Direct 4D printing of functionally graded hydrogel networks for biodegradable,untethered,and multimorphic soft robots

Recent advances in functionally graded additive manufacturing(FGAM)technology have enabled the seamless hybridization of multiple functionalities in a single structure.Soft robotics can become one of the largest beneficiaries of these advances,through the design of a facile four-dimensional(4D)FGAM process that can grant an intelligent stimuli-responsive mechanical functionality to the printed objects.Herein,we present a simple binder jetting approach for the 4D printing of functionally graded porous multi-materials(FGMM)by introducing rationally designed graded multiphase feeder beds.Compositionally graded cross-linking agents gradually form stable porous network structures within aqueous polymer particles,enabling programmable hygroscopic deformation without complex mechanical designs.Furthermore,a systematic bed design incorporating additional functional agents enables a multi-stimuli-responsive and untethered soft robot with stark stimulus selectivity.The biodegradability of the proposed 4D-printed soft robot further ensures the sustainability of our approach,with immediate degradation rates of 96.6%within 72 h.The proposed 4D printing concept for FGMMs can create new opportunities for intelligent and sustainable additive manufacturing in soft robotics.

Finding the magnetopause location using soft X-ray observations and a statistical inverse method

Variability in the location and shape of the dayside magnetopause is attributed to magnetic reconnection,a fundamental process that enables the transfer of mass,energy,and momentum from the solar wind into the magnetosphere.The spatial and temporal properties of the magnetopause,under varying solar and magnetospheric conditions,remain largely unknown because empirical studies using in-situ observations are challenging to interpret.Global wide field-of-view(FOV)imaging is the only means to simultaneously observe the spatial distribution of the plasma properties over the vast dayside magnetospheric region and,subsequently,quantify the energy transport from the interplanetary medium into the terrestrial magnetosphere.Two upcoming missions,ESA/CAS SMILE and NASA’s LEXI will provide wide-field imagery of the dayside magnetosheath in soft X-rays,an emission generated by charge exchange interactions between high charge-state heavy ions of solar wind origin and exospheric neutral atoms.High-cadence two-dimensional observations of the magnetosheath will allow the estimation of dynamic properties of its inner boundary,the magnetopause,and enable studies of its response to changes in the solar wind dynamic pressure and interplanetary magnetic field orientation.This work introduces a statistically-based estimation approach based on inverse theory to estimate the spatial distribution of magnetosheath soft X-ray emissivities and,with this,identify the location of the magnetopause over the Sun−Earth line.To do so,we simulate the magnetosheath structure using the MHD-based OpenGGCM model and generate synthetic soft X-ray images using LEXI’s orbit and attitude information.Our results show that 3-D estimations using the described statistically-based technique are robust against Poisson-distributed shot noise inherent to soft X-ray images.Also,our proposed methodology shows that the accuracy of both three-dimensional(3-D)estimation and the magnetopause standoff distance calculation highly depends on the observational point.

Mechanical properties and acoustic emission characteristics of soft rock with different water contents under dynamic disturbance

Uniaxial compression tests and cyclic loading acoustic emission tests were conducted on 20%,40%,60%,80%,dry and saturated muddy sandstone by using a creep impact loading system to investigate the mechanical properties and acoustic emission characteristics of soft rocks with different water contents under dynamic disturbance.The mechanical properties and acoustic emission characteristics of muddy sandstones at different water contents were analysed.Results of experimental studies show that water is a key factor in the mechanical properties of rocks,softening them,increasing their porosity,reducing their brittleness and increasing their plasticity.Under uniaxial compression,the macroscopic damage characteristics of the muddy sandstone change from mono-bevel shear damage and‘X’type conjugate bevel shear damage to a roadway bottom-drum type damage as the water content increases.Dynamic perturbation has a strengthening effect on the mechanical properties of samples with 60%and less water content,and a weakening effect on samples with 80%and more water content,but the weakening effect is not obvious.Macroscopic damage characteristics of dry samples remain unchanged,water samples from shear damage and tensile–shear composite damage gradually transformed into cleavage damage,until saturation transformation monoclinic shear damage.The evolution of acoustic emission energy and event number is mainly divided into four stages:loading stage(Ⅰ),dynamic loading stage(Ⅱ),yield failure stage(Ⅲ),and post-peak stage(Ⅳ),the acoustic emission characteristics of the stages were different for different water contents.The characteristic value of acoustic emission key point frequency gradually decreases,and the damage degree of the specimen increases,corresponding to low water content—high main frequency—low damage and high water content—low main frequency—high damage.

