Search Results (26,650)

Driven by the growing demand for functional textiles featuring excellent waterproofness, moisture permeability and mechanical robustness in outdoor sportswear, medical protection and technical apparel, traditional pongee—despite its desirable softness, high wrinkle resistance and good stability as an ideal substrate fabric—is severely restricted in further application by its intrinsically poor hydrostatic pressure resistance in extremely wet environments. Accordingly, we developed a modified waterborne polyurethane (WPU) coating for pongee substrates to fabricate functional textiles that maintain high hydrostatic pressure resistance while possessing good mechanical properties and increased UV absorption. In this study, by using the sol–gel method, an amorphous silicon dioxide (SiO₂) coating layer was constructed on the surface of titanium dioxide (TiO₂) particles, forming silica-modified titania particles (SiO₂/TiO₂). These SiO₂-modified particles were subsequently physically blended with an anionic waterborne polyurethane system that had been previously modified with a polyester-type modifier A to enhance its hydrostatic pressure resistance. The resulting composite coating was designed to combine the high hydrostatic pressure resistance inherited from the modified WPU matrix, the mechanical reinforcement and increased UV absorption contributed by SiO₂/TiO₂, and satisfactory water repellency on fabric substrates. The results indicate that the incorporation of an appropriate amount of modifier A into the prepolymer system significantly enhances hydrostatic pressure resistance while maintaining high elongation at break. At a SiO₂/TiO₂ loading of 0.2 wt%, the composite film exhibits optimal comprehensive performance, characterized by superior mechanical properties, low water absorption, and static water contact angles exceeding 100° for coated fabrics. SiO₂/TiO₂ composite WPU coatings substantially improve hydrostatic pressure resistance across various fabrics, with 380T polyester taffeta demonstrating the best performance. This resistance remains remarkably stable after standard washing, indicating excellent wash fastness and practical applicability. Full article

Objectives: A customizable 3D-bioprinted core-in-shell platform was developed for time-dependent oral colon delivery of live microorganisms. The system conveyed Lacticaseibacillus paracasei as a model bacterial species within a monolithic core, which was surrounded by a swellable hydroxypropyl cellulose barrier, imparting a lag phase of programmable duration, and by an enteric outer layer, protecting the dosage form during unpredictable gastric residence. Methods: Pastes of different compositions were investigated to shape the core. Core and core-in-shell units were fabricated from digital models using a bioprinter equipped with a high-precision plunger dispenser and pressure-based thermoplastic printhead. The printed units were characterized in terms of mass, dimensions, mechanical properties and release performance using paracetamol as a reference tracer. Bacterial viability was evaluated during screening of the formulation components and after each processing step by manual counting of colony-forming units. Results: A mannitol-based formulation was selected for fabrication of the core, offering a favorable balance of printability, physico-technological properties, release behavior and ability to preserve bacterial viability. Two-layer core-in-shell systems were manufactured via a dual-printing operating mode. The desired in vitro performance was attained, with no release under acidic conditions, a lag phase in pH 6.8 fluid and a subsequent release profile comparable with that generated by the core as such. Viability studies demonstrated that compounding, core printing, shell deposition and drying did not adversely affect L. paracasei survival. Conclusions: 3D bioprinting was proved to be a versatile technique for the manufacturing of oral colon delivery systems containing probiotics or live biotherapeutics. Full article

Efficient delivery systems are essential for transporting chemotherapeutic agents to target sites, enhancing cellular uptake and reducing off-target side effects. Peptides, owing to their intrinsic biocompatibility and structural tunability, have emerged as promising carriers for delivering labile chemotherapeutics and improving pharmacokinetics and therapeutic outcomes. Along these lines, a wide variety of peptide-based delivery strategies have been developed to achieve desirable pharmaceutical properties for anticancer agents. Particularly, stimuli-responsive peptide-based nanocarriers have attracted high levels of attention due to their ability to exploit overexpressed or tumor-specific stimuli, enabling selective disassembly and controlled drug release within cancer cells. In this review, we highlight recent advances in the development of stimuli-responsive peptide nanocarriers and their applications in anticancer therapy, and discuss key challenges and future directions toward their clinical translation. Full article

Cyber-physical systems (CPSs) integrate physical processes and information components through communication networks and are therefore vulnerable to cyber attacks. Opacity is a security property that prevents an adversary from inferring sensitive information from observations, and it has been studied mainly for discrete-event systems. In this paper, we extend this concept to discrete-time piecewise affine (DT-PWA) systems, which constitute an important class of hybrid systems used to model CPSs. In conventional opacity analysis, the result is typically binary, i.e., a system is either opaque or not. For systems with continuous dynamics, however, such a binary characterization may be insufficient, and it is desirable to evaluate the degree of security. To address this issue, we introduce a notion of opacity that incorporates security levels. We first formulate opacity for DT-PWA systems and then derive a necessary and sufficient condition for opacity. Based on this condition, we present a verification method using polytope computations and discuss the interpretation of the proposed notion. Finally, a numerical example is provided to illustrate the effectiveness of the proposed method. Full article

