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Abstract In robotic-assisted surgery (RAS), traditional surgical instruments without sensing capability cannot perceive accurate operational forces during the task, and such drawbacks can be largely intensified when sophisticated tasks involving flexible and slender arms with small end-effectors, such as in gastrointestinal endoscopic surgery (GES). In this study, we propose a microelectromechanical system (MEMS) piezoresistive 3-axial tactile sensor for GES forceps, which can intuitively provide surgeons with online force feedback during robotic surgery. The MEMS fabrication process facilitates sensor chips with miniaturized dimensions. The fully encapsulated tactile sensors can be effortlessly integrated into miniature GES forceps, which feature a slender diameter of just 3.5 mm and undergo meticulous calibration procedures via the least squares method. Through experiments, the sensor’s ability to accurately measure directional forces up to 1.2 N in the Z axis was validated, demonstrating an average relative error of only 1.18% compared with the full-scale output. The results indicate that this tactile sensor can provide effective 3-axial force sensing during surgical operations, such as grasping and pulling, and in ex vivo testing with a porcine stomach. The compact size, high precision, and integrability of the sensor establish solid foundations for clinical application in the operating theater.

Abstract The precision of deformation monitoring with Global Navigation Satellite System (GNSS) relative positioning is significantly influenced by the distance between the monitoring and base stations. In long strip regions, the considerable differences in station spacing lead to inconsistent monitoring precision among multiple stations. This presents a challenge to accurately model and predict the deformation pattern. To tackle this issue, this paper introduces a novel dual-base station constraint method. This method integrates the baseline length constraint between two base stations into the conventional relative positioning model. The formulae of the proposed method are first derived in detail. Then the data collected at eight monitoring stations in two strip regions of 6 km and 8 km over a 28-day period are used to validate the effectiveness of the proposed method. The quantitative analysis of monitoring precision consistency indicators and hypothesis testing on the correlation between monitoring precision and station spacing are conducted. The results show that: (1) median values of the East, North, and Up consistency indicators are reduced from 2.14, 1.41, and 1.83 to 0.91, 0.67, and 0.55 and from 1.85, 1.85, and 2.32 to 0.69, 1.00, and 0.87, respectively, indicating monitoring precision consistency improvement for two case studies; (2) the absolute values of the correlation coefficients between monitoring precision and station spacing decrease from 0.99, 0.94, and 0.98 to 0.09, 0.36, and 0.32. Using the t-test with a significant level of 0.01, it is demonstrated that there is no significant correlation between monitoring precision and station spacing when employing the proposed method.

Based on five periods of Landsat remote sensing data from 1980 to 2020, this study constructs a landscape ecological risk-ecosystem service value evaluation model and integrates it with a geodetector model to analyse the environmental benefits of the development of the “production–living–ecological space” pattern and its driving factors in the Xuzhou planning area. The results of the study are as follows: (1) Over the past 40 years, the expansion of living spaces has significantly encroached upon adjacent agricultural production areas and ecological spaces, such as forests and grasslands. Specifically, the areas of agricultural land, forests, and grassland have been diminished by 277.39 km2, 23.8 km2 and 12.93 km2, respectively; in contrast, urban and rural living spaces have increased by 238.62 km2 and 58.92 km2, alongside a rise in industrial production areas, water bodies, and other ecological spaces. (2) Throughout the 40-year period, both the landscape ecological risk (ERI) and ecosystem service value (ESV) in the study area have shown a decreasing trend. The proportion of high- and medium-high-risk areas of the ERI have decreased by 5.19% and 7.50%, respectively, while low, lower, and medium ecological risk areas have increased by 6.40%, 3.22% and 3.07%, respectively. In addition, low-ESV areas have increased by 14.22%, while the proportion of high- and medium-high-ESV areas have decreased by 1.16%. (3) There is a significant positive spatial correlation between the ERI and ESV. Regions with dense ecological spaces comprising forests, water bodies, and grasslands, particularly in the northeastern part of the Jiawang District and the southeastern part of the Tongshan District, demonstrate superior regional ecosystem service quality. The ERI and ESV are dominated by “high–high” and “low–high” aggregation. Conversely, in the southwestern part of the study area, the expansion of living space has led to the transformation of some agricultural land, forest land, and grassland into less risky construction land, resulting in a decline in the quality of regional ecosystem services. The local spatial correlation between the ERI and ESV changed from “high–high”, “low–low”, “low–high” agglomeration to “low–low” agglomeration. (4) Key factors influencing the spatial differentiation of the “production–living–ecological space” include the GDP, population density, soil type, and the distance to towns and roads. Among these, the interaction between population density and soil type has the most significant effect on the changes in the pattern of the “production–living–ecological space”.