Path Planning and Tracking Control for Parking via Soft Actor-Critic Under Non-Ideal Scenarios

Parking in a small parking lot within limited space poses a difficult task. It often leads to deviations between the final parking posture and the target posture. These deviations can lead to partial occupancy of adjacent parking lots, which poses a safety threat to vehicles parked in these parking lots. However, previous studies have not addressed this issue. In this paper, we aim to evaluate the impact of parking deviation of existing vehicles next to the target parking lot(PDEVNTPL) on the automatic ego vehicle(AEV) parking, in terms of safety, comfort, accuracy, and efficiency of parking. A segmented parking training framework(SPTF) based on soft actor-critic(SAC) is proposed to improve parking performance. In the proposed method, the SAC algorithm incorporates strategy entropy into the objective function, to enable the AEV to learn parking strategies based on a more comprehensive understanding of the environment. Additionally, the SPTF simplifies complex parking tasks to maintain the high performance of deep reinforcement learning(DRL). The experimental results reveal that the PDEVNTPL has a detrimental influence on the AEV parking in terms of safety, accuracy, and comfort, leading to reductions of more than 27%, 54%, and 26%respectively. However, the SAC-based SPTF effectively mitigates this impact, resulting in a considerable increase in the parking success rate from 71% to 93%. Furthermore, the heading angle deviation is significantly reduced from 2.25 degrees to 0.43degrees.

MHz cut-off frequency and permeability mechanism of iron-based soft magnetic composites

The lack of soft magnetic composites with high power density in MHz frequency range has become an obstacle in the efficient operation of the electrical and electronic equipments.Here,a promising method to increase the cut-off frequency of iron-based soft magnetic composites to hundreds of MHz is reported.The cut-off frequency is increased from 10 MHz to 1 GHz by modulating the height of the ring,the distribution of particles,and the particle size.The mechanism of cut-off frequency and permeability is the coherent rotation of domain modulated by inhomogeneous field due to the eddy current effect.An empirical formula for the cut-off frequency in a magnetic ring composed of iron-based particles is established from experimental data.This work provides an effective approach to fabricate soft magnetic composites with a cut-off frequency in hundreds of MHz.

Some Mixed Soft Operations and Extremally Soft Disconnectedness via Two Soft Topologies

In this paper, we study the concept of soft sets which is introduced by Molodtsov [5]. We give the definition of (τ1,τ2)-semi open soft (resp. (τ1,τ2)-pre open soft, (τ1,τ2)-α-open soft, (τ1,τ2)-β-open soft, (τ1,τ2)'-semi open soft, (τ1,τ2)'-pre open soft, (τ1,τ2)'-α-open soft, (τ1,τ2)'-βopen soft) set via two soft topologies. Also we introduce (τ1,τ2)-regular open soft and ESDC on two soft topologies. The aim of this paper is to investigate properties of some mixed soft operations and characterizations of ESDC. Finally, we study τ2-ESDC soft topologies τ1.

MXenes for Bioinspired Soft Actuators:Advancements in Angle-Independent Structural Colors and Beyond

Soft actuators have garnered substantial attention in current years in view of their potential appliances in diverse domains like robotics,biomedical devices,and biomimetic systems.These actuators mimic the natural movements of living organisms,aiming to attain enhanced flexibility,adaptability,and versatility.On the other hand,angle-independent structural color has been achieved through innovative design strategies and engineering approaches.By carefully controlling the size,shape,and arrangement of nanostructures,researchers have been able to create materials exhibiting consistent colors regardless of the viewing angle.One promising class of materials that holds great potential for bioinspired soft actuators is MXenes in view of their exceptional mechanical,electrical,and optical properties.The integration of MXenes for bioinspired soft actuators with angle-independent structural color offers exciting possibilities.Overcoming material compatibility issues,improving color reproducibility,scalability,durability,power supply efficiency,and cost-effectiveness will play vital roles in advancing these technologies.This perspective appraises the development of bioinspired MXene-centered soft actuators with angleindependent structural color in soft robotics.

