The problem of As pollution emission from sludge during combustion has received widespread attention. The impact of flue gas components on the interaction with CaO and As during sludge combustion was analyzed using a series of experimental characterization methods. The strength of the activity of As₂O₃ on the CaO(001) surface as well as on the CO₂/SO₂/H₂O+CaO(001) surface with different O adsorption sites was revealed by combining with Density Functional Theory (DFT). According to the results, CO₂ in the flue gas reacted with CaO in a reversible carbonation reaction, which optimized the pore structure of the solid phase products and promoted the capture of As by CaO. SO₂ in the flue gas reacted with CaO in a sulfation reaction reaction to block the pores, which was not conducive to the capture of As by CaO. The presence of moisture led to poor pore structure collapse of the solid phase products as well as the formation of gehlenite, which reduced the enrichment of As by CaO. DFT calculations showed that the adsorption of As₂O₃ molecules on the CO₂+CaO(001) surface was affected by the position of the O active site, and the adsorption energy at the O_C1 top site was higher than that on the clean surface, which was favorable for the stable adsorption of As₂O₃ molecules. The existence of SO₂ decreased As₂O₃ molecules’ adsorption energy on the CaO(001) surface, which was unfavorable for the adsorption of As₂O₃ molecules. There were two main effects of H₂O molecules on the adsorption of As₂O₃ on the CaO(001) surface. One was the H₂O molecules weakened the interaction between the As atoms and O_surf atoms, which was unfavorable to the adsorption of As₂O₃ molecules; the other was the existence of stronger adsorption of O atoms in H₂O molecules on As atoms in As₂O₃ molecules, which made As₂O₃ molecules adsorbed at the top of O_H0 adsorbed with adsorption energies much larger than that of clean surface, and the adsorption was more stable. Full article

Addressing water scarcity and pollution is imperative in tackling global environmental challenges, prompting the exploration of innovative techniques for effective water and wastewater treatment. Nanotechnology presents promising solutions through the customization of nanoparticles and nanocomposites specifically designed for water purification applications. This review delves into recent advancements in nanoparticle-based technologies for water treatment, with a particular focus on their synthesis methodologies, intrinsic properties, and versatile applications. A wide range of nanoparticles, ranging from metal nanoparticles to carbon-based nanomaterials, along with hybrid nanocomposites such as metal/metal oxide-based nanocomposites, polymer-based nanocomposites, and others, were emphasized for eliminating contaminants from water and wastewater matrices. Furthermore, this review elucidates the underlying mechanisms governing pollutant removal processes, encompassing adsorption, catalysis, and membrane filtration, facilitated by nanoparticles. Additionally, it explores the environmental implications and challenges associated with the widespread deployment of nanoparticle-based water-treatment technologies. By amalgamating existing research findings, this review provides valuable insights into the potential of nanoparticles and nanocomposites in mitigating water-related challenges and presents recommendations for future research trajectories and technological advancements in this domain. Full article

Polyamines are small polycationic alkylamines that are absolutely required for the continual growth and proliferation of cancer cells. The polyamine analogue ivospemin, also known as SBP-101, has shown efficacy in slowing pancreatic and ovarian tumor progression in vitro and in vivo and has demonstrated encouraging results in early pancreatic cancer clinical trials. We sought to determine if ivospemin was a viable treatment option for the under-served platinum-resistant ovarian cancer patient population by testing its efficacy in combination with commonly used chemotherapeutics. We treated four ovarian adenocarcinoma cell lines in vitro and found that each was sensitive to ivospemin regardless of cisplatin sensitivity. Next, we treated patients with ivospemin in combination with four commonly used chemotherapeutics and found that ivospemin increased the toxicity of each; however, only gemcitabine and topotecan combination treatments were more effective than ivospemin alone. Using the VDID8⁺ murine ovarian cancer model, we found that the addition of ivospemin to either topotecan or gemcitabine increased median survival over untreated animals alone, delayed tumor progression, and decreased the overall tumor burden. Our results indicate that the combination of ivospemin and chemotherapy is a worthwhile treatment option to further explore clinically in ovarian cancer. Full article

