Search Results (22,056)

To enable the practical application of passive back-support exoskeletons employing pneumatic artificial muscles (PAMs) in tasks such as agricultural work, we evaluated their assistive effectiveness in a half-squatting posture with a staggered stance. In this context, assistive force profiles were adjusted according to body posture to achieve more effective support. The targeted assistive force profile was designed to be continuously active from the standing to the half-squatting position, with minimal variation across this range. The assistive force profile was developed based on a PAM contractile force model and implemented using a cam mechanism. The effectiveness of assistance was assessed by measuring body flexion angles and erector spinae muscle activity during lifting and carrying tasks. The results showed that the assistive effect was greater on the side with the forward leg. Compared to the condition without exoskeleton assistance, the conventional pulley-based system reduced muscle activity by approximately 20% whereas the cam-based system achieved a reduction of approximately 30%. Full article

Nanofertilizers (NFs) and engineered nanoparticles (NPs) are increasingly used in agriculture, yet their environmental safety remains poorly understood. This study evaluated the comparative phytotoxicity of zinc oxide (ZnO), titanium dioxide (TiO₂), and clinoptilolite nanoparticles, three commercial nanofertilizers, and potassium dichromate (K₂Cr₂O₇) using Lactuca sativa seeds under adapted OECD-208 protocol conditions. Seeds were exposed to varying concentrations of each xenobiotic material (0.5–3% for NFs; 10–50% for NPs), with systematic assessment of seedling survival, root and hypocotyl length, dry biomass, germination index (GI), and median effective concentration (EC₅₀) values. Nanofertilizers demonstrated significantly greater phytotoxicity than engineered nanoparticles despite lower application concentrations. The toxicity ranking was established as NF1 > NF3 > NF2 > NM2 > NM1 > NM3, with NF1 being most toxic (EC₅₀ = 1.2%). Nanofertilizers caused 45–78% reductions in root length and 30–65% decreases in dry biomass compared with controls. GI values dropped to ≤70% in NF1 and NF3 treatments, indicating concentration-dependent growth inhibition. While nanofertilizers offer agricultural benefits, their elevated phytotoxicity compared with conventional nanoparticles necessitates rigorous pre-application safety assessment. These findings emphasize the critical need for standardized evaluation protocols incorporating both physiological and ecotoxicological endpoints to ensure safe xenobiotic nanomaterial deployment in agricultural systems. Full article

The parameter identification of Autonomous Underwater Vehicles (AUVs) serves as a fundamental basis for achieving high-precision motion control, state monitoring, and system development. Currently, AUV parameter identification typically relies on the complete motion information obtained from onboard sensors. However, in practical applications, it is often challenging to accurately measure key state variables such as velocity and angular velocity, resulting in incomplete measurement data that compromises identification accuracy and model reliability. This issue is particularly pronounced in vertical motion tasks involving low-speed, large pitch angles, and highly maneuverable conditions, where the strong coupling and nonlinear characteristics of underwater vehicles become more significant. Traditional hydrodynamic models based on full-state measurements often suffer from limited descriptive capability and difficulties in parameter estimation under such conditions. To address these challenges, this study investigates a parameter identification method for AUVs operating under vertical, large-amplitude maneuvers with constrained measurement information. A control autoregressive (CAR) model-based identification approach is derived, which requires only pitch angle, vertical velocity, and vertical position data, thereby reducing the dependence on complete state observations. To overcome the limitations of the conventional Recursive Least Squares (RLS) algorithm—namely, its slow convergence and low accuracy under rapidly changing conditions—a Multi-Innovation Least Squares (MILS) algorithm is proposed to enable the efficient estimation of nonlinear hydrodynamic characteristics in complex dynamic environments. The simulation and experimental results validate the effectiveness of the proposed method, demonstrating high identification accuracy and robustness in scenarios involving large pitch angles and rapid maneuvering. The results confirm that the combined use of the CAR model and MILS algorithm significantly enhances model adaptability and accuracy, providing a solid data foundation and theoretical support for the design of AUV control systems in complex operational environments. Full article