Inflow and outflow permeability tests in a very soft clay under low stresses

In situ inflow and outflow permeability tests with the BAT probe at SarapuíII soft clay test site are presented.A description of the BAT permeability test is provided,discussing its advantages and shortcomings,especially in the case of very soft clays under low stresses.Pore pressures were monitored during probe installation and were found to be slightly lower than piezocone u2 pore pressures,consistent with the position of the filter.The role of filter tip saturation was investigated after the usual saturation procedure provided an unsatisfactory pore pressure response during probe installation.Results show that the vacuum saturation procedure provides adequate response during installation and increases the reliability of the coefficient of permeability determination in early measurements.Both inflow and outflow tests yielded similar results,indicating that careful execution of the test can lead to good test repeatability regardless of the loading condition.Various sequences of alternated inflow and outflow tests have yielded similar results,indicating that soil reconsolidation and filter clogging were negligible in the tests performed.Data are presented concerning the relationship between index parameters and the in situ coefficient of permeability for SarapuíII clay,which plot outside the range of existing databases.

Vehicle Abnormal Behavior Detection Based on Dense Block and Soft Thresholding

With the rapid advancement of social economies,intelligent transportation systems are gaining increasing atten-tion.Central to these systems is the detection of abnormal vehicle behavior,which remains a critical challenge due to the complexity of urban roadways and the variability of external conditions.Current research on detecting abnormal traffic behaviors is still nascent,with significant room for improvement in recognition accuracy.To address this,this research has developed a new model for recognizing abnormal traffic behaviors.This model employs the R3D network as its core architecture,incorporating a dense block to facilitate feature reuse.This approach not only enhances performance with fewer parameters and reduced computational demands but also allows for the acquisition of new features while simplifying the overall network structure.Additionally,this research integrates a self-attentive method that dynamically adjusts to the prevailing traffic conditions,optimizing the relevance of features for the task at hand.For temporal analysis,a Bi-LSTM layer is utilized to extract and learn from time-based data nuances.This research conducted a series of comparative experiments using the UCF-Crime dataset,achieving a notable accuracy of 89.30%on our test set.Our results demonstrate that our model not only operates with fewer parameters but also achieves superior recognition accuracy compared to previous models.

Review of Three-phase Soft Switching Inverters and Challenges for Motor Drives

For electric vehicles (EVs),it is necessary to improve endurance mileage by improving the efficiency.There exists a trend towards increasing the system voltage and switching frequency,contributing to improve charging speed and power density.However,this trend poses significant challenges for high-voltage and high-frequency motor controllers,which are plagued by increased switching losses and pronounced switching oscillations as consequences of hard switching.The deployment of soft switching technology presents a viable solution to mitigate these issues.This paper reviews the applications of soft switching technologies for three-phase inverters and classifies them based on distinct characteristics.For each type of inverter,the advantages and disadvantages are evaluated.Then,the paper introduces the research progress and control methods of soft switching inverters (SSIs).Moreover,it presents a comparative analysis among the conventional hard switching inverters (HSIs),an active clamping resonant DC link inverter (ACRDCLI) and an auxiliary resonant commuted pole inverter (ARCPI).Finally,the problems and prospects of soft switching technology applied to motor controllers for EVs are put forward.