In this study, enhanced pyridine bio-photodegradation with assistance of electricity was achieved. Meanwhile, photoelectron-hole played a vital role in accelerating pyridine biomineralization. The significant separation of photoelectron-hole was achieved with an external electric field, which provided sufficient electron donors and acceptors for pyridine biodegradation. The enhanced electron transport system activity also revealed the full utilization of photoelectron-hole by microbes at semiconductor-microbe interface with assistance of electricity. Microbial community analysis confirmed the enrichment of functional species related to pyridine biodegradation and electron transfer. Microbial function analysis and microbial co-occurrence networks analysis indicated that upregulated functional genes and positive interactions of different species were the important reasons for enhanced pyridine bio-photodegradation with external electric field. A possible mechanism of enhanced pyridine biodegradation was proposed, i.e., more photoelectrons and holes of semiconductors were utilized by microbes to accelerate reduction and oxidation of pyridine with the assistance of electrical stimulation. The excellent performance of the photoelectrical biodegradation system showed a potential alternative for recalcitrant organic wastewater treatment.

Abstract Minimally invasive surgery has attracted great attention due to small trauma, light pain, and quick recovery. Currently, most minimally invasive surgical robots lack the ability to force sense, resulting in high risks. Herein, a novel minimally invasive surgical force sensing and feedback system for minimally invasive surgical robot is proposed based on a flexible triaxial force capacitive sensor array. The capacitive force sensors utilize a microstructure electrode and orthogonal triangular pyramid microstructure to tackle the trade‐off between high sensitivity and wide‐detection range, showing 0–3 N detection range for normal force and high sensitivity of 69.19% N−1. Furthermore, the triaxial capacitive force sensors are integrated into the end‐effector of the minimally invasive surgical robot to form the minimally invasive surgical force sensing system. The system can show real‐time position of gripping or touching action, and the magnitude of triaxial force on the display surface. Importantly, the sensing force can further control the movement of the clamp, thus forming a novel force sensing and feedback system. The force sensing and feedback system of this minimally invasive surgical robot lays the foundation for its application in minimally invasive surgery andis expected to improve the safety and success of robotic‐assisted minimally invasive surgery.

For the sake of understanding the mechanism of deep subcriticality and high heterogeneity of neutron fluence rate in time–space on the neutron kinetics of the Accelerator-driven Subcritical Reactor Subcritical Reactor (ADSR) under varied beam transients and neutron spectra. A Monte Carlo homogenization approach for the neutron time–space kinetics of the ADSR is proposed in this study, and the influence mechanism on the kinetic parameters of the ADSR under varied neutron spectra, subcriticality, and beam transients is examined. The results show that the Monte Carlo homogenization for the α eigenvalue mode is more adaptable to the subcriticality characteristics under varied subcriticality; under beam transients, the relative differences in the kinetic parameters of the different modes of the ADSR with fast/thermal spectra increase with the depth of subcriticality, and the differences in neutron generation time for varied modes are larger than those of effective fraction of delayed neutron. Thus, it is recommended to use a more adaptable Monte Carlo homogenization method for the time–space kinetics of ADSR, and the effects of the high heterogeneity of neutron fluence rate and deep subcriticality in time–space on the neutron generation time should be considered.

Abstract. Background:. The potential benefit of arthroscopic surgery for osteoarthritic knee associated with medial meniscus tear is controversial. This study was conducted to determine the effect of pre-operative medial meniscus extrusion (MME) on arthroscopic surgery outcomes in the osteoarthritic knee associated with medial meniscus tear during a minimum 4-year follow-up. Methods:. This was a retrospective review of a total of 131 patients diagnosed with osteoarthritic knee associated with medial symptomatic degenerative meniscus tear who underwent arthroscopic surgery from January 2012 to December 2014 and were observed for more than 4 years. Patients were classified into two groups: MME ≥3 mm (major MME group, n = 54) and MME

The removal of contaminants of emerging concern (CECs) has become a hot research topic in the field of environmental engineering in recent years. In this work, a simple pyrolysis method was designed to prepare a high-performance biochar-loaded zero-valent copper (CuC) material for the catalytic degradation of antibiotics ENR by PMS. The results showed that 10 mg/L of ENR was completely removed within 30 min at an initial pH of 3, CuC 0.3 g/L, and PMS 2 mmol/L. Further studies confirmed that the reactive oxygen species (ROS) involved in ENR degradation are ·OH, SO4−·, 1O2, and O2−. Among them, 1O2 played a major role in degradation, whereas O2−· played a key role in the indirect generation of 1O2. On the one hand, CuC adsorbed and activated PMS to generate ·OH, SO4−· and O2−·. O2−· was unstable and reacted rapidly with H2O and ·OH to generate large amounts of 1O2. On the other hand, both the self-decomposition of PMS and direct activation of PMS by C=O on biochar also generated 1O2. Five byproducts were generated during degradation and eventually mineralized to CO2, H2O, NO3−, and F−. This study provides a facile strategy and new insights into the biochar-loaded zero-valent transition-metal-catalyzed PMS degradation of CECs.

