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Background and Objectives: Rectal cancer management increasingly relies on watch-and-wait strategies after neoadjuvant chemoradiotherapy (nCRT). Accurate, non-invasive prediction of pathological complete response (pCR) remains elusive. Emerging evidence suggests that gut-microbiome composition modulates radio-chemosensitivity. We systematically reviewed primary studies that correlated baseline or on-treatment gut-microbiome features with nCRT response in locally advanced rectal cancer (LARC). Methods: MEDLINE, Embase and PubMed were searched from inception to 30 April 2025. Eligibility required (i) prospective or retrospective human studies of LARC, (ii) faecal or mucosal microbiome profiling by 16S, metagenomics, or metatranscriptomics, and (iii) response assessment using tumour-regression grade or pCR. Narrative synthesis and random-effects proportion meta-analysis were performed where data were homogeneous. Results: Twelve studies (n = 1354 unique patients, median sample = 73, range 22–735) met inclusion. Four independent machine-learning models achieved an Area Under the Receiver Operating Characteristic curve AUROC ≥ 0.85 for pCR prediction. Consistently enriched taxa in responders included Lachnospiraceae bacterium, Blautia wexlerae, Roseburia spp., and Intestinimonas butyriciproducens. Non-responders showed over-representation of Fusobacterium nucleatum, Bacteroides fragilis, and Prevotella spp. Two studies linked butyrate-producing modules to radiosensitivity, whereas nucleotide-biosynthesis pathways conferred resistance. Pooled pCR rate in patients with a “butyrate-rich” baseline profile was 44% (95% CI 35–54) versus 21% (95% CI 15–29) in controls (I² = 18%). Conclusions: Despite heterogeneity, convergent functional and taxonomic signals underpin a microbiome-based radiosensitivity axis in LARC. Multi-centre validation cohorts and intervention trials manipulating these taxa, such as prebiotics or live-biotherapeutics, are warranted before clinical deployment. Full article

Microsaccades are at the interface between basic oculomotor phenomena and complex processes of cognitive functioning, and they also have been a challenge for subtle experimentation and adequate statistical analysis. In the second part of the special thematic issue (for the first part see Martinez-Conde, Engbert, & Groner, 2020) the authors present a series of articles which demonstrate that microsaccades are still an interesting and rewarding area of scientific research the forefront of research in many areas of sensory, perceptual, and cognitive processes. In their article “Pupillary and microsaccadic responses to cognitive effort and emotional arousal during complex decision making” Krejtz, Żurawska, Duchowski, & Wichary (2020) investigate pupillary and microsaccadic responses to information processing during multi-attribute decision making under affective priming. The participants were randomly assigned into three affective priming conditions (neutral, aversive, and erotic) and instructed to make discriminative decisions. As hypothesized by the authors, the results showed microsaccadic rate inhibition and pupillary dilation, depending on cognitive effort prior to decision and moderated by affective priming. Aversive priming increased pupillary and microsaccadic responses to information processing effort. The results indicate that pupillary response is more influenced by affective priming than microsaccadic rate. The results are discussed in the light of neuropsychological mechanisms of pupillary and microsaccadic behavior. In the article “Microsaccadic rate signatures correlate under monocular and binocular stimulation conditions” Essig, Leube, Rifai, & Wahl (2020) investigate microsaccades with respect to their directional distribution and rate under monocular and binocular conditions. In both stimulation conditions participants fixated a Gabor patch presented randomly in orientation of 45° or 135° over a wide range of spatial frequencies. Microsaccades were mostly horizontally oriented regardless of the spatial frequency of the grating. This outcome was consistent between both stimulation conditions. This study found that the microsaccadic rate signature curve correlates between both stimulation conditions, therefore extending the use of microsaccades to clinical applications, since parameters as contrast sensitivity, have frequently been measured monocularly in the clinical studies. The study “Microsaccades during high speed continuous visual search” by Martin, Davis, Riesenhuber, & Thorpe (2020) provides an analysis of the microsaccades occurring during visual search, targeting to small faces pasted either into cluttered background photos or into a simple gray background. Participants were instructed to target singular 3-degree upright or inverted faces in changing scenes. As soon as the participant’s gaze reached the target face, a new face was displayed in a different random location. Regardless of the experimental context (e.g., background scene, no background scene), or target eccentricity (from 4 to 20 degrees of visual angle), The authors found that the microsaccade rate dropped to near zero levels within 12 ms. There were almost never any microsaccades after stimulus onset and before the first saccade to the face. In about 20% of the trials, there was a single microsaccade that occurred almost immediately after the preceding saccade’s offset. The authors argue that a single feedforward pass through the visual hierarchy of processing a stimulus is needed to effectuate prolonged continuous visual search and provide evidence that microsaccades can serve perceptual functions like correcting saccades or effectuating task-oriented goals during continuous visual search. While many studies have characterized the eye movements during visual fixation, including microsaccades, in most cases only horizontal and vertical components have been recorded and analyzed. Little is known about the torsional component of microsaccades. In the study “Torsional component of microsaccades during fixation and quick phases during optokinetic stimulation” Sadeghpour & Otero-Millan (2020) recorded eye movements around the three axes of rotation during fixation and torsional optokinetic stimulus. The authors found that the average amplitude of the torsional component of microsaccades during fixation was 0.34 ± 0.07 degrees with velocities following a main sequence with a slope comparable to the horizontal and vertical components. The size of the torsional displacement during microsaccades was correlated with the horizontal but not the vertical component. In the presence of an optokinetic stimulus a nystagmus was induced producing more frequent and larger torsional quick phases compared to microsaccades produced during fixation of a stationary stimulus. The torsional component and the vertical vergence component of quick phases increased with higher velocities. In previous research, microsaccades have been interpreted as psychophysiological indicators of task load. So far, it is still under debate how different types of task demands are influencing microsaccade rate. In their article “The interplay between task difficulty and microsaccade rate: Evidence for the critical role of visual load” Schneider et al. (1921) examined the relation between visual load, mental load and microsaccade rate. The participants carried out a continuous performance task (n-back) in which visual task load (letters vs. abstract figures) and mental task load (1-back to 4-back) were manipulated as within-subjects variables. Eye tracking data, performance data as well as subjective workload were recorded. Data analysis revealed an increased level of microsaccade rate for stimuli of high visual demand (i.e., abstract figures), while mental demand (n-back-level) did not modulate microsaccade rate. The authors concluded that microsaccade rate reflects visual load of a task rather than its mental load. This conclusion is in accordance with the proposition of Krueger et al. (2019) “Microsaccades distinguish looking from seeing”, linking sensory with cognitive phenomena. The present special thematic issue adds several new interesting facets to the research landscape around microsaccades. They still remain an attractive focus of interdisciplinary research and transdisciplinary applications. Thus, as already noted in the first part of this special thematic issue, research on microsaccades will not only endure, but keep evolving as the knowledge base expands. Full article

