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Intravital microscopy (IVM) is a valuable method for biomedical characterization of dynamic processes, which has been applied to many fields such as neuroscience, oncology, and immunology. During IVM, vibration suppression is a major challenge due to the inevitable respiration and heartbeat from live animals. In this study, taking liver IVM as an example, we have unraveled the vibration inhibition effect of liquid bridges by studying the friction characteristics of a moist surface on the mouse liver. We confirmed the presence of liquid bridges on the liver through fluorescence imaging, which can provide microscale and nondestructive liquid connections between adjacent surfaces. Liquid bridges were constructed to sufficiently stabilize the liver after abdominal dissection by covering it with a polymer film, taking advantage of the high adhesion properties of liquid bridges. We further prototyped a microscope-integrated vibration-damping device with adjustable film tension to simplify the sample preparation procedure, which remarkably decreased the liver vibration. In practical application scenarios, we observed the process of liposome phagocytosis by liver Kupffer cells with significantly improved image and video quality. Collectively, our method not only provided a feasible solution to vibration suppression in the field of IVM, but also has the potential to be applied to vibration damping of precision instruments or other fields that require nondestructive ″soft″ vibration damping.

The exploration of a new conceptual strategy for improving the oxygen evolution reaction (OER) of earth-abundant electrocatalysts is critical. In this study, chiral copper oxide nanoflower is explored by a self-assembly method. The characterization suggests the chiral structure originates from the crystal plane-level helical stack of the secondary nanosheets. Of note, the assembly illustrates a record-high degree of spin polarization of 96%, indicating the ideal alignment of electron spin. Moreover, density function theory calculations show the chiral structure reducing the reaction energy barrier (REB) while switching the potential-determining step from *O→*OOH to *OH→*O. Together with the enhanced electrochemical active surface area and accelerated charge transfer, the production of ground-state triplet O 2 is improved via a spin-forbidden route that involves the singlet H 2 O/OH•. Consequently, the chiral nanoflower shows a overpotential of 308 mV at 10 mA cm -2 and a Tafel slope of 93.5 mV dec -1 , which is even superior to the commercial RuO 2 (310 mV, 101 mV dec -1 ). This study presents a new strategy for improving the OER activity by simultaneously enhancing electronic properties and lowering the REB of an non-noble electrocatalyst via chirality engineering., (© 2024 Wiley‐VCH GmbH.)

Energy harvesting from ubiquitous natural water vapor based on moisture electric generator (MEG) technology holds great potential to power portable electronics, the Internet of Things, and wireless transmission. However, most devices still encounter challenges of low output, and a single MEG complemented with another form of energy harvesting for achieving high power has seldom been demonstrated. Herein, we report a flexible and efficient hybrid generator capable of harvesting moisture and tribo energies simultaneously, both from the source of water droplets. The moisture electric and triboelectric layers are based on a water-absorbent citric acid (CA)-mediated polyglutamic acid (PGA) hydrogel and porous electret expanded polytetrafluoroethylene (E-PTFE), respectively. Such a waterproof E-PTFE film not only enables efficient triboelectrification with water droplets' contact but also facilitates water vapor to be transferred into the hydrogel layer for moisture electricity generation. A single hybrid generator under water droplets' impact delivers a DC voltage of 0.55 V and a peak current density of 120 μA cm -2 from the MEG, together with a simultaneous AC output voltage of 300 V and a current of 400 μA from the complementary water-based triboelectric generator (TEG) side. Such a hybrid generator can work even under harsh wild environments with 5 °C cold and saltwater impacts. Significantly, an optical alarm and wireless communication system for wild, complex, and emergency scenarios is demonstrated with power from the hybrid generators. This work expands the applications of water-based electricity generation technologies and provides insight into harvesting multiple potential energies in the natural environment with high output.

