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Photodynamic therapy is an anti‐cancer treatment that requires illumination of photosensitizers to induce local cell death. Current near‐infrared organic photosensitizers are built from large and non‐modular structures that cannot be tuned to improve safety and minimize off‐target toxicity. This work describes a novel chemical platform to generate enzyme‐activatable near‐infrared photosensitizers. We optimized the Se‐bridged hemicyanine scaffold to include caging groups and biocompatible moieties, and generated cathepsin‐triggered photosensitizers for effective ablation of human glioblastoma cells. Furthermore, we demonstrated that enzyme‐activatable Se‐bridged hemicyanines are effective photosensitizers for the safe ablation of microtumors in vivo, creating new avenues in the chemical design of targeted anti‐cancer photodynamic therapy agents. [ABSTRACT FROM AUTHOR]

Humans regularly use all inner surfaces of the hand during manipulation, whereas traditional formulations for robots tend to use only the tips of their fingers, limiting overall dexterity. In this paper, we explore the use of the whole hand during spatial robotic dexterous within-hand manipulation. We present a novel four-fingered robotic hand called the Model B, which is designed and controlled using a straight-forward potential energy-based motion model that is based on the hand configuration and applied actuator torques. In this way the handobject system is driven to a new desired configuration, often through sliding and rolling between the object and hand, and with the fingers "caging" the object to prevent ejection. This paper presents the first ever application of the energy model in three dimensions, which was used to compare the theoretical manipulability of popular robotic hands, which then inspired the design of the Model B. We experimentally validate the hand's performance with extensive benchtop experimentation with test objects and real world objects, as well as on a robotic arm, and demonstrate complex spatial caging manipulation on a variety of objects in all six object dimensions (three translation and three rotation) using all inner surfaces of the fingers and the palm. [ABSTRACT FROM AUTHOR]

Humans regularly use all inner surfaces of the hand during manipulation, whereas traditional formulations for robots tend to use only the tips of their fingers, limiting overall dexterity. In this paper, we explore the use of the whole hand during spatial robotic dexterous within-hand manipulation. We present a novel four-fingered robotic hand called the Model B, which is designed and controlled using a straight-forward potential energy-based motion model that is based on the hand configuration and applied actuator torques. In this way the hand-object system is driven to a new desired configuration, often through sliding and rolling between the object and hand, and with the fingers “caging” the object to prevent ejection. This paper presents the first ever application of the energy model in three dimensions, which was used to compare the theoretical manipulability of popular robotic hands, which then inspired the design of the Model B. We experimentally validate the hand’s performance with extensive benchtop experimentation with test objects and real world objects, as well as on a robotic arm, and demonstrate complex spatial caging manipulation on a variety of objects in all six object dimensions (three translation and three rotation) using all inner surfaces of the fingers and the palm.

This study investigated a pregrasp strategy for hooking and caging ring-shaped objects. Through-hole features enable the robot hand to hook an object with holes by inserting its finger into one of the holes. Compared to directly grasping the ring, an inserting motion is more convenient to allow the uncertainty of positioning errors and avoid collisions between the hand and the object. Instead of recognizing the exact shape of the object, we only detected its ring-shaped feature as a through-hole to be inserted and estimated its approximate center position and orientation from the point cloud of the object. The estimated geometric properties enabled the approaching motion of the robotic gripper to complete insertion. The proposed perception and motion-planning method was demonstrated for rigid and deformable objects with holes. [ABSTRACT FROM AUTHOR]

Caging groups are photoremovable protecting groups that render a molecule biologically inactive until light illumination, thereby allowing for temporal and spatial control of activity. While nitrobenzyl‐based caging groups have advantageous synthetic and photochemical properties, red shifting of the absorption spectrum through chemical modification has led to reduced decaging efficiency. 6‐Nitropiperonyloxymethylene (NPOM), a group with broad applicability in the caging of heterocyclic structures, in particular nucleic acids, traditionally requires ultraviolet (UV) irradiation for decaging. Herein, we investigated the decaging properties of NPOM under near visible light (400–450 nm) using N3‐caged 5'‐dimethoxytrityl (DMTr)‐thymidine as a substrate. To our surprise, we discovered highly efficient decaging at wavelengths outside the UV range, in particular when compared to other nitrobenzyl chromophores. These results have implications in the selection of light sources for photoactivation and for sequential photolysis to achieve selective control of biological processes. [ABSTRACT FROM AUTHOR]

Controlling the pairing strength of nucleobases in DNA through reactions with compounds found inside the cell is a formidable challenge. Here we report how a thiazolyl substituent turns a strongly pairing ethynylpyridone C‐nucleoside into a reactive residue in oligonucleotides. The thiazolyl‐bearing pyridone reacts with soft nucleophiles, such as glutathione, but not with hard nucleophiles like hydroxide or carbonate. The addition products pair much more weakly with adenine in a complementary strand than the starting material, and also change their fluorescence. This makes oligonucleotides containing the new deoxynucleoside interesting for controlled release. Due to its reactivity toward N, P, S, and Se‐nucleophiles, and the visual signal accompanying chemical conversion, the fluorescent nucleotide reported here may also have applications in chemical biology, sensing and diagnostics. [ABSTRACT FROM AUTHOR]

