Search

This paper presents the mathematical modeling of flapping flight inch-size micro aerial vehicles (MAVs), namely micromechanical flying insects (MFIs). The target robotic insects are electromechanical devices propelled by a pair of independent flapping wings to achieve sustained autonomous flight, thereby mimicking real insects. In this paper, we describe the system dynamic models which include several elements that are substantially different from those present in fixed or rotary wing MAVs. These models include the wing-thorax dynamics, the flapping flight aero-dynamics at a low Reynolds number regime, the body dynamics, and the biomimetic sensory system consisting of ocelli, halteres, magnetic compass, and optical flow sensors. The mathematical models are developed based on biological principles, analytical models, and experimental data. They are presented in the Virtual Insect Flight Simulator (VIFS) and are integrated together to give a realistic simulation for MFI and insect flight. VIFS is a software tool intended for modeling flapping flight mechanisms and for testing and evaluating the performance of different flight control algorithms. Index Terms--Biomimetic sensors, flapping flight, flying insects, low Reynolds number, micro aerial vehicles (MAVs).

To observe the clinical outcomes of patients diagnosed with metastatic breast cancer undergoing Trastuzumab Deruxtecan (T-DXd) therapy in a real-world setting. The study retrospectively reviewed and collected medical data from 13 patients at Shin Kong Wu Ho-Su Memorial Hospital who underwent T-DXd treatment over a period from April 2022 to June 2023. Demographics, pathological characteristics, treatment patterns, and outcomes were descriptively analyzed. Thirteen patients diagnosed with metastatic breast cancer underwent T-DXd treatment between April 2022 and June 2023. This study observed that T-DXd was effective in patients with high human epidermal growth factor receptor 2 (HER2) levels. In patients with low HER2, the majority also experienced favorable responses. Only 2 patients exhibited poor or no response: one was a BRCA2 carrier with unmanageable disease progression, and the other had a HER2 1 + status with multiorgan metastases whose cancer was not controlled by T-DXd. Additionally, 2 patients with no HER2 expression responded well to T-DXd treatment. T-DXd is a valuable treatment alternative for patients with breast cancer, including those with HER2-high, HER2-low, and HER2-negative statuses. In this study, the majority of patients experienced positive therapeutic effects. However, this evaluation relied on a limited sample size and short-term observations. Additional studies involving larger and more diverse patient groups and long follow-up durations are required., Competing Interests: The authors have no funding and conflicts of interest to disclose., (Copyright © 2024 the Author(s). Published by Wolters Kluwer Health, Inc.)