Designing catalysts with desirable oxygen evolution reaction (OER) performance under pH-universal conditions is of great significance to promote the development of hydrogen production. Herein, we successfully synthesized a crystalline-amorphous IrO x supported on perovskite oxide nanotubes to obtain IrO x @La 0.6 Ca 0.4 Fe 0.8 Ni 0.2 O 3 with superior OER performance in whole pH media. The overpotential of the IrO x @La 0.6 Ca 0.4 Fe 0.8 Ni 0.2 O 3 catalyst in media of pH 14, 7.2, and 1 has been demonstrated to be 120, 400, and 143 mV, respectively, with no significant element dissolution as well as double-layer capacitance decay after the durability test. Through comparative experiments with IrO x @CNT and the physical mixture of IrO x and La 0.6 Ca 0.4 Fe 0.8 Ni 0.2 O 3 , it is found that the strong metal-support interaction (SMSI) in IrO x @La 0.6 Ca 0.4 Fe 0.8 Ni 0.2 O 3 makes IrO x exist in an amorphous state rich in Ir 3+ , which is closely associated with the surface-active species Ir-OH. Through the regulation of Ir by a perovskite oxide support at the heterointerface, the reaction breaks through the limitation of the adsorbate evolution mechanism (AEM) and converts to a lattice-oxygen-mediated mechanism (LOM), which was fully demonstrated by the addition of the probe tetramethylammonium cation (TMA + ), a LOM reaction intermediate, to the electrolyte. This work fills the research gap of perovskite oxide supported Ir-based catalysts with heterogeneous structures, providing an excellent strategy for the structural design of efficient pH-universal OER catalysts for hydrogen production systems.

Avian feather intricate adaptable architecture to wing deformations has catalyzed interest in feathered flapping-wing aircraft with high maneuverability, agility, and stealth. Yet, to mimic avian integrated somatic sensation within stringent weight constraints, remains challenging. Here, we propose an avian-inspired embodied perception approach for biohybrid flapping-wing robots. Our feather-piezoelectric mechanoreceptor leverages feather-based vibration structures and flexible piezoelectric materials to refine and augment mechanoreception via coupled oscillator interactions and robust microstructure adhesion. Utilizing convolutional neural networks with the grey wolf optimizer, we develop tactile perception of airflow velocity and wing flapping frequency proprioception. This method also senses pitch angle via airflow direction and detects wing morphology through feather collisions. Our low-weight, accurate perception of flapping-wing robot flight states is validated by motion capture. This investigation constructs a biomechanically integrated embodied perception system in flapping-wing robots, which holds significant promise in reflex-based control of complex flight maneuvers and natural bird flight surveillance., (© 2024. The Author(s).)

Multiscale parameter optimization for laser peen forming (LPF) on 6005A-T6 aluminum alloy plates was conducted through a combination of simulation and experimentation. By obtaining the optimal parameter, this study aims to explore the constrained deformation and forming laws of the integral stiffened plates. Detailed descriptions were provided regarding the dynamic response process and transient behavior of aluminum alloy plates under ultrahigh strain rates, along with an in-depth analysis of the stress evolution. The results reveal that laser beam diameter and laser beam energy can achieve large range forming, while the number of tracks facilitates the precise deformation adjustment. During the 12-track LPF process, there is an overall upward trend in deformation values accompanied by a dynamic increase in the bend curvature. After static relaxation, the deformation value recovers to 55.2% of the final bending curvature. The chord direction scanning of stiffened plates exhibits a larger bending curvature, indicating its greater forming capacity for large-sized single unfolding direction formation; whereas, the unfolding direction scanning of stiffened plates excels in achieving efficient integrated two-way forming.

Future humanoid robots will be widely deployed in our daily lives. Motion planning and control in an unstructured, confined, and human-centered environment utilizing dexterity and a cooperative ability of dual-arm robots is still an open issue. We propose a globally guided dual-arm reactive motion controller (GGDRC) that combines the strengths of global planning and reactive methods. In this framework, a global planner module with a prospective task horizon provides feasible guidance in a Cartesian space, and a local reactive controller module addresses real-time collision avoidance and coordinated task constraints through the exploitation of dual-arm redundancy. GGDRC extends the start-of-the-art optimization-based reactive method for motion-restricted dynamic scenarios requiring dual-arm cooperation. We design a pick-handover-place task to compare the performances of these two methods. Results demonstrate that GGDRC exhibits accurate collision avoidance precision (5 mm) and a high success rate (84.5%).