The primary motivation for dog ownership is companionship, significantly enhancing the quality of life for both dogs and their owners. However, behavioral problems can strain this bond, leading many owners to resort to caging as a management strategy. This study aims to examine the frequency of cage use for educational and behavioral reasons, assess its efficacy in modifying behaviors, and explore potential welfare implications. A 41-question survey was disseminated via social networks from January to June 2021, collecting data on various aspects related to dogs, including caging history, duration, type of cage, outcomes for training purposes, behavioral modification plans, and welfare impact. The survey, available in French, English, and Hebrew, gathered responses from 1305 dog owners across 23 countries. The study found that 25.4 % of respondents used cages for their dogs. Neutered female dogs were more likely to be caged than their counterparts. The majority of caged dogs were puppies aged 6 months or younger, typically caged for training purposes. According to owners report, training goals were more easily achieved than behavioral goals, with dogs caged for behavioral conditions exhibiting more signs of distress. The findings highlight the prevalent use of caging for various purposes. If the study outcomes show an overall low level of discomfort for caged dogs, they also emphasize that signs of distress significantly increase when the cage is used for managing behavioral issues. The study underscores the need for enhanced education for veterinarians and trainers to reduce unnecessary caging and promote alternative management strategies. Future research should incorporate objective measures of behavior and welfare, explore the efficacy of alternative strategies, and investigate cultural factors influencing caging practices. Crating can serve educational purposes with minimal welfare impact when used appropriately. However, it is ineffective and potentially detrimental when used for behavioral therapy in dogs with behavioral disorders. Owners should seek professional guidance and closely monitor their dogs for signs of distress when using crates. Using a crate as a personal and protected space can be beneficial if the dog retains control over its use. • Study Focus : This study examines dog owners' satisfaction with caging as a method for training and behavioral management. • Survey Scope : Data were collected from 1305 dog owners across 23 countries. • Prevalence of Caging : 25.4 % of owners use cages, predominantly for puppies under six months of age. • Behavioral vs. Training : Caging was found to be more effective in achieving training goals compared to behavioral goals. • Welfare Impact : Dogs caged for behavioral management exhibited more distress than those caged for training purposes. [ABSTRACT FROM AUTHOR]

The Western Mediterranean coast is under the influence of anthropogenic pressures, including land use, increasing amounts of dangerous waste and habitat destruction. In 2021, the French RINBIO network (http://www.ifremer.fr/envlit/) originally dedicated to assess chemical contamination in the region, focused on biological effects produced by contaminants and the interaction with natural variability in mussels using an active caging strategy. Cell and tissue level biomarkers were applied for 17 sampling sites divided in three sub-regions categorized by different environmental conditions. Results provide critical information for ecosystem health assessment using mussels as sentinel species in the Western Mediterranean Sea. The influence of natural and confounding factors (trophic condition, reproductive cycle, caging strategy), on biological responses to mild chemical contamination, was discussed and discriminated for health status assessment. Results provide valuable data available as reference values for the assessment of biomarkers and histopathological alterations for large-scale active biomonitoring campaigns in the Western Mediterranean Sea. • Environmental factors proved critical to interpret effects of pollutants. • The adequacy of the active biomonitoring strategy was confirmed. • Valuable biological data for the geographical area are reported. • Biomarker data reported herein are potential reference values for future studies. [ABSTRACT FROM AUTHOR]

Nowadays, biomarkers are recognized as valuable tools to complement chemical and ecological assessments in biomonitoring programs. They provide insights into the effects of contaminant exposures on individuals and establish connections between environmental pressure and biological response at higher levels. In the last decade, strong improvements in the design of experimental protocols and the result interpretation facilitated the use of biomarker across wide geographical areas, including aquatic continua. Notably, the statistical establishment of reference values and thresholds enabled the discrimination of contamination effects in environmental conditions, allowed interspecies comparisons, and eliminated the need of a reference site. The aim of this work was to study freshwater-estuarine-coastal water continua by applying biomarker measurements in multi-species caged organisms. During two campaigns, eight sentinel species, encompassing fish, mollusks, and crustaceans, were deployed to cover 25 sites from rivers to the sea. As much as possible, a common methodology was employed for biomarker measurements (DNA damage and phagocytosis efficiency) and data interpretation based on guidelines established using reference values and induction/inhibition thresholds (establishment of three effect levels). The methodology was successfully implemented and allowed us to assess the environmental quality. Employing multiple species per site enhances confidence in observed trends. The results highlight the feasibility of integrating biomarker-based environmental monitoring programs across a continuum scale. Biomarker results align with Water Framework Directive indicators in cases of poor site quality. Additionally, when discrepancies arise between chemical and ecological statuses, biomarker findings offer a comprehensive perspective to elucidate the disparities. Presented as a pilot project, this work contributes to gain insights into current biomonitoring needs, providing new questions and perspectives. • A novel strategy to monitor aquatic continua using biomarkers is proposed. • A common analysis method was applied in multi-species caged organisms. • Biomarkers provide clear and easily useable assessment of the environmental quality. • Reference values and thresholds are recommended to interpret biomarker responses. • Biomarker-based monitoring on a wide scale complements the WFD evaluation. [ABSTRACT FROM AUTHOR]

Attempts to restore marine ecosystems are increasing, but the success of projects remains variable. For marine invertebrates, the establishment of self‐sustaining populations requires a larval supply as well as conditions that permit recruitment.Abiotic and biotic conditions that determine recruitment can vary across environmental gradients and have opposing or reinforcing effects. We assessed how predation and tidal inundation influence recruitment of the reef‐forming oyster, Saccostrea glomerata, at 15 sites, 5 estuaries and 8 degrees of latitude in eastern Australia.Oysters recruited to all 15 sites, but their density displayed spatially variable effects of tidal inundation and caging. Effects of tidal inundation and caging were weakest at the two lower‐latitude estuaries where recruitment was low overall, average temperature and turbidity were high and dissolved oxygen low.At higher‐latitude estuaries, where abiotic conditions were more favourable for recruitment, recruit density displayed tidal elevation gradients that were dependent on caging and time. Initially, recruit density decreased with tidal inundation (and exposure to finfish predators), in the uncaged but not the caged treatment. However, over time the elevation gradient disappeared, and recruitment and survival of oysters was greater in caged than uncaged treatments irrespective of elevation.Synthesis and applications. Our results suggest that both abiotic (i.e. temperature, turbidity and dissolved oxygen) and biotic (i.e. predation) factors can negatively influence oyster recruitment and, hence, restoration success. Consequently, oyster reef restoration projects should be planned to prioritise sites with low turbidity, high dissolved oxygen and low predation unless these stressors can be mitigated. Restoration projects that are designed with knowledge of local stressors are more likely to be successful. [ABSTRACT FROM AUTHOR]

