved with TETs.

Manipulator tracking technology based on FSRUKF

Aiming at the shortcoming that the traditional industrial manipulator using off-line programming cannot change along with the change of external environment,the key technologies such as machine vision and manipulator control are studied,and a complete manipulator vision tracking system is designed.Firstly,Denavit-Hartenberg(D-H)parameters method is used to construct the model of the manipulator and analyze the forward and inverse kinematics equations of the manipulator.At the same time,a binocular camera is used to obtain the threedimensional position of the target.Secondly,in order to make the manipulator track the target more accurately,the fuzzy adaptive square root unscented Kalman filter(FSRUKF)is proposed to estimate the target state.Finally,the manipulator tracking system is built by using the position-based visual servo.The simulation experiments show that FSRUKF converges faster and with less error than the square root unscented Kalman filter(SRUKF),which meets the application requirements of the manipulator tracking system,and basically meets the application requirements of the manipulator tracking system in the practical experiments.

Neural Dynamics for Cooperative Motion Control of Omnidirectional Mobile Manipulators in the Presence of Noises: A Distributed Approach

This paper presents a distributed scheme with limited communications, aiming to achieve cooperative motion control for multiple omnidirectional mobile manipulators(MOMMs).The proposed scheme extends the existing single-agent motion control to cater to scenarios involving the cooperative operation of MOMMs. Specifically, squeeze-free cooperative load transportation is achieved for the end-effectors of MOMMs by incorporating cooperative repetitive motion planning(CRMP), while guiding each individual to desired poses. Then, the distributed scheme is formulated as a time-varying quadratic programming(QP) and solved online utilizing a noise-tolerant zeroing neural network(NTZNN). Theoretical analysis shows that the NTZNN model converges globally to the optimal solution of QP in the presence of noise. Finally, the effectiveness of the control design is demonstrated by numerical simulations and physical platform experiments.

Effects of different acupuncture manipulations on protein expression in the parietal cortex of spontaneously hypertensive rats

Objective: To analyze the effects of twirling reinforcing and reducing manipulations on protein expression in parietal cortex of spontaneously hypertensive rats(SHRs), and elucidate the main mechanisms and differences between two manipulations in hypertension treatment.Methods: Rats were randomly divided into the control, model, twirling reinforcing manipulation(TRFM),and twirling reducing manipulation(TRDM) groups. The control and model groups received catch and fixation stimulations once a day for 14 days. The TRFM and TRDM groups were intervened once a day for 20 min for 14 days. On days 0, 2, 6, 10, and 14 after acupuncture, rat systolic blood pressures(SBPs) were measured. Differential protein(DP) expression in the rat parietal cortices was detected. Thereafter, GO functional significance and KEGG pathway enrichment analyses were performed.Results: Compared with the model group, SBP of rats in the TRDM and TRFM groups decreased on days 6 and 10 of acupuncture, respectively(P=.009;P <.001). Moreover, SBP of the TRDM group was significantly lower than that of the TRFM group on days 10 and 14 of acupuncture(P=.015;P=.013).Compared with control group, 601 and 1040 DPs were up-and downregulated, respectively, in the model group. Compared with model group, 44 and 28 up-and downregulated DPs were expressed, respectively,in the TRFM group. Compared with model group, expression of 616 and 427 up-and downregulated DPs,respectively, was found in the TRDM group. After combining the results of GO and KEGG enrichment analyses, five and one pathways were found to be related to the central antihypertensive mechanism of the parietal cortex during twirling reducing and reinforcing manipulations, respectively.Conclusion: TRDM showed a more effective antihypertensive effect on SHRs than TRFM;this antihypertensive effect was related to the regulation of different proteins and their biological functions.

Source-sink relations and responses to sink-source manipulations during grain filling in wheat