(1) Background: One possible way to investigate the potential impact or susceptibility of buckling on different manual techniques is to measure compressive loads during canal negotiation. The higher their values, the easier and quicker the critical load level to buckling is reached, leading to possible instrument lateral deformation. The objective of the present study was to investigate the impacts of compressive loads on a small K-file manipulated with different techniques for canal negotiation in simulated narrow and curved canals. (2) Methods: The tooth model selected was a plastic double-curved premolar 23 mm long (DRSK Group AB, Kasernvagen 2, SE-281 35, Hassleholm, Sweden) with an extremely narrow canal lumen to mimic a very difficult anatomical scenario. An experienced endodontist performed the negotiation of 90 of these artificial teeth randomly assigned to 3 different groups of 30 blocks each, respectively, using 3 different techniques: Group A: watch winding/pull (WW) motion; Group B: balanced forces (BF) technique; Group C: envelope of motion (EOM). The measurement system was based on the use of a dynamometer, Instron, Ltd. (model 2525-818 2kN f.s.), linked to a data acquisition unit HBM MGC+ to test all the compression and tensile loads, including all the peaks. (3) Results: All data acquired were processed by the CATMAN AP HBM software. Multiple comparisons for the highest compressive loads estimated the mean difference between WW vs. BF techniques of 3.60 [95% confidence interval (CI): 2.85 to 4.35, p < 0.001], WW vs. EOM of −1.76 (95% CI: −2.11 to 1.40, p < 0.001), and BF vs. EOM −5.36 (95% CI: −6.04 to −4.67, p < 0.001). (4) Conclusions: In conclusion, among the tested manual motions, the BF technique (Group B) was the most susceptible to buckling with the highest compressive load. WW motion (Group A) and EOM (Group C) were less susceptible to buckling than the BF technique. Therefore, a pressure-free manipulation of manual files, such as WW motion or EOM, can help reduce the susceptibility to buckling during the negotiation of narrow-curved canals. Full article