This study aimed to investigate the impact of various vasculopathies alongside left ventricular hypertrophy (LVH) on cardiovascular risk in the elderly. This prospective cohort study included 3339 older adults from the Northern Shanghai Study, classified into four mutually exclusive left ventricular (LV) geometry groups based on echocardiographic data: normal geometry, concentric remodeling, eccentric hypertrophy, and concentric hypertrophy. Vasculopathy was categorized into three primary types: arteriosclerosis, atherosclerosis, and renal senescence. Major adverse cardiovascular events (MACEs) were defined as non-fatal acute myocardial infarction, non-fatal stroke, and cardiovascular deaths according to ICD-10 codes. Over a median follow-up period of 5.7 years, 221 incident cases of MACEs were identified. Concentric hypertrophy exhibited the highest prevalence of hypertension, the most significant increase in vascular stiffness, and the highest rate of MACEs. The adjusted Cox regression analysis showed that eccentric hypertrophy is associated with an increased risk of MACEs (HR: 1.638 [95% CI: 1.151–2.331], p = 0.006), while concentric hypertrophy shows an even higher risk (HR: 1.751 [95% CI: 1.127–2.721], p = 0.013). Conversely, concentric remodeling was not significantly associated with an increased risk of MACEs. Renal senescence presents a moderate but significant risk for MACEs, with an HR of 1.361 (95% CI: 1.019–1.819; p = 0.037) when adjusted for LVH. The Kaplan–Meier analysis showed that patients with LVH and multiple vasculopathies experience the most significant decrease in survival probability (log-rank p < 0.001). The subgroup analysis revealed that LVH significantly raises the risk of MACEs, especially in older males with hypertension, diabetes, or vasculopathy. This study reinforces the importance of LVH as a predictor of adverse cardiovascular outcomes and underscores the compounded risk associated with the presence of multiple vasculopathies. Additionally, it highlights renal senescence as a distinct and independent risk factor for MACEs, separate from LVH. Full article

Sentinel-6 Michael Freilich (S6-MF) is the first altimeter operating in a continuous high-rate pulse mode, i.e., interleaved mode. This ensures the generation of low-resolution (LR) mode measurements with a pulse repetition frequency (PRF) of ∼9 kHz (variable along the orbit) for the Ku-band as well as the processing of high-resolution (HR) echoes on ground. This operating mode provides an elevated number of highly correlated single looks with respect to the fewer number, weakly correlated echoes of Jason-3 altimeter. A theoretical model is exploited to envisage the correlation properties of S6-MF pulse limited waveform echoes for different sea-state conditions; after that, the model is validated by comparison with the equivalent number of looks (ENL) empirically estimated from real data. The existence of a significant dependence of the statistical properties on the range is verified, and its impact on the precision and on the accuracy in the estimation of the geophysical parameters is assessed in case of the 9 kHz PRF of S6-MF. By applying pulse decimation before the multilook processing, an investigation on new processing techniques is performed, aimed at exploiting the higher ENL in S6-MF low-resolution mode waveforms. It is shown that a bias of less than 0.4 cm is found for SSH and about 1.5 cm for SWH at SWH = 2 m when the decimated waveforms processing is compared with full high-PRF processing. Full article

This study evaluates the enhancement of laser welding using ultrasonic waves aimed at reorganising the intermetallic position in such a fashion that leads to increased mechanical properties of welds in battery pack assemblies for electric vehicles. The experiment employed 20 kHz and 40 kHz High-Power Ultrasound Transducers (HPUTs) in both contact and contactless modes. A simplified experimental configuration is suggested to represent conditions similar to those found in electric vehicle battery pack assemblies. Measurements of vibration transmission to aluminium alloy 1050 plates revealed more than a 1000-fold increase in acceleration amplitude in contact mode compared to contactless mode. The 20 kHz transducer in contactless mode demonstrated superior performance, showing a 10% increase in load and 27% increase in extension compared to welding without ultrasonic assistance. On the other hand, the 40 kHz transducer, while still improved over non-ultrasonic methods, showed less pronounced benefits. This suggests that lower-frequency ultrasonic assistance (20 kHz) is more effective in this specific context. The study explores ultrasonic assistance in laser welding copper (Cu101) to aluminium alloy 1050 using 20 kHz and 40 kHz HPUTs, showing that both transducers enhance microstructural integrity by reducing copper homogenisation into aluminium, with the 20 kHz frequency proving more effective in this context. A numerical simulation was conducted to evaluate the transmission of pressure into the molten pool of the weld, correlated with the vibration results obtained from the 20 kHz transducer. The numerical simulation confirms that no cavitation is initiated in the molten pool area, and all improvements are solely due to the ultrasonic waves. Full article

