Search Results (598)

Floating-base robotic systems rely critically on their inertial geometry to maintain stability and regulate interaction forces in the absence of fixed ground constraints. Their control authority additionally depends on the placement and orientation of actuators relative to the center of mass, which determines the moment arms through which thrust or force inputs generate stabilizing actions. This paper develops a general theoretical framework showing that internal mass shifting provides a powerful, domain-independent mechanism for reshaping global system dynamics. Through geometric principles governing center-of-mass placement, moment-arm modification, and inertia redistribution, mass shifting enhances passive stability, reduces the torque induced by external disturbances, and improves the controllability of interaction-intensive tasks. The theory is first examined in a buoyancy-driven simulation of a two-mass floating body subjected to multi-sine wave excitation, which isolates the hydrostatic effects of center-of-mass displacement. To validate the generality of these principles, we further demonstrate their applicability in a radically different domain through real-world experiments on the AeroBull aerial robot, a multirotor platform equipped with an internal mass-shifting mechanism for aerial manipulation. Across both aquatic and aerial settings, mass shifting consistently improves stability, reduces control effort, and increases achievable interaction forces. These results establish internal mass redistribution as a platform-agnostic strategy for enhancing the stability and resilience of floating-base robots operating in uncertain and physically demanding environments. Full article

The equilibrium shape of a crystal is a fundamental problem in materials science and condensed matter physics. The Wulff construction, a cornerstone of crystal morphology prediction, is traditionally presented and utilized as a powerful geometric algorithm to derive equilibrium shapes from anisotropic surface energy $\gamma \left(\mathbf{n}\right)$. While its application across materials science is vast, the profound mathematical physics underpinning it, specifically its intrinsic identity as a manifestation of the Legendre transform, is often relegated to a passing remark. This work recenters the focus on this fundamental duality. We present a comprehensive, step-by-step derivation of the Wulff shape from the variational principle of surface energy minimization under a constant volume, employing the language of support functions and differential geometry. We then rigorously demonstrate that the equilibrium shape, defined by the support function $h\left(\mathbf{n}\right)$, and the surface energy density $\gamma \left(\mathbf{n}\right)$ are conjugate variables linked by a Legendre transformation; the Wulff shape $\mathcal{W}$ is precisely the zero-sublevel set of the dual function ${\gamma }^{*}\left(\mathbf{x}\right)={sup}_{\mathbf{n}}[\mathbf{x}·\mathbf{n}-\gamma \left(\mathbf{n}\right)]$. This perspective elevates the Wulff construction from a mere graphical tool to a canonical example of convex duality in thermodynamic systems, connecting it to deeper principles in convex analysis and statistical mechanics. To bridge theory and computation, we provide a robust computational algorithm implemented in pseudocode capable of generating Wulff shapes for two-dimensional (2D) crystals with arbitrary N-fold symmetry. Finally, we discuss the relevance and extensions of the classical theory in contemporary research, including non-equilibrium growth, nanoscale effects, and machine learning approaches. Full article

Defect detection on Printed Circuit Boards (PCBs) constitutes a pivotal component of the quality control system in electronics manufacturing. However, owing to the intricate circuitry structures on PCB surfaces and the characteristics of defects—specifically their minute scale, irregular morphology, and susceptibility to background texture interference—existing generic deep learning models frequently fail to achieve an optimal equilibrium between detection accuracy and inference speed. To address these challenges, this study proposes MDEB-YOLO, a lightweight real-time detection network tailored for PCB micro-defects. First, to enhance the model’s perceptual capability regarding subtle geometric variations along conductive line edges, we designed the Efficient Multi-scale Deformable Attention (EMDA) module within the backbone network. By integrating parallel cross-spatial channel learning with deformable offset networks, this module achieves adaptive extraction of irregular concave–convex defect features while effectively suppressing background noise. Second, to mitigate feature loss of micro-defects during multi-scale transformations, a Bidirectional Residual Multi-scale Feature Pyramid Network (BRM-FPN) is proposed. Utilizing bidirectional weighted paths and residual attention mechanisms, this network facilitates the efficient fusion of multi-view features, significantly enhancing the representation of small targets. Finally, the detection head is reconstructed based on grouped convolution strategies to design the Lightweight Grouped Convolution Head (LGC-Head), which substantially reduces parameter volume and computational complexity while maintaining feature discriminability. The validation results on the PKU-Market-PCB dataset demonstrate that MDEB-YOLO achieves a mean Average Precision (mAP) of 95.9%, an inference speed of 80.6 FPS, and a parameter count of merely 7.11 M. Compared to baseline models, the mAP is improved by 1.5%, while inference speed and parameter efficiency are optimized by 26.5% and 24.5%, respectively; notably, detection accuracy for challenging mouse bite and spur defects increased by 3.7% and 4.0%, respectively. The experimental results confirm that the proposed method outperforms state-of-the-art approaches in both detection accuracy and real-time performance, possessing significant value for industrial applications. Full article