Conventionally, aerial manipulators, when used for inspection, use drone rotors to stabilize the center of gravity (CoG) shifts, which highly affects its performance. This paper discusses the development of a self-balancing lightweight cable aerial manipulator that can be used for construction inspection purposes. The design is based on a 3D-printed, three degrees of freedom (DoF), planar cable manipulator that is mounted on an extended platform below it as a counter-balance mechanism. The actuators control the manipulator links through a cable system, allowing them to be mounted at the system base to reduce the moving mass of the manipulator during operation. The counter-balance mechanism compensates for any shifts in the CoG of the system by actively sliding a counter-balance weight, mainly a battery, which powers the setup. This mechanism can be attached beneath an off-the-shelf quadrotor to solve the problem of CoG shifts. CoG shifts are due to the manipulator operation when a payload or inspection tool is attached to the end effector to perform a given task. For construction integrity inspection, the aerial manipulator must remain stable during the push or slide processes on both flat and curved surfaces while the non-destructive tests are carried out. To validate the effectiveness of the proposed design, an experimental setup was used, and comparisons were made between the compensated and uncompensated tilt angles of the aerial manipulator. Significant tilt angle reductions were observed with an average of 94.69% improvement, undergoing different manipulator motions during different operation scenarios, as a result of an active compensation of the CoG shift and lightweight design of the system, without sacrificing the functionality of the manipulator for the task. Full article

We investigated whether the use of technological tools can effectively help in manipulating the increasing volume of audio data available through the use of long field recordings. We also explored whether we can address, by using these recordings and tools, audio data analysis, feature extraction and determine predominant patterns in the data. Similarly, we explored whether we can visualize feature clusters in the data and automatically detect sonic events. Our focus was primarily on enhancing the importance of natural-urban hybrid habitats within cities, which benefit communities in various ways, specifically through the natural soundscapes of these habitats that evoke memories and reinforce a sense of belonging for inhabitants. The loss of sonic heritage can be a precursor to the extinction of biodiversity within these habitats. By quantifying changes in the soundscape of these habitats over long periods of time, we can collect relevant information linked to this eventual loss. In this respect, we developed two approaches. The first was the comparison among habitats that progressively changed from natural to urban. The second was the optimization of the field recordings’ labeling process. This was performed with labels corresponding to the annotations of classes of sonic events and their respective start and end times, including events temporarily superimposed on one another. We compared three habitats over time by using their sonic characteristics collected in field conditions. Comparisons of sonic similarity or dissimilarity among patches were made based on the Jaccard coefficient and uniform manifold approximation and projection (UMAP). Our SEDnet model achieves a F1-score of 0.79 with error rate 0.377 and with the area under PSD-ROC curve of 71.0. In terms of computational efficiency, the model is able to detect sound events from an audio file in a time of 14.49 s. With these results, we confirm the usefulness of the methods used in this work for the process of labeling field recordings. Full article

The introduction of Industry 4.0 is expected to revolutionize current maintenance practices by reaching new levels of predictive (detection, diagnosis, and prognosis processes) and prescriptive maintenance analytics. In general, the new maintenance paradigms (predictive and prescriptive) are often difficult to justify because of their multiple inherent trade-offs and hidden systems causalities. The prediction models, in the literature, can be considered as a “black box” that is missing the links between input data, analysis, and final predictions, which makes the industrial adaptability to such models almost impossible. It is also missing enable modeling deterioration based on loading, or considering technical specifications related to detection, diagnosis, and prognosis, which are all decisive for intelligent maintenance purposes. The purpose and scientific contribution of this paper is to present a novel simulation model that enables estimating the lifetime benefits of an industrial asset when an intelligent maintenance management system is utilized as mixed maintenance strategies and the predictive maintenance (PdM) is leveraged into opportunistic intervals. The multi-method simulation modeling approach combining agent-based modeling with system dynamics is applied with a purposefully selected case study to conceptualize and validate the simulation model. Three maintenance strategies (preventive, corrective, and intelligent) and five different scenarios (case study data, manipulated case study data, offshore and onshore reliability data handbook (OREDA) database, physics-based data, and hybrid) are modeled and simulated for a time period of 20 years (175,200 h). Intelligent maintenance is defined as PdM leveraged in opportunistic maintenance intervals. The results clearly demonstrate the possible lifetime benefits of implementing an intelligent maintenance system into the case study as it enhanced the operational availability by 0.268% and reduced corrective maintenance workload by 459 h or 11%. The multi-method simulation model leverages and shows the effect of the physics-based data (deterioration curves), loading profiles, and detection and prediction levels. It is concluded that implementing intelligent maintenance without an effective predictive horizon of the associated PdM and effective frequency of opportunistic maintenance intervals, does not guarantee the gain of its lifetime benefits. Moreover, the case study maintenance data shall be collected in a complete (no missing data) and more accurate manner (use hours instead of date only) and used to continuously upgrade the failure rates and maintenance times. Full article

