Search

Abstract The cascade of metastasis in tumor cells, exhibiting organ-specific tendencies, may occur at numerous phases of the disease and progress under intense evolutionary pressures. Organ-specific metastasis relies on the formation of pre-metastatic niche (PMN), with diverse cell types and complex cell interactions contributing to this concept, adding a new dimension to the traditional metastasis cascade. Prior to metastatic dissemination, as orchestrators of PMN formation, primary tumor-derived extracellular vesicles prepare a fertile microenvironment for the settlement and colonization of circulating tumor cells at distant secondary sites, significantly impacting cancer progression and outcomes. Obviously, solely intervening in cancer metastatic sites passively after macrometastasis is often insufficient. Early prediction of metastasis and holistic, macro-level control represent the future directions in cancer therapy. This review emphasizes the dynamic and intricate systematic alterations that occur as cancer progresses, illustrates the immunological landscape of organ-specific PMN creation, and deepens understanding of treatment modalities pertinent to metastasis, thereby identifying some prognostic and predictive biomarkers favorable to early predict the occurrence of metastasis and design appropriate treatment combinations.

Abstract Background Tumor-infiltrating lymphocytes (TILs) are significantly implicated in regulating the tumor immune microenvironment (TIME) and immunotherapeutic response. However, little is known about the impact of the resident and exhausted status of TILs in hepatocellular carcinoma (HCC). Methods Single-cell RNA sequencing data was applied to discover resident and exhausted signatures of TILs. Survival outcomes, biological function, immune infiltration, genomic variation, immunotherapeutic efficacy, and sorafenib response were further explored the clinical significance and molecular association of TILs in HCC. Moreover, a candidate gene with predictive capability for the dismal subtype was identified through univariate Cox regression analysis, survival analysis, and the BEST website. Results Single-cell analysis revealed that CD8 + T, CD4 + T, and NK cells were strongly associated with resident and exhausted patterns. Specific resident and exhausted signatures for each subpopulation were extracted in HCC. Further multivariate Cox analysis revealed that the ratio of resident to exhausted CD4 + T cells in TIME was an independent prognostic factor. After incorporating tumor purity with the ratio of resident to exhausted CD4 + T cells, we stratified HCC patients into three subtypes and found that (i) CD4 residencyhighexhaustionlow subtype was endowed with favorable prognosis, immune activation, and sensitivity to immunotherapy; (ii) CD4 exhaustionhighresidencylow subtype was characterized by genome instability and sensitivity to sorafenib; (iii) Immune-desert subtype was associated with malignant-related pathways and poor prognosis. Furthermore, spindle assembly abnormal protein 6 homolog (SASS6) was identified as a key gene, which accurately predicted the immune-desert subtype. Prognostic analysis as well as in vitro and in vivo experiments further demonstrated that SASS6 was closely associated with tumor prognosis, proliferation, and migration. Conclusions The ratio of resident to exhausted CD4 + T cells shows promise as a potential biomarker for HCC prognosis and immunotherapy response and SASS6 may serve as a biomarker and therapeutic target for prognostic assessment of HCC.

Abstract Immunotherapy has shown promising anti-tumor effects across various tumors, yet it encounters challenges from the inhibitory tumor immune microenvironment (TIME). Infiltrating regulatory T cells (Tregs) are important contributors to immunosuppressive TIME, limiting tumor immunosurveillance and blocking effective anti-tumor immune responses. Although depletion or inhibition of systemic Tregs enhances the anti-tumor immunity, autoimmune sequelae have diminished expectations for the approach. Herein, we summarize emerging strategies, specifically targeting tumor-infiltrating (TI)-Tregs, that elevate the capacity of organisms to resist tumors by reprogramming their phenotype. The regulatory mechanisms of Treg reprogramming are also discussed as well as how this knowledge could be utilized to develop novel and effective cancer immunotherapies.