Subsurface mass concrete infrastructure—including immersed tunnels, dams, and nuclear waste containment systems—frequently faces calcium-leaching risks from prolonged groundwater exposure. An anisotropic stress-leaching damage model incorporating microcrack propagation is developed for underground concrete’s chemo–mechanical coupling. This model investigates stress-induced anisotropy in concrete through the evolution of oriented microcrack networks. The model incorporates nonlinear anisotropic plastic strain from coupled chemical–mechanical damage. Unlike conventional concrete rheology, this model characterizes chemical creep through stress-chemical coupled damage mechanics. The numerical model is incorporated within COMSOL Multiphysics to perform coupled multiphysics simulations. A close match is observed between the numerical predictions and experimental findings. Under high stress loads, calcium leaching and mechanical stress exhibit significant coupling effects. Regarding concrete durability, chemical degradation has a more pronounced effect on concrete’s stiffness and strength reduction compared with stress-generated microcracking. Full article

The historical use of toxic chemicals to cause intentional harm has evolved from blister agents in World War I to highly lethal organophosphates and emerging families of chemicals, such as Novichok. In turn, medical or recreational substances like fentanyl, lysergamides, and phencyclidine pose a growing risk of hostile use, particularly related to the rapid proliferation of new psychoactive substances (NPSs). A narrative literature review was conducted covering specialized databases (PubMed, ScienceDirect, SciELO, Google Scholar) and sources from international organizations (OPCW, UNODC, ONU), analyzing historical and recent cases of the use of nerve agents in conflicts and the use of NPSs for hostile purposes. The main families of conventional agents (G, V, A series, and Novichok) and NPSs (lysergamides, PCP, fentanyl derivatives) were identified, highlighting their ease of synthesis, high toxicity profiles, and the regulatory gaps that facilitate their illicit production. In this scenario, it is essential to strengthen regulatory frameworks, surveillance systems, and ethical protocols in chemical research, as well as to promote international cooperation to prevent these substances from becoming chemical threats. Full article

Internal fins are commonly utilized as a passive technique to enhance natural convection, but their efficiency depends on complex interplay between fin design, material properties, and convective strength. This study presents an extensive numerical analysis of buoyancy-driven flow in square cavities containing a single horizontal fin on the hot wall. Over 9000 simulations were conducted, methodically varying the Rayleigh number (Ra = 10 to 10⁵), Prandtl number (Pr = 0.1 to 10), and fin characteristics, such as length, vertical position, thickness, and the thermal conductivity ratio (up to 1000), to assess their overall impact on thermal efficiency. Thermal enhancements compared to scenarios without fins are quantified using local and average Nusselt numbers, as well as a Nusselt number ratio (NNR). The results reveal that, contrary to conventional beliefs, long fins positioned centrally can actually decrease heat transfer by up to 11.8% at high Ra and Pr due to the disruption of thermal plumes and diminished circulation. Conversely, shorter fins located near the cavity’s top and bottom wall edges can enhance the Nusselt numbers for the hot wall by up to 8.4%, thereby positively affecting the development of thermal boundary layers. A U-shaped Nusselt number distribution related to fin placement appears at Ra ≥ 10³, where edge-aligned fins consistently outperform those positioned mid-height. The benefits of high-conductivity fins become increasingly nonlinear at larger Ra, with advantages limited to designs that minimally disrupt core convective patterns. These findings challenge established notions regarding passive thermal enhancement and provide a predictive thermogeometric framework for designing enclosures. The results can be directly applied to passive cooling systems in electronics, battery packs, solar thermal collectors, and energy-efficient buildings, where optimizing heat transfer is vital without employing active control methods. Full article