Camera and LiDAR provide highly complementary information, and effective fusion of both modalities is desirable for 3D object detection. However, existing decision-level fusion methods mainly rely on the confidence of objects while neglecting the object uncertainty. To address this, we propose UDF-3D, an uncertainty-driven camera–LiDAR decision-level fusion method based on Dempster–Shafer evidence theory. First, object uncertainty is quantified by introducing the theory of subjective logic, where subjective opinions incorporate category belief masses and an uncertainty mass. Second, a cost matrix is designed for object matching, where each element is a weighted combination of geometric and semantic information from both sensors, and the weights are determined by the uncertainty parameters. Third, we construct a view-frustum constraint to re-evaluate unmatched objects, thereby reducing the false-negative rate. Finally, we design a novel evidence discounting factor within the Dempster–Shafer framework for matched objects, thereby mitigating cross-modal object conflicts during fusion and improving detection accuracy. Experiments on the KITTI dataset demonstrate that the proposed method outperforms existing decision-level fusion approaches, yielding improved detection accuracy. Full article

The study of sobriety in fashion can be understood as a form of spiritual exercise within a Christian ecological framework. This article argues that sobriety, understood as a virtue that shapes desire and moderates consumption, offers a theological response to the environmental and social consequences of contemporary fashion. Drawing on biblical sources, patristic and medieval theology, and early modern reflections, it traces the evolution of sobriety from a principle of bodily moderation to a broader philosophy of life. Through a theological analysis of fashion consumption, the article shows how sobriety can function as an ethical and spiritual practice capable of resisting hyperconsumerism and fostering ecological responsibility. The shift from modesty to sobriety thus provides a renewed framework for linking Christian virtue ethics, fashion consumption, and care for the planet. Full article

Genetically modified (GM) plants have revolutionized agriculture for more than three decades. The production of a GM plants is a complex, multi-stage process. Several key methods are available for generating GM plants. The choice of transformation method depends on the type of plant (dicotyledonous or monocotyledonous), the objective (large-scale production versus studying a specific gene in particular cells or tissues), and whether stable or transient transformation is desired. Following successful transformation, the next step is the regeneration of a whole plant from a single cell in tissue culture, which is a labor-intensive and time-consuming process. Currently, numerous genes that confer desirable traits have been identified. These traits include stress tolerance, herbicide and pest resistance, and improved consumer qualities (such as flavor, appearance, shelf life, and nutritional value). In this review, we describe the main methods for producing GM plants and provide examples of trait genes utilized in agricultural biotechnology. Despite the fact that GM plants represent one of the most significant biotechnological advances, they also remain among the most contentious issues in contemporary food safety and agricultural policy. Here, we discuss the advantages and disadvantages of using GM plants for humans. Full article

Micro quadrotor unmanned aerial vehicles (UAVs) are highly sensitive to external disturbances and model uncertainties because of their small mass, low moment of inertia, and limited onboard computational resources. To improve the disturbance rejection and trajectory tracking performance of micro quadrotor UAVs, this paper proposes an event-triggered extended state observer (ET-ESO)-based prescribed-time funnel control (PTFC) method. First, a control-oriented dynamic model of the micro quadrotor is established, in which wind disturbances, unmodeled aerodynamic effects, damping uncertainties, and parameter perturbations are represented as lumped disturbances in the translational and rotational subsystems. Then, two event-triggered ESOs are designed to estimate the lumped disturbances of the velocity and angular velocity channels. Compared with conventional continuously sampled ESO schemes, the proposed event-triggered mechanism reduces the frequency of sensor-to-controller information transmission while preserving disturbance estimation capability. Furthermore, a prescribed-time funnel control law is developed to constrain the position and attitude tracking errors within predefined performance boundaries and ensure convergence to the desired accuracy region within a user-specified time. Lyapunov-based stability analysis is provided to prove the boundedness of all closed-loop signals and the validity of the prescribed funnel constraints. Finally, MATLAB/Simulink simulations based on the Parrot Mambo mini-drone parameters are conducted to verify the effectiveness of the proposed method. The results demonstrate that the proposed controller achieves robust trajectory tracking, effective disturbance compensation, improved transient performance, and reduced control update frequency. Full article