Tracking PFAS in ecosystems is challenging. In this context, monitoring programs are crucial to fill data gaps, especially in marine environments, which are the ultimate outlets for these forever chemicals. The 2021 chemical contamination monitoring campaign along the French Mediterranean coast established a baseline for PFAS concentrations in mussels, with 90 % of measurements below quantification limits. When detected, long-chain PFCA's were predominant. Spatial distribution patterns suggested continuous PFAS inputs and complex dynamics, shaped by the influence of large watersheds and rivers (Rhône, Aude, Huveaune). Lapeyrade shallow lagoon stood out as the most contaminated site. Similar PFAS profiles in connected sites implied shared sources but raised questions about accumulation processes in mussels. While certain sites had evident sources (e.g., military airbase for Palo lagoon), others remained uncertain (e.g., Toulon bay). Coastal stations (Banyuls, Cap Agde, Brégançon, Pampelonne) showed PFAS contamination without clear onshore sources, possibly due to insufficient transportation process understanding., Competing Interests: Declaration of competing interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2024 Elsevier Ltd. All rights reserved.)

In this work, we propose algorithms to explicitly construct a conservative estimate of the configuration spaces of rigid objects in two and three dimensions. Our approach is able to detect compact path components and narrow passages in configuration space which are important for applications in robotic manipulation and path planning. Moreover, as we demonstrate, they are also applicable to identification of molecular cages in chemistry. Our algorithms are based on a decomposition of the resulting three- and six-dimensional configuration spaces into slices corresponding to a finite sample of fixed orientations in configuration space. We utilize dual diagrams of unions of balls and uniform grids of orientations to approximate the configuration space. Furthermore, we carry out experiments to evaluate the computational efficiency on a set of objects with different geometric features thus demonstrating that our approach is applicable to different object shapes. We investigate the performance of our algorithm by computing increasingly fine-grained approximations of the object's configuration space. A multithreaded implementation of our approach is shown to result in significant speed improvements. [ABSTRACT FROM AUTHOR]

Dynamical density functional theory (DDFT) is a powerful variational framework to study the nonequilibrium properties of colloids by only considering a time-dependent one-body number density. Despite the large number of recent successes, properly modelling the long-time dynamics in interacting systems within DDFT remains a notoriously difficult problem, since structural information, accounting for temporary or permanent particle cages, gets lost. Here we address such a caging scenario by reducing it to a clean one-dimensional problem, where the particles are naturally ordered (arranged on a line) by perfect cages created by their two next neighbours. In particular, we construct a DDFT approximation based on an equilibrium system with an asymmetric pair potential, such that the corresponding one-body densities still carry the footprint of particle order. Applied to a system of confined hard rods, this order-preserving dynamics (OPD) yields exact results at the system boundaries, in addition to the imprinted correct long-time behaviour of density profiles representing individual particles. In an open system, our approach correctly reproduces the reduced long-time diffusion coefficient and subdiffusion, characteristic for a single-file setup. These observations cannot be made using current forms of DDFT without particle order. [ABSTRACT FROM AUTHOR]

On September 26th 2019, a major fire occurred in the Lubrizol factory located near the Seine estuary, in Rouen-France. Juvenile flounders were captured in the Canche estuary (a reference system) and caged one month in the Canche and in the Seine downstream the accident site. No significant increases of PAHs, PCBs and PFAS was detected in Seine vs Canche sediments after the accident, but a significant increase of dioxins and furans was observed in water and sewage sludge in the Rouen wastewater treatment plant. The proteomics approach highlighted a dysregulation of proteins associated with cholesterol synthesis and lipid metabolism, in fish caged in the Seine. The overall results suggested that the fire produced air borne dioxins and furans that got deposited on soil and subsequently entered in the Seine estuarine waters via runoff; thus contaminating fish preys and caged flounders in the Seine estuary. [Display omitted] • 10,000 tons of heavy hydrocarbons burnt in two factories near the Seine estuary. • Juvenile flounders were caged during one month downstream the accident site. • Brain AChE activity was reduced in caged fish after the accident. • Caged fish showed an upregulation of the liver cholesterol and fatty acid synthesis. • Dioxins and furans probably contaminated the Seine estuary through runoff. [ABSTRACT FROM AUTHOR]

Abstract In this paper, we present a novel method for caging-based grasping of deformable objects. This method enables manipulators to grasp objects simply with geometric constraints by using position control of robotic hands, and not through force controls or mechanical analysis. Therefore, this method has cost benefits and algorithmic simplicity. In our previous studies, we mainly focused on caging-based grasping of rigid objects such as 2D/3D primitive-shaped objects. However, considering realistic objects, manipulation of deformable objects is also required frequently. Hence, this study is motivated to manipulate deformable objects, adopting a caging-based grasping approach. We formulate caging-based grasping of deformable objects, and target three types of deformable objects: a rigid object covered with a soft part, a closed-loop structure, and two rigid bodies connected with a string, which can be regarded as primitive shapes. We then derive concrete conditions for grasp synthesis and conduct experimental verification of our proposed method with an industrial manipulator.