Abstract Tumor immunotherapy has significantly transformed the field of oncology over the past decade. An optimal tumor immunotherapy would ideally elicit robust innate and adaptive immune responses within tumor immune microenvironment (TIME). Unfortunately, immune system experiences functional decline with chronological age, a process termed “immunosenescence,” which contributes to impaired immune responses against pathogens, suboptimal vaccination outcomes, and heightened vulnerability to various diseases, including cancer. In this context, we will elucidate hallmarks and molecular mechanisms underlying immunosenescence, detailing alterations in immunosenescence at molecular, cellular, organ, and disease levels. The role of immunosenescence in tumorigenesis and senescence‐related extracellular matrix (ECM) has also been addressed. Recognizing that immunosenescence is a dynamic process influenced by various factors, we will evaluate treatment strategies targeting hallmarks and molecular mechanisms, as well as methods for immune cell, organ restoration, and present emerging approaches in immunosenescence for tumor immunotherapy. The overarching goal of immunosenescence research is to prevent tumor development, recurrence, and metastasis, ultimately improving patient prognosis. Our review aims to reveal latest advancements and prospective directions in the field of immunosenescence research, offering a theoretical basis for development of practical anti‐immunosenescence and anti‐tumor strategies.

Abstract Tertiary lymphoid structures (TLS) are clusters of immune cells that resemble and function similarly to secondary lymphoid organs (SLOs). While TLS is generally associated with an anti-tumour immune response in most cancer types, it has also been observed to act as a pro-tumour immune response. The heterogeneity of TLS function is largely determined by the composition of tumour-infiltrating lymphocytes (TILs) and the balance of cell subsets within the tumour-associated TLS (TA-TLS). TA-TLS of varying maturity, density, and location may have opposing effects on tumour immunity. Higher maturity and/or higher density TLS are often associated with favorable clinical outcomes and immunotherapeutic response, mainly due to crosstalk between different proportions of immune cell subpopulations in TA-TLS. Therefore, TLS can be used as a marker to predict the efficacy of immunotherapy in immune checkpoint blockade (ICB). Developing efficient imaging and induction methods to study TA-TLS is crucial for enhancing anti-tumour immunity. The integration of imaging techniques with biological materials, including nanoprobes and hydrogels, alongside artificial intelligence (AI), enables non-invasive in vivo visualization of TLS. In this review, we explore the dynamic interactions among T and B cell subpopulations of varying phenotypes that contribute to the structural and functional diversity of TLS, examining both existing and emerging techniques for TLS imaging and induction, focusing on cancer immunotherapies and biomaterials. We also highlight novel therapeutic approaches of TLS that are being explored with the aim of increasing ICB treatment efficacy and predicting prognosis.

Abstract Background Colorectal cancer (CRC) is among the most hackneyed malignancies. Even patients with identical clinical symptoms and the same TNM stage still exhibit radically different clinical outcomes after receiving equivalent treatment regimens, indicating extensive heterogeneity of CRC. Myriad molecular subtypes of CRC have been exploited for decades, including the most compelling consensus molecular subtype (CMS) classification that has been broadly applied for patient stratification and biomarker‐drug combination formulation. Encountering barriers to clinical translation, however, CMS classification fails to fully reflect inter‐ or intra‐tumor heterogeneity of CRC. As a consequence, addressing heterogeneity and precisely managing CRC patients with unique characteristics remain arduous tasks for clinicians. Review In this review, we systematically summarize molecular subtypes of CRC and further elaborate on their clinical applications, limitations, and future orientations. Conclusion In recent years, exploration of subtypes through cell lines, animal models, patient‐derived xenografts (PDXs), organoids, and clinical trials contributes to refining biological insights and unraveling subtype‐specific therapies in CRC. Therapeutic interventions including nanotechnology, clustered regulatory interspaced short palindromic repeat/CRISPR‐associated nuclease 9 (CRISPR/Cas9), gut microbiome, and liquid biopsy are powerful tools with the possibility to shift the immunologic landscape and outlook for CRC precise medicine.

