Search Results (2,937)

This review summarizes the research on the end effectors of agricultural harvesting robots (2010–2025) and extracts two core design principles. First of all, the selection of end effectors must follow the biological characteristics of fruits: rigid grippers are suitable for hard skinned and regular fruits; soft grippers can reduce the damage of fragile crops to a certain extent; suction cups are suitable for smooth, barrier free surfaces; the envelope type is suitable for soft and lossless picking scenes; the combined suction and grip design is more suitable for unstructured environments. Secondly, the separation mode should match the characteristics of the stem: motion separation (torsion/pull) is suitable for weak stems, while cutting is mainly used for hard stems. Unlike previous literature, this review provides a field deployability checklist (including dust/water proofing, cleanliness, maintenance, aging prevention, and aspiration prevention) to narrow the results of the laboratory and the real field environment. The three future directions of multimodal perception, variable stiffness driving and reinforcement learning are logically related to the analysis in this paper: multimodal perception optimizes the perception limit, variable stiffness solves the rigid–flexible trade-off, and reinforcement learning provides adaptive strategies for different crops. This framework can match the end effector design with the crop-specific field conditions. Full article

The present study examined whether offensive play-type indicators in professional basketball reflect broader latent playing-style dimensions and whether play-type usage or efficiency is more strongly associated with competitive success. Data were obtained from the official NBA statistics website and included 6400 games across five seasons (2019–2020 to 2023–2024), comprising 5979 regular-season games and 421 playoff games. For each offensive play type, two indicators were analysed separately: usage percentage and efficiency, operationalised as points per possession (PPP). Principal component analyses were conducted independently for regular-season and playoff data, and for usage and efficiency variables. In addition, linear mixed-effects models were used to examine the relationship between play-type indicators and competitive success while accounting for games nested within teams. Only regular-season efficiency variables showed adequate sampling adequacy for factorial analysis (KMO = 0.774), yielding a four-component solution that explained 58.85% of the total variance. In the mixed-effects models, usage variables were not significantly associated with success, whereas efficiency indicators showed greater explanatory value. Specifically, pick-and-roll ball handler PPP and spot-up PPP emerged as the strongest positive predictors of success, with smaller effects observed for roll-man PPP and cut PPP. The efficiency-only model improved model fit relative to the frequency-only model (marginal R² = 0.799 vs. 0.755), whereas adding usage variables to efficiency provided only a negligible additional contribution (marginal R² = 0.803). These findings suggest that, in the NBA, competitive success is more closely related to the effectiveness with which offensive actions are executed than to the relative frequency with which they are used. From an applied perspective, play-type efficiency appears to provide more actionable information than usage-based summaries for performance analysis and tactical decision-making. Full article

Background/Objectives: The POLA index is a comprehensive tool for evaluating the nutrient-dense, immune-supportive, and anti-inflammatory properties of the diet, but its multi-component structure may limit routine use. We aimed to identify simple dietary markers associated with a lower follow-up incidence of COVID-19 or influenza, as well as the anti-inflammatory properties of the diet, and to compare a simplified screening tool with the full POLA index. Methods: This prospective observational study included 146 healthy adults aged 25–45 years from two Polish cohorts examined in 2020 and 2022 (cohort/year adjusted). Habitual diet was assessed using at least 5-day food records, and nutrient adequacy was expressed relative to Polish dietary reference values. Classification and regression tree analyses were used to identify the most informative dietary predictors of the reduction in risk of infection, and logistic regression models were used to evaluate associations after adjustment for sex, diet type, physical activity, marital status, year of cohort and waist-to-height ratio. Results: During follow-up, 39/146 participants (26.7%) reported COVID-19 or influenza. Interactive tree analysis identified dietary fiber in g per kg/m² of BMI ≥ 1, and magnesium adequacy as the key discriminators. In StrongPOLA, participants not meeting the cut-offs of ≥1 g fiber per kg/m² of BMI and ≥130% of the magnesium reference value had a higher incidence of COVID-19 or influenza than those meeting both of those cut-offs (34.9% vs. 2.7%); however, this estimate was large and imprecise, with a wide confidence interval (the adjusted OR = 14.9 (95% CI: 1.89–118.06)), and should, therefore, be interpreted cautiously. In RapidPOLA, the participants not meeting the cut-offs of ≥1 g fiber per kg/m² of BMI and ≥110% of the magnesium reference value (i.e., 352 mg/day for women and 462 mg/day for men) had a higher observed incidence of COVID-19 or influenza than those meeting both of those cut-offs (36.4% vs. 12.1%); the adjusted OR was 3.4 (95% CI: 1.18–8.75). RapidPOLA showed good agreement with the favorable result of the POLA classification (κ = 0.65). Conclusions: Dietary fiber in g per kg/m² of BMI and magnesium adequacy appear to be practical markers of a broader nutrient-dense, immune-supporting, and anti-inflammatory dietary pattern associated with a lower follow-up incidence of COVID-19 or influenza in young adults without comorbidities. RapidPOLA may be useful as a simple screening tool for a nutrient-dense, immune-supportive, and anti-inflammatory (NUTRIDIMAF) diet in young people without obesity and comorbidities, whereas StrongPOLA may serve as a stricter reference profile. The proposed cut-offs require external validation in independent and more diverse cohorts. Full article