The use of a multi-biomarker approach with three-spined sticklebacks (Gasterosteus aculeatus) through an active biomonitoring strategy appears to be a promising tool in water quality assessment. The present work proposes to assess the efficiency of these tools in the discrimination of some sites in a large scale on the Meuse basin in Europe. The study was part of an EU program which aims to assess water quality in the Meuse across the French-Belgian border. Sticklebacks were caged 21 days upstream and downstream from the wastewater treatment plants (WWTPs) of Namur (Belgium), Charleville-Mézières (France), Bouillon (Belgium) and Avesnes-sur-Helpe (France). First, the state of a variety of physiological functions was assessed using a battery of biomarkers that represented innate immunity (leucocyte mortality and distribution, phagocytosis activity, respiratory burst), antioxidant system (GPx, CAT, SOD and total GSH content), oxidative damages to the membrane lipids (TBARS), biotransformation enzymes (EROD, GST), synaptic transmission (AChE) and reproduction system (spiggin and vitellogenin concentration). The impacts of the effluents were first analysed for each biomarker using a mixed model ANOVA followed by post-hoc analyses. Secondly, the global river contamination was assessed using a principal component analysis (PCA) followed by a hierarchical agglomerative clustering (HAC). The results highlighted a small number of effects of WWTP effluents on the physiological parameters in caged sticklebacks. Despite a significant effect of the “localisation” factor (upstream/downstream) in the mixed ANOVA for several biomarkers, post-hoc analyses revealed few differences between upstream and downstream of the WWTPs. Only a significant decrease of innate immune responses was observed downstream from the WWTPs of Avesnes-sur-Helpe and Namur. Other biomarker responses were not impacted by WWTP effluents. However, the multivariate analyses (PCA and HAC) of the biomarker responses helped to clearly discriminate the different study sites from the reference but also amongst themselves. Thus, a reduction of general condition (condition index and HSI) was observed in all groups of caged sticklebacks, associated with a weaker AChE activity in comparison with the reference population. A strong oxidative stress was highlighted in fish caged in the Meuse river at Charleville-Mézières whereas sticklebacks caged in the Meuse river at Namur exhibited weaker innate immune responses than others. Conversely, sticklebacks caged in the Helpe-Majeure river at Avesnes-sur-Helpe exhibited higher immune responses. Furthermore, weak defence capacities were recorded in fish caged in the Semois river at Bouillon. This experiment was the first to propose an active biomonitoring approach using three-spined stickleback to assess such varied environments. Low mortality and encouraging results in site discrimination support the use of this tool to assess the quality of a large number of water bodies.

Estuaries serve as nursery grounds for many marine fish species. However, increasing human activities within estuaries and surrounding areas lead to significant habitat quality degradation for the juveniles. In recent years, plastic pollution has become a global environmental issue as plastic debris are found in all aquatic environments with potential adverse impacts on marine biota. Given the important ecological role of estuaries and implications of microplastics (MP) in ecosystems, here we assess the occurrence, number, size, and polymer types of MP ingested by wild and caged juvenile European flounder (Platichthys flesus). We deployed caged fish for 1 month at five sites in three estuaries in the eastern English Channel. The Seine estuary, heavily impacted by manmade modifications and one of the most contaminated estuaries in Europe, was compared to two smaller estuaries (Canche and Liane) less impacted by industrial activities. We found that juvenile flounders (7–9 cm) were vulnerable to plastic ingestion. Seventy-five percent of caged fish and 58% of wild caught fish had the presence of MP items in their digestive tract. Fibers (69%) dominated in the fish's digestive tract at all sites. An average of 2.04 ± 1.93 MP items were ingested by feral juvenile flounder and 1.67 ± 1.43 by caged juvenile flounder. For the caged fish, the three sites impacted by wastewater treatment plant (Liane, Le Havre harbor, and Rouen) were those with the highest percentage of individuals that has ingested MP items. Most of the isolated items were fibers and blue in color. Polymers identified by micro Raman spectroscopy were polycaprolactam, polyethylene terephthalate, and polyurethane. Although other environmental factors may have affected caged fish condition and mortality, we found no significant correlation with the number of ingested MP. However, the high occurrence of MP ingested by juvenile fish on nursery grounds raises concerns on their potential negative effects for fish recruitment success and population renewal. Finally, this study describes, for the first time, the feasibility of using caged juvenile fish as an assessing tool of MP contamination in estuarine nursery grounds. [ABSTRACT FROM AUTHOR]

A quasi-one dimensional kagomé ribbon geometry is studied in respect of its band spectrum, electronic transport as well as the thermopower within the tight-binding formalism. Analytic proposition of Bloch bands along with the dispersionless flat band states is seen to be consistent with the numerical evaluation of density of states, transmission and band dispersion. A uniform magnetic flux can act as an external agency to tune the spectral landscape and the transport at will. Flux sensitive band engineering leads to an interesting proposal of tunable thermoelectric performance of an identical model device. The tunable behavior can be explored by the calculation of Seebeck co-efficient. The external magnetic perturbation plays the key role in this demonstration and it is an easily adjustable parameter. We have critically investigated all the characteristic features using the Sommerfeld expansion within a tight-binding framework based on Green's function formalism. The present analysis may provide useful directive for constructing efficient thermoelectric devices at the nanoscale level. • Exact analytical construction of eigenstates with flat and dispersive bands is reported. • Subtle tunability of perturbation leads to a selective band engineering. • The effect of magnetic field on the location of flat band states is demonstrated. • Controlled thermoelectric behavior is studied by calculating the Seebeck co-efficient. [ABSTRACT FROM AUTHOR]

Background Oceanographic moorings (OMs) are standard marine platforms composed of wires, buoys, weights and instruments, and are used as in situ observatories to record water column properties. However, OMs are also comprised of hard substrates on which a variety of invertebrates can settle when they encounter these structures along their dispersal routes. In this contribution, we studied the fouling communities found on two OMs deployed in the Ross Sea (Antarctica). Furthermore, a cage containing the Antarctic scallop Adamussium colbecki (E. A. Smith, 1902) was incorporated in the OM. The growth of the caged A. colbecki were evaluated after 1 year and their shells used as biological proxy for seawater temperature and salinity. Methods A variety of settlers were collected from two different OMs deployed in the Ross Sea (Antarctica) and species identified using a combination of morphological and genetic (mainly through DNA barcoding) characteristics. Caged scallops were individually marked with permanent tags and their growth studied in terms of size-increment data (SID). Cages were specifically designed to prevent damage to individuals due to water drag during OM deployment and retrieval. Growth parameters from the caged individuals were applied to the A. colbecki juveniles that had settled on the mooring, to trace the likely settlement period. Results The growth performance of caged A. colbecki was similar to that from previous growth studies of this species. The remarkable survival rate of caged specimens (96.6%) supports the feasibility of caging experiments, even for a species with a fragile shell such as the Antarctic scallop. Some of the new recruits found on the mooring were A. colbecki, the same species we put into special cages fixed to it. The settlement of the A. colbecki juveniles started during the Austral spring with a peak in summer months and, remarkably, coincided with seasonal changes in water temperature and flow direction, which were recorded by the mooring’s instruments. Genetic data from other settlers provided new information about their larval ecology and connectivity. Discussion Oceanographic moorings are expensive and complex experimental platforms that, at present, are strictly used for the acquisition of physical and biogeochemical data. Their use for in situ ecological experiments on model organisms suitable for caging and to study fouling species has yet to be fully explored. We present the outcomes of a study, which represents a baseline for the characterization of Antarctic fouling biodiversity. We hope that in the near future an internationally coordinated systematic study of settlers could be initiated around the Antarctic continent. This could utilize “new generation OMs” equipped with standardized settlement structures and agreed sampling protocols for the study of fouling communities.