The source-sink ratio during grain filling is a critical factor that affects crop yield in wheat,and the main objective of this study was to determine the source-sink relations at both the canopy scale and the individual culm level under two nitrogen(N)levels at the post-jointing stage.Nine widely-used cultivars were chosen for analyzing source-sink relations in southwestern China;and three typical cultivars of different plant types were subjected to artificial manipulation of the grain-filling source-sink ratio to supplement crop growth measurements.A field experiment was conducted over two consecutive seasons under two N rates(N+,150 kg ha^(-1);N-,60 kg ha^(-1)),and three manipulations were imposed after anthesis:control(Ct),removal of flag and penultimate leaves(Lr)and removal of spikelets on one side of each spike(Sr).The results showed that the single grain weights in the three cultivars were significantly decreased by Lr and increased by Sr,which demonstrated that wheat grain yield potential seems more source-limited than sink-limited during grain filling,but the source-sink balance was obviously changed by climatic variations and N deficient environments.Grain yield was highly associated with sink capacity(SICA),grain number,biomass,SPAD values,and leaf area index during grain filling,indicating a higher degree of source limitation with an increase in sink capacity.Therefore,source limitation should be taken into account by breeders when SICA is increased,especially under non-limiting conditions.Chuanmai 104,a half-compact type with a mid-sized spike and a long narrow upper leaf,showed relatively better performance in source-sink relations.Since this cultivar showed the characteristics of a lower reduction in grain weight after Lr,a larger increase after Sr,and a lower reduction in post-anthesis dry matter accumulation,then the greater current photosynthesis during grain filling contributed to the grain after source and sink manipulation.

Manipulations of micro/nanoparticles using gigahertz acoustic streaming tweezers

Contactless acoustic manipulation of micro/nanoscale particles has attracted considerable attention owing to its near independence of the physical and chemical properties of the targets,making it universally applicable to almost all biological systems.Thin-film bulk acoustic wave(BAW)resonators operating at gigahertz(GHz)frequencies have been demonstrated to generate localized high-speed microvortices through acoustic streaming effects.Benefitting from the strong drag forces of the high-speed vortices,BAW-enabled GHz acoustic streaming tweezers(AST)have been applied to the trapping and enrichment of particles ranging in size from micrometers to less than 100 nm.However,the behavior of particles in such 3D microvortex systems is still largely unknown.In this work,the particle behavior(trapping,enrichment,and separation)in GHz AST is studied by theoretical analyses,3D simulations,and microparticle tracking experiments.It is found that the particle motion in the vortices is determined mainly by the balance between the acoustic streaming drag force and the acoustic radiation force.This work can provide basic design principles for AST-based lab-on-a-chip systems for a variety of applications.

Influence of Sancai and conventional acupuncture manipulations on injured sciatic nerve histomorphology and serum interleukin-6 expression

Acupuncture and moxibustion therapy non-specifically raises the pain threshold, relieves regional muscular tension, improves local blood circulation, accelerates elimination of algogenic substances such as acid metabolites, and promotes neural regeneration and functional rehabilitation. However, the effects of acupuncture are synthetically influenced by multiple factors, which vary with acu-puncture point, intensity, and manipulation. The present study explored the analgesic effects and mechanisms of specific Sancai acupuncture manipulation for sciatica. Results revealed that Sancai acupuncture manipulation significantly reduced inflammatory factor interleukin-6 expression in the blood serum of rats with sciatica, exhibited anti-inflammatory effects and promoted rehabilitation of injured nerves. In addition, Sancai acupuncture manipulation exhibited superior curative effects over conventional acupuncture manipulation.

Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties

In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.

Lactation breast abscess treated with Gualou Xiaoyong decoction and painless lactation manipulation:A case report and review of literature

BACKGROUND Breast abscess during lactation is a severe complication of acute mastitis,which can lead to discomfort,high fever,breast fistula,sepsis,septic shock,breast damage,disease persistence and frequent hospitalization.Breast abscesses may also lead the mother to discontinue breastfeeding,thereby harming the infant’s health.The predominant pathogenic bacteria are Staphylococcus aureus,Staphylococcus epidermidis and Streptococcus.The incidence of breastfeeding abscesses in breastfeeding women ranges between 4.0%and 11.0%.In cases of breast abscess,the rate of cessation of lactation is 41.0%.In instances of breast fistula,the rate of cessation of lactation is very high(66.7%).Furthermore,50.0%of women with breast abscesses must be hospitalized and treated with intravenous antibiotics.Treatment includes antibiotics,abscess puncture and surgical incision and drainage.The patients suffer from stress,pain and easily induced breast scarring;the disease’s progression is prolonged and recurrent,interfering with infant feeding.Consequently,it is crucial to discover an adequate cure.CASE SUMMARY A 28-year-old woman with a breast abscess was treated with Gualou Xiaoyong decoction and painless breast opening manipulation 24 d after cesarean delivery.On the 2nd d of treatment,the patient’s breast mass was significantly reduced,the pain was significantly reduced,and the general asthenia was improved.All conscious symptoms disappeared after 3 d,breast abscesses faded after 12 d of treatment,inflammation images disappeared after 27 d,and normal lactation images were restored.CONCLUSION In treating breast abscesses during breastfeeding,the combination of Gualou Xiaoyong decoction and painless lactation provides a positive therapeutic impact.This disease’s treatment offers the advantages of a short course of treatment,no need to discontinue breastfeeding and the ability to rapidly mitigate symptoms,which can be used as a reference in clinical practice.