Monitoring minuscule mechanical signals, both in magnitude and direction, is imperative in many application scenarios, e.g., structural health monitoring and robotic sensing systems. However, the piezoelectric sensor struggles to satisfy the requirements for directional recognition due to the limited piezoelectric coefficient matrix, and achieving sensitivity for detecting micrometer-scale deformations is also challenging. Herein, we develop a vector sensor composed of lead zirconate titanate-electronic grade glass fiber composite filaments with oriented arrangement, capable of detecting minute anisotropic deformations. The as-prepared vector sensor can identify the deformation directions even when subjected to an unprecedented nominal strain of 0.06%, thereby enabling its utility in accurately discerning the 5 μm-height wrinkles in thin films and in monitoring human pulse waves. The ultra-high sensitivity is attributed to the formation of porous ferroelectret and the efficient load transfer efficiency of continuous lead zirconate titanate phase. Additionally, when integrated with machine learning techniques, the sensor's capability to recognize multi-signals enables it to differentiate between 10 types of fine textures with 100% accuracy. The structural design in piezoelectric devices enables a more comprehensive perception of mechanical stimuli, offering a novel perspective for enhancing recognition accuracy., (© 2024. The Author(s).)

Background and Objectives: Image-based 2D/3D registration is a crucial technology for fluoroscopy-guided surgical interventions. However, traditional registration methods relying on a single X-ray image into surgical navigation systems. This study proposes a novel 2D/3D registration approach utilizing biplanar X-ray images combined with computed tomography (CT) to significantly reduce registration and navigation errors. The method is successfully implemented in a surgical navigation system, enhancing its precision and reliability., Methods: First, we simultaneously register the frontal and lateral X-ray images with the CT image, enabling mutual complementation and more precise localization. Additionally, we introduce a novel similarity measure for image comparison, providing a more robust cost function for the optimization algorithm. Furthermore, a multi-resolution strategy is employed to enhance registration efficiency. Lastly, we propose a more accurate coordinate transformation method, based on projection and 3D reconstruction, to improve the precision of surgical navigation systems., Results: We conducted registration and navigation experiments using pelvic, spinal, and femur phantoms. The navigation results demonstrated that the feature registration errors (FREs) in the three experiments were 0.505±0.063 mm, 0.515±0.055 mm, and 0.577±0.056 mm, respectively. Compared to the point-to-point (PTP) registration method based on anatomical landmarks, our method reduced registration errors by 31.3%, 23.9%, and 26.3%, respectively., Conclusion: The results demonstrate that our method significantly reduces registration and navigation errors, highlighting its potential for application across various anatomical sites. Our code is available at: https://github.com/SJTUdemon/2D-3D-Registration., 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 B.V. All rights reserved.)

Due to the complexity of determining the initial rotor flux and detecting errors, conventional rotor flux observation methods are easily affected by direct current (DC) components and harmonics. To address this issue, this paper proposes an in-phase filter (IPF)-based rotor flux observation strategy for sensorless control of permanent magnet synchronous machines (PMSMs). The core components of the IPF consist of a double second-order generalized integrator (DSOGI) and a phase angle compensation transfer function (PACTF). The DSOGI provides a accurate electrical angular frequency, while the PACTF implements a phase correction to the v q signals. By employing IPF structure, accurate observations for rotor flux, electronic speed, and rotor position are achieved, which can be effectively used in the sensorless control of PMSMs, eliminating the need for magnitude and phase compensations. Finally, the proposed observation strategy is applied to an experimental bench of a PMSM, and its effectiveness is illustrated by experimental results. From experimental results, it can be concluded that the IPF is significantly better than the LPF, and 5% more accurate than the observer based on cascade second-order generalized integral(CSOGI) overall.' signals. By employing IPF structure, accurate observations for rotor flux, electronic speed, and rotor position are achieved, which can be effectively used in the sensorless control of PMSMs, eliminating the need for magnitude and phase compensations. Finally, the proposed observation strategy is applied to an experimental bench of a PMSM, and its effectiveness is illustrated by experimental results. From experimental results, it can be concluded that the IPF is significantly better than the LPF, and 5% more accurate than the observer based on cascade second-order generalized integral(CSOGI) overall., 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 The Author(s). Published by Elsevier Ltd.. All rights reserved.)