While there are many verification studies on signature images using deep learning algorithms in the literature, there is a lack of studies on the classification of signature images. Signatures are used as a means of identification for banking, security controls, symmetry, certificates, and contracts. In this study, the aim was to design network architectures that work very fast in areas that require only signature images. For this purpose, a new Si-CNN network architecture with existing layers was designed. Afterwards, a new loss function and layer (Si-CL), a novel architecture using Si-CL as classification layer in Si-CNN to increase the performance of this architecture, was designed. This architecture was called Si-CNN+NC (New Classification). Si-CNN and Si-CNN+NC were trained with two datasets. The first dataset which was used for training is the “C-Signatures” (Classification Signatures) dataset, which was created to test these networks. The second dataset is the “Cedar” dataset, which is a benchmark dataset. The number of classes and sample numbers in the two datasets are symmetrical with each other. To compare the performance of the trained networks, four of the most well-known pre-trained networks, GoogleNet, DenseNet201, Inceptionv3, and ResNet50, were also trained with the two datasets with transfer learning. The findings of the study showed that the proposed network models can learn features from two different handwritten signature images and achieve higher accuracy than other benchmark models. The test success of the trained networks showed that the Si-CNN+NC network outperforms the others, in terms of both accuracy and speed. Finally, Si-CNN and Si-CNN+NC networks were trained with the gold standard dataset MNIST and showed superior performance. Due to its superior performance, Si-CNN and Si-CNN+NC can be used by signature experts as an aid in a variety of applications, including criminal detection and forgery. Full article

Ginkgo is an economic tree species with high medicinal value, and flavonols are its main medicinal components. This research was conducted to investigate the molecular mechanism underlying the influence of Ultraviolet A (UVA) treatment on the synthesis of ginkgo flavonols with the aim of increasing their content. Ginkgo full-sib hybrid offspring were used as test materials. The phenylalanine ammonialyase (PAL), cinnamate 4-hydroxylase (C4H), and 4-coumarate: CoA ligase (4CL) enzyme activities, as well as flavonol contents, were measured under the same intensity of white light (300 μmol·m⁻²·s⁻¹) with the addition of 20, 40, and 60 μmol·m⁻²·s⁻¹ UVA separately after 20 days of treatment. The control check (CK) and treatment with the highest flavonol content were chosen for transcriptome sequencing analysis. The results showed that the PAL, C4H, and 4CL enzyme activities, as well as the flavonol and totalflavonol glycoside contents, of ginkgo hybrid progeny differed significantly under different UVA treatments. They showed a tendency to increase and then decrease, reaching a maximum value under UVA-4 (40 μmol·m⁻²·s⁻¹ ultraviolet UVA light intensity) treatment. Ribonucleic acid (RNA) sequencing revealed the presence of 4165 genes with differential expression, and Kyoto Encyclopedia of Genes and Genomes (KEGG) enrichment analysis revealed that the metabolic pathways commonly enriched across all four comparison groups included ‘phenylpropanoid biosynthesis’, while the pathways commonly enriched in green-leaf ginkgo UVA-4 treatment (TL), yellow-leaf ginkgo mutant CK treatment (CKY), and green-leaf ginkgo CK treatment (CKL) were related to ‘flavonoid biosynthesis’. Treatment with UVA light led to the increased expression of PAL and 4CL enzymes in the phenylpropanoid biosynthesis pathway, as well as increased expression of chalcone synthase (CHS), Flavanone 3-hydroxylase (F3H), and flavonol synthase (FLS) enzymes in the flavonoid biosynthesis pathway, thereby promoting the synthesis of ginkgo flavonols. In summary, the use of 40 μmol·m⁻²·s⁻¹ UVA treatment for 20 days significantly increased the flavonol content and the expression of related enzyme genes in ginkgo hybrid offspring, enhancing ginkgo flavonoids and increasing the medicinal value of ginkgo. Full article