Background: Ultrasound (U/S) can be used to evaluate skeletal muscle characteristics in clinical and sports settings. Handheld U/S devices have recently emerged as a cheaper and portable alternative to conventional U/S systems. However, further research is warranted on their reliability. We assessed the reliability and inter-device agreement between a handheld U/S device (Clarius L15 HD₃) and a more conventional U/S system (GE LOGIQ e) for measuring the thickness of the rectus femoris (RF) and vastus intermedius (VI). Methods: Cross-sectional images of the RF and VI muscles were obtained in 20 participants by two assessors, and on two separate occasions by one of those assessors, using the Clarius L15 HD₃ and GE LOGIQ e devices. RF and VI thickness measurements were obtained to determine the intra-rater reliability, inter-rater reliability, and inter-device agreement. Results: All intraclass correlation coefficients (ICCs) were above 0.9 for intra-rater reliability (range: 0.94 to 0.97), inter-rater reliability (ICC: 0.97), and inter-device agreement (ICC: 0.98) when comparing the two devices in assessing RF and VI thickness. For the RF, the Bland–Altman plot revealed a mean difference of 0.06 ± 0.07 cm, with limits of agreement ranging from 0.21 to −0.09, whereas for the VI, the Bland–Altman plot showed a mean difference of 0.07 ± 0.10 cm, with limits of agreement ranging from 0.27 to −0.13. Conclusions: The handheld Clarius L15 HD₃ was reliable and demonstrated high agreement with the more conventional GE LOGIQ e for assessing the thickness of the RF and VI in young, healthy adults. Full article

With the increasing deployment of unmanned aerial vehicles (UAVs) in indoor environments, the demand for high-precision six-degrees-of-freedom (6-DoF) localization has grown significantly. Ultra-wideband (UWB) technology has emerged as a key enabler for indoor UAV navigation due to its robustness against multipath effects and high-accuracy ranging capabilities. However, conventional UWB-based systems primarily rely on range measurements, operate at low measurement frequencies, and are incapable of providing attitude information. This paper proposes a tightly coupled error-state extended Kalman filter (TC–ESKF)-based UWB/inertial measurement unit (IMU) fusion framework. To address the challenge of initial state acquisition, a weighted nonlinear least squares (WNLS)-based initialization algorithm is proposed to rapidly estimate the UAV’s initial position and attitude under static conditions. During dynamic navigation, the system integrates time-difference-of-arrival (TDOA) and angle-of-arrival (AOA) measurements obtained from the UWB module to refine the state estimates, thereby enhancing both positioning accuracy and attitude stability. The proposed system is evaluated through simulations and real-world indoor flight experiments. Experimental results show that the proposed algorithm outperforms representative fusion algorithms in 3D positioning and yaw estimation accuracy. Full article

Using solid particulates as a heat transfer medium for concentrated solar power (CSP) systems has many advantages, positioning them as a superior option compared with conventional heat transfer media such as steam, oil, air, and molten salt. However, a critical imperative lies in the comprehensive evaluation of the properties of potential solid particulates intended for utilization under such extreme thermal conditions. This paper undertakes an exhaustive examination of both ambient and high-temperature thermophysical properties of four naturally occurring particulate materials, Riyadh white sand, Riyadh red sand, Saudi olivine sand, and US olivine sand, and one well-known engineered particulate material. The parameters under scrutiny encompass loose bulk density, tapped bulk density, real density, sintering temperature, and thermal conductivity. The results reveal that the theoretical density decreases with the increase in temperature. The bulk density of solid particulates depends strongly on the particulate size distribution, as well as on the compaction. The tapped bulk density was found to be larger than the loose density for all particulates, as expected. The sintering test proved that Riyadh white sand is sintered at the highest temperature and pressure, 1300 °C and 50 MPa, respectively. US olivine sand was solidified at 800 °C and melted at higher temperatures. This proves that US olivine sand is not suitable to be used as a thermal energy storage and heat transfer medium in high-temperature particle-based CSP systems. The experimental results of thermal diffusivity/conductivity reveal that, for all particulates, both properties decrease with the increase in temperature, and results up to 475.5 °C are reported. Full article

