Search Results (6,308)

Virtual reality can support the preparation and rehearsal of assembly tasks by providing a safe and repeatable digital representation of workstations. This study presents the development and laboratory feasibility validation of a geometry- and procedure-oriented VR simulation model for the assembly and disassembly of end-effectors on an industrial robot. The workflow was implemented using the Almega AX-V6 robotic workstation as a case study and included geometric acquisition of the real robot, CAD modelling in SolidWorks, redesign of the original end-effector connection using a quick-change flange concept, creation of two alternative end-effector models, modelling of the laboratory workspace in SketchUp, and scene enhancement in Twinmotion. The resulting robot and environment models were integrated in Pixyz Review and deployed through an Oculus Rift-based VR setup. Compared with the original flange concept, which required twelve screws, the redesigned training concept used two screws and two nuts, reducing the number of fastening elements by 66.7% and the number of screw positions by 83.3%. The VR implementation supported visual inspection, controller-based placement and alignment, and symbolic confirmation of fastening steps; it did not include force feedback, threaded fastening physics, automatic error scoring, or quantified transfer-of-training evaluation. Laboratory feasibility validation confirmed correct asset integration, spatial correspondence with the physical workplace, and functional executability of the target exchange sequence. The results show that the workflow is useful as a case-study pipeline for CAD-to-VR modelling and assembly rehearsal, while controlled user studies are still required before claims about training effectiveness can be made. Full article

The integration of online Digital Twin (DT) technologies with industrial control systems represents an important step toward real-time monitoring and synchronization of manufacturing processes within Industry 4.0 environments. However, reproducible approaches for connecting simulation environments with real industrial control hardware using standardized communication protocols remain insufficiently described in the existing literature. This study presents the development of an online Digital Twin for real-time monitoring of manufacturing processes using OPC UA communication and programmable logic controller (PLC) data exchange. The proposed approach combines discrete-event simulation with real-time industrial data acquisition to enable synchronization between a physical manufacturing system and its virtual representation. The implementation was experimentally validated in a laboratory-scale cyber–physical production system using Tecnomatix Plant Simulation, Siemens S7-1200 PLC, and KEPServerEX middleware. The developed architecture enables real-time process state monitoring, event-driven synchronization, and verification of selected control and safety functions within the simulation environment. The results demonstrate stable synchronization between the physical and digital systems with response times ranging from 50 to 200 ms, confirming the feasibility of near-real-time integration. The implemented light barrier scenario further demonstrated the capability of the online DT to reflect safety-related events occurring in the physical system. The main contribution of this study lies in the implementation and experimental verification of an OPC UA-based online Digital Twin architecture for manufacturing process monitoring in a laboratory environment. The presented approach provides a foundation for future extensions toward predictive analytics, scenario-based simulation, and advanced manufacturing optimization applications. Full article

Background: Viral attachment mediated by host cell surface receptors is the first step in viral infection. As a key cell surface receptor, heparan sulfate (HS) mediates the attachment and entry of numerous non-enveloped viruses in livestock, thereby serving as a crucial molecular target for studying virus–host interactions. Methods: Based on the structural scaffold of a nanobody (Nb; PDB: 7TJC), we rationally designed and constructed a mutant Nb targeting HS, designated HS-Mut-Nb1, using molecular docking, site-directed mutagenesis, molecular dynamics (MD) simulations, and experimental characterization. Results: Molecular docking indicated that the active site of wild-type Nb for HS binding was located within the cavity jointly formed by the complementarity-determining region 3 (CDR3) and the framework regions (FRs) of the wild-type Nb. A comprehensive analysis integrating virtual alanine scanning, site-directed mutagenesis, and MD simulations revealed that the combination of three point mutations (Phe47Arg, Asp99Tyr, and Tyr108Pro) significantly enhanced the binding affinity of Mut-Nb1 for HS, with a calculated binding free energy (ΔG) of −83.26 ± 3.06 kcal/mol. Enzyme-linked immunosorbent assay (ELISA) results further confirmed that Mut-Nb1 exhibited high affinity for HS (K_D = 65.87 nM) and specificity (positive/negative ratio, P/N = 3.84; cross-reactivity, CR < 6.60%). Conclusions: This study not only provides novel candidate molecules for elucidating the mechanism of HS–virus interactions and developing related inhibitors but also offers a reference for the rapid construction of mutant Nbs. Full article

