Search Results (1,520)

Tactile sensing is an important perceptual modality that enables robots to understand human contact behaviors. Estimating the fingertip contact angle based on tactile pressure distribution provides a simplified representation of the finger’s contact configuration and supports tactile-based perception in human–robot interaction. However, the relationship between tactile pressure distributions and fingertip contact configuration remains insufficiently understood. In this study, a simplified contact mechanics model was employed to investigate the relationship between tactile pressure characteristics and fingertip contact conditions. Theoretical analysis indicates that both the contact area and the contour dimensions of the pressure distribution are influenced by the contact angle and contact force, with varying sensitivities in different directions to these factors. Based on this theory, simplified finite element modeling of the fingertip and multi-subject experiments were conducted. The deformation behavior of the contact region under different contact angles and contact forces was analyzed. The experimental results were generally consistent with the theoretical analysis. Furthermore, contour descriptors were extracted from the tactile pressure distribution to establish a relationship model for estimating the fingertip contact angle, and the model’s accuracy was analyzed. The experimental results indicate that the extracted contour features exhibit systematic variations with contact angle, and the proposed method achieves a mean absolute error (MAE) of 2.73° and a root mean square error (RMSE) of 7.25°. These results demonstrate that tactile pressure contours provide an effective and computationally efficient cue for estimating fingertip contact configuration. This approach may help robots understand human behavior and has potential applications in human–robot interaction and robotic grasping. Full article

Multi-purpose platforms, which combine renewable energy generation devices and diverse functionalities, are a smart way to expand the applications of offshore platforms. An environmentally friendly multi-purpose offshore platform is proposed by the ‘Blue Growth Farm’ project, which includes a wind turbine, a set of wave energy converters, and an aquaculture system. To assess its feasibility and performance, a field experiment is conducted at an offshore site in Italy using a 1:15 scaled outdoor platform prototype. To provide comprehensive insights into the platform’s behavior, in the present work, aero–hydro–servo–elastic coupled numerical models based on the blade element method and potential flow theory are developed for various experimentally tested configurations of this multi-purpose platform. Time domain analyses are conducted to investigate the performance of the outdoor prototype platform under the recorded realistic environmental loads from the field experiment. The numerical results, including platform motion, mooring line tension forces, and wind turbine responses, agree with the corresponding experimental records. For example, the absolute mean value errors for platform roll and pitch motions are approximately 1 degree, validating the developed numerical model. Meanwhile, the present comparative study demonstrates the feasibility of the proposed multi-purpose concept and can provide a reference for similar projects in the future. Full article

The rapid development of Autonomous Underwater Vehicles (AUVs) has increased the demand for propulsion systems that balance thrust density, hydrodynamic efficiency, and acoustic discretion. This study presents a comprehensive numerical investigation of the performance of the Blue Robotics T500 thruster, embedded within the RAS-HA-X25 AUV’s internal conduit. Using transient Computational Fluid Dynamics (CFD) within the OpenFOAM framework, this research assesses the propulsive characteristics of the thruster across six distinct outlet geometries, including convergent jet nozzles and multi-lobed “daisy” configurations. To improve computational efficiency for parametric design, a calibrated actuator disc model was developed and validated against resolved-rotor simulations, revealing a 15 discrepancy attributed to tip leakage and hub vortex effects. Results show that at the operational advance ratio ($J=0.167$), the 60 mm convergent nozzle is the optimal configuration for maximising thrust, achieving a peak net thrust of 42 N. In contrast, the daisy-type lobed geometries, while causing a 50 reduction in absolute thrust compared to a standard cylindrical pipe, significantly homogenise the exit-plane velocity distribution and reduce swirl intensity. These findings indicate that lobed terminations provide a viable mechanism for reducing hydroacoustic signatures, offering a strategic “stealth” advantage for low-observable underwater platforms where acoustic discretion is prioritised over pure thrust density. This study establishes a robust methodology for optimising embedded propulsion modules in next-generation autonomous and hybrid underwater vehicles. Full article

Laser SLAM is a key enabling technology for autonomous navigation of intelligent mobile robots. The standard FLOAM algorithm experiences low positioning accuracy, weak anti-interference performance, and prone error accumulation in pure LiDAR scenarios, making it difficult to meet practical engineering requirements. The focus of numerous studies is thus on improved pure laser SLAM algorithms that are highly robust. The enhanced algorithm of FLOAM GICP registration and SOR filtering is applied in this study. The SOR filtering processes the laser point cloud to remove outlier noise. The GICP registration replaces the classic with an optimized matching cost function. Experiments are conducted on a mobile robot with a Leishen C16 LiDAR to simulate real-life tests in an indoor corridor and outdoor plaza on the Gazebo simulation platform. The results from the EVO tool’s quantitative evaluation indicate that the indoor mean absolute error and RMSE were reduced by 46.67% and 41.67% compared with FLOAM. The outdoor mean and maximum errors are reduced by 46.00% and 70.00%, respectively. The proposed improved scheme achieves centimeter-level positioning accuracy and strong robustness in pure laser configurations without auxiliary sensors such as IMUs or odometers, providing a reliable technical solution for the engineering application of mobile robots in sensor-constrained scenarios. Full article