The growing global demand for electricity, driven by the development of electromobility, data centers, and smart technologies, necessitates innovative approaches to energy generation. Wind power, as a clean and renewable energy source, plays a pivotal role in the global transition towards low-carbon power systems. This paper presents a comprehensive review of generator technologies used in wind turbine applications, ranging from conventional synchronous and asynchronous machines to advanced concepts such as low-speed direct-drive (DD) generators, axial-flux topologies, and superconducting generators utilizing low-temperature superconductors (LTS) and high-temperature superconductors (HTS). The advantages and limitations of each design are discussed in the context of efficiency, weight, reliability, scalability, and suitability for offshore deployment. Special attention is given to HTS-based generator systems, which offer superior power density and reduced losses, along with challenges related to cryogenic cooling and materials engineering. Furthermore, the paper analyzes selected modern generator designs to provide references for enhancing the performance of grid-synchronized hybrid microgrids integrating solar PV, wind, battery energy storage, and HTS-enhanced generators. This review serves as a valuable resource for researchers and engineers developing next-generation wind energy technologies with improved efficiency and integration potential. Full article

An Analog-to-Digital Converter (ADC) is an indispensable part of image sensor systems. This paper presents a silicon-based 13-bit 100 kS/s two-step single-slope analog-to-digital converter (TS-SS ADC) for infrared image sensors with a frame rate of 100 Hz. For the charge leakage and offset voltage issues inherent in conventional TS-SS ADC, a four-terminal comparator was employed to resolve the fine ramp voltage offset caused by charge redistribution in storage and parasitic capacitors. In addition, a current-steering digital-to-analog converter (DAC) was adopted to calibrate the voltage reference of the dynamic comparator and mitigate differential nonlinearity (DNL)/integral nonlinearity (INL). To eliminate quantization dead zones, a 1-bit redundancy was incorporated into the fine quantization circuit. Finally, the quantization scheme consisted of 7-bit coarse quantization followed by 7-bit fine quantization. The ADC was implemented using an SMIC 55 nm processSemiconductor Manufacturing International Corporation, Shanghai, China. The post-simulation results show that when the power supply is 3.3 V, the ADC achieves a quantization range of 1.3 V–3 V. Operating at a 100 kS/s sampling rate, the proposed ADC exhibits an effective number of bits (ENOBs) of 11.86, a spurious-free dynamic range (SFDR) of 97.45 dB, and a signal-to-noise-and-distortion ratio (SNDR) of 73.13 dB. The power consumption of the ADC was 22.18 mW. Full article

Biocatalysis is one of the oldest fields that has been used in industrial applications, with one of the earliest purposeful examples being the mass production of acetic acid from an immobilized Acinetobacter strain in the year 1815. Efficiency, specificity, reduced reaction times, lower overall costs, and environmental friendliness are some advantages biocatalysis has over conventional chemical synthesis, which has made biocatalysis increasingly used in industry. We highlight three necessary fields that are fundamental to advancing industrial biocatalysis, including biocatalyst engineering, solvent engineering, and mechanistic engineering. However, the fundamental mechanism of enzyme function is often overlooked or given less attention, which can limit the engineering process. In this review, we describe how mechanistic enzymology benefits industrial biocatalysis by elucidating key fundamental principles, including the k_cat and k_cat/K_m parameters. Mechanistic enzymology presents a unique field that provides in-depth insights into the molecular mechanisms of enzyme activity and includes areas such as reaction kinetics, catalytic mechanisms, structural analysis, substrate specificity, and protein dynamics. In line with the objective of protein engineering to optimize enzyme activity, we summarize a range of strategies reported in the literature aimed at improving the product release rate, the chemical step of catalysis, and the overall catalytic efficiency of enzymes. Further into this review, we delineate kinetic solvent viscosity effects (KSVEs) as a very efficient, cost-effective, and easy-to-perform method to probe different aspects of enzyme reaction mechanisms, including diffusion-dependent kinetic steps and rate-limiting steps. KSVEs are cost-effective because simple kinetic enzyme assays, such as the Michaelis–Menten kinetic approach, can be combined with them without the need for specialized and costly equipment. Other techniques in protein engineering and genetic engineering are also covered in this review. Additionally, we provide information on solvent systems in enzymatic reactions, details on immobilized biocatalysts, and common misconceptions that misguide enzyme design and optimization processes. Full article