There are several ubiquitous kinematic structures that are used in industrial robots, with the most prominent being a six-axis angular structure. However, researchers are experimenting with task-based mechanism synthesis that could provide higher efficiency with custom optimized manipulators. Many studies have focused on finding the most efficient optimization algorithm for task-based robot manipulators. These manipulators, however, are usually optimized from simple modular joints and links, without exploring more elaborate modules. Here, we show that link modules defined by small numbers of parameters have better performance than more complicated ones. We compare four different manipulator link types, namely basic predefined links with fixed dimensions, straight links that can be optimized for different lengths, rounded links, and links with a curvature defined by a Hermite spline. Manipulators are then built from these modules using a genetic algorithm and are optimized for three different tasks. The results demonstrate that manipulators built from simple links not only converge faster, which is expected given the fewer optimized parameters, but also converge on lower cost values. Full article

This paper introduces a reactive self-collision avoidance algorithm for differentially driven mobile manipulators. The proposed method mainly focuses on self-collision between a manipulator and the mobile robot. We introduce the concept of a distance buffer border (DBB), which is a 3D curved surface enclosing a buffer region of the mobile robot. The region has the thickness equal to buffer distance. When the distance between the manipulator and mobile robot is less than the buffer distance, which means the manipulator lies inside the buffer region of the mobile robot, the proposed strategy is to move the mobile robot away from the manipulator in order for the manipulator to be placed outside the border of the region, the DBB. The strategy is achieved by exerting force on the mobile robot. Therefore, the manipulator can avoid self-collision with the mobile robot without modifying the predefined motion of the manipulator in a world Cartesian coordinate frame. In particular, the direction of the force is determined by considering the non-holonomic constraint of the differentially driven mobile robot. Additionally, the reachability of the manipulator is considered to arrive at a configuration in which the manipulator can be more maneuverable. In this respect, the proposed algorithm has a distinct advantage over existing avoidance methods that do not consider the non-holonomic constraint of the mobile robot and push links away from each other without considering the workspace. To realize the desired force and resulting torque, an avoidance task is constructed by converting them into the accelerations of the mobile robot. The avoidance task is smoothly inserted with a top priority into the controller based on hierarchical quadratic programming. The proposed algorithm was implemented on a differentially driven mobile robot with a 7-DOFs robotic arm and its performance was demonstrated in various experimental scenarios. Full article

In situations of a confined workplace with a lot of obstacles and a complicated required trajectory of the endpoint of an industrial or collaborative robot, it may be impossible to find a suitable robot and its position within the workplace to fulfill the given task. In some cases, it could be favorable to design a custom manipulator arm with an unusual kinematic structure or shapes of some of its links. This article presents a novel way of finding the optimal lengths and shapes of two crucial links of a manipulator arm, where the target lengths are as short as possible to reduce mass, and the shape in the form of a Bézier curve is chosen to avoid collisions. The chosen type of kinematic structure of the manipulator arm is fixed and is based on the most typical structure of existing industrial robots, with six degrees of freedom. Two algorithm variants were proposed; one method uses iterations to find the solution based on in-depth collision analysis, and the second method uses the particle swarm optimization algorithm. Both methods were implemented in a simulation system and verified in several testing workplaces. Full article

Head control is important for snake robots to work in an unknown environment. However, the existing methods of head control have certain application limitations for snake robots with different configurations. Thus, a strategy for head control based on segmented kinematics is proposed. Compared with the existing head control strategies, our strategy can adapt to different structures of snake robots, whether wheeled or non-wheeled. In addition, our strategy can realize the accurate manipulation of the snake robot head. The robot body is divided into the base part, neck part and head part. First, parameters of backbone curve are optimized for enlarging the area of the support polygon. Then the desired pose for the head link and the dexterous workspace of the head part can in turn derive the desired position and direction of the end frame for the neck part. An optimization algorithm is proposed to help the end frame of the neck part approach a desired one and obtains the joint angles of the neck part. When the actual frames of the neck part are determined, the dexterous workspace of the head part will cover the desired pose of the head link. Then the TRAC-IK inverse kinematics algorithm is adopted to solve the joint angles of the head part. To avoid the collision between the body and the ground, a trajectory planning method of the overall body in Cartesian space is proposed. Finally, simulations validate the effectiveness of the control strategy. Full article