This study investigates the sound absorption mechanisms of a finite flexible perforated panel absorber. Different from existing work where the mechanisms were often investigated by comparing the sound absorption coefficient curves of different absorber configurations, a numerical approach, called virtual impedance tube (VIT) technique, is developed and used for the analysis. One advantage of this technique is the vast dataset generated can be used to investigate the sound absorption mechanisms from an energy standpoint. The developed VIT technique is first validated using the impedance tube test, where a proportion-integration-differentiation control algorithm is developed to maintain the incident sound at a desired sound pressure level. Then, the sound absorption mechanisms at three absorption peaks, i.e., hole-cavity controlled, panel-cavity controlled, and panel controlled, are investigated and the dominant energy dissipation mechanism at different sound pressure levels (SPLs) is revealed. Finally, an impedance model that takes account of the panel vibration and is applicable to various SPLs is proposed and validated., (© 2024 Acoustical Society of America.)

Ultrafast stimuli can stabilize metastable states of matter inaccessible by equilibrium means. Establishing the spatiotemporal link between ultrafast excitation and metastability is crucial to understand these phenomena. Here we utilize single-shot optical pump-X-ray probe measurements to capture snapshots of the emergence of a persistent polar vortex supercrystal in a heterostructure that hosts a fine balance between built-in electrostatic and elastic frustrations by design. By perturbing this balance with photoinduced charges, an initially heterogeneous mixture of polar phase disorders within a few picoseconds, leading to a state composed of disordered ferroelectric and suppressed vortex orders. On the picosecond-nanosecond timescales, transient labyrinthine fluctuations develop, accompanied by the recovery of the vortex order. On longer timescales, these fluctuations are progressively quenched by dynamical strain modulations, which drive the collective emergence of a single vortex supercrystal phase. Our results, corroborated by dynamical phase-field modelling, reveal non-equilibrium pathways following the ultrafast excitation of designer systems to persistent metastability., (© 2024. UChicago Argonne, LLC, Operator of Argonne National Laboratory, and the Authors, under exclusive licence to Springer Nature Limited.)

Pelvic fracture is a severe trauma with life-threatening implications. Surgical reduction is essential for restoring the anatomical structure and functional integrity of the pelvis, requiring accurate preoperative planning. However, the complexity of pelvic fractures and limited data availability necessitate labor-intensive manual corrections in a clinical setting. We describe in this paper a novel bidirectional framework for automatic pelvic fracture surgical planning based on fracture simulation and structure restoration. Our fracture simulation method accounts for patient-specific pelvic structures, bone density information, and the randomness of fractures, enabling the generation of various types of fracture cases from healthy pelvises. Based on these features and on adversarial learning, we develop a novel structure restoration network to predict the deformation mapping in CT images before and after a fracture for the precise structural reconstruction of any fracture. Furthermore, a self-supervised strategy based on pelvic anatomical symmetry priors is developed to optimize the details of the restored pelvic structure. Finally, the restored pelvis is used as a template to generate a surgical reduction plan in which the fragments are repositioned in an efficient jigsaw puzzle registration manner. Extensive experiments on simulated and clinical datasets, including scans with metal artifacts, show that our method achieves good accuracy and robustness: a mean SSIM of 90.7% for restorations, with translational errors of 2.88 mm and rotational errors of 3.18°for reductions in real datasets. Our method takes 52.9 s to complete the surgical planning in the phantom study, representing a significant acceleration compared to standard clinical workflows. Our method may facilitate effective surgical planning for pelvic fractures tailored to individual patients in clinical settings., 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 B.V. All rights reserved.)

Objective: College students experience intense anxiety, for which biofeedback mindfulness techniques show effectiveness in relief. However, typical biofeedback products often lead to user fatigue and boredom because of a single or fixed feedback and lack of focus on mindfulness enhancement. Materials and Methods: In this research, we developed Mindjourney, a VR-based respiratory feedback mindfulness system, designed to enhance mindfulness and alleviate anxiety through continuous/noncontinuous feedback and nonjudgmental reward/punishment for self-perception and attention management. A randomized controlled trial involved 72 college students, split equally into short-term ( n = 34, age: 23.11 ± 1.729) and 4-week long-term ( n = 38, age: 24.12 ± 1.408) groups, with equal randomization for intervention and control groups. Pre/postintervention tests were measured by using Trait Anxiety Inventory (TAI) and Five Facet Mindfulness Questionnaire (FFMQ) for long-term groups and Galvanic Skin Response and State Anxiety Inventory (SAI) for short-term groups. Results: Results showed that the long-term intervention group showed a significant increase in mindfulness ( P = 0.001 for FFMQ total score). Furthermore, observe and act with awareness subscales showed significant increase after intervention ( P = 0.034 for observe , P < 0.001 for act with awareness ) compared with the control group. Both intervention groups demonstrated a significant decrease in anxiety levels compared with the control groups ( P = 0.049 for SAI, P = 0.01 for TAI). Moreover, participants expressed high interest in this biofeedback mindfulness system and willingness for long-term usage. Conclusion: The proposed biofeedback mindfulness practice system could potentially facilitate mindfulness practice and serve as a convenient tool for anxiety relief in campus college students.