Modern, post-Scaliger expectations for constructing an absolute chronology out of ancient biblical narratives introduce a fallacy of assumed time that distorts the reading of these narratives. While absolute chronology undergirds historical-critical interpretation from Spinoza and Reimarus to twentieth-century scholarship, the more recent “temporal turn” in philosophy, historiography, and literary theory aligns with a renewed attention to narrative time and ancient temporal consciousness. Focusing on 2 Maccabees and the Gospel of John as historiographical narratives reveals how both texts configure events through relative temporal devices—such as temporal markers and temporal process verbs—rather than through absolute calendrical dating, even when coordinates appear in 2 Maccabees’ embedded letters. Building on this comparison allows for a dimensional model of time that respects these configurational strategies and avoids obscuring how these texts construct theological and historical meaning within their own narrative worlds. Full article

Recent phytochemical investigations have demonstrated that Luvunga scandens is a rich source of structurally diverse secondary metabolites; however, its potential antioxidant-active constituents and their underlying mechanisms remain largely unexplored. In this study, an NMR-guided fractionation strategy applied to the rhizomes and leaves of L. scandens led to the isolation of ten limonoids, including three new compounds, Luvungas B–D (3, 4, and 8). Their structures and absolute configurations were determined through extensive spectroscopic analysis, X-ray diffraction, and ECD calculations. Based on the isolated analogues, a biosynthetic pathway is proposed, featuring the metabolic bifurcation of a key acyclic intermediate into the isoobacunoic acid and propellane-type lineages. Biological evaluation revealed that 8 inhibits RSL3-induced ferroptosis in HepaRG liver cells with an EC₅₀ of 16.1 µM. Mechanistic studies demonstrated that, unlike classical antioxidants, compound 8 mitigates lipid peroxidation without exhibiting direct radical-scavenging or iron-chelating activities. These findings suggest that 8 suppresses ferroptosis via non-canonical mechanisms. Full article

Lightweight concrete incorporating expanded polystyrene (EPS) remains an active area of research due to its potential to produce more sustainable resource-efficient construction materials. However, identifying the optimal mix design for EPS-infused concrete typically requires extensive experimental trials, resulting in significant time, cost, and material consumption. To address this challenge, this study proposes an artificial neural network (ANN) predictive model with 5-fold cross-validation to estimate compressive strength performance and to develop mix design recommendations based on actual and predicted results. A total of 55 experimental samples were prepared and grouped into 11 batches, with the EPS volume replacement levels ranging from 0% to 50% at 5% increments. Model performance was evaluated using mean squared error (MSE), root mean squared error (RMSE), mean absolute error (MAE), mean absolute percentage error (MAPE), coefficient of determination (R²), and scatter index (SI), with graphical representations like predicted vs. actual plots, response plots, and residual plots, and the results were benchmarked against a multiple linear regression (MLR) model. Among the tested configurations, the 4-5-1 ANN model demonstrated the highest predictive accuracy. Furthermore, a Shapley (SHAP) analysis was conducted to interpret the model behavior and determine the relative importance of the input variables. The findings reveal that EPS content had the greatest influence on compressive strength prediction, followed by slump value, then gravel content, and finally concrete density. Full article

Chemical investigation of the marine sponge-derived Streptomyces xiamenensis 1310KO-148 afforded six polycyclic tetramate macrolactams (PTMs), including three known compounds (1–3) and three previously undescribed chlorohydrin-containing analogues, chlokamycins B–D (4–6). Their planar structures were elucidated by extensive analysis of 1D and 2D NMR spectra and HR-ESIMS data, while the relative configurations were assigned using NOESY correlations. The absolute configurations were further confirmed by electronic circular dichroism (ECD) calculations. Compounds 3–6 exhibited significant cytotoxic activity against 14 human cancer cell lines (GI₅₀ = 2.68–24.92 μM) and antibacterial activity against Staphylococcus aureus (MIC = 16.00–32.00 μg/mL) and Micrococcus luteus (MIC = 4.00–32.00 μg/mL) among six tested bacterial strains. Full article