Powered mobility devices have used lead–acid batteries for decades with some recent designs using lithium-ion batteries. However, both lead–acid and lithium-ion batteries have concerns related to safety and environmental impact. Additionally, powered mobility device users have expressed a desire for new and alternative power sources. Nickel–zinc batteries can charge much faster and are safer and more environmentally friendly. However, nickel–zinc batteries must be discharged at high rates to prevent degradation of the batteries. This project developed a prototype power system using nickel–zinc batteries and supercapacitors to power a scooter. The design uses the nickel–zinc batteries to periodically and quickly charge the supercapacitors which then provide the power the scooter. Testing confirmed that the power system maintained appropriate voltage and current during use and that the scooter was able to perform with the same range, speed, and power as a current commercially available scooter. Full article

The contact force between the ultrasound probe and human skin directly affects image quality, patient safety, and comfort. In infant developmental dysplasia of the hip (DDH) ultrasound examinations, higher force control precision is required, as infants have thin skin and soft cartilage that are easily deformed under excessive probe pressure. This paper proposes a comprehensive force control method for DDH ultrasound robots. Firstly, an online gravity calibration approach is employed to estimate the installation tilt, sensor zero offset, and probe center of gravity, thereby improving force measurement accuracy. Then, a torque-based pose control algorithm is adopted to achieve conformal probe–skin contact. Finally, a variable admittance control strategy based on fuzzy neural network (FNN) is proposed, which adaptively regulates the damping coefficient based on the force error and its rate, enabling stable force control without explicit soft-tissue modeling. Experiments on an infant phantom and human skin show that the proposed method achieves force fluctuation amplitudes of 0.0984 ± 0.0012 N and 0.0976 ± 0.0014 N, respectively, with absolute steady-state force errors below 0.01 N. Compared with conventional admittance control, it significantly reduces force oscillations and improves tracking accuracy. In infant experiments, the method enables smooth convergence to the desired force and maintains relatively stable probe–skin interaction, which contributes to consistent ultrasound image acquisition and reduces tissue deformation. These results suggest that the proposed method can provide a feasible force control basis for stable and gentle robotic DDH ultrasound scanning. Full article

Background and Clinical Significance: “Hikikomori”—a state of prolonged social withdrawal affecting an estimated 2% of Japan’s working-age population—is frequently associated with underlying anxiety disorders, such as gaze phobia, and contributes to the socio-economic burden known as the “8050 problem,” in which aging parents support their socially isolated adult children. While Morita therapy is effective for such conditions, nursing support has historically lacked a systematic theoretical framework. This case report presents a novel nursing model analyzing the transformation process from toraware (mental preoccupation) toward mokuteki-hon-i (purpose-driven action). It proposes the ‘side-by-side’ nursing approach as a potentially important element in supporting patient autonomy in similar clinical settings. Case Presentation: A man in his 20s, diagnosed with gaze phobia and experiencing long-term withdrawal following traumatic bullying, was referred to our specialized short-care program. After initial preparation through structured psychoeducation regarding Morita therapy principles (toraware, sei-no-yokubo, mokuteki-hon-i), he participated in a 14-month Morita therapy-based short-care program combining individual and group interventions. Initially, the patient exhibited severe social avoidance and was trapped in a cycle of seishin-kogo-sayo (psychic interaction). Nurses applied ‘Strategic Inattention to Symptoms’ (shojo-fumon) and provided specific role suggestions, such as serving as a secretary in group discussions, to elicit his sei-no-yokubo (desire for life). Through the reframing of his anxiety as a constructive drive, the patient shifted to a purpose-driven stance. Outcomes showed improved self-adjustment skills in public spaces and successful social reintegration through sustained part-time employment. Conclusions: Nursing care characterized by ‘intentional non-intervention’—which involves waiting in a ‘side-by-side’ manner within a minimally structured environment—may contribute to fostering patient autonomy in similar clinical contexts. This ‘experience-oriented’ approach appeared to elicit inner strengths and support self-regulation in this case, warranting further investigation in multi-case designs. The relative contributions of individual nursing support and group therapeutic milieu cannot be disentangled in a single-case design. Full article

An efficient catalyst for the reaction of ethanol–acetaldehyde into 1,3-butadiene (EATB) is prepared through the grafting of zirconia into a zeolite Beta lattice. The grafting is achieved through the dealumination of a zeolite framework by acid treatment followed by zirconia impregnation, leading to the substitution of aluminum in the zeolite framework by zirconia. The catalyst with zirconia grafted into the zeolite framework promotes desirable catalyst properties like high zirconium dispersion, stability, and the close proximity of Lewis acid, Bronsted acid, and medium basic sites. The phase, the coordination of zirconia, the location of the active center and the cooperative synergism were elucidated through various characterization techniques, including X-ray diffraction, Raman spectroscopy, N₂ adsorption, UV–vis spectroscopy, XPS, ²⁹Si MAS NMR, NH₃-TPD, Py-IR, CO-IR and CO₂-TPD. The catalytic results show that a suitable phase and content of zirconia were needed to improve the ethanol–acetaldehyde conversion, butadiene selectivity and catalyst stability. Among the catalysts, m+t-ZrO_x-Beta-H₂O-9020 (m = monoclinic, t = tetragonal ZrO₂ phase) achieved the best butadiene selectivity of 82–73% at the conversion of 100–66%, run over 200 h. The results allow us to propose a Lewis acid–medium basic pairing for the Si–O–Zr–O–Si group, where the adjacent Si-OH is the active center for reactions. Full article