Ubiquitous moisture is of particular interest for sustainable power generation and self-powered electronics. However, current moisture electric generators (MEGs) can only harvest moisture energy in the air, which tremendously limits the energy harvesting efficiency and practical application scenarios. Herein, the operationality of MEG from air to underwater environment, through a sandwiched engineered-hydrogel device with an additional waterproof breathable membrane layer allowing water vapor exchange while preventing liquid water penetration, is expanded. Underwater environment, the device can spontaneously deliver a voltage of 0.55 V and a current density of 130 µA cm -2 due to the efficient ion separation assisted by negative ions confinement in hydrogel networks. The output can be maintained even under harsh underwater environment with 10% salt concentration, 1 m s -1 disturbing flow, as well as >40 kPa hydraulic pressure. The engineered hydrogel used for MEG also exhibits excellent self-healing ability, flexibility, and biocompatibility. As the first demonstration of practical applications in self-powered underwater electronics, the MEG device is successfully powering a wireless emitter for remote communication in water. This new type of MEG offers an innovative route for harvesting moisture energy underwater and holds promise in the creation of a new range of innovative electronic devices for marine Internet-of-Things., (© 2024 The Author(s). Advanced Science published by Wiley‐VCH GmbH.)

Place recognition is widely used to re-localize robots in pre-built point cloud maps for navigation. However, current place recognition methods can only be used to recognize previously visited places. Moreover, these methods are limited by the requirement of using the same types of sensors in the re-localization process and the process is time consuming. In this paper, a template-matching-based global re-localization framework is proposed to address these challenges. The proposed framework includes an offline building stage and an online matching stage. In the offline stage, virtual LiDAR scans are densely resampled in the map and rotation-invariant descriptors can be extracted as templates. These templates are hierarchically clustered to build a template library. The map used to collect virtual LiDAR scans can be built either by the robot itself previously, or by other heterogeneous sensors. So, an important feature of the proposed framework is that it can be used in environments that have never been visited by the robot before. In the online stage, a cascade coarse-to-fine template matching method is proposed for efficient matching, considering both computational efficiency and accuracy. In the simulation with 100 K templates, the proposed framework achieves a 99% success rate and around 11 Hz matching speed when the re-localization error threshold is 1.0 m. In the validation on The Newer College Dataset with 40 K templates, it achieves a 94.67% success rate and around 7 Hz matching speed when the re-localization error threshold is 1.0 m. All the results show that the proposed framework has high accuracy, excellent efficiency, and the capability to achieve global re-localization in heterogeneous maps.

Archwire bending is the key to orthodontic treatment, and multi-time bendings are inevitable during manual and robotic automated bending. The purpose of this paper is to quantitatively evaluate the mechanical effects of the different preparation modes and to compare the mechanical properties of the orthodontic loops in one and multiple bends. Three types of typical stainless steel orthodontic loops (vertical loop, T-loop, and L-loop) were used to quantify the mechanical effect of patterns for preparation by experimental comparison between loops with different bending times by using an orthodontic force tester (OFT). The results were statistically analyzed by t-test. The fracture test of the stainless steel archwire was also carried out, and the bending times at fracture were recorded. Results of the tests indicate that one-time and multi-time bending have a significant mechanical effect on orthodontic appliances. Multi-time bending causes significant mechanical decreases and can damage the appliances.