Summary: This article proposed a high-performance triboelectric-electromagnetic hybrid wind energy harvester (WEH). By adopting the revolution and rotation movements of tapered rollers, which serve as both the rotor of the electromagnetic generator (EMG) part and freestanding layers of the triboelectric nanogenerator (TENG) part, the WEH can work as a sustainable power source and a self-powered wind speed sensor. When the wind speed is 12 m/s, super-high open-circuit voltage peaks of 47.4 and 683 V can be achieved by the EMG and TENG, respectively, corresponding to the high-power outputs of 62 and 1.8 mW. It was demonstrated that the WEH can easily light up over 600 red light-emitting diodes and even a 5-W globe light. A self-powered wireless temperature and humidity sensing network was also systematically demonstrated. In summary, the proposed WEH exhibits bright future toward IoT applications, such as in border detection, smart buildings, and so on.

In this study, the dynamic characteristics of accelerator-driven subcritical reactor (ADSR) under beam transients with high heterogeneity of neutron flux in time-space are investigated. Multi-mode core few-group constants are generated by three kinds of neutron fluxes: steady state of ADSR, λ-eigenvalue fundamental wave, and α-eigenvalue fundamental wave. The proposed few-group constants overcome the limitation of single few-group constant generated by two-step method that cannot consider the variation in neutron flux density and neutron energy spectrum with time and space. Compared to the existing few-group constants generated by two-step method under different operating conditions, the self-adapting multi-mode core few-group constants exhibit higher accuracy in the case of following two modes: steady-state mode of ADSR in the starting process and λ-eigenvalue mode in the beam trip condition. Overall, this research provides useful insights on neutron kinetics and can boost the development of ADSRs.

Abstract As concrete and mortar materials widely used in structural engineering may suffer dynamic loadings, studies on their mechanical properties under different strain rates are of great importance. In this paper, based on splitting tests of Brazilian discs, the tensile strength and failure pattern of concrete and mortar were investigated under quasi-static and dynamic loadings with a strain rate of 1–200 s−1. It is shown that the quasi-static tensile strength of mortar is higher than that of concrete since coarse aggregates weaken the interface bonding strength of the latter. Numerical results confirmed that the plane stress hypothesis lead to a lower value tensile strength for the cylindrical specimens. With the increase of strain rates, dynamic tensile strengths of concrete and mortar significantly increase, and their failure patterns change form a single crack to multiple cracks and even fragment. Furthermore, a relationship between the dynamic increase factor and strain rate was established by using a linear fitting algorithm, which can be conveniently used to calculate the dynamic increase factor of concrete-like materials in engineering applications.

This paper proposes an impact-based micro piezoelectric energy harvesting system (PEHS) working with the frequency up-conversion mechanism. The PEHS consists of a high-frequency straight piezoelectric cantilever (SPC), a low-frequency S-shaped stainless-steel cantilever (SSC), and supporting frames. During the vibration, the frequency up-conversion behavior is realized through the impact between the bottom low-frequency cantilever and the top high-frequency cantilever. The SPC used in the system is fabricated using a new micro electromechanical system (MEMS) fabrication process for a piezoelectric thick film on silicon substrate. The output performances of the single SPC and the PEHS under different excitation accelerations are tested. In the experiment, the normalized power density of the PEHS is 0.216 μW·g−1·Hz−1·cm−3 at 0.3 g acceleration, which is 34 times higher than that of the SPC at the same acceleration level of 0.3 g. The PEHS can improve the output power under the low frequency and low acceleration scenario.

By analyzing the relationship between measured values of pressure loss in a high-pressure hose and calculated values of metal tubing pressure loss formula under the same condition, a calculation formula of pressure loss in a high-pressure hose is revised on the basis of the existing formula, and a model of calculating the circulating pressure loss in coiled tubing ultra-short radius radial drilling is established by theoretical derivation. The effects of tubing diameter, tubing length, pump delivery and fluid dynamic viscosity on each part of pressure loss in circulation system are studied by the pressure loss calculating model. The pressure loss in coiled and straight parts of 0.025 4 m (1 in) coiled tubing is about 8-10 times bigger than the pressure loss of 0.038 1 m (1.5 in) coiled tubing, and the pressure loss in high-pressure hose accounts for a large proportion in circulation system, about 86% in this study; and with drag reducer added in clear water, the pressure loss is about half of clear water pressure loss under the same condition. Key words: coiled tubing, radial drilling, high-pressure hose, circulation system, friction factor, pressure loss