Clinical Observation of 32 Cases of Scapulohumeral Periarthritis Treated by Manipulations and Acupuncture

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Kinematic Control of Serial Manipulators Under False Data Injection Attack

With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.

Cotton Genome Manipulations:Exploring Smart Tools,Novel Germplasm,and Elite Genes for Super Cotton Design

Plant regeneration is the first step to cotton biotechnology.We screened over 100 genotypes and found two genotypes,YZ-1 and Y668,which are very easy to regenerate.It takes about 5 to 6

Image Retrieval with Text Manipulation by Local Feature Modification

The demand for image retrieval with text manipulation exists in many fields, such as e-commerce and Internet search. Deep metric learning methods are used by most researchers to calculate the similarity between the query and the candidate image by fusing the global feature of the query image and the text feature. However, the text usually corresponds to the local feature of the query image rather than the global feature. Therefore, in this paper, we propose a framework of image retrieval with text manipulation by local feature modification(LFM-IR) which can focus on the related image regions and attributes and perform modification. A spatial attention module and a channel attention module are designed to realize the semantic mapping between image and text. We achieve excellent performance on three benchmark datasets, namely Color-Shape-Size(CSS), Massachusetts Institute of Technology(MIT) States and Fashion200K(+8.3%, +0.7% and +4.6% in R@1).

Interior-Point Methods Applied to the Predispatch Problem of a Hydroelectric System with Scheduled Line Manipulations

Transmission line manipulations in a power system are necessary for the execution of preventative or corrective main- tenance in a network, thus ensuring the stability of the system. In this study, primal-dual interior-point methods are used to minimize costs and losses in the generation and transmission of the predispatch active power flow in a hydroelectric system with previously scheduled line manipulations for preventative maintenance, over a period of twenty-four hours. The matrix structure of this problem and the modification that it imposes on the system is also broached in this study. From the computational standpoint, the effort required to solve a problem with or without line manipulations is similar, and the reasons for this are also discussed in this study. Computational results sustain our findings.

Optimal Joint Space Control of a Cable-Driven Aerial Manipulator

This article proposes a novel method for maintaining the trajectory of an aerial manipulator by utilizing a fast nonsingular terminal sliding mode(FNTSM)manifold and a linear extended state observer(LESO).The developed controlmethod applies an FNTSMto ensure the tracking performance’s control accuracy,and an LESO to estimate the system’s unmodeled dynamics and external disturbances.Additionally,an improved salp swarm algorithm(ISSA)is employed to parameter tune the suggested controller by integrating the salp swarmtechnique with a cloud model.This approach also uses a model-free scheme to reduce the complexity of controller design without relying on complex and precise dynamics models.The simulation results show that the proposed controller outperforms linear active rejection disturbance control and PID controllers in terms of transient performance and resilience against lumped disturbances,and the ISSA can help the proposed controller find optimal control parameters.

Observer-Based Control for a Cable-Driven Aerial Manipulator under Lumped Disturbances

With the increasing demand for interactive aerial operations,the application of aerial manipulators is becoming more promising.However,there are a few critical problems on how to improve the energetic efficiency and pose control of the aerialmanipulator forpractical application.In this paper,a novel cable-drivenaerialmanipulatorused for remote water sampling is proposed and then its rigid-flexible coupling dynamics model is constructed which takes joint flexibility into account.To achieve high precision joint position tracking under lumped disturbances,a newly controller,which consists of three parts:linear extended state observer,adaptive super-twisting strategy,and fractional-order nonsingular terminal sliding mode control,is proposed.The linear extended state observer is adopted to approximate unmeasured states and unknown lumped disturbances and achieve model-free control structure.The adaptive super-twisting strategy and fractional-order nonsingular terminal sliding mode control are combined together to achieve good control performance and counteract chattering problem.The Lyapunovmethod is utilized to prove the overall stability and convergence of the system.Lastly,various visualization simulations and ground experiments are conducted,verifying the effectiveness of our strategy,and all outcomes demonstrate its superiorities over the existing control strategies.