Remaining oil in high-water-cut reservoirs becomes increasingly dispersed during long-term waterflooding, while preferential flow paths cause severe ineffective water circulation and reduce the efficiency of further oil displacement. To improve the quantitative identification of remaining oil enrichment and water-flushed regions, this study proposes a displacement-unit-based classification and evaluation method for dominant remaining oil distribution. The method integrates dynamic allocation of injected water in multilayer reservoirs, time-varying characterization of reservoir physical properties, streamline-based delineation of displacement units, and saturation tracking using the φ-function. Two quantitative indicators, the remaining oil abundance index (I_so) and the water flushing intensity coefficient (C_f), were introduced to classify displacement units into strongly dominant, weakly dominant, and non-dominant types. The method was applied to a high-water-cut block of the W Oilfield, where 902 displacement units were identified from 65 oil and water wells and 36 sublayers. The results show that strongly dominant, weakly dominant, and non-dominant displacement units accounted for 37.9%, 33.7%, and 28.4% of the total, respectively. In 15 sublayers, the proportion of strongly dominant units exceeded 50%, indicating severe preferential water flow and limited remaining oil potential in these layers. Strongly dominant units were characterized by high water flushing intensity and low remaining oil abundance, whereas weakly dominant units showed remaining oil enrichment mainly at the margins of displacement units. The proposed method couples injection–production dynamics with seepage-field evolution and provides a quantitative basis for fine-scale adjustment of injection–production patterns in high-water-cut reservoirs. Full article

Ball vegetables (such as cabbage, Chinese cabbage, broccoli, etc.) hold an important position in the vegetable industry due to their unique morphology and diverse applications and are widely favored by both consumers and the market. However, the harvesting of Ball vegetables poses significant challenges to agricultural production and market supply. Traditional manual harvesting struggles to meet the rapid demands of large-scale cultivation, primarily due to its high labor intensity and time-consuming nature, compounded by the increasingly prominent issues of aging and shortage of agricultural labor in recent years. As an alternative, intelligent harvesting robot technology, through integration with optimized cropping practices, innovations in preservation techniques, and improvements in processing workflows, offers an effective solution for expanding market planting areas and enhancing production efficiency. However, such harvesting robots still require further optimization and improvement in terms of adaptability, operational efficiency, and damage control. To systematically review the research progress and current status of this field, this study employs a bibliometric analysis approach to evaluate the current performance characteristics of various types of heading vegetable harvesting robots, aiming to provide a reference for future technological developments. This review analyzes solutions suitable for low-damage, high-quality harvesting of Ball vegetables in modern agriculture from five dimensions: identification and localization, row-following mechanisms, cutting mechanisms, pulling and conveying mechanisms, and leaf-removal mechanisms. It also summarizes the main challenges currently facing harvesting equipment, including the complexity of harvest targets, diversification of crop varieties and cultivation patterns, and harvest-induced damage to Ball vegetables. Finally, this review provides a future outlook on heading vegetable harvesting from four perspectives: research on the characteristics of Ball vegetables, investigation into harvest-induced damage mechanisms, improvement in machinery adaptability, and enhancement in equipment versatility and intelligence. Full article

For more than 75 years, the Jacobson–Stockmayer J-factor has been regarded as the fundamental physical limit on DNA cyclization efficiency. Here, we show that this limit can be substantially exceeded by simultaneous restriction cutting and ligation with the Type IIS enzyme BsaI-HFv2 and T4 DNA ligase. We achieved 75% circularization efficiency at a practically relevant concentration of 120 ng/$\mathrm{\mu }$L for 452 bp minicircles. Using DNA with pre-cut and purified overhangs, we calibrated the J-factor to establish the theoretical values expected under classical theory, and showed that cut-ligation with BsaI-HFv2 exceeds these expectations by 3.4-fold. Experimental results with additional enzymes (Esp3I and BbsI) provided insight into possible mechanisms underlying this outstanding performance. These findings demonstrate the existence of biological mechanisms that can dramatically increase effective local concentration beyond free-diffusion expectations, thereby exceeding long-standing theoretical limitations by over threefold and opening the way for systematic discovery of additional high-efficiency enzyme systems for DNA circularization. Full article