In this paper, we investigate the asymptotic behavior of solutions to a diffusive forest kinematic model, which describes the interactions among young trees, old trees, and airborne seeds. Our study focuses on the stability of the positive equilibrium, the occurrence of Hopf bifurcation yielding spatially homogeneous periodic solutions, and the subsequent Turing instability induced by diffusion in these periodic states. The analysis highlights that the juvenile tree mortality rate, represented by a quadratic function of mature tree density, plays a central dynamical role. Specifically, the parameter corresponding to the mature tree density at which juvenile mortality is minimized serves as a key Hopf bifurcation parameter. This indicates that the system’s transition to periodic solutions and later to diffusion-driven pattern formation can be effectively regulated through this parameter. From an ecological perspective, these results suggest that forest management strategies capable of indirectly influencing factors related to this critical parameter could help control the emergence of spatial patterns, such as forest patches. Furthermore, the functional form of the mortality rate offers a useful foundation for future studies examining how different assumptions regarding tree interaction morphology may influence ecosystem patterning. Full article

Interfacial reactions between Sn-based solders and Au/Pd/Ni metallization were investigated at 260 °C, with particular emphasis on the effects of Pd and Sn thicknesses. Au/Pd/Ni substrates with Pd layers of approximately 70 nm, 200 nm, and 1 µm were reacted with Sn layers of about 50, 20, and 10 µm. Additionally, Sn-Pd and Sn-3Ag-Pd solders containing 0.1–1 wt.% Pd were reacted with Ni substrates. In the Sn/Au/Pd/Ni reactions, rapid dissolution of the Pd layer and partial Ni dissolution at the early stage promoted the formation of large amounts of faceted (Pd,Ni)Sn₄. With increasing reaction time, continuous Ni diffusion enriched the interfacial region, leading to the nucleation and growth of Ni₃Sn₄. Once the Ni solubility limit in (Pd,Ni)Sn₄ was exceeded, this phase gradually transformed into the thermodynamically more stable Ni₃Sn₄. In addition to phase evolution, Pd was found to significantly influence the interfacial grain morphology. Minor Pd additions enhanced the Ni₃Sn₄ nucleation, resulting in refined and columnar grains. In the Sn-Pd/Ni reactions, low Pd contents led to the rapid replacement of (Pd,Ni)Sn₄ by Ni₃Sn₄, whereas higher Pd contents significantly enhanced the stability and interfacial retention of (Pd,Ni)Sn₄. These results reveal that increasing Pd thickness or Pd content in the solder significantly enhances the stability of (Pd,Ni)Sn₄, whereas reducing Sn thickness markedly accelerates interfacial reactions and phase transformation. The experimental observations can be consistently interpreted using a local interfacial equilibrium hypothesis based on the Sn-Pd-Ni phase diagram. Full article

Background: Vitamin D receptor (VDR) gene polymorphisms are linked to muscle and bone physiology, yet their influence on individual differences in resistance training adaptations, especially between sexes, is not well understood. Methods: In total, 191 healthy Chinese Han adults (94 men, 97 women) completed a 12-week, twice-weekly resistance training program (squat and bench press). Key indicators of strength, power, body composition, and muscle morphology were assessed before and after the intervention. Participants were genotyped for VDR polymorphisms (rs731236/TaqI, rs7975232/ApaI, rs1544410/BsmI, rs2228570/FokI). Data were analyzed to compare responses across genotype groups. Results: Training induced significant improvements in multiple outcomes. Overall, the AG genotype of rs731236 and the CT genotype of rs1544410 were associated with greater gains in bone mineral content. Sex-specific analyses revealed distinct patterns: in women, the rs731236-AA genotype correlated with better strength and power gains, while the AG genotype linked to greater body composition improvements. In men, the rs1544410-CC genotype was associated with superior lower-limb muscle growth. The rs7975232 showed no significant overall effect, and rs2228570 deviated from Hardy–Weinberg equilibrium. Conclusions: VDR gene polymorphisms, particularly rs731236 and rs1544410, are associated with inter-individual variability in resistance training responses among Chinese Han adults, demonstrating clear sex and phenotype specificity. These findings offer preliminary support for genotype-informed personalized training. Full article