The present study focuses on a middle-arch dual-channel municipal solid waste (MSW) incinerator facing issues of high NO x emission and overheating. To address these problems and optimize the incinerator, an advanced numerical simulation method was employed to comprehensively assess its bed combustion, freeboard combustion, and NO x emission characteristics. A multiphase fuel bed model considering large-particle characteristics of MSW was developed, coupled with a three-dimensional (3D) model for combustion in freeboard. The analysis revealed that the observed issues stem from multiple factors, including primary-to-secondary air ratio, flame propagation in bed, release of volatiles from bed, and distribution and mixing of components in freeboard. Reducing the proportion of primary air and correspondingly increasing secondary air effectively alleviated the localized overheating in the furnace and reduced NO x emission. Further adjustments to the distribution of primary air in three stages delaying air supply toward the burnout stage, together with the decrease in the grate movement speed, can better control the amount and speciation of N released from the bed. Implementing a counterflow mixing strategy with NH 3 in the front channel and NO in the rear channel can greatly reduce the original NO x emission concentration to 95.94 mg/(N·m 3 ), as predicted by a numerical simulation. Subsequent practical adjustments to an actual incinerator led to notable improvements, clearly optimizing the localized high-temperature issues at various locations, especially the front channel suffering severe slagging problems, with the temperature reduced from 1118 to 957 °C. Meanwhile, NO x emission concentration decreased from 200 mg/(N·m 3 ) to around 50 mg/(N·m 3 ), with no negative effect on the boiler load., Competing Interests: The authors declare no competing financial interest., (© 2024 The Authors. Published by American Chemical Society.)

Transformation of lignin to syngas can turn waste into treasure yet remains a tremendous challenge because of its naturally evolved stubborn structure. In this work, light-driven reforming of natural lignin in water for green syngas production is explored using Pt-decorated InGaN nanowires. The spectroscopic characterizations, isotope, and model compound experiments, as well as density function theory calculation, disclose that among a variety of groups including aromatic ring, -OH, -OCH 3 , -C 3 H 7 with complex chemical bonds of O-H, C-H, C-C, C-O, etc., InGaN nanowires are cooperative with Pt for preferably breaking the C-O bond of the rich O-CH 3 group in lignin to liberating ⋅CH 3 by photogenerated holes with a minimum dissociation energy of 2.33 eV. Syngas are subsequently yielded from the continuous evolution of ⋅CH 3 and ⋅OH from photocatalytic reforming of lignin in water. Together with the superior optoelectronic attributes of Pt-decorated InGaN nanowires, the evolution rate of syngas approaches 43.4 mol ⋅ g -1  ⋅ h -1 with tunable H 2 /CO ratios and a remarkable turnover number (TON) of 150, 543 mol syngas per mol Pt. Notably, the architecture demonstrates a high light efficiency of 12.1 % for syngas generation under focused light without any extra thermal input. Outdoor test ascertains the viability of producing syngas with the only inputs of natural lignin, water, and sunlight, thus presenting a low-carbon route for synthesizing transportation fuels and value-added chemicals., (© 2024 Wiley-VCH GmbH.)

Solid Oxide Electrolysis Cells (SOECs) can electro-reduce carbon dioxide to carbon monoxide, which not only effectively utilizes greenhouse gases, but also converts excess electrical energy into chemical energy. Perovskite-based oxides with exsolved metal nanoparticles are promising cathode materials for direct electrocatalytic reduction of CO 2 through SOECs, and have thus received increasing attention. In this work, we doped Pr 0.7 Ba 0.3 MnO 3-δ at the B site, and after reduction treatment, metal nanoparticles exsolved and precipitated on the surface of the cathode material, thereby establishing a stable metal-oxide interface structure and significantly improving the electrocatalytic activity of the SOEC cathode materials. Through research, among the Pr 0.7 Ba 0.3 Mn 1-x Ni x O 3-δ (PBMN x = 0-1) cathode materials, it has been found that the Pr 0.7 Ba 0.3 Mn 0.9 Ni 0.1 O 3-δ (PBMN 0.1 ) electrode material exhibits greater catalytic activity, with a CO yield of 5.36 mL min -1 cm -2 and a Faraday current efficiency of ~99%. After 100 h of long-term testing, the current can still remain stable and there is no significant change in performance. Therefore, the design of this interface has increasing potential for development.

