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The nursing care provided after the intensive care period and discharge can contribute to the optimal growth and development of the baby while protecting the mental health of the parents.The aim of this study is to examine in detail the experiences of parents with premature babies about having a premature baby and their experiences with the hospitalization process of their babies in the neonatal intensive care unit (NICU).The methodological approach was informed by Van Manen's hermeneutic phenomenological methodology. The sample consisted of 15 parents who had a preterm baby in the NICU of a state hospital in Turkey.The data obtained from this study were categorized under four themes: having a preterm baby, perception of intensive care, feelings toward nurses, emotions about discharge and home care.Health professionals should know what the parents' perception of being a parent and having a premature baby is.

Aim: The aim of this study is to determine the relationship between family functionality perceptions of 12–15-year-old middle school students and sociodemographic variables. Methods: This descriptive study was conducted with 859 children between the ages of 12-15 in three primary schools. Data were collected using a survey form containing 14 questions about the students’ sociodemographic characteristics and the Family Assessment Scale (FAS) consisting of 60 items were used. Results: It was found that the highest average score of the students was in the 'roles' sub-dimension (28.81±2.71) and the lowest average score was in the 'problem-solving' sub-dimension (11.33±3.63) of the FAS, with the age of the students and the FAS sub-dimension. It was determined that the difference between all dimensions, gender, and “behavior control” was significant (p

This study aimed to determine the relationship between quality of school life and aggression levels of secondary school students. The sample of the descriptive-cross-sectional study consisted of 822 students in three secondary schools of a city center in Turkey. The data of research were collected with “Personal Information Form, School Life Quality, Buss-Perry Aggression Scale”. Frequency, percentage, t test, ANOVA test and logistic regression analysis were used to evaluate the data. Of all students 56.2% were female, 43.8% were male, and the mean age was 12.64 ± 1.04. There was a significant difference between the students’ gender, school achievement, friendship relations, school life quality, aggression mean scores. In order to prevent aggression in schools, it can be suggested to create tools that provide cooperation between student-family, school management according to the risk levels.

Introduction: Internet addiction has developed into a major public health issue as a result of technological improvements. The aim of this study is to determine their views on the effects of the internet on adolescents with problematic internet use and to examine the level of internet addiction of adolescents. Methods: This is a mixed-method- study. The total sample size was 349 secondary school students. The study interview group consisted of 60 students. Data were collected through the focus group method. Descriptive statistics and chi-square analysis were used in the quantitative data analysis while thematic analysis was used in the qualitative data analysis. Results: The mean total score of internet addiction for all students wa 35.63 (4.44). The students with a mean internet score of, Giriş: İnternet bağımlılığı, teknolojik gelişmelerin bir sonucu olarak önemli bir halk sağlığı sorunudur. Bu çalışmanın amacı, problemli internet kullanımı olan ergenlerde internetin etkilerini belirlemektir. Yöntem: Bu çalışmada karma yöntem kullanılmıştır. Toplam örneklem büyüklüğü 349 ortaokul öğrencisidir. Araştırma görüşme grubu 60 öğrenciden oluşmaktadır. Veriler odak grup yöntemiyle toplanmıştır. Nicel verilerin analizinde tanımlayıcı istatistikler ve ki-kare analizi, nitel verilerin analizinde tematik analiz kullanılmıştır. Bulgular: Tüm öğrencilerin toplam internet bağımlılığı skor ortalaması 35,63(4,44)'tür. İnternet skor ortalaması

Soft robots require strong, yet flexible actuators for locomotion and manipulation tasks in unstructured environments. Dielectric elastomer actuators (DEAs) are well suited for these challenges in soft robotics because they operate as compliant capacitors and directly convert electrical energy into mechanical work, thereby allowing for simple design integration at a minimal footprint. In most demonstrations, DEA-based robots are limited to a single mode of locomotion, for example crawling, swimming, or jumping. In this work, we explored a range of actuation patterns in combination with a novel actuator design to enable multi-modal locomotion, whereby an actuation pattern is defined by an actuation voltage (proportional to the applied electric field) and frequency (the actuation rate). We present a DEA robot capable of three different gaits including crawling, hopping, and jumping. In addition, our robot can set itself upright by performing a roll, for example to prepare for the next jump after landing on its side. These results demonstrate that DEAs can be used as versatile experimental devices to validate locomotion models, in both natural and engineered systems.