This paper investigates the problem of multi-target search by an Autonomous Underwater Vehicle (AUV) swarm in unknown three-dimensional (3D) underwater environments with obstacles under limited communication conditions. To address this problem, a distributed cooperative search framework is proposed. Within this framework, an adaptive dual-state search mechanism driven by a target response function is designed. This mechanism enables the swarm to transition between independent large-scale roaming search and precise cooperative search. On this basis, a multi-target search method is developed by integrating a virtual force model, motion-constrained 3D Particle Swarm Optimization (PSO), and a sectional 3D tangent-plane obstacle-avoidance method. Simulation results demonstrate the effectiveness and engineering feasibility of the proposed framework. Under the conditions of unknown terrains and communication limits, the AUV swarm can adaptively execute state transitions, safely avoid 3D obstacles, and complete multi-target search tasks. Specifically, as the swarm size increases from 30 to 60 AUVs, the mean number of iterations drops from 432.97 to 269.73, while the total energy consumption expectedly rises from 11.79 × 10⁴ to 15.51 × 10⁴, reflecting a well-balanced trade-off between efficiency and cost. This study provides a practical distributed control reference for AUV swarms in complex communication-constrained underwater scenarios. Full article

Background/Objectives: First-generation CDK4/6 inhibitors (palbociclib, ribociclib, abemaciclib) target the conserved ATP-binding pocket of CDK4 and, despite clinical success, are limited by acquired resistance and insufficient exploration of alternative regulatory sites. This study aimed to identify a putative allosteric small-molecule candidate at the CDK4 αE-helix–Cyclin D1 α1-helix protein–protein interaction (PPI) interface within the CDK4/Cyclin D1/p21 ternary complex using RapidFunnel-AI, a decision-interpretable virtual-screening pipeline. Methods: Starting from 50,000 ChEMBL 33 molecules, the pipeline sequentially applied a Q-Fold/RapidFunnel topological Tanimoto scan based on clinical CDK4/6 inhibitor motifs, fragment-level electronic-property enrichment, ADMET/PAINS filtering, dry Vina-GPU docking, hydration-mediated AutoDock-GPU (Version 1.6) docking, explicit-solvent molecular dynamics, contact-retention analysis, and MM-GBSA energy decomposition. The Q-Fold Thermo-Core surrogate model provided fragment-level enrichment, predicting the HOMO–LUMO gap (R² = 0.93) and isotropic polarizability (R² = 0.98) on QM9. Candidate selection did not rely on the lowest docking or MM-GBSA score alone, but on pose persistence, contact continuity, and energy-component consistency. Results: The workflow reduced the initial library to 43 topologically prioritized candidates, 25 ADMET/PAINS-filtered ligands, and 9 docking-derived complexes for MD validation. Ligand_020 emerged as the only candidate that preserved a persistent binding mode at Site 2 during a 500 ns simulation—an interface engagement reproduced across three independent 500 ns replicates with no full dissociation in any replicate—with a protein Cα RMSD of 2.88 ± 0.32 Å, a ligand heavy-atom RMSD of 3.56 ± 0.28 Å, and a van der Waals-dominated MM-GBSA profile (ΔGbind = −28.23 ± 3.57 kcal/mol). In contrast, palbociclib and ribociclib, forcibly placed at Site 2 as negative controls, lost most initial contacts within 5 ns and tended to detach despite more favorable MM-GBSA values. Conclusions: These results suggest that single-score docking or MM-GBSA ranking can generate false positives at shallow PPI interfaces. By integrating AI-assisted prioritization, multipocket docking, explicit-solvent MD, contact-retention analysis, and energy-component consistency, RapidFunnel-AI nominated Ligand_020 as an experimentally testable putative allosteric hit targeting the CDK4/Cyclin D1 interface, offering a reusable platform for PPI-focused oncological drug discovery. Full article