According to the WHO 2016 classification, glioblastoma is the most prevalent primary tumor in the adult central nervous system (CNS) and is categorized as grade IV. With an average lifespan of about 15 months from diagnosis, glioblastoma has a poor prognosis and presents a significant treatment challenge. Aberrant angiogenesis, which promotes tumor neovascularization and is a prospective target for molecular target treatment, is one of its unique and aggressive characteristics. Recently, the existence of glioma stem cells (GSCs) within the tumor, which are tolerant to chemotherapy and radiation, has been linked to the highly aggressive form of glioblastoma. Anti-angiogenic medications have not significantly improved overall survival (OS), despite various preclinical investigations and clinical trials demonstrating encouraging results. This suggests the need to discover new treatment options. Glioblastoma is one of the numerous cancers for which metformin, an anti-hyperglycemic medication belonging to the Biguanides family, is used as first-line therapy for type 2 diabetes mellitus (T2DM), and it has shown both in vitro and in vivo anti-tumoral activity. Based on these findings, the medication has been repurposed, which has shown the inhibition of many oncopromoter mechanisms and, as a result, identified the molecular pathways involved. Metformin inhibits cancer cell growth by blocking the LKB1/AMPK/mTOR/S6K1 pathway, leading to selective cell death in GSCs and inhibiting the proliferation of CD133+ cells. It has minimal impact on differentiated glioblastoma cells and normal human stem cells. The systematic retrieval of information was performed on PubMed. A total of 106 articles were found in a search on metformin for glioblastoma. Out of these six articles were Meta-analyses, Randomized Controlled Trials, clinical trials, and Systematic Reviews. The rest were Literature review articles. These articles were from the years 2011 to 2024. Appropriate studies were isolated, and important information from each of them was understood and entered into a database from which the information was used in this article. The clinical trials on metformin use in the treatment of glioblastoma were searched on clinicaltrials.gov. In this article, we examine and evaluate metformin’s possible anti-tumoral effects on glioblastoma, determining whether or not it may appropriately function as an anti-angiogenic substance and be safely added to the treatment and management of glioblastoma patients. Full article

This research explores the integration of artificial intelligence (AI) and the Internet of Things (IoT) within corporate social responsibility (CSR) strategies, focusing on financial risk management and sustainable development. Employing a novel Coevolutionary multi-paradigm approach to technological development, this study examines how these technologies can be embedded into CSR practices to enhance sustainability and manage risks effectively. The findings reveal that successful integration depends significantly on the adaptability of institutional structures to support technological innovations. This study contributes to the literature by providing a comprehensive analysis of the intersection of AI, IoT, and CSR, highlighting the necessity for robust mechanisms and policies that ensure security, standardization, and sustainable use of emerging technologies. Through this investigation, this research offers a new perspective on leveraging advanced technologies to advance corporate sustainability and risk management objectives. Full article

This paper addresses the evacuation of people from multipurpose halls and introduces an innovative approach that uses a probabilistic model, specifically the Monte Carlo method, to analyse iterative evacuation processes. The aim is to explore how this modern technology can contribute to the development of effective and safe evacuation plans for mass events. The Monte Carlo method was applied to a specific example of a multipurpose hall that offers different configurations for events such as sports matches, concerts, or performances. The evacuation of people was analysed for two configurations: a hockey match with a capacity of 9500 people and a concert with a capacity of 11,000 people. In both cases, the total evacuation of people from the hall was analysed, and the evacuation time was evaluated when two parameters were changed: speed of movement and preference for door selection. The results of the simulations can provide valuable information for the design of effective safety measures in multipurpose halls and other similar multipurpose venues. This innovative approach to evacuation analysis allows for a comprehensive assessment of the evacuation process, identification of critical areas, and verification of the layout of the space. Full article