This paper will present a constant-force vibration isolator (CFVI), in which the isolated load is supported by two pulley-roller mechanisms, while the dynamic stiffness is modified by a cam mechanism with the piecewise profile redefined by the user. As a result, this model can generate the constant force-displacement response within the working region, thereby obtaining quasi-zero stiffness in this range. Because of the piecewise configuration of the cam, the system motion governed by the piecewise dynamic equation under base motion excitation will be analyzed and established. The approximate solution of the piecewise dynamic equation is derived by using the average method, from which the relative amplitude–frequency relation and the absolute amplitude transmissibility of the CFVI will be obtained. The effects of the key working parameters involving the damping coefficient, critical position, and excited amplitude on the dynamic behavior and isolation effectiveness of the CFVI are considered through numerical simulations. The simulation result reveals that the dynamic response of the CFVI offers two branches: resonance and isolation. The former is significantly affected by the working parameters, whereas the latter is weakly influenced. Furthermore, the isolation effectiveness of the CFVI will be compared with that of its linear counterpart and the quasi-zero stiffness vibration isolation model using a semicircle cam (QZSI). The results demonstrate that the CFVI outperforms the other models for base motion excitations. Full article

New, highly integrated, disruptive aircraft concepts are being devised to reduce aviation’s environmental footprint, but their performance is oftentimes challenging for the aircraft designer to assess. Furthermore, these novel aircraft often introduce new risks, such as noise, that cannot be addressed quickly by available methods. Overall, in the pursuit of more environmental friendly aircraft configurations and the lack of methods to design such aircraft, aircraft-level trade-offs between noise and performance are challenging. The present study aims to close this gap by using a machine learning-based approach for one unconventional aircraft to investigate usability in the early stages of aircraft design. Based on overflight noise measurements, noise models for this aircraft are created with different approaches and base models. The single-output models show good performance, with mean absolute errors around 1 dB, good rank correlations and R² scores above 0.9. Support vector regression provides reasonably good agreement from experiments requiring only a small effort to set up; Neural Networks achieve better performance, but increased effort is required to obtain the model. Full article

In the face of the dual challenges of global climate change and rapid urbanization, optimizing the ecosystem services of urban green spaces has become a key strategy for building resilient and sustainable cities. This is particularly crucial in ecologically fragile arid and semi-arid regions. To accurately assess the thermal regulation function of urban green spaces, this study selected 20 parks in Xi’an, China. Combining remote sensing and Geographic Information System (GIS) technology, we adopted four established cooling indicators—Park Cooling Area (PCA), Park Cooling Efficiency (PCE), Park Cooling Intensity (PCI), and Park Cooling Gradient (PCG)—to systematically evaluate the thermal regulation functions of urban parks and their landscape-driving mechanisms. The results indicated that the average cooling amplitude of the parks was 2.53 °C, with an effective influence distance reaching 323.9 m, exhibiting a significant spatial gradient decay. We found a non-linear trade-off between green space scale and efficiency: while large parks provided a wider absolute cooling range, small and medium-sized parks demonstrated higher efficiency per unit area. Furthermore, a blue-green synergistic configuration significantly enhanced the mitigation of the urban heat island effect. The study confirmed that Park Area (PA), Park Perimeter (PP), and the Normalized Difference Vegetation Index (NDVI) significantly promoted cooling effects, whereas landscape fragmentation inhibited ecological benefits. This study elucidates the comprehensive regulation mechanism of urban parks on the urban microclimate, providing planning guidance for implementing Nature-based Solutions (NbS) and achieving climate-adaptive development in arid and semi-arid cities within the context of urban renewal. Full article

Improving absolute accuracy in industrial manipulators remains difficult because rigid-body kinematic calibration cannot fully represent configuration-dependent non-geometric effects. Drawing inspiration from biological brain–body co-adaptation, this study presents an Evolutionary Neuro-Physical Hybrid (Evo-NPH) framework in which rigid geometric parameters and neural compensator weights are treated as a single co-evolving decision vector. In the offline phase, a Dual-Strategy Adaptive Differential Evolution (DS-ADE) optimizer performs global joint identification using complementary exploration–exploitation behaviors and success-history inheritance, analogous to morphology-control co-evolution in biological systems. In the online phase, a Neuro-Physical Hybrid Jacobian (NPHJ) solver augments the analytical Jacobian with gradients from a Graph Kolmogorov–Arnold Network (GKAN), enabling sensorimotor-like real-time compensation on the learned physical manifold. Experiments on an ABB IRB 120 manipulator with 600 configurations (500 training, 100 testing) report a testing distance-residual RMSE of 0.62 mm, STD of 0.59 mm, and MAX of 0.83 mm. Relative to the uncalibrated baseline, RMSE is reduced by 86.75%; compared with the strongest published baseline, RMSE improves by 23.46%. Ablation results show that joint DS-ADE optimization outperforms a sequential pipeline by 32.6%, and the graph-structured KAN outperforms a parameter-matched MLP by 26.2%. Wilcoxon signed-rank tests ($p<0.001$) confirm statistical significance. Full article