Higher education is undergoing a transition in which static multimodal resources are giving way to immersive learning environments powered by generative artificial intelligence (GenAI). This PRISMA 2020-compliant systematic review, prospectively registered in INPLASY (202610066), synthesizes evidence on immersive GenAI-based strategies in higher education, examining their reported contributions to sustainability, inclusion, and learning outcomes. Searches across Scopus, ScienceDirect, and ERIC (2022–2026) identified 1364 records; after quality appraisal using an adapted CASP instrument, 25 studies were included in a narrative and descriptive synthesis. Five strategy types emerged—VR-based simulations, virtual patient platforms, adaptive LLM tutoring systems, mixed/augmented reality environments, and 3D/metaverse configurations—with GPT-family models predominating (56%). The central finding is a structural reporting asymmetry: learning outcomes were explicitly documented in 23 studies (92%), whereas sustainability and inclusion were explicitly reported as outcome domains in only one study each (4%). Health sciences (36%) and educational technology (28%) dominated the evidence base, while Latin American, African, and most STEM contexts remained underrepresented. Immersive GenAI strategies are being evaluated for short-term instructional value, while their contribution to sustainable higher education remains underexamined. Advancing SDG 4 requires longitudinal designs, equity-oriented frameworks, and indicators capable of evaluating inclusion and durable learning gains across institutional contexts. Full article

Background: Breastfeeding enhances infant and maternal health, but global breastfeeding rates remain suboptimal. Virtual reality (VR) emerges as a promising tool for breastfeeding education. The objective of this review was to assess the effectiveness of VR-based interventions on breastfeeding outcomes in pregnant and postpartum women. Methods: PubMed, Embase, Web of Science, Scopus, and CENTRAL were searched until 10 January 2026, for randomized controlled trials (RCTs) and quasi-experimental studies comparing VR-based interventions (immersive simulations, 360° videos, or head-mounted displays) with standard care or non-VR comparators in pregnant or postpartum women. Primary outcomes included breastfeeding self-efficacy, motivation, and breastfeeding technique (LATCH score). Secondary outcomes included exclusive breastfeeding rates, milk production, and maternal anxiety. Risk of bias was assessed using the RoB 2.0 and ROBINS-I tools for RCTs and non-RCTs, respectively. A random-effects meta-analysis was conducted, with results reported as mean differences (MD) or risk ratios (RR), along with 95% confidence intervals (CIs). Certainty of the evidence was assessed using the GRADE approach. Results: Five studies (4 RCTs and 1 quasi-experimental; n = 344) were included. VR improved prenatal breastfeeding self-efficacy (2 studies, MD: 13.93; 95% CI: 10.96–16.90), motivation (1 study, MD: 2.88; 95% CI: 1.66–4.10), and LATCH score (1 study, MD: 1.72; 95% CI: 1.37–2.07), and reduced time to breastfeeding initiation (1 study, MD: −22.4 min; 95% CI: −29 to −15.9), the certainty of evidence was low to very low for these outcomes. No significant effects were observed for postnatal self-efficacy, exclusive breastfeeding, or maternal anxiety. Formal assessment of publication bias could not be done. The small sample sizes for most outcomes, heterogeneity, the open-label nature of the trials, and the subjective nature of the outcomes should be considered when interpreting these results. Conclusions: VR-based interventions may improve process outcomes, such as prenatal breastfeeding self-efficacy, motivation, breastfeeding technique, and early breastfeeding initiation; the certainty of evidence is low to very low. Evidence for clinically important outcomes, including exclusive breastfeeding and maternal anxiety, remains inconsistent. Larger, well-designed RCTs are warranted before these interventions can be considered in routine practice. Full article