Abstract The reversible oxidation-reduction homeostasis mechanism functions as a specific signal transduction system, eliciting related physiological responses. Disruptions to redox homeostasis can have negative consequences, including the potential for cancer development and progression, which are closely linked to a series of redox processes, such as adjustment of reactive oxygen species (ROS) levels and species, changes in antioxidant capacity, and differential effects of ROS on downstream cell fate and immune capacity. The tumor microenvironment (TME) exhibits a complex interplay between immunity and regulatory cell death, especially autophagy and apoptosis, which is crucially regulated by ROS. The present study aims to investigate the mechanism by which multi-source ROS affects apoptosis, autophagy, and the anti-tumor immune response in the TME and the mutual crosstalk between these three processes. Given the intricate role of ROS in controlling cell fate and immunity, we will further examine the relationship between traditional cancer therapy and ROS. It is worth noting that we will discuss some potential ROS-related treatment options for further future studies.

Background Chronic kidney disease (CKD) is closely associated with cardiovascular disease. We aimed to examine the association of Life's Essential 8 (LE8), the recently updated measurement of cardiovascular health, with the prevalence of CKD among US adults. Methods and Results This population‐based cross‐sectional study used data from the National Health and Nutrition Examination Survey from 2007 to 2018 and included adults aged ≥20 years. Multivariable logistic and restricted cubic spline models were used to assess the associations between LE8 and CKD. Among 24 960 participants, 4437 were determined to have CKD (weighted percentage, 14.11%). After the adjustment of potential confounders, higher LE8 scores were associated with reduced odds of CKD (odds ratio for each 10‐point increase, 0.79 [95% CI, 0.76–0.83]), and a nonlinear dose–response relationship was observed. Similar patterns were also identified in the associations of health behavior and health factor scores with CKD. Meanwhile, higher scores for blood glucose (odds ratio, for each 10‐point increase, 0.88 [95% CI, 0.87–0.90]) and blood pressure (odds ratio, for each 10‐point increase, 0.92 [95% CI, 0.91–0.94]) in the LE8 component are significantly associated with a lower prevalence of CKD. The inversed association of LE8 score and CKD was significantly stronger among middle‐aged, male, and coupled participants. Conclusions LE8 was negatively associated with the prevalence of CKD in a nonlinear fashion. Promoting adherence to optimal cardiovascular health levels may be beneficial to reduce the burden of CKD.

COP26 highlighted near-term emissions reductions in addition to longer-term net-zero. At the same time, shifts in political landscapes around the world have furthered the salience of climate action led by non-state actors such as business interests, civil society and nonprofits, and local and regional communities. Despite the promise, performance of non-state climate action remains unclear and requires further empirical validation. The current study focuses on corporate entities and explores the potential effect of corporate leadership on climate governance (CG) performance. Our aim is to advance the literature on non-state CG by offering empirical evidence of the less-studied effectiveness of non-state CG leadership. Echoing previous research, our study identifies a contingent perspective on the effect of corporate leadership on CG performance. Specifically, through the context of utilities’ energy efficiency programming in the U.S. and a multilevel research design, we find suggestive evidence that when the moderating effect of citizens’ support is considered, corporate leadership could potentially positively affect CG performance. Additionally, we demonstrate that a CG system’s operational uncertainty can complicate the effect of corporate leadership on performance whereas a pro-environmental citizenry can enhance such effect.