Caging is an active biomonitoring strategy that employs a sentinel species, sometimes a species naturally absent from the studied site, in the surveillance of water bodies to verify whether biota may be at risk. The main advantage of caging is the possibility to standardize several biotic and abiotic parameters. However, little knowledge is available about the effects of confinement on physiology and metabolism of caged organisms. The aim of this study is to characterize confinement and food access restriction effects, induced via caging experiments using a multi-biomarker approach (biometric data, immunity, antioxidant, metabolic detoxication, and digestive enzymes). The study has been undertaken using the same experiment conducted in ecosystem conditions using three-spined stickleback (Gasterosteus aculeatus) during two different periods: one in April, corresponding to breeding season, and the other in October, outside breeding season. Fifteen fish were maintained for 21 days in different conditions (caged or uncaged and with or without food supply). The main result was that confinement stress had little impact on the biological markers of sticklebacks. However, the stressors seemed to increase the negative effects of food restriction on these biomarkers, when sticklebacks needed more energy, that is, during their breeding period. Outside breeding period, most investigated biomarkers were not impacted by caging. This study showed a way to specify the conditions of application and interpretation of biomarkers during active monitoring to ensure an effective, reliable diagnosis of water body quality. [ABSTRACT FROM AUTHOR]

Human in-hand dexterity can be highly fluid and unstructured, with multiple phalanxes breaking and re-establishing contact during any given task. In contrast, prevailing research in robotic manipulation has focused on highly structured well-controlled motions, where contact points are carefully characterized. Maintaining grasp stability by satisfying traditional closure conditions during complex within-hand manipulation motions can be difficult, even with highly articulated end effectors. However, simple grippers can still achieve an effective range of in-hand manipulation tasks without strict closure conditions, as long as the object can be bounded locally relative to the hand frame. The end effector can be considered as a tool to limit the range of possible object poses. In particular, the energy of the hand-object system can be used to determine an attractor region toward which the hand drives the object. This can be combined with a sparse sampling of the configuration space to find a set of manipulation primitives that can reliably constrain the object inside the hand workspace even without feedback, a strategy proposed as whole-hand caging manipulation. In this paper, experimental results with a planar underactuated gripper are presented to validate this manipulation strategy, and it is shown that even though contacts are regularly broken and reformed, the object can be reliably manipulated within the hand workspace without ejection, and challenging movements such as sliding and gaiting can be reliably performed. [ABSTRACT FROM AUTHOR]

Abstract The aim of this study was to assess whether fish in Kollevåg, a sheltered bay on the western coast of Norway, previously utilized as a waste disposal site, could be affected by environmental contaminants leaking from the waste. Farmed, juvenile Atlantic cod (Gadus morhua) were caged for six weeks at three different locations in Kollevåg bay and at one reference location. Sediments and cod samples (bile and liver) were analyzed for polychlorinated biphenyls (PCBs), organochlorine pesticides (OCPs), brominated flame retardants (BFRs), per-and polyfluoroalkyl substances (PFASs) and polycyclic aromatic hydrocarbon (PAH) metabolites, revealing a contamination gradient at the four stations. Furthermore, hepatosomatic index (HSI) and Fulton's condition factor (CF) were significantly lower in cod caged closest to the disposal site. Levels and activities of biomarker proteins, such as vitellogenin (Vtg), metallothionein (Mt), and biotransformation and oxidative stress enzymes, including cytochrome P450 1a and 3a (Cyp1a, Cyp3a), glutathione s-transferase (Gst) and catalase (Cat), were quantified in blood plasma and liver tissue. Hepatic Cat and Gst activities were significantly reduced in cod caged at the innermost stations in Kollevåg, indicating modulation of oxidative stress responses. However, these results contrasted with reduced hepatic lipid peroxidation. Significant increases in transcript levels were observed for genes involved in lipid metabolism (fasn and acly) in cod liver, while transcript levels of ovarian steroidogenic enzyme genes such as p4 50scc, cyp19 , 3β-hsd and 20β-hsd showed significant station-dependent increases. Cyp1a and Vtg protein levels were however not significantly altered in cod caged in Kollevåg. Plasma levels of estradiol (E2) and testosterone (T) were determined by enzyme immunoassay (EIA) and showed elevated E2 levels, but only at the innermost station. We conclude that the bay of Kollevåg did not fullfill adequate environmental condition based on environmental quality standards (EQSs) for chemicals in coastal waters. Following a six weeks caging period, environmental contaminants accumulated in cod tissues and effects were observed on biomarker responses, especially those involved in reproductive processes in cod ovary. Highlights • Compared to the reference site, the following differences were observed in Kollevåg: - Increased contaminant levels in sediments. - Accumulation of environmental contaminants in caged cod. - Significant alterations of several biological responses in caged cod. - Biomarkers affected included those involved in reproductive processes in cod ovaries. • The capped waste disposal site does not fullfill environmental quality standards. [ABSTRACT FROM AUTHOR]