The study proposes and investigates a seismic retrofitting strategy based on an external reinforced concrete exoskeleton, grounded in the analysis of the actual force transfer mechanisms between the existing structure and the added system. The three-dimensional numerical model was developed in ETABS, employing linear response spectrum analysis in accordance with EN 1998-1 and P100-1/2013. The internal forces transmitted at the structural interface were determined using the Section Cut method, enabling the identification of integrated resultants and the prioritization of critical connections. Three types of connections are examined—slab-to-slab, column-to-wall, and beam-to-joint—while the distribution of stresses within the anchor groups is assessed based on an elastic model under combined axial force and bending action. The results indicate that the global structural response is governed by diaphragm coupling, whereas the vertical interfaces ensure kinematic compatibility and the redistribution of axial and bending effects. The proposed methodology provides a coherent framework for the rational design of interface connections in retrofit interventions carried out without interrupting building operation. Full article

Background/Objectives: Differentiating clinically suspected cardiac amyloidosis from hypertrophic cardiomyopathy (HCM) remains a significant clinical challenge, especially when contrast-enhanced imaging is contraindicated. This study evaluated the potential diagnostic utility of non-contrast cardiac MRI parameters, specifically native T1 and T2 mapping, as supportive indicators in this differential diagnosis. Methods: This retrospective single-center study included 20 patients with clinically suspected amyloidosis (based on combined clinical and echocardiographic assessment), 20 patients with HCM, and 20 healthy controls. Cine imaging and native T1/T2 mapping were analyzed. Myocardial, blood-pool, and liver T1/T2 values, along with morphological parameters, were recorded. N-terminal pro–B-type natriuretic peptide (NT-proBNP) and troponin levels, when available, were documented retrospectively for descriptive purposes. Receiver operating characteristic (ROC) analyses were performed to assess the discriminatory performance of imaging parameters. Results: Patients in the suspected amyloidosis group demonstrated significantly higher myocardial, blood-pool, and liver T1 values, as well as higher myocardial T2 values, compared with both the HCM and control groups (p < 0.001). Myocardial T1 showed strong discriminatory performance for differentiating suspected amyloidosis from controls (cut-off 1061 ms, AUC = 0.975). In distinguishing suspected amyloidosis from HCM, blood-pool T1 (AUC = 0.900) and myocardial T1 (AUC = 0.938) provided the highest diagnostic performance. Additionally, elevated NT-proBNP (>1000 pg/mL in 93% of tested cases) and troponin levels were observed in the suspected amyloidosis group, consistent with increased myocardial stress. Conclusions: Native T1 and T2 mapping may offer valuable supportive information in differentiating clinically suspected amyloidosis from HCM on non-contrast MRI. Myocardial and blood-pool T1 values appear to provide complementary tissue characterization, which may be particularly useful when gadolinium administration or invasive procedures are not feasible. These findings suggest a role for non-contrast mapping in the diagnostic workup but require further validation in larger, biopsy-confirmed multicenter cohorts. Full article

Cyclone separators remain widely used for gas–solid separation, yet analytical prediction of cut size and pressure drop remains challenging. This study presents an explicit semi-empirical model for the cut size (d₅₀) of reverse-flow cyclones based on the radial particle equation of motion in cylindrical coordinates, with d₅₀ obtained by equating radial migration time and residence time. A closed-form solution is derived in the Stokes regime, whereas non-Stokes behavior is handled numerically through the Schiller–Naumann drag correction. Turbulence is incorporated through a phenomenological correction, and the grade–efficiency curve is represented by a logistic relation. The model was implemented in MATLAB R2025a and applied in a parametric study covering inlet velocity, particle density, cyclone diameter, and gas viscosity. A Euler-type pressure drop relation was included to examine the separation–energy trade-off. Validation on the Kim et al. benchmark using one calibration point per cyclone family and six independent verification cases yielded a mean absolute percentage error of 13.5% and a root mean square error of 0.22 μm for d₅₀; the paired pressure drop check gave a 2.8% mean absolute percentage error. A complementary benchmark based on Wang et al. using 15 cm 1D3D and 2D2D cyclones under actual-air and standard-air conditions further supported the family-calibrated use of the model. A separate scale-up test showed that constant swirl intensity similarity is not transferable across large diameter changes. The formulation provides a transparent reduced-order tool for preliminary design and sensitivity analysis. Full article