Lane-changing and overtaking constitute a typical complex driving manoeuvre for intelligent vehicles operating on structured roads; this task demands that the vehicle not only plan a safe and smooth lane-change trajectory but also requires the control system to maintain high tracking accuracy and lateral stability. Addressing the challenges of real-time path planning and stable tracking control inherent in lane-changing and overtaking scenarios, this paper proposes a trajectory planning and control method that integrates an improved artificial potential field (APF) approach with a lateral–longitudinal cooperative controller. Regarding path planning, the proposed method constructs attractive and repulsive fields based on the APF framework, while introducing virtual target points, elliptical obstacle models, and velocity-dependent repulsive fields to mitigate the risk of local minima and enhance dynamic obstacle avoidance capabilities. To ensure trajectory continuity and trackability, a fifth-order polynomial is employed to smooth the planned path. Regarding control, the method utilises a Linear Quadratic Regulator (LQR)—optimised via a genetic algorithm—for lateral control; this is coupled with a dual-PID longitudinal controller that generates throttle and braking commands based on vehicle speed errors, thereby establishing a cooperative lateral–longitudinal tracking control strategy. The proposed method is validated using a CarSim–MATLAB/Simulink co-simulation platform. Simulation results demonstrate that the proposed method significantly improves trajectory-tracking accuracy and vehicle stability during lane-changing and overtaking manoeuvres. In a single lane-change scenario, the maximum lateral error is reduced from approximately 0.62 m to 0.22 m, and the heading angle error decreases from about 0.058 rad to 0.01 rad; in a continuous lane-changing scenario, the maximum lateral error drops from approximately 0.30 m to 0.04 m, while the heading angle error falls from about 0.016 rad to 0.005 rad. Furthermore, the yaw rate, sideslip angle, and lateral acceleration are reduced by 39.1%, 22.2%, and 28.9%, respectively. These results confirm that, under the specified simulation conditions, the proposed method exhibits superior tracking performance and stability. Future research could further explore more complex driving scenarios, such as curved roads, multi-vehicle interactions, sensor uncertainties, actuator delays, and real-vehicle field experiments. Full article

This article analyses trading-performance patterns in a stock market simulation conducted with 134 second-year students at the University of Mons (Belgium) on 11 December 2025. Participants had a virtual capital of 100,000 euros and were free to trade CAC 40 securities without any restrictions on the number or volume of transactions. An academic incentive scheme, combining a participation bonus and bonuses for the three best portfolios, created a tournament-style environment with continuous ranking feedback. This feature is considered as part of the experimental context rather than as a separately identified causal mechanism. We estimate a quadratic model linking performance to activity, measured by the number of mean-centered transactions to reduce the collinearity between the first-degree term and its square, and control exposure via the average percentage of cash in the portfolio, portfolio variability (measured as the standard deviation of portfolio value) and the average trade size. Breusch–Pagan and White tests indicate heteroscedasticity, justifying a robust inference. The results highlight a convex relationship between activity and performance: the marginal association is initially negative but becomes positive above a model-implied upper-tail level corresponding to approximately 46 transactions. This value should not be interpreted as a behavioral level or as a trading rule. The percentage of cash in the portfolio and the average trade size are negatively associated with performance, while the portfolio variability does not show a statistically significant association with performance. Overall, the results indicate heterogeneous trading patterns rather than a single activity–performance profile. Full article

The increasing integration of distributed electricity–heat adjustable resources into distribution networks poses significant challenges for virtual power plant (VPP) dispatch, as conventional aggregation models often neglect network constraints, leading to infeasible or unsafe operation plans. To address this issue, this paper proposes a source-grid-load-storage aggregation optimization method that explicitly incorporates both distribution network power flow constraints and district heating network hydraulic–thermal coupling constraints. The network constraints are integrated into the optimization objective as penalty terms, and the dispatch problem is formulated as a Markov decision process. A deep reinforcement learning framework, combining twin delayed deep deterministic policy gradient (TD3) and deep deterministic policy gradient (DDPG) algorithms, is employed to solve the sequential decision-making problem. Simulation results demonstrate that the proposed method effectively ensures distribution network security and heating quality while maintaining economic efficiency, providing a feasible and safe dispatch strategy for VPPs in coupled electricity–heat systems. Full article