This paper presents an integrated optimal preview control strategy where an active suspension system (AAS) collaborates with an active aerodynamic control surface (AACS), utilizing the information of incoming road disturbance. The optimal preview controller utilizes a feedforward and feedback controller to anticipate future road disturbances while addressing the conflicting objectives of passenger comfort and road-holding attributes. The active aerodynamic surface generates a desired lift or downward force to change the sprung mass vertical load distribution, further improving the ultimate target indices. The preview-based optimal controller was synthesized by optimizing and tuning two sets of weighting factors, each based on passenger comfort and road-holding preferences. A numerical simulation study was performed for a 2-DOF quarter-of-vehicle (QoV) model in MATLAB^® (R2025b). Detailed time- and frequency-domain analyses were performed to validate the performance of the proposed scheme. The mean squared values of the total performance measure, vertical sprung mass acceleration, suspension travel, and road-holding indices were calculated and compared with the passive, active, active suspension with preview controller, and active suspension with an active aerodynamic surface (AAS). From the numerical results, it can be concluded that the proposed control strategy extraordinarily improves both ride comfort and road-holding capabilities of the vehicle model while maintaining the suspension rattle space requirements within the bounds and ensuring the dynamic stability of the vehicle. Full article

Childhood trauma, encompassing adverse childhood experiences (ACEs) and racially motivated discrimination, poses significant threats to students’ neurological, social–emotional, and academic development. In school contexts, the behavioral effects are often misinterpreted as willful misconduct and addressed through exclusionary disciplinary measures, perpetuating systemic inequities that disproportionately affect students of color and deepen the school-to-prison pipeline. This article synthesizes research on the intersection between trauma, student learning, and school discipline, emphasizing how trauma-related behaviors are frequently met with responses that fail to address underlying needs. We explore the Trauma-Informed Programs and Practices for Schools (TIPPS) framework as a systems-level model for creating safe, inclusive learning environments. Within this framework, restorative practices are highlighted as a key strategy for reducing reliance on punitive discipline and promoting accountability, relationship-building, and a sense of community. We conclude with actionable recommendations for school practitioners who desire a more active role in restorative practices and advancing trauma-informed, equity-driven system-change consistent with the TIPPS model. Full article

Background: Dental caries is a chronic disease mediated by biofilm, which is caused by Streptococcus mutans, and enamel genetics modulates susceptibility. The variants of ENAM might alter the adhesion of enamel and bacteria. One important anti-viral target is sortase A (SrtA), which restricts colonization but does not have an impact on bacterial survival. Aim: The aim of this study was to find out the relationship between ENAM rs3796704 and dental caries vulnerability among adult Iraqi Arab females and to assess the antibiofilm capacity of eugenol and cinnamic acid against S. mutans SrtA using molecular docking, ADMET prediction, and molecular dynamics modeling. Methods: A case–control study was done on 240 women (aged 25–30 years; 120 caries, 120 controls). HRM real-time PCR was done to genotype ENAM rs3796704. An analysis of allelic and genotypic distributions was done using chi-square tests and odds ratios (p < 0.05). An in silico docking analysis aimed at SrtA (PDB: 4TQX) was performed in AutoDock Vina, and this was followed by ADMET profiling and a 50 ns molecular dynamics simulation (OPLS4/TIP3P, NPT 300 K/1 atm). Results: The level of the G allele was found to be lower in the cases than in the controls (60% vs. 70; OR = 0.6429; p = 0.02), but the level of the A allele was found to be higher in the cases (40% vs. 30; OR = 1.5556; p = 0.02). Docking showed a minor difference in binding affinities with eugenol (−4.961 kcal/mol) and cinnamic acid (−4.939 kcal/mol) as compared with chlorhexidine (−4.692 kcal/mol). Both compounds showed stable binding for more than 50 ns as well as desirable predicted pharmacokinetics. Conclusions: The caries vulnerability in this sample was associated with ENAM rs3796704. Eugenol and cinnamic acid undergo stable dissociative interactions with SrtA and were found to have favorable safety profiles in silico. Therefore, they may be considered as adjunctive anti-virulence agents in the prevention of caries. Full article