Abstract Ferroptosis is an iron-dependent form of regulated cell death driven by the lethal lipid peroxides. Previous studies have demonstrated that inducing ferroptosis holds great potential in cancer therapy, especially for patients with traditional therapy failure. However, cancer cells can acquire ferroptosis evasion during progression. To date, the therapeutic potential of inducing ferroptosis in bladder cancer (BCa) remains unclear, and whether a ferroptosis escape mechanism exists in BCa needs further investigation. This study verified that low pathological stage BCa cells were highly sensitive to RSL3-induced ferroptosis, whereas high pathological stage BCa cells exhibited obviously ferroptosis resistance. RNA-seq, RNAi-mediated loss-of-function, and CRISPR/Cas9 experiments demonstrated that ALOX5 deficiency was the crucial factor of BCa resistance to ferroptosis in vitro and in vivo. Mechanistically, we found that ALOX5 deficiency was regulated by EGR1 at the transcriptional level. Clinically, ALOX5 expression was decreased in BCa tissues, and its low expression was associated with poor survival. Collectively, this study uncovers a novel mechanism for BCa ferroptosis escape and proposes that ALOX5 may be a valuable therapeutic target and prognostic biomarker in BCa treatment.

Through the construction of an ecological lawn regulation and storage system, the adaptability of airports to extreme weather can be enhanced. The problems of runoff, ponding and pollution faced by traditional airport flight areas during heavy rainfall can be solved, and the utilization efficiency of rainwater resources can be improved. In this paper, the SWMM is used to simulate and analyze an 4E-level airport of a certain city in Region III as the research object. The simulation results show that the ecological lawn regulation and storage system can significantly reduce runoff flow, ponding durations and runoff pollution with different return periods. In addition, the water storage module of the system can store 24,000 m3 of water and recycle it. This research proves that the ecological lawn regulation and storage system can effectively improve the rainwater control capability of the airport flight area, which has an important reference value for the sponge transformation of traditional airports and is helpful to promote green civil aviation construction and sustainable development.

In the field of civil aviation, the nose landing gear is a critical component that is prone to damage during taxiing. With the advent of new technologies such as towing taxi-out and hub motors, the nose landing gear faces increasingly complex operational environments, thereby imposing higher performance demands. Ensuring the structural safety of the nose landing gear is fundamental for the successful application of these technologies. However, current research on aircraft nose landing gear under these new conditions is somewhat lacking, particularly in terms of reliable analysis models for real-world scenarios. This study focuses on a typical Class C aircraft, specifically the B-727 model, for which a finite element model of the nose landing gear is developed. Modal testing of the aircraft’s nose landing gear is conducted using the impact hammer method, and the results are compared with those from the simulations. The experimental data indicate that the error range for the first seven natural frequencies is between 0.23% and 9.27%, confirming the high accuracy of the developed landing gear model. Furthermore, with towing taxi-out as the primary scenario, a dynamic model of the aircraft towing system is established, and an analysis on the structural strength and topological optimization of the nose landing gear under various conditions, including high speeds and heavy loads, is performed. The results show that the developed model can effectively support the analysis and prediction of the mechanical behavior of the nose landing gear. Under high-speed, heavy-load conditions, the nose landing gear experiences significantly increased loads, with the maximum deformation primarily occurring at the lower section of the shock strut’s outer cylinder. However, no damage occurred. Additionally, under these conditions, an optimized structural design for the landing gear was identified, which, while ensuring structural strength, achieves a 22.32% reduction in the mass of the outer cylinder, also ensuring safety in towing taxi-out conditions.