A novel wide-neck classifier (WNC) was designed to address the problem that thickeners cannot achieve classification prior to flocculation in a single unit. Using the computational fluid dynamics-discrete phase method and PIV experimental method, the reliability of the model was validated. We studied the motion characteristics of different particles within the novelty-designed WNC. The primary forces acting on coal slime particles in the composite force field were gravity, drag force, pressure gradient force, and virtual mass force. Drag force dominated the classification and sedimentation processes. In contrast, gravity, pressure gradient, and virtual mass forces promoted downward sedimentation but hindered upward overflow. The classification of slime particles in WNC was divided into initial classification after tangential feeding and centrifugal classification in a cone. Both simulation and experimental results demonstrate that, under consistent feed conditions, mineral density significantly affected the distribution of particles at the classification underflow and classification overflow. Among the three minerals, kaolinite has the highest classification effect, followed by quartz, while coal has the lowest classification effect. Full article

Consolidated bioprocessing (CBP) is difficult to monitor because enzyme production, lignocellulose degradation, sugar release, and fermentation occur simultaneously under sparse measurement, feedstock variability, and plant–model mismatch conditions. This study proposes a computational sensor-set design framework for digital-twin-assisted CBP monitoring. A five-state virtual plant, consisting of active biomass, cellulolytic enzyme activity, residual insoluble substrate, soluble sugar, and ethanol, was used to evaluate all 16 ethanol-mandatory measurement packages formed from ethanol, sugar, biomass, enzyme, and residual-substrate proxy channels. Candidate sensor sets were assessed using finite-difference output sensitivities, Fisher-information-based state-observability and parameter-identifiability analyses, eigenvalue and parameter-correlation diagnostics, and paired Monte Carlo unscented Kalman filter soft-sensing reconstruction. Within the tested five-state virtual-plant benchmark and with the specified excitation schedule, noise assumptions, burden indices, and scoring objective, ethanol-only sensing provided the weakest support for state-aware CBP digital-twin reconstruction. At a $6\mathrm{h}$ sampling interval, the state-observability log-pseudodeterminant increased from 4.18 with ethanol-only sensing to 8.56 after adding soluble sugar and to 16.42 with full-proxy monitoring. The ethanol–sugar–biomass–substrate package also gave strong reduced state-observability performance, with log-pseudodeterminants of 15.12, 13.76, and 12.51 at 6, 12, and $24\mathrm{h}$, respectively. Biomass and enzyme proxies contributed strongly to parameter learning, and the ethanol–sugar–biomass–enzyme package gave the strongest active parameter-identifiability performance, with log-pseudodeterminants of 10.82, 9.06, and 6.67 at 6, 12, and $24\mathrm{h}$, respectively. In the paired soft-sensing analysis, full-proxy monitoring reduced the mean latent-state RMSE from 1.1899 to 0.3756, followed by ethanol–biomass–enzyme–substrate with 0.3843 and ethanol–sugar–biomass–substrate with 0.4121. The primary aggregate ranking identified ethanol–sugar–biomass–substrate as the best overall package, with a sensor-value score of 0.8432 and a burden index of 7.0, followed by full-proxy monitoring with a score of 0.8173 and a burden index of 10.0. Robustness tests showed that ethanol–sugar–biomass–substrate remained top-ranked under uniform noise scaling, full UKF missingness, delay and bias stress test conditions, most scoring-weight scenarios, and all tested sensor-specific burden workflows. Full-proxy monitoring remained a close competitor under independent sensor-specific noise variation conditions and became top-ranked for some alternative operating trajectories. The proposed framework provides a simulation-based method for prioritizing informative measurement packages before implementing CBP digital twins in laboratory and pilot-plant settings. Full article