Background: Oceanographic moorings (OMs) are standard marine platforms composed of wires, buoys, weights and instruments, and are used as in situ observatories to record water column properties. However, OMs are also comprised of hard substrates on which a variety of invertebrates can settle when they encounter these structures along their dispersal routes. In this contribution, we studied the fouling communities found on two OMs deployed in the Ross Sea (Antarctica). Furthermore, a cage containing the Antarctic scallop Adamussium colbecki (E. A. Smith, 1902) was incorporated in the OM. The growth of the caged A. colbecki were evaluated after 1 year and their shells used as biological proxy for seawater temperature and salinity. Methods: A variety of settlers were collected from two different OMs deployed in the Ross Sea (Antarctica) and species identified using a combination of morphological and genetic (mainly through DNA barcoding) characteristics. Caged scallops were individually marked with permanent tags and their growth studied in terms of size-increment data (SID). Cages were specifically designed to prevent damage to individuals due to water drag during OM deployment and retrieval. Growth parameters from the caged individuals were applied to the A. colbecki juveniles that had settled on the mooring, to trace the likely settlement period. Results: The growth performance of caged A. colbecki was similar to that from previous growth studies of this species. The remarkable survival rate of caged specimens (96.6%) supports the feasibility of caging experiments, even for a species with a fragile shell such as the Antarctic scallop. Some of the new recruits found on the mooring were A. colbecki, the same species we put into special cages fixed to it. The settlement of the A. colbecki juveniles started during the Austral spring with a peak in summer months and, remarkably, coincided with seasonal changes in water temperature and flow direction, which were recorded by the mooring's instruments. Genetic data from other settlers provided new information about their larval ecology and connectivity. Discussion: Oceanographic moorings are expensive and complex experimental platforms that, at present, are strictly used for the acquisition of physical and biogeochemical data. Their use for in situ ecological experiments on model organisms suitable for caging and to study fouling species has yet to be fully explored. We present the outcomes of a study, which represents a baseline for the characterization of Antarctic fouling biodiversity. We hope that in the near future an internationally coordinated systematic study of settlers could be initiated around the Antarctic continent. This could utilize "new generation OMs" equipped with standardized settlement structures and agreed sampling protocols for the study of fouling communities. [ABSTRACT FROM AUTHOR]

Abstract The blue mussel (Mytilus sp.) has been used to assess the potential biological effects of the discharge effluent from the Omya Hustadmarmor mine, which releases its tailings into the Frænfjord near Molde, Norway. Chemical body burden and a suite of biological effects markers were measured in mussels positioned for 8 weeks at known distances from the discharge outlet. The biomarkers used included: condition index (CI); stress on stress (SoS); micronuclei formation (MN); acetylcholine esterase (AChE) inhibition, lipid peroxidation (LPO) and Neutral lipid (NL) accumulation. Methyl triethanol ammonium (MTA), a chemical marker for the esterquat based flotation chemical (FLOT2015), known to be used at the mine, was detected in mussels positioned 1500 m and 2000 m downstream from the discharge outlet. Overall the biological responses indicated an increased level of stress in mussels located closest to the discharge outlet. The same biomarkers (MN, SoS, NL) were responsible for the integrated biological response (IBR/n) of the two closest stations and indicates a response to a common point source. The integrated biological response index (IBR/n) reflected the expected level of exposure to the mine effluent, with the highest IBR/n calculated in mussels positioned closest to the discharge. Principal component analysis (PCA) also showed a clear separation between the mussel groups, with the most stressed mussels located closest to the mine tailing outlet. Although not one chemical factor could explain the increased stress on the mussels, highest metal (As, Co, Ni, Cd, Zn, Ag, Cu, Fe) and MTA concentrations were detected in the mussel group located closest to the mine discharge. Graphical abstract Unlabelled Image Highlights • Transplanted mussels used to discover biological effects of suspended mine tailings • Biomarkers and chemical body burden measured in field transplanted mussels • Detection of MTA a chemical marker for flotation chemical (FLOT2015) in mussels • Link between MTA, metals and biomarker responses with distance from discharge point • IBR and PCA linked chemical exposure from the tailings with biomarker response [ABSTRACT FROM AUTHOR]

The Integrated Biomarker Response (IBR) is one of the most used index in biomonitoring, especially the IBRv2 integrating a reference condition. However, some limitations remain for its routine and large-scale use. The IBRv2 is proportional to the total number of biomarkers, is dependent on the nature of biomarkers and considers all biomarkers modulations, even small and biologically non-significant. In addition, IBRv2 relies on reference values but the references are often different between each study, making it difficult to compare results between studies and/or campaigns. To overcome these limitations, the present work proposed a new index called IBR-T ("Integrated Biomarker Response – Threshold") which considers the threshold values of biomarkers by limiting the calculation of the IBR value to biomarkers with significant modulations. The IBRv2 and the IBR-T were calculated and compared on four datasets from active biomonitoring campaigns using Dreissena polymorpha, a bivalve widely used in freshwater biomonitoring studies. The comparison between indices has demonstrated that the IBR-T presents a better correlation (0.907 < r2 < 0.998) with the percentage of biomarkers significantly modulated than the IBRv2 (0.002 < r2 < 0.759). The IBRv2 could not be equal to 0 (0.915 < intercept <1.694) because the value was dependent on the total number of biomarkers, whereas the IBR-T reached 0 when no biomarker was significantly modulated, which appears more biologically relevant. The final ranking of sites was different between the two index and the IBR-T ranking tends to be more ecologically relevant that the IBRv2 ranking. This IBR-T have shown an undeniable interest for biomonitoring and could be used by environmental managers to simplify the interpretation of large datasets, directly interpret the contamination status of the site, use it to decision-making, and finally to easily communicate the results of biomonitoring studies to the general public. [Display omitted] • A new Integrative biomarker response index – IBR-T – is proposed to improve IBRv2. • IBR-T integrates reference and threshold values. • IBR-T improves site classification and includes biological variation of biomarkers. • IBR-T appears more ecologically relevant and allows comparing studies and years. [ABSTRACT FROM AUTHOR]