Legged soccer robots present a significant challenge in robotics owing to the need for seamless integration of perception, manipulation, and dynamic movement. While existing models often depend on external perception or static techniques, our study aims to develop a robot with dynamic and untethered capabilities. We have introduced a motion planner that allows the robot to excel in dynamic shooting and dribbling. Initially, it identifies and predicts the position of the ball using a rolling model. The robot then pursues the ball, using a novel optimization-based cycle planner, continuously adjusting its gait cycle. This enables the robot to kick without stopping its forward motion near the ball. Each leg is assigned a specific role (stance, swing, pre-kick, or kick), as determined by a gait scheduler. Different leg controllers were used for tailored tiptoe trajectory planning and control. We validated our approach using real-world penalty shot experiments (5 out of 12 successful), cycle adjustment tests (11 out of 12 successful), and dynamic dribbling assessments. The results demonstrate that legged robots can overcome onboard capability limitations and achieve dynamic mobility and manipulation., Competing Interests: Author Jiangwei Zhong was employed by the company Lenovo. The remaining authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest.

In situ bioprinting enables precise 3D printing inside the human body using modified bioprinters with thermosensitive bioinks such as gelatin methacrylate (GelMA). However, these devices lack refined temperature-regulated mechanisms essential for ensuring bioink viscosity, as compared to traditional bio-3D printers. Addressing this challenge, this study presents a temperature-regulated printhead designed to improve the fabrication of thermosensitive bioink scaffolds in in situ bioprinting, integrated into a UR5 robotic arm. Featuring a closed-loop system, it achieves a temperature steady error of 1 °C and a response time of approximately 1 min. The effectiveness of the printer was validated by bioprinting multilayer lattice 3D bioscaffolds. Comparisons were made with or without temperature control using different concentrations of GelMA + LAP. The deformation of the bioscaffolds under both conditions was analyzed, and cell culture tests were conducted to verify viability. Additionally, the rheology and mechanical properties of GelMA were tested. A final preliminary in situ bioprinting experiment was conducted on a model of a damaged femur to demonstrate practical application. The fabrication of this printhead is entirely open source, facilitating easy modifications to accommodate various robotic arms. We encourage readers to advance this prototype for application in increasingly complex in situ bioprinting situations, especially those utilizing thermosensitive bioinks., Competing Interests: The authors declare no competing financial interest., (© 2024 The Authors. Published by American Chemical Society.)

At the Worldwide Developers Conference in June 2023, Apple introduced the Vision Pro. The Apple Vision Pro (AVP) is a mixed reality headset; more specifically, it is a virtual reality device with an additional video see-through capability. The video see-through capability turns the AVP into an augmented reality (AR) device. The AR feature is enabled by streaming the real world via cameras on the (virtual reality) screens in front of the user's eyes. This is, of course, not unique and is similar to other devices, such as the Varjo XR-3 (Varjo Technologies Oy). Nevertheless, the AVP has some interesting features, such as an inside-out screen that can show the headset wearer's eyes to "outsiders," and a button on the top, called the "digital crown," that allows a seamless blend of digital content with the user's physical space by turning it. In addition, it is untethered, except for the cable to the battery, which makes the headset more agile, compared to the Varjo XR-3. This could actually come closer to "The Ultimate Display," which Ivan Sutherland had already sketched in 1965. After a great response from the media and social networks to the release, we were able to test and review the new AVP ourselves in March 2024. Including an expert survey with 13 of our colleagues after testing the AVP in our institute, this Viewpoint explores whether the AVP can overcome clinical challenges that AR especially still faces in the medical domain; we also go beyond this and discuss whether the AVP could support clinicians in essential tasks to allow them to spend more time with their patients., (©Jan Egger, Christina Gsaxner, Gijs Luijten, Jianxu Chen, Xiaojun Chen, Jiang Bian, Jens Kleesiek, Behrus Puladi. Originally published in JMIR Serious Games (https://games.jmir.org), 18.09.2024.)

Sweat contains abundant physiological and metabolic data to evaluate an individual's physical health. Since the non-exercise sweat secretion rate is low, with an average value of 1-10 μl h -1 cm -2 , sweat is generally collected during exercise for existing wearable sweat sensors. To expand their applications to include daily scenarios, these sensors developed for sports and fitness are challenged by the difficulty of collecting trace amounts of sweat. This study proposes a wearable patch inspired by the hierarchical structure of Sarracenia trichomes, allowing for the spontaneous and fast collection of a small amount of secreted sweat. The patch contains microfluidic channels featuring a 20 μm-wide rib structure, fully utilizing the capillary force, thereby eliminating the issue of sweat hysteresis. Furthermore, with only 0.5 μl of the sweat secreted at the collection site, it can converge on the detection medium located within the center reservoir. Volunteer verification demonstrated a twofold increase in sweat collection efficiency compared to traditional wearable patches. This patch serves as an efficient sweat-collection configuration, promising potential for diverse in situ sweat colorimetric analyses., Competing Interests: Declaration of competing interest The authors declare the following financial interests/personal relationships which may be considered as potential competing interests: Zhinan Zhang reports financial support was provided by State Key Laboratory of Mechanical System and Vibration. Zhinan Zhang reports financial support was provided by the open project of National Research Center for Translational Medicine, Shanghai. Zhinan Zhang reports financial support was provided by High-end Foreign Experts Recruitment Plan. If there are other authors, they 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 B.V. All rights reserved.)