Small unmanned aerial vehicles are difficult short-range radar targets because their millimeter-wave radar cross-sections often fall between −10 and −25 dBsm. This paper presents a modular analytical and simulation-based benchmark of a cascaded 77 GHz TDM-MIMO FMCW radar with 12 transmitters and 16 receivers, yielding a 192-element virtual ULA over a 40 m instrumented range. The framework is organized around the main counter-UAV sensing functions: range–Doppler processing first evaluates target observability and provides range–Doppler gates; Doppler-dependent TDM phase compensation is then required before virtual-array snapshots are formed for DoA estimation; and a separate long-dwell single-transmitter branch evaluates micro-Doppler separability using handcrafted features and a nearest-centroid Mahalanobis classifier. Four benchmarks are considered: detection under Swerling fluctuation models, residual TDM phase error caused by Doppler quantization, DoA estimation under an idealized far-field snapshot model, and micro-Doppler separability among UAV and bird classes. Under Swerling I, targets with a mean RCS of $-10$ dBsm or larger maintain detection probability above 0.9 throughout the 40 m window, whereas the $-20$ and $-25$ dBsm classes fall below that level at about 28 m and 21 m. In the far-field DoA benchmark, TLS-ESPRIT gives the lowest conditional RMSE and remains about 13–14 dB above the subarray CRLB at moderate SNR; however, these angular results are reference ceilings because the short-range operating region violates the full-aperture far-field condition and because residual TDM phase error can be severe without accurate compensation. In the micro-Doppler benchmark, birds exceed 95% per-class accuracy at 20 dB total SNR, but overall four-class accuracy saturates near 72–75% and UAV-only three-class accuracy near 63%, with most confusion between the micro-quadrotor and fixed-wing classes. This study therefore identifies architecture-specific performance margins and limitations before measured-data field validation, rather than claiming complete deployment-level performance. Full article

To address the critical safety challenges of flooding induced by ship–ice collisions in Arctic shipping routes, this study proposes an Observe–Orient–Predict–Decide–Act (OODA-P)-enhanced closed-loop intelligent damage control decision-support framework integrated with predictive simulation. To address the limitations of existing systems—namely, weak polar adaptability and the absence of a decision feedback loop—this research presents three core findings: (1) A fast time-domain floating condition model was developed by coupling topside icing with progressive flooding. Numerical simulations indicate that neglecting ice accretion leads to an underestimation of the long-term heel angle and transverse stability by 4.4% and 4.5%, respectively, validating the necessity of incorporating coupled ice loads. (2) A serial dual-channel prediction and evaluation mechanism, integrating “situation evolution prediction” and “decision efficacy evaluation,” was designed. This mechanism can proactively forecast long-term deterioration trends in the floating condition within 0.3147 s of acquiring damage information, capable of identifying and flagging potentially high-risk emergency plans before their execution, thus preventing adverse outcomes. (3) The proposed framework was validated through typical polar scenarios and 111 damage control training sessions across three batches, with the full-loop logic flow completing in under 3 s. Compared with the traditional OODA loop, the average emergency response time was reduced from 26.9 to 22.7 min (a 15.5% reduction), while the initial response success rate improved from 74.7% to 97.3% in a simulated training environment. By enabling “virtual trial-and-error” prior to execution, this framework demonstrates the potential to augment traditional experience-based damage control with proactive, simulation-driven decision support, marking a step towards more intelligent interventions. Through the explicit coupling of topside icing and progressive flooding into real-time predictions, this work provides a foundation for further development of polar-adaptable intelligent damage control systems. Full article

As renewable energy is increasingly integrated via high-voltage direct current (HVDC) transmission, hybrid multi-infeed receiving-end grids containing both line-commutated converters (LCC) and modular multilevel converters (MMC) have become common, and wideband resonance problems in power-electronized networks are growing more prominent. This paper proposes an active resonance analysis and suppression strategy for such systems. First, a wideband current source converter model and a wideband voltage source converter model are adopted to describe the LCC and MMC, respectively, and a positive-sequence s-domain model of the system is established. A two-stage s-domain nodal admittance matrix method is then applied to efficiently determine the wideband resonance modes and the corresponding mode shape eigenvectors. A dual criterion combining the matching degree between resonance frequencies and LCC characteristic harmonics with the modal damping ratio identifies high-risk resonance modes. On this basis, an active damping strategy that realizes a parallel virtual resistance on the AC side through MMC supplementary control is proposed, together with a quantitative design method for the virtual conductance. At the control implementation level, a modulation wave reconstruction bypass injection scheme superimposes the high-frequency damping command directly in the $\alpha \beta$ stationary reference frame, thereby bypassing the PI controller and reducing the amplitude attenuation and phase distortion caused by the high-frequency limitation of the integral path. PSCAD/EMTDC simulation results on an IEEE 9-bus test system demonstrate that the proposed strategy effectively suppresses resonance amplification and wideband power oscillations excited by LCC characteristic harmonics without affecting the fundamental power transmission. Full article