Robot swarms have been shown to improve the ability of individual robots by inter-robot collaboration. In this paper, we present the PuzzleBots - a low-cost robotic swarm system where robots can physically couple with each other to form functional structures with minimum energy consumption while maintaining individual mobility to navigate within the environment. Each robot has knobs and holes along the sides of its body so that the robots can couple by inserting the knobs into the holes. We present the characterization of knob design and the result of gap-crossing behavior with up to nine robots. We show with hardware experiments that the robots are able to couple with each other to cross gaps and decouple to perform individual tasks. We anticipate the PuzzleBots will be useful in unstructured environments as individuals and coupled systems in real-world applications.

Efficient and effective generation of high-acceleration movement in biology requires a process to control energy flow and amplify mechanical power from power density–limited muscle. Until recently, this ability was exclusive to ultrafast, small organisms, and this process was largely ascribed to the high mechanical power density of small elastic recoil mechanisms. In several ultrafast organisms, linkages suddenly initiate rotation when they overcenter and reverse torque; this process mediates the release of stored elastic energy and enhances the mechanical power output of extremely fast, spring-actuated systems. Here we report the discovery of linkage dynamics and geometric latching that reveals how organisms and synthetic systems generate extremely high-acceleration, short-duration movements. Through synergistic analyses of mantis shrimp strikes, a synthetic mantis shrimp robot, and a dynamic mathematical model, we discover that linkages can exhibit distinct dynamic phases that control energy transfer from stored elastic energy to ultrafast movement. These design principles are embodied in a 1.5-g mantis shrimp scale mechanism capable of striking velocities over 26 m [Formula: see text] in air and 5 m [Formula: see text] in water. The physical, mathematical, and biological datasets establish latching mechanics with four temporal phases and identify a nondimensional performance metric to analyze potential energy transfer. These temporal phases enable control of an extreme cascade of mechanical power amplification. Linkage dynamics and temporal phase characteristics are easily adjusted through linkage design in robotic and mathematical systems and provide a framework to understand the function of linkages and latches in biological systems.

Traditional parallel-jaw grippers are insufficient for delicate object manipulation due to their stiffness and lack of dexterity. Other dexterous robotic hands often have bulky fingers, rely on complex time-varying cable drives, or are prohibitively expensive. In this paper, we introduce a novel low-cost compliant gripper with two centimeter-scaled 3-DOF delta robots using off-the-shelf linear actuators and 3D-printed soft materials. To model the kinematics of delta robots with soft compliant links, which diverge from typical rigid links, we train neural networks using a perception system. Furthermore, we analyze the delta robot’s force profile by varying the starting position in its workspace and measuring the resulting force from a push action. Finally, we demonstrate the compliance and dexterity of our gripper through six dexterous manipulation tasks involving small and delicate objects. Thus, we present the groundwork for creating modular multi-fingered hands that can execute precise and low-inertia manipulations.

Distributed manipulators - consisting of a set of actuators or robots working cooperatively to achieve a manipulation task - are robust and flexible tools for performing a range of planar manipulation skills. One novel example is the delta array, a distributed manipulator composed of a grid of delta robots, capable of performing dexterous manipulation tasks using strategies incorporating both dynamic and static contact. Hand-designing effective distributed control policies for such a manipulator can be complex and time consuming, given the high-dimensional action space and unfamiliar system dynamics. In this paper, we examine the principles guiding development and control of such a delta array for a planar translation task. We explore policy learning as a robust cooperative control approach, allowing for smooth manipulation of a range of objects, showing improved accuracy and efficiency over baseline human-designed policies.

Purpose This study was conducted to evaluate peer bullying, internet addiction, and psychological adaptation capabilities of students in the 9-15 age group. Design and methods The study was performed as cross-sectional-descriptive research with 880 students included in the research sample. Findings One-fourth of the students in the 9-15 age group suffered from psychological adaptation issues, one-fifth suffered from bullying issues, and 16.5% suffered from internet addiction. Conclusion There is a need for early determination in risky age groups, a collaboration between parents and teachers in schools, and extended social studies on the prevention of peer bullying and internet addiction.

In robotics, the origami-based design methodology uses straightforward fabrication and assembly processes to create small-scale parallel mechanisms. Delta mechanisms are among the well-known parallel mechanisms used mostly in pick-and-place operations due to their capability to reach high speeds and accelerations. In this work, we present a novel Delta mechanism based on origami-inspired designs and two-dimensional layer-by-layer fabrication methods, reducing the time and errors in manufacturing. We developed a new flat parallelogram providing translations in X–Y–Z directions, respecting the Delta mechanism’s conventional kinematic models. The fabrication and assembly processes include laser machining and lamination, eliminating manual-folding and bonding steps. The mechanism operates in a 20 × 20 × 20 mm3 workspace and a 17.5 cm diameter circular footprint when it is entirely flat. The kinematic performance of the mechanism is analyzed using a six degrees-of-freedom position sensor on the end effector. The experiments are conducted to follow circular trajectories with varying radii at different heights. Despite having no feedback control from the end effector, the mechanism follows the given trajectories with 1.5 mm root-mean-square (RMS) precision. We also present the effects of the elasticity of flexible materials at different regions of the mechanism on the performance of the Delta robot.