Skin and Soft Tissue Infections in the Surgical Area at the Kara Teaching Hospital

Objective: To report the management of skin and soft tissue infections in the surgical area of Kara University Hospital in Togo. Material and Methods: This study was conducted retrospectively from January 1, 2021, to December 31, 2022, in the general surgery and orthopedic trauma departments. The study focused on soft tissue infections of the pelvic and thoracic limbs and analyzed epidemiological, clinical, paraclinical, therapeutic, and evolutionary data. Results: We registered 165 patients, comprising 109 men and 56 women.The sex ratio (F/H) were 0.51. The mean age was 45 years with extremes ranging from 23 to 90 years. Farmers (64.8%) followed by housewives (34.0%) were the social strata most affected. The consultation period varied between 1 and 90 days. The pathologies found were necrotizing fasciitis (53.3%), erysipelas (18.2%), infected limb wounds (12.1%), pyomyositis (9.7%), and necrotizing dermo-hypodermitis (1.8%). The main procedures performed were necrosectomy and grafting (62.9%), sample necrosectomy (18.8%), drainage (9.7%), and pelvic limb amputation (1.2%). Follow-up was favorable in 86.7% of cases. The study noted a death rate of 13.3% due to septic shock secondary to a delay in consultation. Conclusion: Skin and soft tissue infections were a common reason for surgical hospitalization at Kara University Hospital, with a high mortality rate due to delayed consultations.

Failure mechanism and safety control technology of a composite strata roadway in deep and soft rock masses:a case study

The construction of coal mines often encounters deep composite soft rock roadways,which is characterized by significant deformation and poor stability.To deeply study the failure mechanism and large deformation challenges of a composite strata roadway in deep and soft rock masses,a numerical model of 3DEC tetrahedral blocks was established based on the method of rock quality designation(RQD).The results showed that original support cannot prevent asymmetric failure and large deformation due to the adverse geological environment and unsuitable support design.According to the failure characteristics,a coupling support of“NPR bolt/cable+mesh+shotcrete+steel pipe”was proposed to control the stability of the surrounding rock.The excellent mechanical properties of large deformation(approximately 400 mm)and high constant resistance force(bolt with 180 k N;cable with 350 k N)were evaluated by the tensile tests.The numerical results showed that the maximum deformation was minimized to 243 mm,and the bearing capacity of the surrounding rock of the roadway was enhanced.The field test results showed that the maximum deformation of the surrounding rock was 210 mm,and the forces of the NPR bolt and cable were stable at approximately 180 k N and 350 k N,respectively.This demonstrated the effectiveness of the coupling support with the NPR bolt and cable,which could be a guiding significance for the safety control of large deformation and failure in deep composite soft rock roadways.

Einstein Hybrid Structure of q-Rung Orthopair Fuzzy Soft Set and Its Application for Diagnosis of Waterborne Infectious Disease

This research is devoted to diagnosing water-borne infectious diseases caused by floods employing a novel diagnosis approach,the Einstein hybrid structure of q-rung orthopair fuzzy soft set.This approach integrates parts of fuzzy logic and soft set theory to develop a robust alternative for disease detection in stressful situations,especially in areas affected by floods.Compared to the traditional intuitionistic fuzzy soft set and Pythagorean fuzzy soft set,the q-rung orthopair fuzzy soft set(q-ROFSS)adequately incorporates unclear and indeterminate facts.The major objective of this investigation is to formulate the q-rung orthopair fuzzy soft Einstein hybrid weighted average(q-ROFSEHWA)operator and its specific characteristics.Moreover,our stated operator is implementing intelligentmulti-criteria group decision-making(MCGDM)methodology.Floods are severe natural catastrophes that raise the risk of diseases and epidemics,particularly those caused by contaminants in the water,such as gastrointestinal diseases,respiratory infections,vector-borne diseases,skin infections,and water-borne parasites.The designed MCGDM strategy tackles the prevalence of certain conditions in flood-affected patients.A comparative investigation determined that the suggested method for detecting water-borne infectious disease due to floods is more effective and productive than conventional methods because of its logical structure.