Metal ions exemplify one of the most harmful and environmentally detrimental contaminants of water systems. This work describes the creation of an innovative chelated carbon-doped nickel and titanium oxide (C-NiTiO₂) hybrid as an adsorbent for the effective elimination of metal ions. The dominance of the TiO₂ anatase phase with a ≈ 61 nm crystallite size was verified by XRD and Raman investigation. Morphology investigations exposed polygonal nanoparticles consisting of Ti, C, Ni, and O. The nanostructure exhibited a surface area of 17 m²·g⁻¹, a pore diameter of ≈1.5 nm, and a pore volume of 0.0315 cm³·g⁻¹. The nanostructure was evaluated for the elimination of Zn (II) ions from an aqueous solution. The metal ion adsorption onto the hybrid nanomaterial was described and comprehended using adsorption kinetics and equilibrium models. The adsorption data matched well with the pseudo-second-order kinetics and Langmuir adsorption models, indicating a monolayer chemisorption mechanism and achieving a maximum Zn (II) ion elimination of 369 mg·g⁻¹. Mechanistic investigation indicated film diffusion-controlled adsorption through inner-sphere complexation. The nanosorbent could be regenerated and reused for four rounds without appreciable activity loss, thus demonstrating its potential for water cleanup applications. Full article

Despite their potential, alkali-treated konjac glucomannan (KGM) gels are limited by excessive brittleness and a lack of eco-friendly synthesis methods, creating an urgent need for more durable and ‘green’ alternatives. In this study, highly stable KGM gels were constructed under low-alkali conditions by adjusting the ethanol content. The results showed that intermolecular hydrogen bonding and hydrophobic interactions were enhanced with increasing ethanol concentration (0–20% v/v) under low-alkaline conditions. The physicochemical properties of KGM gels showed dynamic improvement, with denser micro-network morphology and simultaneous enhancement of thermal stability. However, the addition of a high ethanol concentration (20% v/v) tended to trigger local aggregation, disrupting the gel network structure. At an ethanol addition of 15%, the hydrogen bonding and hydrophobic interactions of KGM gels reached an optimal equilibrium, exhibiting the most compact gel network and excellent resistance to deformation. This study reveals the regulation of the microstructure and macroscopic properties of KGM gels by ethanol, which provides theoretical support for the construction of high-performance KGM gels under low-alkali conditions. Full article

The naturally occurring, biocompatible and biodegradable biopolymer dextran is a versatile material for the formulation of hydrogels with desirable properties for use in medicine, drug delivery, and tissue engineering applications. The distinctive structural and physicochemical characteristics, such as polymeric nature, gelling ability and excellent swelling properties, present it as an excellent biomaterial for drug delivery. This study explores the synthesis and characterization of dextran hydrogel for the encapsulation of clindamycin as an innovative approach for controlled drug delivery. The dextran hydrogel was synthesized through a simple and cost-effective method, and its swelling behavior, temperature and pH dependence, and surface morphology were investigated. The maximum equilibrium swelling ratio (73 ± 1%) of the hydrogel was observed in water at 25 °C within 120 min, and the hydrogel was found to be pH- and temperature-dependent for more precise and targeted drug delivery. Moreover, the dextran hydrogel was found to retain water for up to 18 h and remain stable for 8 days. The presence of a roughened surface with large openings/pores on the surface illustrated the high swelling capability of the synthesized hydrogel. In addition, the dextran hydrogel loaded with clindamycin demonstrated high drug loading capacity (70 ± 2%), rapid (65 ± 2%) in vitro drug release potential and pathogen-inhibitory activity against Staphylococcus gallinarium and Bacillus subtilis. Full article

Metal-organic frameworks (MOFs) offer high porosity for water remediation but face challenges in handling as powders. We address these limitations by physically immobilizing Fe–BTC MOF within calcium-crosslinked low-methoxyl pectin matrices (PE–Ca–MOF). Solvent-cast films and freeze-dried foams were fabricated using water-based and polyvinylpyrrolidone (PVP)-assisted Fe–BTC dispersions, preserving MOF and pectin structures confirmed by FT–IR. PVP improved Fe–BTC dispersion and reduced particle size, enhancing distribution and plasticizing the matrix proved by DSC. Incorporation of water-dispersed Fe–BTC increased the equilibrium adsorption capacity but reduced the initial adsorption rate, while the PVP-assisted foam further enhanced uptake in comparative batch tests through its more open porous structure. At pH 7, PE–Ca–5%MOF films showed high adsorption capacities and removal efficiencies for paraquat (35.5 mg/g, 70.6%) and tetracycline (14.5 mg/g, 46.8%), while maintaining Zn²⁺ uptake compared to calcium-pectin films without MOF. Adsorption followed pseudo-first-order kinetics and Langmuir isotherms. Green regeneration with acetic acid enabled >80% capacity retention over five adsorption–desorption cycles. Foam architectures increased porosity and active-site accessibility (SEM), improving performance even at lower MOF loadings. Overall, controlling MOF dispersion and composite morphology enables efficient, reusable, and environmentally friendly bio-based adsorbents for water purification. Full article