Anesthetic-induced toxicity in early life may lead to risk of cognitive decline at later ages. Notably, multiple exposures to isoflurane (ISO) cause acute apoptotic cell death in the developing brain and long-term cognitive dysfunction. This study is the first to investigate whether levosimendan (LVS), known for its protective myocardial properties, can prevent anesthesia-induced apoptotic response in brain cells and learning and memory impairment. Postnatal day (P)7 Wistar albino pups were randomly assigned to groups consisting of an equal number of males and females in this laboratory investigation. We treated rats with LVS (0.8 mg/kg/day) intranasally 30 min before each ISO exposure (1.5%, 3 h) at P7+9+11. We selected DMSO as the drug vehicle. Also, the control group at P7+9+11 received 50% O-2 for 3 h instead of ISO. Neuroprotective activity of LVS against ISO-induced cognitive dysfunction was evaluated by Morris water maze. Expression of apoptotic-related proteins was detected in the whole brain using western blot. LVS pretreatment significantly prevented anesthesia-induced deficit in spatial learning (at P28-32) and memory (at P33, P60, and P90). No sex-dependent difference occurred on any day of the training and probe trial. Intranasal LVS was also found to significantly prevent the ISO-induced apoptosis by reducing Bax and cleaved caspase-3, and by increasing Bcl-2 and Bcl-xL. Our findings support pretreatment with intranasal LVS application as a simple strategy in daily clinical practice in pediatric anesthesia to protect infants and children from the risk of general anesthesia-induced cell death and cognitive declines. T.C. Health Ministry, Health Sciences University, Bagcilar Training and Research Hospital, Turkey

Current techniques in robot design and fabrication are time consuming and costly. Robot designs are needed that facilitate low-cost fabrication techniques and reduce the design to production timeline. Here we present an axial-rotational coupled metastructure that can serve as the functional core of a low-cost 3D printed walking robot. Using an origami-inspired assembly technique, the axial-rotational coupled metastructure robot can be 3D printed flat and then folded into a final configuration. This print-then-fold approach allows for the facile integration of critical subcomponents during the printing process. The axial-rotational metastructures eliminate the need for joints and linkages by enabling locomotion through a single compliant structure. Finite element models of the axialrotational metastructures were developed and validated against experimental deformation of 3D printed units under tensile loading. As a proof-of-concept, an ultra low-cost 3D-printed metabot was designed and fabricated using the proposed axial-rotational coupled metastructure and its walking performance was characterized. A top speed of 4.30 mm/s was achieved with an alternating stepping gait at a frequency of 0.8 Hz.

Hop, skip, jump, or massive leap In biological and engineered systems, an inherent trade-off exists between the force and velocity that can be delivered by a muscle, spring, or combination of the two. However, one can amplify the maximum throwing power of an arm by storing the energy in a bow or sling shot with a latch mechanism for sudden release. Ilton et al. used modeling to explore the performance of motor-driven versus spring-latch systems in engineering and biology across size scales. They found a range of general principles that are common to animals, plants, fungi, and machines that use elastic structures to maximize kinetic energy. Science , this issue p. eaao1082

Delta robots have been widely used in industrial contexts for pick-and-place applications because of their high precision and speed. These qualities are also desirable at the millimeter scale for applications such as vibration cancellation in microsurgery and microassembly or micromanipulation. Developing a millimeter-scale Delta robot that maintains the characteristic input-output behavior and operates with high speed and precision requires overcoming manufacturing and actuation challenges. We present the design, fabrication, and characterization of an adapted Delta robot at the millimeter scale (the "milliDelta") that leverages printed circuit microelectromechanical system manufacturing techniques and is driven by three independently controlled piezoelectric bending actuators. We validated the design of the milliDelta, where two nonintersecting perpendicular revolute joints were used to replace an ideal universal joint. In addition, a transmission linkage system for actuation was introduced to the laminate structure of the milliDelta. This 15 millimeter-by-15 millimeter-by-20 millimeter robot has a total mass of 430 milligrams and a payload capacity of 1.31 grams and operates with precision down to ~5 micrometers in a 7.01-cubic-millimeter workspace. In addition, the milliDelta can follow periodic trajectories at frequencies up to 75 hertz, experiencing velocities of ~0.45 meters per second and accelerations of ~215 meters per squared second. We demonstrate its potential utility for high-bandwidth, high-precision applications that require a compact design.