A systematic review of the diagnostic accuracy of MRI in the staging of cervical cancer was conducted based on the literature from the last 5 years. A literature search was performed in the Cochrane Library, EMBASE, MEDLINE and PubMed databases using the MeSH terms “cervical cancer”, “MRI” and “neoplasm staging”. A total of 110 studies were identified, of which 8 fit the inclusion criteria. MRI showed adequate accuracy (74–95%) and high sensitivity (92–100%) in assessing stromal invasion. The data for MRI in terms of assessing vaginal and pelvic side wall involvement were wide ranging and inconclusive. In assessing lymph node metastasis, MRI showed an adequate accuracy (73–90%), specificity (75–91%) and NPV (71–96%) but poor sensitivity (52–75%) and PPV (52–75%). MRI showed high accuracy (95%), sensitivity (78–96%), specificity (87–94%), and NPV (98–100%) but poor PPV (27–42%) in detecting bladder involvement. There was a paucity of data on the use of MRI in assessing rectal involvement in cervical cancer. Overall, the literature was heterogenous in the definitions and language used, which reduced the comparability between articles. More research is required into the diagnostic accuracy of MRI in the staging of cervical cancer and there must be increased consistency in the definitions and language used in the literature. Full article

This study investigates the correlation between COVID-19 and avascular necrosis of the femoral head, considering the potential contribution of medication-induced effects. This research spans the period from August 2022 to January 2024 and includes 32 patients diagnosed with avascular necrosis. While steroid usage, particularly in high doses, is known to predispose individuals to this condition, this study aims to discern if COVID-19 itself plays a role beyond the influence of medication. Notably, COVID-19 is associated with disturbances in the coagulation system, potentially leading to thromboembolic complications. Of the patients, six did not have COVID-19, while seven had the virus but did not receive steroid treatment. However, 19 patients with COVID-19 exhibited severe pulmonary involvement and were administered both high-dose steroids and antiviral medication. Among the observed patients, 14 were female and 18 were male. Notably, three patients presented bilateral necrosis, all of whom had COVID-19 and significant pulmonary involvement. Diagnostic assessments included frontal and profile X-rays, as well as MRI scans for all patients. Full article

Cordycepin, or 3′-deoxyadenosine, is an adenosine analog with a broad spectrum of biological activity. The key structural difference between cordycepin and adenosine lies in the absence of a hydroxyl group at the 3′ position of the ribose ring. Upon administration, cordycepin can undergo an enzymatic transformation in specific tissues, forming cordycepin triphosphate. In this study, we conducted a comprehensive analysis of the structural features of cordycepin and its derivatives, contrasting them with endogenous purine-based metabolites using chemoinformatics and bioinformatics tools in addition to molecular dynamics simulations. We tested the hypothesis that cordycepin triphosphate could bind to the active site of the adenylate cyclase enzyme. The outcomes of our molecular dynamics simulations revealed scores that are comparable to, and superior to, those of adenosine triphosphate (ATP), the endogenous ligand. This interaction could reduce the production of cyclic adenosine monophosphate (cAMP) by acting as a pseudo-ATP that lacks a hydroxyl group at the 3′ position, essential to carry out nucleotide cyclization. We discuss the implications in the context of the plasticity of cancer and other cells within the tumor microenvironment, such as cancer-associated fibroblast, endothelial, and immune cells. This interaction could awaken antitumor immunity by preventing phenotypic changes in the immune cells driven by sustained cAMP signaling. The last could be an unreported molecular mechanism that helps to explain more details about cordycepin’s mechanism of action. Full article

Replication of the mitochondrial (mt) genome in filamentous fungi is under-studied, and knowledge is based mainly on data from yeasts and higher eukaryotes. In this study, the mitochondrial DNA polymerase γ (Mip1) of the entomopathogenic fungus Metarhizium brunneum is characterized and analyzed with disruption experiments and its in silico interactions with key proteins implicated in mt gene transcription, i.e., mt RNA polymerase Rpo41 and mt transcription factor Mtf1. Disruption of mip1 gene and its partial expression influences cell growth, morphology, germination and stress tolerance. A putative in silico model of Mip1-Rpo41-Mtf1, which is known to be needed for the initiation of replication, was proposed and helped to identify potential amino acid residues of Mip1 that interact with the Rpo41-Mtf1 complex. Moreover, the reduced expression of mip1 indicates that Mip1 is not required for efficient transcription but only for replication. Functional differences between the M. brunneum Mip1 and its counterparts from Saccharomyces cerevisiae and higher eukaryotes are discussed. Full article