Theoretical analysis and engineering application of controllable shock wave technology for enhancing coalbed methane in soft and low‑permeability coal seams

Coalbed methane(CBM)is a significant factor in triggering coal and gas outburst disaster,while also serving as a clean fuel.With the increasing depth of mining operations,coal seams that exhibit high levels of gas content and low permeability have become increasingly prevalent.While controllable shockwave(CSW)technology has proven effective in enhancing CBM in laboratory settings,there is a lack of reports on its field applications in soft and low-permeability coal seams.This study establishes the governing equations for stress waves induced by CSW.Laplace numerical inversion was employed to analyse the dynamic response of the coal seam during CSW antireflection.Additionally,quantitative calculations were performed for the crushed zone,fracture zone,and effective CSW influence range,which guided the selection of field test parameters.The results of the field test unveiled a substantial improvement in the gas permeability coefficient,the average rate of pure methane flowrate,and the mean gas flowrate within a 10 m radius of the antireflection borehole.These enhancements were notable,showing increases of 3 times,13.72 times,and 11.48 times,respectively.Furthermore,the field test performed on the CSW antireflection gas extraction hole cluster demonstrated a noticeable improvement in CBM extraction.After antireflection,the maximum peak gas concentration and maximum peak pure methane flow reached 71.2%and 2.59 m^(3)/min,respectively.These findings will offer valuable guidance for the application of CSW antireflection technology in soft and low-permeability coal seams.

Indication and surgical approach for reconstruction with endoprosthesis in bone-associated soft tissue sarcomas:Appropriate case management is vital

It is important for surgeons performing sarcoma surgery to know that bone resection and tumor prosthesis applications in soft tissue sarcomas(STS)have unique features in terms of indication,surgical approach and follow-up,in terms of the management of these cases.Some STS are associated with bone and major neurovascular structures.Bone-associated STS are generally relatively large and relatively deep-seated.Additionally,the tendency for metastasis is high.In some cases,the decision about which structures to resect is difficult.These cases are often accompanied by poor oncological and surgical outcomes.Management of cases should be done by a multidisciplinary team in advanced centers specialized in this field.The surgical team must have sufficient knowledge and experience in the field of limb-sparing surgery.Preoperative evaluation and especially good planning of bone and soft tissue reconstruction are vital.

Theory,technology and application of grouted bolting in soft rock roadways of deep coal mines

The grouted bolt,combining rock bolting with grouting techniques,provides an effective solution for controlling the surrounding rock in deep soft rock and fractured roadways.It has been extensively applied in numerous deep mining areas characterized by soft rock roadways,where it has demonstrated remarkable control results.This article systematically explores the evolution of grouted bolting,covering its theoretical foundations,design methods,materials,construction processes,monitoring measures,and methods for assessing its effectiveness.The overview encompassed several key elements,delving into anchoring theory and grouting reinforcement theory.The new principle of high pretensioned high-pressure splitting grouted bolting collaborative active control is introduced.A fresh method for dynamic information design is also highlighted.The discussion touches on both conventional grouting rock bolts and cable bolts,as well as innovative grouted rock bolts and cables characterized by their high pretension,strength,and sealing hole pressure.An examination of the merits and demerits of standard inorganic and organic grouting materials versus the new inorganic–organic composite materials,including their specific application conditions,was conducted.Additionally,the article presents various methods and instruments to assess the support effect of grouting rock bolts,cable bolts,and grouting reinforcement.Furthermore,it provides a foundation for understanding the factors influencing decisions on grouted bolting timing,the sequence of grouting,the pressure applied,the volume of grout used,and the strategic arrangement of grouted rock bolts and cable bolts.The application of the high pretensioned high-pressure splitting grouted bolting collaborative control technology in a typical kilometer-deep soft rock mine in China—the soft coal seam and soft rock roadway in the Kouzidong coal mine,Huainan coal mining area,was introduced.Finally,the existing problems in grouted bolting control technology for deep soft rock roadways are analyzed,and the future development trend of grouted bolting control technology is anticipated.