Although the motility of the flagellated bacteria, Escherichia coli, has been widely studied, the effect of viscosity on swimming speed remains controversial. The swimming mode of wild-type E. coli is often idealized as a run-and-tumble sequence in which periods of swimming at a constant speed are randomly interrupted by a sudden change of direction at a very low speed. Using a tracking microscope, we follow cells for extended periods of time in Newtonian liquids of varying viscosity and find that the swimming behavior of a single cell can exhibit a variety of behaviors, including run and tumble and “slow random walk” in which the cells move at a relatively low speed. Although the characteristic swimming speed varies between individuals and in different polymer solutions, we find that the skewness of the speed distribution is solely a function of viscosity and can be used, in concert with the measured average swimming speed, to determine the effective running speed of each cell. We hypothesize that differences in the swimming behavior observed in solutions of different viscosity are due to changes in the flagellar bundling time, which increases as the viscosity rises, due to the lower rotation rate of the flagellar motor. A numerical simulation and the use of resistive force theory provide support for this hypothesis.

Heart failure (HF) is a serious condition in which the heart cannot pump sufficient blood to sustain the metabolic needs of the body. A common indication of failure is a low ejection fraction, or the volumetric proportion of blood ejected when the ventricle contracts. In end-stage HF, support from a ventricular assist device (VAD) can assume some or all of the heart’s pumping work, improving the ejection fraction and restoring normal circulation. VAD therapy options for end-stage right heart failure (RHF) are limited, with only a few FDA-approved devices available for mechanical circulatory support [1]. These devices are based on continuous flow impellers; and despite anticoagulation therapy, use of currently available VADs is associated with thrombogenic risk since the blood must contact artificial non-biologic surfaces. An implantable VAD for RHF based on soft robotic pulsatile assistance has previously been proposed [2]. This device is comprised of a contractile element that is anchored to the ventricular septum and the right ventricle (RV) free wall. The device is programmed to contract in synchrony with the native heart beat and assist in approximating the septum and free wall together in order to augment blood ejection (Fig. 1). Potential advantages of this approach include reduced risk of thrombosis, since there is no blood flow through the lumen of the device, and the possibility for minimally invasive deployment of the device under ultrasound guidance. A key component in this VAD concept is the anchoring mechanism that couples the contractile actuator to the ventricular septum. In this work, we report design, fabrication and testing of a new septal anchor design. We exploit the emerging technology of pop-up MEMS [3] in order to fabricate a collapsible anchoring mechanism. Origami-inspired engineering and pop-up MEMS manufacturing techniques have previously been used for developing disposable and low-cost medical tools and devices [4]. The pop-up anchor can be deployed into the left ventricle (LV) via a standard delivery sheath. We validate the load bearing ability of the anchor and demonstrate deployment in an ex vivo simulation.

Miniaturized robots with bioinspired propulsion mechanisms, such as rotating helical flagella, are promising tools for minimally invasive surgery, diagnosis, targeted therapy, drug delivery, and removing material from the human body. Understanding the locomotion of swimmers inside fluid-filled channels is essential for the design and control of miniaturized robots inside arteries and conduits of living organisms. In this paper, we describe scaled-up experiments and modeling of untethered robots with a rotating helical tail and swimming inside a tube filled with a viscous fluid. Experiments mimic low Reynolds number swimming of miniaturized robots inside conduits filled with aqueous solutions. A capsule that contains the battery and a small dc motor is used for the body of the robots. Helical tails with different geometric parameters are manufactured and used to obtain swimming speeds and body rotation rates of robots inside the cylindrical channel. Three-dimensional incompressible flow around the robot inside the channel is governed by Stokes equations, which are solved numerically with a computational fluid dynamics (CFD) model. Predicted velocities of robots are compared with the experimental results for the validation of the CFD model, which is used to analyze effects of the helical radius, pitch, and the radial position of the robot on the swimming speed, forces acting on the robot, and efficiency. © 1996-2012 IEEE.