This work investigated the effects of gamma irradiation on the adsorption capacities of rice husk (RH) for the removal of Cu²⁺, Cr³⁺, and Zn²⁺ ions from aqueous solutions, with potential applications in wastewater remediation. RH samples were gamma-irradiated at doses up to 40 kGy and characterized using SEM-EDS, XRF, FTIR, XRD, and BET analyses. While morphological and textural changes remained subtle, FTIR and SEM-EDS confirmed the formation and intensification of oxygen-containing functional groups, including –OH, –COOH, and C=O, as well as increased exposure of silica (Si–O) on the surfaces, which substantially enhanced surface reactivity of RH toward metal ions. Batch adsorption experiments revealed that 40-kGy irradiated RH samples (RH-40) exhibited the highest removal efficiencies compared to non-irradiated and lower-dose samples (RH-0, RH-10, RH-20, and RH-30), specifically with improvements of 415% for Cu²⁺, 502% for Cr³⁺, and 663% for Zn²⁺ compared to RH-0, determined at the initial concentration of 10 mg/L. Kinetic studies also showed rapid adsorption within the first 10–15 min, dominated initially by boundary-layer diffusion, followed by chemisorption-driven equilibrium behavior. The pseudo-second-order (PSO) model provided an excellent fit for all metals (R² = 0.999), indicating maximum model-predicted kinetic capacities of 555.56 mg/g (Cu²⁺), 769.23 mg/g (Cr³⁺), and 434.78 mg/g (Zn²⁺). Langmuir isotherms also fitted well (R² = 0.941–0.995), with predicted monolayer capacities of 535.33 mg/g (Cu²⁺), 491.64 mg/g (Cr³⁺), and 318.88 mg/g (Zn²⁺). Freundlich modeling further indicated favorable heterogeneous adsorption, with K_F values of 42.614 (Zn²⁺), 20.443 (Cr³⁺), and 16.524 (Cu²⁺) and heterogeneity factors (n) greater than 1 for all metals. These overall results suggested that gamma irradiation substantially enhanced RH functionality that enabled fast and high-capacity heavy-metal adsorption through surface oxidation and carbon valorization. Gamma-irradiated RH, therefore, represented a promising, low-cost, and environmentally friendly biosorbent for wastewater treatment applications. Full article

Pigment gallstones represent a heterogeneous group of concretions, classically divided into black and brown types, whose morphology and microstructure offer critical clues about their underlying pathogenesis. Gallstone formation (lithogenesis) is a complex process triggered when the physicochemical equilibrium of bile is disrupted. Background/Objectives: The spicules observed on the surface of certain black pigment gallstones have traditionally been attributed to the branching capacity of cross-linked bilirubin polymers. However, a growing body of experimental and spectroscopic evidence suggests that inorganic calcium salts, particularly calcium carbonate and calcium phosphate, play a central role in the formation of the distinctive spiculated or “coral-like” architecture. Materials and Methods: In our study, we examined a case series of 1350 consecutive patients with gallstone disease, identifying 81 patients who presented with solitary black pigment stones. We systematically explored the association between high calcium content, specifically calcium carbonate, and the occurrence of spiculated morphology. Our analyses demonstrated a robust correlation between an elevated concentration of calcium carbonate and the presence of well-defined spicules. Results: These results support the hypothesis that mineral elements, rather than organic bilirubin polymers, act as crucial determinants of the peculiar crystalline structure observed in a significant subset of pigment stones. Spiculated stones, due to their small size and sharp projections, have a higher likelihood of migrating, increasing the risk of potentially life-threatening complications, such as acute cholangitis and gallstone pancreatitis. Conclusions: Our findings, consistent with recent advanced crystallographic analyses, underscore the importance of considering mineral composition in the diagnosis and management of cholelithiasis. Understanding the factors that drive calcium carbonate precipitation is essential for developing new preventive and therapeutic strategies, aiming to modulate bile chemistry and reduce the risk of calcium-driven lithogenesis. Full article