Field crops are usually planted in rows, and accurate identification and extraction of crop row centerline is the key to realize autonomous navigation and safe operation of agricultural machinery. However, the diversity of crop species and morphology, as well as field noise such as weeds and light, often lead to poor crop detection in complex farming environments. In addition, the curvature of crop rows also poses a challenge to the safety of farm machinery during travel. In this study, a combined multi-crop row centerline extraction algorithm is proposed based on improved YOLOv8 (You Only Look Once-v8) model, threshold DBSCAN (Density-Based Spatial Clustering of Applications with Noise) clustering, least squares method, and B-spline curves. For the detection of multiple crops, a DCGA-YOLOv8 model is developed by introducing deformable convolution and global attention mechanism (GAM) on the original YOLOv8 model. The introduction of deformable convolution can obtain more fine-grained spatial information and adapt to crops of different sizes and shapes, while the combination of GAM can pay more attention to the important feature areas of crops. The experimental results shown that the F1-score and mAP value of the DCGA-YOLOv8 model for Cabbage, Kohlrabi, and Rice are 96.4%, 97.1%, 95.9% and 98.9%, 99.2%, 99.1%, respectively, which has good generalization and robustness. A threshold-DBSCAN algorithm was proposed to implement clustering for each row of crops. The correct clustering rate for Cabbage, Kohlrabi and Rice reaches 98.9%, 97.9%, and 100%, respectively. And LSM and cubic B-spline curve methods were applied to fit straight and curved crop rows, respectively. In addition, this study constructed a risk optimization function for the wheel model to further improve the safety of agricultural machines operating between crop rows. This indicates that the proposed method can effectively realize the accurate recognition and extraction of navigation lines of different crops in complex farmland environment, and improve the safety and stability of visual navigation and field operation of agricultural machines.

Objectives: To analyze the correlations between the expression and effect of DNA damage repair genes and the immune status and clinical outcomes of urothelial bladder cancer (BLCA) patients. In addition, we evaluate the efficacy and value of utilizing the DNA damage repair genes signature as a prognosis model for BLCA. Methods: Two subtype groups (C1 and C2) were produced based on the varied expression of DNA damage repair genes. Significantly differentiated genes and predicted enriched gene pathways were obtained between the two subtypes. Seven key genes were obtained from the DNA damage repair-related genes and a 7-gene signature prognosis model was established based on the key genes. The efficacy and accuracy of this model in prognosis prediction was evaluated and verified in two independent databases. Also, the difference in biological functions, drug sensitivity, immune infiltration and affinity between the high-risk group and low-risk group was analyzed. Results: The DNA damage repair gene signature could significantly differentiate the BLCA into two molecular subgroups with varied genetic expression and enriched gene pathways. Seven key genes were screened out from the 232 candidate genes for prognosis prediction and a 7-gene signature prognosis model was established based on them. Two independent patient cohorts (TCGA cohort and GEO cohort) were utilized to validate the efficacy of the prognosis model, which demonstrated an effective capability to differentiate and predict the overall survival of BLCA patients. Also, the high-risk group and low-risk group derived from the 7-gene model exhibited significantly differences in drug sensitivity, immune infiltration status and biological pathways enrichment. Conclusions: Our established 7-gene signature model based on the DNA damage repair genes could serve as a novel prognosis predictive tool for BLCA. The differentiation of BLCA patients based on the 7-gene signature model may be of great value for the appropriate selection of specific chemotherapy agents and immune-checkpoint blockade therapy administration.

Bladder cancer (BLCA) is one of the most common malignant tumors of the urinary system, but the current therapeutic strategy based on chemotherapy and immune checkpoint inhibitor (ICI) therapy cannot meet the treatment needs, mainly owing to the endogenous or acquired apoptotic resistance of cancer cells. Targeting necroptosis provides a novel strategy for chemotherapy and targeted drugs and improves the efficacy of ICIs because of strong immunogenicity of necroptosis. Therefore, we systemically analyzed the necroptosis landscape on therapy and prognosis in BLCA. We first divided BLCA patients from The Cancer Genome Atlas (TCGA) database into two necroptosis-related clusters (C1 and C2). Necroptosis C2 showed a significantly better prognosis than C1, and the differential genes of C2 and C1 were mainly related to the immune response according to GO and KEGG analyses. Next, we constructed a novel necroptosis-related gene (NRG) signature consisting of SIRT6, FASN, GNLY, FNDC4, SRC, ANXA1, AIM2, and IKBKB to predict the survival of TCGA-BLCA cohort, and the accuracy of the NRG score was also verified by external datasets. In addition, a nomogram combining NRG score and several clinicopathological features was established to more accurately and conveniently predict the BLCA patient’s survival. We also found that the NRG score was significantly related to the infiltration levels of CD8 T cells, NK cells, and iDC cells, the gene expression of CTLA4, PD-1, TIGIT, and LAG3 of TME, and the sensitivity to chemotherapy and targeted agents in BLCA patients. In conclusion, the NRG score has an excellent performance in evaluating the prognosis, clinicopathologic features, tumor microenvironment (TME), and therapeutic sensitivity of BLCA patients, which could be utilized as a guide for chemotherapy, ICI therapy, and combination therapy.