Background: Microsatellite instability (MSI) is an important biomarker for the diagnosis of Lynch syndrome and for guiding immunotherapy in various solid tumors. Droplet digital PCR (ddPCR) has emerged as a highly sensitive method for detecting MSI, particularly in circulating tumor DNA (ctDNA). This study aimed to evaluate the analytical and clinical performance of a ddPCR assay using three MSI markers (BAT-26, ACVR2A, and DEFB105A/B) in colorectal, gastric, and endometrial cancers. Methods: Formalin-fixed paraffin-embedded (FFPE) samples from 190 patients (83 colorectal, 44 gastric, and 63 endometrial cancers) and 21 plasma samples from patients with metastatic solid tumors were analyzed. MSI status determined by ddPCR was compared with conventional PCR using a pentaplex panel and immunohistochemistry (IHC). Analytical performance, including limit of blank (LoB) and limit of detection (LoD), was evaluated using cell line DNA, and clinical cut-offs were established using receiver operating characteristic analysis. Results: The ddPCR assay demonstrated high analytical sensitivity, with LoD values of 0.075% for BAT-26, 0.1% for ACVR2A, and 0.025% for DEFB105A/B. Using optimized clinical cut-offs, the concordance rate between ddPCR and conventional PCR assays was 98.4% in tissue samples. Marker performance varied by cancer type, with reduced sensitivity observed in endometrial cancer. In plasma samples, MSI-H was detected in 1 of 21 cases (4.8%), and the overall concordance rate with tissue-based MSI status was 94.7%. Conclusions: The ddPCR assay demonstrated high concordance with conventional MSI testing methods and showed potential as a sensitive tool for MSI detection in both tissue and plasma samples. However, optimization of marker panels and establishment of sample-type-specific clinical cut-offs are required, particularly for ctDNA-based analysis. Further large-scale studies are needed to validate the clinical utility of ddPCR for MSI detection and monitoring. Full article

This paper presents a study on evaluating the effectiveness of nanofluid Minimum Quantity Lubrication (NF MQL) in machining Hastelloy C276 alloy—a difficult-to-cut material. The study compares NF MQL using different types of nanoparticles (Al₂O₃, MoS₂, SiC, and GrP) with dry and pure MQL conditions in terms of surface roughness, cutting force components, and especially the variation of cutting forces over time. Experimental results indicate that the graphene-containing nanofluid MQL showed the most superior performance in terms of surface roughness R_a with 54.3% and 34% reduction, followed by MoS₂ and Al₂O₃ nanofluid MQL conditions. Regarding the active cutting force F_a, Al₂O₃ nanofluid MQL achieves the largest reduction of about 18.4% and 22.1% when compared to dry and pure MQL, followed by GrP nanofluid MQL, MoS₂ nanofluid MQL, and then SiC nanofluid MQL. Meanwhile, GrP nanofluid MQL shows the highest percentage of F_z reduction at about 13.4% and 26% when compared to the dry and pure MQL conditions, followed by MoS₂ nanofluid MQL. Furthermore, the application of NF MQL also significantly improves tool life and extends about 36.4 ÷ 61.1% and 18.2 ÷ 50% compared to dry and pure MQL, respectively. Notably, through in-depth analysis of the variation of cutting forces, the study has elucidated the superior lubrication and cooling mechanism of the NF MQL method, confirming its potential application in machining advanced materials. Full article

Crashes involving freight and commercial vehicles impose substantial human and economic costs, yet most severity studies pool vehicle types or focus exclusively on heavy trucks, masking class-specific risk mechanisms. This study estimates separate Random Parameters Binary Logit models with heterogeneity in means and variances for three vehicle categories—heavy-duty multi-axle trucks (n = 6512), two-axle trucks (n = 2656), and light-duty pickup trucks (n = 23,477)—using 32,645 crash records from Thailand’s national highway network (May 2022–December 2024). Pairwise transferability tests rejected parameter transferability, with four of six comparisons exceeding the 97 percent confidence level (three of these above 99 percent; χ² = 85.38 to 240.01), confirming that disaggregate estimation is statistically warranted. Three core findings emerge: First, although barrier medians, cut-in-front maneuvers, and sideswipe crashes affect severity in consistent directions across all vehicle types, their magnitudes differ sharply: the protective effect of barrier medians is nearly six times larger for two-axle trucks (ME = −0.160) compared to heavy-duty trucks (ME = −0.028). Second, several determinants are class-specific: dark unlit conditions elevate severity only for two-axle trucks (ME = 0.128), flush medians only for heavy-duty trucks (ME = 0.040), and raised medians only for light-duty pickups (ME = 0.042). Third, no random parameter is common to all three models. Pooled models, therefore, impose misleading homogeneity assumptions; vehicle-type-specific estimation is essential for targeted safety policy. Full article