The aquatic bug family Naucoridae (Hemiptera: Heteroptera: Nepomorpha) is currently represented in Brazil by 68 species. Although the diversity of the family has been the target of several recent studies, large areas of the country are still unexplored and several species that have been deposited in entomological collections are waiting for a formal description. Aiming to fill these knowledge gaps, a series of expeditions were carried out in six states of eastern Brazil between 2018 and 2023: Alagoas, Bahia, Ceará, Espírito Santo, Pernambuco, and Sergipe. The fieldwork targeted protected areas, but surrounding regions were also explored. The material obtained, in addition to specimens previously deposited in a national entomological collection, revealed the existence of Australambrysus margaritifer Jordão, Santos and Moreira, a new species herein described, and new records for other 11 species and two subspecies belonging to the genera Carvalhoiella De Carlo, 1963, Limnocoris Stål, 1876, Maculambrysus Reynoso-Velasco and Sites 2021, and Pelocoris Stål, 1876. Full article

This paper presents an overview on the state of the art in copter drones and their components. It starts by providing an introduction to unmanned aerial vehicles in general, describing their main types, and then shifts its focus mostly to multirotor drones as the most attractive for individual and research use. This paper analyzes various multirotor drone types, their construction, typical areas of implementation, and technology used underneath their construction. Finally, it looks at current challenges and future directions in drone system development, emerging technologies, and future research topics in the area. This paper concludes by highlighting some key challenges that need to be addressed before widespread adoption of drone technologies in everyday life can occur. By summarizing an up-to-date survey on the state of the art in copter drone technology, this paper will provide valuable insights into where this field is heading in terms of progress and innovation. Full article

Background: The optimal treatment for complex proximal humerus fractures (PHFs) lacks consensus, with reverse total shoulder arthroplasty (RTSA) often being a final resort rather than a primary approach. This study aimed to compare outcomes and satisfaction rates of primary RTSA for PHFs versus salvage RTSA for previously unsuccessful treatments. We hypothesized that primary RTSA would yield superior clinical outcomes, functional scores, and patient satisfaction. Methods: A retrospective analysis of RSA procedures between 2011 and 2021 was conducted, focusing on primary RTSA for PHFs or salvage RTSA for failed osteosynthesis. Patients meeting inclusion criteria underwent clinical and radiological follow-up for at least two years. Demographic characteristics, outcomes scores, and range of motion (ROM) were assessed. Results: Of 63 patients, 42 underwent primary RTSA and 21 underwent salvage RTSA. The median follow-up was 50 months. Statistically significant differences favored primary RTSA in forward flexion, abduction, internal rotation, and Constant shoulder score. Patient satisfaction levels did not significantly differ between groups. Complications occurred in 7.15% of primary RTSA cases and 14.28% of salvage RTSA cases. Conclusions: Primary RTSA may yield slightly better outcomes and lower complication rates compared to salvage RTSA. Further prospective studies are necessary to validate these findings. Full article

Motivation: High-resolution Hi-C data, capable of detecting chromatin features below the level of Topologically Associating Domains (TADs), significantly enhance our understanding of gene regulation. Micro-C, a variant of Hi-C incorporating a micrococcal nuclease (MNase) digestion step to examine interactions between nucleosome pairs, has been developed to overcome the resolution limitations of Hi-C. However, Micro-C experiments pose greater technical challenges compared to Hi-C, owing to the need for precise MNase digestion control and higher-resolution sequencing. Therefore, developing computational methods to derive Micro-C data from existing Hi-C datasets could lead to better usage of a large amount of existing Hi-C data in the scientific community and cost savings. Results: We developed C2c (“high” or upper case C to “micro” or lower case c), a computational tool based on a residual neural network to learn the mapping between Hi-C and Micro-C contact matrices and then predict Micro-C contact matrices based on Hi-C contact matrices. Our evaluation results show that the predicted Micro-C contact matrices reveal more chromatin loops than the input Hi-C contact matrices, and more of the loops detected from predicted Micro-C match the promoter–enhancer interactions. Furthermore, we found that the mutual loops from real and predicted Micro-C better match the ChIA-PET data compared to Hi-C and real Micro-C loops, and the predicted Micro-C leads to more TAD-boundaries detected compared to the Hi-C data. The website URL of C2c can be found in the Data Availability Statement. Full article