Jumping mechanisms are useful in robotics for locomotion in unstructured environments, or for self-righting abilities. However, most rigid robots rely on impact with the ground to jump, thereby requiring a relatively rigid, and flat environment. Moreover, they need to be able to absorb high impact forces during landing in order to maintain structural integrity. In this paper we investigate soft systems, capable of jumping repeatedly in unstructured environments with no need for precise landings. Our impulsive approach is based on a soft electro-mechanical transducer, a dielectric elastomer actuator (DEA). The design is inspired by click-beetles and simple bio-mechanical models, which convert the flexing around a hinge into jumping. Our actuator is power amplified by the addition of a stiffer strip, allowing for rapid shape transitions (22 ms) between flat and curved states. The transition is controlled by an electric latch: the DEA is discharged faster than the actuator can deform. The mechanical energy stored in the composite beam is released rapidly, leading to impulsive motions (jumps of a full body length: i.e., 5 cm). This demonstration of an electrically-latched power amplification mechanism shows that relatively simple electro-mechanical systems can exhibit impulsive behavior which may enable new types of locomotion in compliant machines.

Controlled swimming of bio-inspired microrobots in confined spaces needs to be understood well for potential use in medical applications in conduits and vessels inside the body. In this study, experimental and computational studies are performed for analysis of swimming modes of a bio-inspired microrobot in rectangular channels at low Reynolds number. Experiments are performed on smooth and rough surfaces using a magnetic helical swimmer (MHS), having 0.5 mm diameter and 2 mm length, with left-handed helical tail and radially polarized magnetic head within rotating magnetic field obtained by two electromagnetic coil pairs. Experiments indicate three motion modes of the MHS with respect to the rotation frequency: (i) lateral motion under the effect of a perpendicular force such as gravity and the surface traction at low frequencies, (ii) lateral motion under the effect of fluid forces and gravity at transition frequencies, and (iii) circular motion under the effect of fluid forces at high frequencies. Observed modes of motion for the MHS are investigated with computational fluid dynamics simulations by calculating translational and angular velocities and studying the induced flow fields for different radial positions inside the channel. Results indicate the importance of rotation frequency, surface roughness and flow field on the swimming modes and behaviour of the MHS inside the rectangular channel.

Micro swimming robots offer many advantages in biomedical applications, such as delivering potent drugs to specific locations in targeted tissues and organs with limited side effects, conducting surgical operations with minimal damage to healthy tissues, treatment of clogged arteries, and collecting biological samples for diagnostic purposes. Reliable navigation techniques for micro swimmers need to be developed to improve the localization of robots inside the human body in future biomedical applications. In order to estimate the dynamic trajectory of magnetically propelled micro swimmers in channels, that mimic blood vessels and other conduits, fluid-micro robot interaction and the effect of the channel wall must be understood well. In this study, swimming of one-link robots with helical tails is modeled with Stokes equations and solved numerically with the finite element method. Forces acting on the robot are set to zero to enforce the force-free swimming and obtain forward, lateral and angular velocities that satisfy the constraints. Effects of the number of helical waves, wave amplitude, relative size of the cylindrical head of micro swimmer and the radial position on angular and linear velocity vectors of micro swimmer are presented.

Swimming micro robots have great potential in biomedical applications such as targeted drug delivery, medical diagnosis, and destroying blood clots in arteries. Inspired by swimming micro organisms, micro robots can move in biofluids with helical tails attached to their bodies. In order to design and navigate micro robots, hydrodynamic characteristics of the flow field must be understood well. This work presents computational fluid dynamics (CFD) modeling and analysis of the flow due to the motion of micro robots that consist of magnetic heads and helical tails inside fluid-filled channels akin to bodily conduits; special emphasis is on the effects of the radial position of the robot. Time-averaged velocities, forces, torques, and efficiency of the micro robots placed in the channels are analyzed as functions of rotation frequency, helical pitch (wavelength) and helical radius (amplitude) of the tail. Results indicate that robots move faster and more efficiently near the wall than at the center of the channel. Forces acting on micro robots are asymmetrical due to the chirality of the robot’s tail and its motion. Moreover, robots placed near the wall have a different flow pattern around the head when compared to in-center and unbounded swimmers. According to simulation results, time-averaged for-ward velocity of the robot agrees well with the experimental values measured previously for a robot with almost the same dimensions.

Swimming micro robots are becoming feasible in biomedical applications such as targeted drug delivery, opening clogged arteries and diagnosis owing to recent developments in micro and nano manufacturing technologies. It has been demonstrated at various scales that micro helices with magnetic coating or attached to a magnet can move in fluids with the application of external rotating magnetic fields. The motion of micro swimmers interacting with flow inside channels needs to be well understood especially for medical applications where the motion of micro robots inside arteries and conduits in the body become pertinent. In this work, swimming of helical micro robots with magnetic heads inside tubes is modeled with the resistive force theory (RFT) and validated with experiments conducted in glycerin filled mini glass channels placed in rotational magnetic fields. The time-averaged forward velocities of magnetically driven micro swimmers that are calculated by the RFT model agree very well with experimental results.