Thermoplastic polyurethane (TPU) electrospun fiber membranes possess unique micro-nano structures and excellent properties. Adjusting their wettability enables the directional transportation of lubricants. A conventional method for adjusting porosity and wettability involves inducing membrane shrinkage using absolute ethanol and heat treatment. However, the shrinkage response and the corresponding changes in the tensile properties of TPU fiber membranes after induction remain unclear, limiting their applications. Thus, in this study, after being peeled off, the samples were first left to stand at room temperature (RT) for 24 h to release residual stress and stabilize their dimensions, and then treated with dehydrated ethanol at RT and high temperature, respectively, with their shrinkage behaviors observed and recorded. The results showed that TPU nanofiber membranes shrank significantly in absolute ethanol, and the degree of shrinkage was temperature-dependent. The shrinkage rates were 2% and 4% in dehydrated ethanol at room temperature and high temperature, respectively, and heating increased the shrinkage effect by 200%. These findings prove that absolute ethanol causes TPU fibers to shrink, and high temperatures further promote shrinkage. However, although the strong synergistic effect of heat and solvent accelerates shrinkage, it may induce internal structural defects, resulting in the deterioration of mechanical properties. The contraction response induced by anhydrous ethanol stimulation can be used to directionally adjust the local density and modulus of TPU nanofiber membranes, thereby changing the wettability. This approach provides new opportunities for applications in areas such as medium transportation and interface friction reduction in lubrication systems. Full article

Flocculants are indispensable in water and wastewater treatment, enabling the aggregation and removal of suspended particles, colloids, and emulsions. However, the conventional development and application of flocculants rely heavily on empirical methods, which are time-consuming, resource-intensive, and environmentally problematic due to issues such as sludge production and chemical residues. Recent advances in machine learning (ML) have opened transformative avenues for the design, optimization, and intelligent application of flocculants. This review systematically examines the integration of ML into flocculant research, covering algorithmic approaches, data-driven structure–property modeling, high-throughput formulation screening, and smart process control. ML models—including random forests, neural networks, and Gaussian processes—have successfully predicted flocculation performance, guided synthesis optimization, and enabled real-time dosing control. Applications extend to both synthetic and bioflocculants, with ML facilitating strain engineering, fermentation yield prediction, and polymer degradability assessments. Furthermore, the convergence of ML with IoT, digital twins, and life cycle assessment tools has accelerated the transition toward sustainable, adaptive, and low-impact treatment technologies. Despite its potential, challenges remain in data standardization, model interpretability, and real-world implementation. This review concludes by outlining strategic pathways for future research, including the development of open datasets, hybrid physics–ML frameworks, and interdisciplinary collaborations. By leveraging ML, the next generation of flocculant systems can be more effective, environmentally benign, and intelligently controlled, contributing to global water sustainability goals. Full article

The integration of artificial intelligence (AI) and advanced digital workflows is revolutionising full-arch implant dentistry, particularly for geriatric patients with edentulous and atrophic arches, for whom achieving both prosthetic passivity and optimal aesthetic outcomes is critical. This narrative review evaluates current challenges in intraoral scanning accuracy—such as scan distortion, angular deviation, and cross-arch misalignment—and presents how innovations like the Medit SmartX AI-guided workflow and the Scan Ladder system can significantly enhance precision in implant position registration. These technologies mitigate stitching errors by using real-time scan body recognition and auxiliary geometric references, yielding mean RMS trueness values as low as 11–13 µm, comparable to dedicated photogrammetry systems. AI-driven prosthetic design further aligns implant-supported restorations with facial symmetry and smile aesthetics, prioritising predictable midline and occlusal plane control. Early clinical data indicate that such tools can reduce prosthetic misfits to under 20 µm and lower complication rates related to passive fit, while shortening scan times by up to 30% compared to conventional workflows. This is especially valuable for elderly individuals who may not tolerate multiple lengthy adjustments. Additionally, emerging AI applications in design automation, scan validation, and patient-specific workflow adaptation continue to evolve, supporting more efficient and personalised digital prosthodontics. In summary, AI-enhanced scanning and prosthetic workflows do not merely meet functional demands but also elevate aesthetic standards in complex full-arch rehabilitations. The synergy of AI and digital dentistry presents a transformative opportunity to consistently deliver superior precision, passivity, and facial harmony for edentulous implant patients. Full article