Logging causes damage on residual trees, with differing characteristics and severities. The causal agent, as well as the size and type of injury, is influenced by the type of machines, the harvesting technology adopted, and the machine operator. This study descriptively documents residual tree damage observed in two sledge-yarding operations conducted under contrasting stand and operational conditions: a beech stand managed with a full-tree system and a Scots pine stand managed with a cut-to-length system. Two stands were selected: the harvesting intensity was 50% in the coniferous stand (salvage logging) and 20% in the deciduous stand (thinning). In each stand, six 20 × 20 m plots (0.04 ha) were delineated to assess residual tree damage. In the two observed cases, the beech operation showed a higher proportion of damaged residual trees, 32.2%, than the Scots pine operation, 5.3%. In the deciduous stand, bark injuries were mainly slight wood exposure (75%), whereas in the coniferous stand, crushed bark (42.9%) was most frequent, followed by slight wood exposure (35.7%). No concerning damage to seedlings was detected. In general, the number of damaged trees and the severity of injuries were considerably lower than those typically observed when extracting with a cable skidder, and especially with an adapted farm tractor. To reduce mechanical damage to residual trees, protective devices can be deployed around trees at risk of root and stem injury. Another effective measure is to financially motivate workers to implement environmentally sound forest operations. Full article

Additive manufacturing by Fused Filament Fabrication (FFF) enables the fabrication of complex polymer components, although limitations in surface quality and dimensional accuracy often require post-processing. Abrasive water jet machining (AWJM) is a non-thermal technique suitable for improving surface integrity in polymers and composites without inducing thermal damage. This study investigates the AWJM performance on FFF-printed polylactic acid (PLA) and carbon-fiber-reinforced PLA (PLA–CF), focusing on the influence of water pressure (WP), traverse feed rate (TFR), and abrasive mass flow rate (AMFR). A full factorial design was implemented, and surface integrity was evaluated through surface roughness (Ra) and kerf taper (T), considering their variation across characteristic cutting regions: initial damage region (IDR), smooth cutting region (SCR), and rough cutting region (RCR). Results show that WP and TFR are the dominant parameters, while AMFR has a limited effect within the studied range. The SCR exhibits the lowest roughness, whereas the RCR shows significant degradation due to energy loss. Both materials present similar behavior, with only minor improvements in PLA–CF. ANOVA confirms that process parameters have a stronger influence than material type, providing useful criteria for AWJM optimization in FFF polymers. Full article

Background/Objectives: The presence of a mural nodule (MN) is one of the findings indicating malignant transformation of an intraductal papillary mucinous neoplasm (IPMN). It is difficult to distinguish true MNs from mucus clots (MCs) by endoscopic ultrasound (EUS) alone. This study aimed to evaluate the efficacy of contrast-enhanced (CE)-EUS for differentiating true MNs from MCs and carcinoma from adenoma. Methods: A total of 104 patients who were diagnosed as having branch duct-type IPMNs with MN-like structures by EUS and underwent CE-EUS between January 2016 and August 2022 were included. MN-like structures without perfusion on CE-EUS were defined as MCs and those with perfusion were defined as true MNs. This was a retrospective study with limited pathological confirmation, and diagnoses in non-surgical cases were based on imaging and follow-up. Results: CE-EUS showed MN-like structures with perfusion in 35 patients and without perfusion in 69 patients. Surgical resection was eventually performed in a total of 28 patients and the diagnostic sensitivity, specificity and accuracy of MNs among them were 100%, 66.7% and 96.4% in CE-EUS; 48%, 66.7% and 50% in CE-CT; and 61.9%, 33.3% and 58.3% in MRCP, respectively. Possible risk factors indicating malignancy were statistically evaluated and presence of an MN was the only significant factor. Among the 35 true MNs, the height of an MN in carcinoma was significantly higher than that of an adenoma. The ROC analysis for detecting carcinoma in true MNs showed an area under the curve of 0.92 with the optimal cut-off value of 7 mm. When this cut-off value was used for diagnosing carcinoma, the sensitivity, specificity, and accuracy were 94.1%, 83.3% and 88.6%, respectively. Conclusions: CE-EUS may be useful for differentiating true MNs from MCs, although diagnostic performance should be interpreted cautiously because most non-surgical cases lacked pathological confirmation. Full article