Deformation characteristics and damage ontologies of soft and hard composite rock masses under impact loading

As one of the most common occurring geological landforms in deep rock formations, the dynamic mechanical properties of layered composite rock bodies under impact loading have been widely studied by scholars. To study the dynamic properties of soft and hard composite rocks with different thickness ratios, this paper utilizes cement, quartz sand and gypsum powder to construct soft and hard composite rock specimens and utilizes a combination of indoor tests, numerical calculations, and theoretical analyses to investigate the mechanical properties of soft and hard composite rock bodies. The test results reveal that:(1) When the proportion of hard rock increases from 20% to 50%, the strength of the combined rock body increases by 69.14 MPa and 87 MPa when the hard rock face and soft rock face are loaded, respectively;however, when the proportion of hard rock is the same, the compressive strength of the hard rock face impact is 9%-17% greater than that of the soft rock face impact;(2) When a specimen of soft and hard combined rock body is subjected to impact loading, the damage mode involves mixed tension and shear damage, and the cracks generally first appear at the ends of the specimen, then develop on the laminar surface from the impact surface, and finally end in the overall damage of the soft rock part. The development rate and the total number of cracks in the same specimen when the hard rock face is impacted are significantly greater than those when the soft rock face is impacted;(3) By introducing Weibull’s statistical strength theory to establish the damage variables of soft-hard combined rock bodies, combined with the DP strength criterion, the damage model and the Kelvin body are concatenated to obtain a statistical damage constitutive model, which can better fit the full stress-strain curve of soft-hard combined rock body specimens under a single impact load.

Optical micro/nanofiber enabled tactile sensors and soft actuators:A review

As a combination of fiber optics and nanotechnology,optical micro/nanofiber(MNF)is considered as an important multifunctional building block for fabricating various miniaturized photonic devices.With the rapid progress in flexible optoelectronics,MNF has been emerging as a promising candidate for assembling tactile sensors and soft actuators owing to its unique optical and mechanical properties.This review discusses the advances in MNF enabled tactile sensors and soft actuators,specifically,focusing on the latest research results over the past 5 years and the applications in health monitoring,human-machine interfaces,and robotics.Future prospects and challenges in developing flexible MNF devices are also presented.

Atlas of Elbow Soft Tissue Pathologies Using Magnetic Resonance Imaging at the Saint Camille Hospital in Ouagadougou and the Polyclinique Notre Dame de la Paix (Burkina Faso)

Introduction: The elbow is a superficial joint, particularly exposed to direct impact, forced movement, and overstrain. Our work aimed to study magnetic resonance imaging (MRI) pathologies of the soft tissues of the elbow through illustrative cases. Methodology: This was a retrospective and prospective cross-sectional study covering a period of one year, from June 2020 to June 2021, at the Saint Camille Hospital in Ouagadougou and the Polyclinique Notre Dame de la Paix. Results: In general, this study found that the pathologies diagnosed on MRI were lateral epicondylitis, subcutaneous type V elbow lipoma and liposarcoma, anteromedial cortical fracture of the radial cup, cortical detachment fracture of the lateral epicondylitis, medial epicondylitis, villonodular articular synovitis, simple dermo-hypodermatitis, sequellar fibrosis of the ulnar nerve, Workman's syndrome (median and ulnar nerves) and osteoarthritis of the elbow. Lateral epicondylitis was the most frequent pathology, and most patients consulted for elbow pain predominantly associated with pressure on the epicondyle, with relative functional impotence and, occasionally, elbow swelling. Conclusion: MRI, as a complement to ultrasound and radiography, remains the most informative examination for exploring soft-tissue pathologies of the elbow.

Media Sporting Events as Platforms for‘Soft Power’and Digital Activism

Mediatic sporting events are increasingly used in the geopolitical arena to gain consensus, at the same time emerging as platforms for the discussion of social issues, such as human rights and sustainability. This article presents an investigation into the role of mediatic sporting events and digital platforms in sparking political debate and social engagement to bring about change, including discussions on global and local interests and the performances of activist fans to promote debate on specific issues. The investigation employs a quantitative methodology. The initial inductive analysis uses a matrix of cultural key-frames of the empowerment and protest that accompany media sporting events, verifying their presence and effectiveness in different communication milieus. An analysis of the representation of protests on social media was performed through content analysis. The results of the investigation show that mediatic sporting events are to be understood as a diverse range of generators of multiple political effects: from the exercise of power to mass mobilization and media criticism.