Crop row detection is one of the foundational and pivotal technologies of agricultural robots and autonomous vehicles for navigation, guidance, path planning, and automated farming in row crop fields. However, due to a complex and dynamic agricultural environment, crop row detection remains a challenging task. The surrounding background, such as weeds, trees, and stones, can interfere with crop appearance and increase the difficulty of detection. The detection accuracy of crop rows is also impacted by different growth stages, environmental conditions, curves, and occlusion. Therefore, appropriate sensors and multiple adaptable models are required to achieve high-precision crop row detection. This paper presents a comprehensive review of the methods and applications related to crop row detection for agricultural machinery navigation. Particular attention has been paid to the sensors and systems used for crop row detection to improve their perception and detection capabilities. The advantages and disadvantages of current mainstream crop row detection methods, including various traditional methods and deep learning frameworks, are also discussed and summarized. Additionally, the applications for different crop row detection tasks, including irrigation, harvesting, weeding, and spraying, in various agricultural scenarios, such as dryland, the paddy field, orchard, and greenhouse, are reported.

The nondestructive assessment of nitrogen status in strawberry was performed to analyze its growth and provide guidance for precise management of N fertilizer using Fourier transform near-infrared reflectance (FT-NIR) spectroscopy with leaf spectral reflectance. The leaf soil plant analysis development (SPAD) value is considered as an indicator that indirectly reflects the nitrogen status in strawberry. However, the variation of cultivars leads to differences in the cell structure and light scattering and/or reflection effects of strawberry leaves during strawberry N status assessment, which means, leaf SPAD threshold value and the specific N demand will vary with different cultivars. As a result, accurate measurement of SPAD values and N status in strawberries with multiple cultivars is still challenging. In this study, the individual-cultivar, hybrid-cultivar, and multi-cultivar models were developed for the determination of SPAD values, and the performance of the models in lessening the impact of cultivar variation was studied and compared. The individual-cultivar model was constructed on the basis of a single cultivar of strawberry leaf. The hybrid-cultivar model was developed by merging the spectrum reflectance data and SPAD values of all studied leaf samples, and a multi-cultivar model was built in combination with cultivar identification, individual-cultivar models, and model search strategy. The results indicated that the multi-cultivar model was superior to the other two models for SPAD value estimation of strawberry leaves from different cultivars, with the overall Rp and RMSEP values of 0.966 and 0.468, respectively. We demonstrate that the leaf N content of strawberry is profoundly affected by cultivar variation, and establishing a multi-cultivar model is useful in monitoring the nitrogen status and guiding N fertilization recommendations for different strawberry cultivars.