In recent years, there has been a growing interest in designing multi-robot systems (hereafter MRSs) to provide cost effective, fault-tolerant and reliable solutions to a variety of automated applications. Here, we review recent advancements in MRSs specifically designed for cooperative object transport, which requires the members of MRSs to coordinate their actions to transport objects from a starting position to a final destination. To achieve cooperative object transport, a wide range of transport, coordination and control strategies have been proposed. Our goal is to provide a comprehensive summary for this relatively heterogeneous and fast-growing body of scientific literature. While distilling the information, we purposefully avoid using hierarchical dichotomies, which have been traditionally used in the field of MRSs. Instead, we employ a coarse-grain approach by classifying each study based on the transport strategy used; pushing-only, grasping and caging. We identify key design constraints that may be shared among these studies despite considerable differences in their design methods. In the end, we discuss several open challenges and possible directions for future work to improve the performance of the current MRSs. Overall, we hope to increasethe visibility and accessibility of the excellent studies in the field and provide a framework that helps the reader to navigate through them more effectively.

Multifinger caging offers a robust object grasping approach. However, while efficient computation of two-finger caging grasps is well developed, the computation of three-finger caging grasps has remained a challenge. This paper considers the caging of polygonal objects with three-finger hands which maintain an equilateral triangle formation during the grasping process. While the c-space of such hands is 4-D, their contact space that represents all two and three finger contacts along the grasped object’s boundary forms a 2-D stratified manifold. The paper describes a caging graph that can be constructed in the hand’s relatively simple contact space. Starting from a desired immobilizing grasp of the polygonal object, the caging graph can be readily searched for the largest finger opening that maintains a three-finger cage about the object to be grasped. Any equilateral finger placement within the corresponding caging regions guarantees robust object grasping. Note to Practitioners—A commonly used industrial gripper is the parallel gripper. While it is well suited for grasping objects that have parallel edges, it is less suited for objects with more complicated geometries, and it relies on high coefficients of friction. This paper considers the robust grasping of polygonal objects using equilateral three-finger robot hands. Such hands are mechanically simple, and enable grasping objects with complicated shapes without relying on contact friction. To safely grasp an object, the hand is first brought to a caging configuration around the object. Once the object is caged, it cannot be accidentally ejected from the hand, and the fingers can be closed safely until an immobilizing grasp is reached. To reach a specific immobilizing grasp, the fingers are placed in the three caging regions associated with that grasp. This paper proposes a method that is both physically intuitive and computationally simple, to compute these caging regions. Although this paper considers grasping polygonal objects using frictionless point fingers, the proposed method can be used for grasping nonpolygonal objects using identical disc fingers, by expanding the object by the finger radius, and then approximating the expanded object by a polygon. Finger’s center can then be treated as a point finger. Frictional jamming of the fingers can overcome using rotating fingers or slightly vibrating the hand. [ABSTRACT FROM AUTHOR]

Abstract: We describe a selective and mild chemical approach for controlling RNA hybridization, folding, and enzyme interactions. Reaction of RNAs in aqueous buffer with an azide‐substituted acylating agent (100–200 m m) yields several 2′‐OH acylations per RNA strand in as little as 10 min. This poly‐acylated (“cloaked”) RNA is strongly blocked from hybridization with complementary nucleic acids, from cleavage by RNA‐processing enzymes, and from folding into active aptamer structures. Importantly, treatment with a water‐soluble phosphine triggers a Staudinger reduction of the azide groups, resulting in spontaneous loss of acyl groups (“uncloaking”). This fully restores RNA folding and biochemical activity. [ABSTRACT FROM AUTHOR]

This paper presents an efficient algorithm to test whether a planar object can be caged by a formation of point agents (point fingertips or point mobile robots). The algorithm is based on a space mapping between the 2-D work space ( \mathcal W space) and the 3-D configuration space ( \mathcal C space) of the given agent formation. When performing caging test on a planar object, the algorithm looks up the space mapping to recover the \mathcal C space of the given agent formation, labels the recovered \mathcal C space, and counts the number of labeled surfaces to judge the success of caging. The algorithm is able to work with various planar shapes, including objects with convex boundaries, concave boundaries, or holes. It can also respond quickly to varying agent formations and different object shapes. Experiments and analysis on different objects and fingertip formations demonstrate the completeness, robustness, and efficiency of our proposal.

Note to Practitioners—This paper proposes an algorithm to solve a geometric problem—find whether a given formation of planar points can constrain (or cage) a planar shape. Users can use the proposed algorithm to actuate a formation of robotic fingertips to perform caging-based grasping tasks or use the proposed algorithm to actuate a formation of mobile robots to perform cooperative transportation tasks. The algorithm inherits the merits of caging and helps users to avoid explicit force analysis. It offers robustness to avoid uncertainty in the tasks. The code of our work is in the supplementary material. [ABSTRACT FROM AUTHOR]

Active biomonitoring of chemical contamination (e.g. , Cd, Hg, Pb, DDT, PCB, PAH) in French Mediterranean coastal waters has been performed for more than two decades. This study aimed at presenting the current contamination in 2021 and the temporal evolution of concentrations from 2000. Based on a relative spatial comparison, low concentrations were measured in 2021 at most sites (>83 %). Also, several stations with moderate to high levels were highlighted in the vicinity of major urban industrial centers (e.g. , Marseille, Toulon) and near river mouths (e.g. , Rhône, Var). Over the last 20 years, no major trend was revealed, mostly, especially for the relative high-level sites. This likely constant contamination over time, plus slight increases of metallic elements at a few sites, still raise questions on the efforts that remain to be made. The decreasing trends of organic compounds, in particular PAH, provide evidence of the efficiency of some management actions. • Contamination in mussels from French waters has been monitored over two decades. • In 2021, most sites showed relative low concentrations. • Most contaminants revealed constant levels over the last 20 years at most stations. • Sites near urban industrial centers or river mouths remain contamination hotspots. • PAH revealed clear decreasing trends for 63 % of stations. [ABSTRACT FROM AUTHOR]