Hand dysfunction is a common symptom in stroke patients. This paper presents a robotic device which assists the rehabilitation process in order to reduce the need of physical therapy, i.e., a 3UPS/S parallel robotic device is employed for repetitive robot-assisted rehabilitation. Euler angle representation was used to solve the robot’s inverse kinematics. The robot’s joint space and rotational workspace were determined for two scenarios. In the first scenario, the workspace was obtained considering the actuator’s stroke limitations, while in the second scenario, the workspace was determined by adding a second condition, i.e., the range of motion of the spherical joints. Singularity analysis was performed using the geometric algebra approach. The robot was manufactured using additive manufacturing technology. The solution of the inverse kinematic problem was employed to control the robot. The robot can perform a full range of motion during wrist ulnar deviation and radial deviation motions, with the exception of limited wrist flexion and extension motions. The robot has singular configurations within its workspace. Although the spherical joints have roles in reducing the workspace, the primary causes are actuator selection, radii of the base and moving platforms, and the length of the central leg. These factors can be considered to improve the workspace. Singularity can be avoided by carefully selecting the rotation of the moving platform about the Z-axis and avoiding same leg lengths. Full article

The objective of this research is to achieve biologically autonomous control by utilizing a whole-brain network model, drawing inspiration from biological neural networks to enhance the development of bionic intelligence. Here, we constructed a whole-brain neural network model of Caenorhabditis elegans (C. elegans), which characterizes the electrochemical processes at the level of the cellular synapses. The neural network simulation integrates computational programming and the visualization of the neurons and synapse connections of C. elegans, containing the specific controllable circuits and their dynamic characteristics. To illustrate the biological neural network (BNN)’s particular intelligent control capability, we introduced an innovative methodology for applying the BNN model to a 12-legged robot’s movement control. Two methods were designed, one involving orientation control and the other involving locomotion generation, to demonstrate the intelligent control performance of the BNN. Both the simulation and experimental results indicate that the robot exhibits more autonomy and a more intelligent movement performance under BNN control. The systematic approach of employing the whole-brain BNN for robot control provides biomimetic research with a framework that has been substantiated by innovative methodologies and validated through the observed positive outcomes. This method is established as follows: (1) two integrated dynamic models of the C. elegans’ whole-brain network and the robot moving dynamics are built, and all of the controllable circuits are discovered and verified; (2) real-time communication is achieved between the BNN model and the robot’s dynamical model, both in the simulation and the experiments, including applicable encoding and decoding algorithms, facilitating their collaborative operation; (3) the designed mechanisms using the BNN model to control the robot are shown to be effective through numerical and experimental tests, focusing on ‘foraging’ behavior control and locomotion control. Full article

Sheet metal forming processes are widely used in applications such as those in the automotive or aerospace industries. Among them, punching is of great interest due to its high productivity and low operating cost. However, it is necessary to optimize these processes and adjust their parameters, such as clearance, shear force or tool geometry, to obtain the best finishes and minimize crack generation. Thus, the main objective of this research work is to optimize the punching process to achieve parts that do not require subsequent processes, such as deburring, by controlling the properties of the starting materials and with the help of tools such as design of experiments and simulations. In the present study, tensile tests were performed on three steels with different compositions and three sample geometries. The information obtained from these tests has allowed us to determine the parameters of the Johnson–Cook damage criteria. Moreover, punching was performed on real parts and compared with simulations to analyze the percentage of burnish surface. The results obtained show that the methodology used was correct and that it can be extrapolated to other types of die-cutting processes by reducing the percentage of surface fractures and predicting the appearance of cracks. Furthermore, it was observed that clearance has a greater influence than processing speed, while the minimum percentage of the burnish area was observed for the minimum values of clearance. Full article