As a major export crop in China, Saccharina japonica cultivation suffers from significant economic losses due to disease outbreaks, with pathogen identification remaining a critical bottleneck for mariculture. In this study, a dominant bacterial strain, LJ53, was isolated from the diseased farmed S. japonica. Artificial challenge assay confirmed that this strain is the direct causative agent of bleaching symptoms on sporophytes. Based on morphological characteristics and 16S rRNA gene-based phylogeny, it was identified as Pseudoalteromonas agarivorans LJ53. Ultrastructural observation revealed that this strain destroyed host cells and caused typical pathological changes such as chloroplast disintegration. Interestingly, metagenomic analysis showed no significant difference in the relative abundance of this pathogen between healthy and diseased S. japonica tissues. However, the co-occurrence network of the disease community exhibited increased connectivity, altered modularity, and features characteristic of microbial dysbiosis. This dysbiosis disrupts the water ecological balance by destabilizing microbial symbiosis and nutrient cycling, which are essential for overall ecosystem resilience. As a result, these imbalances can exacerbate disease transmission and weaken the self-regulating capacity of marine environment, highlighting the need for integrated management strategies to restore equilibrium. These findings provide a theoretical basis for elucidating the mechanisms of bacterial diseases in S. japonica and developing future control strategies. Full article

The synthesis of two novel materials, aluminum-based MOF (Al-MOF) and cellulose-modified MOF (Al-MOF@C), as adsorbents is presented. Al-MOF was synthesized from aluminum sec-butoxide and terephthalic acid in a 1:1 molar ratio using a solvothermal method. Al-MOF@C was synthesized under similar solvothermal conditions by reacting environmentally friendly starting materials such as aluminum sec-butoxide, terephthalic acid, and cellulose in a 1:1:1 molar ratio. The synthesized materials’ structural, morphological, and surface properties were thoroughly characterized using XRD, SEM, EDS, BET (with specific surface areas calculated as 563.9 m²/g for Al-MOF and 487.1 m²/g for Al-MOF@C), and FTIR analyses. Then they were utilized in the water treatment process to remove the highly toxic anionic Congo red (CR) dye. Dye adsorption studies were carried out using UV-Vis spectroscopy. Batch adsorption experiments showed that Al-MOF and Al-MOF@C materials adsorbed CR dye with removal efficiencies of 95.06% and 91.79% in just 4 min, respectively. The equilibrium adsorption isotherm data for Al-MOF and Al-MOF@C were best fitted by the Langmuir model, and the calculated maximum adsorption capacities were 80.64 mg/g and 68.96 mg/g, respectively. The adsorption kinetics exhibited an excellent correlation with the pseudo-second-order model (R² = 0.9975 for Al-MOF and R² = 0.9936 for Al-MOF@C). Measurements taken after the adsorption process showed that Al-MOFs synthesized using environmentally friendly chemicals retained their stable chemical structure in aqueous environments and thus did not create secondary pollution in the environment, highlighting the importance of this study. Chemically stable, thermodynamically favorable, and highly reusable Al-MOF adsorbents offer a promising solution for the advanced environmental remediation of hazardous dye contaminants. Full article

Accurate and real-time detection of polyps in colonoscopy is a critical task for the early prevention of colorectal cancer. The primary difficulties include insufficient extraction of multi-scale contextual cues for polyps of different sizes, inefficient fusion of multi-level features, and a reliance on hand-crafted anchor priors that require extensive tuning and compromise generalization performance. Therefore, we introduce a one-stage anchor-free detector that achieves state-of-the-art accuracy whilst running in real-time on a GTX 1080-Ti GPU workstation. Specifically, to enrich contextual information across a wide spectrum, our Cross-Stage Pyramid Pooling module efficiently aggregates multi-scale contexts through cascaded pooling and cross-stage partial connections. Subsequently, to achieve a robust equilibrium between low-level spatial details and high-level semantics, our Weighted Bidirectional Feature Pyramid Network adaptively integrates features across all scales using learnable channel-wise weights. Furthermore, by reconceptualizing detection as a direct point-to-boundary regression task, our anchor-free head obviates the dependency on hand-tuned priors. This regression is supervised by a Scale-invariant Distance with Aspect-ratio IoU loss, substantially improving localization accuracy for polyps of diverse morphologies. Comprehensive experiments on a large dataset comprising 103,469 colonoscopy frames substantiate the superiority of our method, achieving 98.8% mAP@0.5 and 82.5% mAP@0.5:0.95 at 35.8 FPS. Our method outperforms widely used CNN-based models (e.g., EfficientDet, YOLO series) and recent Transformer-based competitors (e.g., Adamixer, HDETR), demonstrating its potential for clinical application. Full article