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Soft robots are concerned by researchers due to several characteristics, such as high adaptability in complex unstructured environments, safe interaction with environments, and a high degree of dexterity. The deformability and dexterity of the octopus arm are remarkable and interesting for the development of bioinspiration soft robots. In this study, we proposed a biomimetic flexible manipulator actuated by shape memory alloy (SMA) wires and its PI controller, and evaluated its performances with focused experiments. This study aims to find out the advantages of the developed manipulator actuated by SMA wires. We designed the bionic structure to achieve flexible bending in 3D space based on the analysis of the octopus muscle structure. Then we built the mathematical models that described the relationship between the bending angle and the driving parameters. Surprisingly, the soft movement capacity of the bionic manipulator was investigated at different heating voltages and PWM duty cycles by the PI controller based on the self-sensing resistance feedback. The soft manipulator was able to bend flexibly with the maximum bending angle of 60°. Compared to the traditional soft arm, the soft manipulator has higher accuracy, with the error of the deflection angle less than 5° and the errors of bending angles less than 2°.

The superiority of the environmental DNA (eDNA) method for estimating the biomass of aquatic species has been demonstrated. However, the relationship between eDNA concentration and biomass is difficult to clarify under the influence of complex water flow and habitat conditions. It seriously restricts the popularization and application of the eDNA method in estimating aquatic biomass. In this paper, a typical fish species of rivers in southwest China, Schizothorax prenanti, was selected as the target species. Under standardized laboratory hydrostatic conditions, two environmental factors, water pH and water temperature were firstly determined through pre-experiments. Then we investigated the correlation between eDNA concentration and biomass under different body sizes and different body size compositions. The experimental results showed that water pH and the water temperature had a great influence on eDNA concentration. Therefore, the effects of these environmental factors need to be considered simultaneously when using eDNA concentration to estimate biomass. Under the premise of consistent environmental conditions, the biomass of Schizothorax prenanti was positively correlated with the eDNA concentration when the individual body size was the same. For each 1% increase in biomass of the fish, the eDNA concentration of adult (larger size) fish increased by 0.98%, while the eDNA concentration of juvenile (smaller size) fish increased by 1.38%. The smaller the size of individual fish, the greater the increase of eDNA concentration with biomass, and the increase of juvenile fish was about 1.4 times that the adult fish. When the biomass was the same but the body size composition was different, the higher the proportion of small body size individuals in the population, the higher the eDNA concentration. Special attention needs to be paid to the body size composition of the population to avoid the biomass estimation being lower than the actual value when the smaller size fish are dominant. The experimental results provide a strong basis for a more accurate estimation of aquatic biomass in reservoirs, lakes, and other still water areas by using the eDNA method.

Mechanical testing, microscopic image analysis, and X-ray diffraction were used to study the mechanical properties and their correlation with microstructure in three 20-year-old Chinese fir clones (Kailin 24, Kaihua 13, and Kaihua 3). The Chinese fir clones featured a modulus of rupture (MOR) of 52–59 MPa, a modulus of elasticity (MOE) of 10–11 GPa, and a compressive strength parallel to the grain of 31–34 MPa. Kaihua 13 and Kailin 24 had similar mechanical properties and were superior to Kaihua 3 among the tree clones. Radial variation indicated that their outerwood (rings 9–18) had better mechanical properties than their corewood (rings 3–7). Kaihua 13 with better mechanical properties had a larger ratio of cell wall to lumen than Kaihua 3 and Kailin 24. Outerwood with better mechanical properties also had a larger ratio of cell wall to lumen and a smaller microfibril angle compared to corewood with poor mechanical properties. Linear regression analysis also shows that for various clones and different radial positions in the same clone, anatomical structure parameters such as average cell wall thickness and the ratio of cell wall to lumen were positively correlated to their mechanical properties, while the microfibril angle was negatively correlated to mechanical properties. The two factors synergistically influence the mechanical properties of wood.

The large-scale fabrication of high-performance on-chip micro-supercapacitors (MSCs) is the footstone for the development of next-generation miniaturized electronic devices. In practical applications, however, MSCs may suffer from a low areal energy density as well as a complicated fabrication strategy that is incompatible with semiconductor processing technology. Herein, we propose a scalable fabrication strategy for the realization of a silicon-based three-dimensional (3D) all-solid-state MSC via the combination of semiconductor-based electrode processing, chemical vapor deposition, and hydrothermal growth. The individual Si/C/MnO2 electrode shows a maximum specific capacitance of 223.74 mF cm-2, while the symmetric electrodes present a maximum areal energy density of 5.01 μWh cm-2 at the scan rate of 1 mV s-1. The full 3D Si/C/MnO2 MSC delivers a high energy density of 2.62 μWh cm-2, at a power density of 117.82 μW cm-2, as well as a long cycle life with capacitance retention >92% after 4000 cycles. Our proposed method enables the fabrication of 3D MSCs based on a thick silicon interdigitated electrode array, holding a great promise for the development of 3D on-chip microscale energy storage devices.

Additional file 1: Fig. S1. The expression of OxtRs in mouse retina. Fig. S2. Example images showing OxtR-eYFP neurons are Brn3a (A) or melanopsin (B) positive in the GCL. Fig. S3. eYFP+ neurons in Oxtr-Cre; Ai3 mice are mainly GABAergic, but not glycinergic amacrine cells. Fig. S4. Distribution of OxtR-eYFP neurons in Oxtr-Cre; Ai3 mouse retina. Fig. S5. ChAT and CRH ACs are partially co-localized with OxtR-eYFP neurons, and oxytocin elevates DA level. Fig. S6. The effects of oxytocin and OxtR antagonist on the amplitude of ERG b-wave. Fig. S7. Effects of oxytocin on b-wave amplitude in the presence of V1AR or DA receptor antagonists.

Additional file 2. The images of the original, uncropped blots for the OxtR and GAPDH.

In this study, a spherical silica nanoparticle was explored as a gatifloxacin carrier synthesized by the chemical precipitation method. It was found that there was no new chemical bond formation during the loading process between gatifloxacin and silica, which implies that the binding was driven by physical interaction. In addition, the drug loading and encapsulation efficiency could be improved by appropriately increasing nano-silica content in the loading process. Meanwhile, the release rate of gatifloxacin after loading nano-silica was also improved, suggesting the successful design of a controlled-release delivery composite. The silica nanocarrier could significantly improve the antibacterial performance of Escherichia coli by 2.1 times, which was higher than the pure gatifloxacin. The 24 h bacteriostatic rate was higher than that of a simple mixture of silica nanoparticles and gatifloxacin. Strong reactive oxygen species (ROS) in GAT-SiO2 NPs suggests that ROS might be associated with bactericidal activity. The synergy between the physicochemical effect and ROS production of this material is proposed as the mechanism of its antibacterial activity, which can also be confirmed by the cell membrane damage observed under electron microscopy and DNA damage experiments. Collectively, our finding indicates that nano-silica microspheres could serve as a promising carrier for the sustained release of gatifloxacin, thereby providing a new carrier design scheme for the improvement of the antibacterial effect.