Accurate control and precise positioning of opto-thermocapillary flow-addressed bubble microrobots are necessary for micromanipulation. In addition, micromanipulation using the simultaneous actuation of multiple microrobots requires a robust control system to enable independent motion. This paper demonstrates a hybrid closed-loop vision-assisted control system capable of actuating multiple microrobots simultaneously and positioning them at precise locations relative to micro-objects under manipulation. A vision-assisted grasp-planning application was developed and used to calculate the necessary trajectories of the microrobots to form cages around micro-objects. The location of the microrobots and the micro-objects was detected at the caging locations using a particle-tracking application that used image feedback for precise positioning. The closed-loop image feedback information enabled the position update of the microrobots, allowing them to precisely follow the trajectory and caging locations calculated by the grasp-planning application. Four microrobots were assigned to cage a star-shaped micro-object using the closed-loop control system. Once caged, the micro-object was transported to a location within the workspace and uncaged, demonstrating the micromanipulation task. This microrobotic system is well suited for the micromanipulation of single cells. [ABSTRACT FROM AUTHOR]

This paper presents a brief survey of robotic caging and its applications. Caging is a kind of grasping methods, which can be accomplished geometrically by position-controlled robotic agents, and has advantages over conventional manipulation which requires to fulfill mechanical conditions. Due to the advantages, caging was extensively studied and applied in robotics. This paper reviews the robotic literature related to caging ranging from its historical background, state-of-the-art developments, to practical applications. It provides our insights on some open problems and promising research and application directions. We hope the paper could help researchers quickly catch the strength and limitations of caging, and make impacting contributions to the research community. [ABSTRACT FROM PUBLISHER]

Contaminant bioaccumulation was studied in blue mussels ( Mytilus edulis spp.) using the harbor waters of Kristiansand (Norway) as a case study. A suite of chemical contaminants (trace metals, PAHs and PCBs) was analyzed in caged and native mussels as well as in passive samplers (Diffusive Gradients in Thin films (DGT)-devices and silicone rubbers) placed alongside the mussels for estimation of contaminant concentrations in water and uptake rates and bioaccumulation factors (BAFs) in mussels during a six-months deployment period. Estimated logBAFs were in the ranges 2.3–5.5, 3.8–5.2 and 3.2–4.4 for metals, PCBs and PAHs, respectively. Contaminant levels in caged mussels increased rapidly to stable levels for trace metals, whereas for hydrophobic organic contaminants the increase was steady but slow and for many compounds did not reach the levels observed in native mussels. Some key issues related to mussel caging design, such as mussel deployment time and confounding influence from seasonal fluctuations, are discussed herein. [ABSTRACT FROM AUTHOR]

Contaminants are important stressors in the aquatic environment and may exert selective pressures on organisms. We hypothesized that snails originating from a metal-contaminated habitat (B) would have increased tolerance to harbour contaminants (e.g. metals from antifouling paints), compared to snails originating from a relatively clean habitat (A). We assessed tolerance to metals in terms of survival and histopathological alterations after 2, 4 and 8 weeks of in situ exposure in three Baltic Sea boat harbours and three reference sites. We also hypothesized that any potential tolerance to contaminants would be associated with differences in genetic diversity between the two snail populations (evaluated as mitochondrial cytochrome c oxidase subunit I, COI). The results show that snails from population A survived to a higher extent compared to population B, possibly indicating either a lack of adaptation to metals in snails B or impaired health condition due to contaminant pre-exposure or a higher resilience of snails A. Moreover, the genetic diversity of COI was low within each population and did not differ between populations. In general, 83% of all the types of histopathological alterations (e.g. lysis and necrosis of gonads and digestive gland or granulocytoma and phagocytosis in the storage tissue, among others) had a higher probability of occurrence among harbour-exposed snails compared to reference-exposed snails, regardless of snail population origin. The only significant difference in histological effects between the two populations was in the frequency of parasite infestations and shell fouling, both being larger for population A than B. Interestingly, the rate of parasite infestations was higher for males than females from population A, whereas no sexual dichotomy was observed for population B. Our results show that exposure to harbour contaminants causes both lethal and sublethal toxicity to snails, and the association between many of the toxic responses and metals substantiates that antifouling substances contribute to the observed effects, although there is a large proportion of variation in our data that remains unexplained. [ABSTRACT FROM AUTHOR]

A metal-organic frameworks (MOFs) matrix of MIL-100(Fe) loading N-doped TiO 2 (N-TiO 2 ) nanoparticles as a novel photocatalyst was successfully synthesized by a facile two-step strategy including preparation of neutral N-TiO 2 sol and caging N-TiO 2 nanoparticles. The as-synthesized samples were characterized by a series of techniques including XRD, ICP, BET, UV–vis, XPS and TEM. Photocatalytic activity of the samples was assessed based on degradation of methylene blue or rhodamine B dye in model wastewater under visible-light irradiation. The as-synthesized samples essentially maintain the typical MOFs structure and porous property of MIL-100(Fe), which exhibits well confinement effect on TiO 2 nanoparticles. A significant finding is that the quantum dots-like N-TiO 2 nanoparticles (<2 nm) with an appropriate mass percentage of 32% highly disperse in cages of MIL-100(Fe) with 1.9 nm of pore size and obtain narrowed band gap. But agglomeration of N-TiO 2 nanoparticles occurs as TiO 2 content increases to 50%. Meanwhile, nitrogen atoms are successfully incorporated into the TiO 2 lattice. The optimal catalyst obtains 99.1% and 93.5% of final removal rate, respectively for methylene blue and rhodamine B, presenting the enhanced photocatalytic performance by comparison with the pure MIL-100(Fe). The composite exhibits more excellent sedimentation efficiency and reusability than pure N-TiO 2 . A possible mechanism of the photocatalysis process is presented in detail. [ABSTRACT FROM AUTHOR]