Automatic plant phenotype measurement technology based on the rapid and accurate reconstruction of maize structures at the seedling stage is essential for the early variety selection, cultivation, and scientific management of maize. Manual measurement is time-consuming, laborious, and error-prone. The lack of mobility of large equipment in the field make the high-throughput detection of maize plant phenotypes challenging. Therefore, a global 3D reconstruction algorithm was proposed for the high-throughput detection of maize phenotypic traits. First, a self-propelled mobile platform was used to automatically collect three-dimensional point clouds of maize seedling populations from multiple measurement points and perspectives. Second, the Harris corner detection algorithm and singular value decomposition (SVD) were used for the pre-calibration single measurement point multi-view alignment matrix. Finally, the multi-view registration algorithm and iterative nearest point algorithm (ICP) were used for the global 3D reconstruction of the maize seedling population. The results showed that the R2 of the plant height and maximum width measured by the global 3D reconstruction of the seedling maize population were 0.98 and 0.99 with RMSE of 1.39 cm and 1.45 cm and mean absolute percentage errors (MAPEs) of 1.92% and 2.29%, respectively. For the standard sphere, the percentage of the Hausdorff distance set of reconstruction point clouds less than 0.5 cm was 55.26%, and the percentage was 76.88% for those less than 0.8 cm. The method proposed in this study provides a reference for the global reconstruction and phenotypic measurement of crop populations at the seedling stage, which aids in the early management of maize with precision and intelligence.

The Rat Sarcoma (RAS) family (NRAS, HRAS, and KRAS) is endowed with GTPase activity to regulate various signaling pathways in ubiquitous animal cells. As proto-oncogenes, RAS mutations can maintain activation, leading to the growth and proliferation of abnormal cells and the development of a variety of human cancers. For the fight against tumors, the discovery of RAS-targeted drugs is of high significance. On the one hand, the structural properties of the RAS protein make it difficult to find inhibitors specifically targeted to it. On the other hand, targeting other molecules in the RAS signaling pathway often leads to severe tissue toxicities due to the lack of disease specificity. However, computer-aided drug design (CADD) can help solve the above problems. As an interdisciplinary approach that combines computational biology with medicinal chemistry, CADD has brought a variety of advances and numerous benefits to drug design, such as the rapid identification of new targets and discovery of new drugs. Based on an overview of RAS features and the history of inhibitor discovery, this review provides insight into the application of mainstream CADD methods to RAS drug design.

Secure grasping of fragile fruits and other agricultural products without potential slip and damage is still a challenge due to the size and shape varying, bruise susceptible, as well as hardness changing during fruit and vegetable maturation. In the robotic grasping process, the mechanical damage mainly depends upon the aggressiveness of the gripper and the sensitivity of the product to the damage. In this study, a flexible gripper integrated with multi-sensor network is designed and tested. The network proposed includes three kinds of sensors that enable the gripper to grasp various products with the sense of touch and visual perception. Particular attention has been attached to the sensors applied between the fingers, and this makes sensing and grasping capabilities improved. To create an accurate grasping system, a grasping algorithm and the force control model are proposed for any bending state based on Cosserat theory. The boundary detection is included in the grasping algorithm, detecting the shape edge by some certain point calculation. The created grasping system guarantees mechanical compliance by evaluating and adjusting the finger status including force, angle, and direction. Multi-group tests have been done on grasping several objects of different sizes and materials in daily life. The relationship between force, bending, and surface material is also analyzed and compared under different conditions. The numerical comparisons related to the measurement error are analyzed based on their standard deviations. Experimental results indicate that this flexible manipulator with proposed system and strategy has better grasping ability for fragile fruits with its good flexibility and dexterity.

Based on the principle of minimal energy, the angular dependence of exchange bias (ADEB) under planar domain wall model has been investigated in detail. Three different types of the initial states, monostable, bistable and tristable states, will be formed in exchange-biased systems by adjusting the relative strength of the uniaxial anisotropy, unidirectional anisotropy and the planar domain wall energy. These initial states determine the ADEB directly. The jump phenomena were still existent in the ADEB. Additionally, it can be found that the magnetization reversal mode is sensitive to the orientation of the magnetic field. Two distinct modes of the magnetization rotation, half-plane rotation and whole-plane rotation, can be observed when the applied field points along different orientations. These modes of the magnetization rotation can be identified by different features of the transverse hysteresis loops. Our investigations about the ADEB and the magnetization reversal modes are helpful to interpret the magnetic behaviors of some exchange-biased systems, which can be described by planar domain wall model.