Metal hydrides are crucial intermediates in numerous catalytic reactions. Intensive efforts have been dedicated to constructing molecular metal hydrides, where toxic precursors and delicate mediators are usually involved. Herein, we demonstrate a facile pressure-induced methodology to generate a cost-effective heterogeneous electrocatalytic metal hydride surface for sustainable hydrogen transfer. Taking carbon dioxide (CO 2 ) electroreduction as a model system and zinc (Zn), a well-known carbon monoxide (CO)-selective catalyst, as a model catalyst, we showcase a homogeneous-type hydrogen atom transfer process induced by heterogeneous hydride surfaces, enabling direct hydrogenation pathways traditionally considered "prohibited". Specifically, the maximal Faradaic efficiency for formate is enhanced by ~fivefold to 83% under ambient conditions. Experimental and theoretical analyses reveal that unlike the distal hydrogenation route for CO 2 to CO over pristine Zn, the Zn hydride surface enables direct hydrogenation at the carbon site of CO 2 to form formate. This work provides a promising material platform for sustainable synthesis., (© 2024. The Author(s).)

Orbital blowout fracture (OBF) is a disease that can result in herniation of orbital soft tissue, enophthalmos, and even severe visual dysfunction. Given the complex and diverse types of orbital wall fractures, reconstructing the orbital wall presents a significant challenge in OBF repair surgery. Accurate surgical planning is crucial in addressing this issue. However, there is currently a lack of efficient and precise surgical planning methods. Therefore, we propose an intelligent surgical planning method for automatic OBF reconstruction based on a prior adversarial generative network (GAN). Firstly, an automatic generation method of symmetric prior anatomical knowledge (SPAK) based on spatial transformation is proposed to guide the reconstruction of fractured orbital wall. Secondly, a reconstruction network based on SPAK-guided GAN is proposed to achieve accurate and automatic reconstruction of fractured orbital wall. Building upon this, a new surgical planning workflow based on the proposed reconstruction network and 3D Slicer software is developed to simplify the operational steps. Finally, the proposed surgical planning method is successfully applied in OBF repair surgery, verifying its reliability. Experimental results demonstrate that the proposed reconstruction network achieves relatively accurate automatic reconstruction of the orbital wall, with an average DSC of 92.35 ± 2.13% and a 95% Hausdorff distance of 0.59 ± 0.23 mm, markedly outperforming the compared state-of-the-art networks. Additionally, the proposed surgical planning workflow reduces the traditional planning time from an average of 25 min and 17.8 s to just 1 min and 35.1 s, greatly enhancing planning efficiency. In the future, the proposed surgical planning method will have good application prospects in OBF repair surgery., 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 B.V. All rights reserved.)

Materials with electromechanical coupling are essential for transducers and acoustic devices as reversible converters between mechanical and electrical energy 1-6 . High electromechanical responses are typically found in materials with strong structural instabilities, conventionally achieved by two strategies-morphotropic phase boundaries 7 and nanoscale structural heterogeneity 8 . Here we demonstrate a different strategy to accomplish ultrahigh electromechanical response by inducing extreme structural instability from competing antiferroelectric and ferroelectric orders. Guided by the phase diagram and theoretical calculations, we designed the coexistence of antiferroelectric orthorhombic and ferroelectric rhombohedral phases in sodium niobate thin films. These films show effective piezoelectric coefficients above 5,000 pm V -1 because of electric-field-induced antiferroelectric-ferroelectric phase transitions. Our results provide a general approach to design and exploit antiferroelectric materials for electromechanical devices., (© 2024. The Author(s).)