Three new cyclic tetrapeptides (nectriatidels A-C, 1–3), two new curvularin analogs (6 and 7), and four known compounds (4 and 5, 8 and 9) were isolated from the marine-derived fungal-bacterial symbiont Aspergillus spelaeus GXIMD 04541/Sphingomonas echinoides GXIMD 04532, which was obtained from Mauritia arabica in shallow coastal waters. Their structures were elucidated through NMR spectroscopy and HRESIMS, and their absolute configurations were determined by Marfey’s method and quantum chemical calculations. Compounds 1–5 showed moderate amphotericin B (AmB)-potentiating activity against Candida albicans. Compounds 7 and 8 exhibited significant activities against Mycobacterium tuberculosis, with MIC values of 32 and 16 μg/mL, respectively. Additionally, compounds 7 and 8 exhibited moderate cytotoxicity against human colorectal cancer cell lines DLD-1 and SW480, with IC₅₀ values of 25~36 μM. Whole-genome sequencing of A. spelaeus revealed a 35.91 Mb assembly encoding 106 biosynthetic gene clusters (BGCs). antiSMASH analysis revealed that 79 of these BGCs (74.5%) displayed no significant similarity to known pathways in the MIBiG database, which is dominated by hybrid clusters, terpene, T1PKS, NRPS, and NRPS-like types. Genomic analysis identified the putative biosynthetic gene clusters for these metabolites and confirmed the fungal host as the predominant producer. Full article

Gait is a sensitive marker of mobility decline and fall risk, motivating unobtrusive sensing methods that can extract spatiotemporal parameters outside specialized gait laboratories. This paper presents a physics-based comparison of two millimeter-wave frequency-modulated continuous-wave (FMCW) radar deployment paradigms using a low-cost, system-on-chip (SoC) 60 GHz Infineon BGT60TR13C radar sensor: (i) a fixed (tripod-mounted) corridor observer and (ii) a shoe-mounted body-centric configuration attached to the medial side of the left shoe. Four healthy adult author-participants performed repeated 30 s corridor trials under five gait styles (regular, slow, fast, simulated festination, and simulated freezing-of-gait), including brief pauses during turns; an empty-corridor recording was acquired to characterize static clutter. Step events were detected using peak-picking on foot-related velocity envelopes with adaptive thresholds, and step count, cadence, step time, and step-time variability were derived. Performance of the fixed and shoe-mounted configurations was quantitatively compared to video ground truth using mean absolute percentage error (MAPE) for step count estimation. Across all gait styles, the shoe-mounted FMCW radar consistently reduced step-count error relative to the fixed corridor-mounted configuration, with the largest gains under irregular patterns (e.g., festination: 37.1% fixed vs. 9.6% shoe-mounted). These findings highlight the advantages of body-centric millimeter-wave radar sensing and support low-cost SoC radar as a pathway toward wearable, privacy-preserving gait monitoring in real-world environments. Full article

Distributed passive vibration control systems (VCSs) offer an attractive solution for improving the seismic response of multi-story buildings, particularly in seismic retrofit applications and when soil–structure interaction (SSI) effects are explicitly considered. This study presents a soil-dependent optimization framework of distributed Tuned Mass Damper (TMD) and Tuned Mass Damper Inerter (TMDI) systems applied to a ten-story building. The proposed framework determines the optimal number, tuning, damping and spatial distribution of these VCS, including non-collocated inerter configurations for TMDI layouts, while also examining different auxiliary mass ratios. Soil–structure interaction effects are explicitly incorporated by considering four soil classes (A–D) in accordance with Eurocode 8, enabling a systematic evaluation of soil-dependent vibration control effectiveness. Structural performance is evaluated using normalized performance criteria associated with peak absolute floor displacements, floor accelerations and inter-story drifts. The results indicate that distributing control devices along the height of the structure enhances seismic mitigation for both TMD and TMDI configurations, with performance improvements becoming more pronounced as the number of devices increases. Moreover, TMDI systems consistently achieve superior response reduction compared to TMDs across all soil classes, highlighting their potential as a robust, efficient, and lightweight passive vibration control solution for seismic retrofit applications involving SSI effects. Full article