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Human-Inspired Control of a Whip: Preparatory Movements Improve Hitting a Target.
Proc IEEE RAS EMBS Int Conf Biomed Robot Biomechatron
September 2024
Department of Biology, Northeastern University, Boston, MA, USA.
Manipulating flexible and underactuated objects, such as a whip, remains a significant challenge in robotics. Remarkably, humans can skillfully manipulate such objects to achieve tasks, ranging from hitting distant targets to extinguishing a cigarette's in someone's mouth with the tip of a whip. This study explored this problem by constructing and modeling a 25-degree-of-freedom whip.
View Article and Find Full Text PDFRing-in-Ring Assembly Facilitates the Synthesis of a [12]Cycloparaphenylene ABC-Type [3]Catenane.
Angew Chem Int Ed Engl
January 2025
Henan University, Colleg of Chemistry and Molecular Sciences, Jingmin, 475004, Kaifeng, CHINA.
Cycloparaphenylenes (CPPs) represent a significant challenge for the synthesis of mechanically interlocked architectures, because they lack heteroatoms, which precludes traditional active and passive template methods. To circumvent this problem and explore the fundamental and functional properties of CPP rotaxanes and catenanes, researches have resorted to unusual non-covalent and even to labor-intensive covalent template approaches. Herein, we report a ring-in-ring non-covalent template strategy that makes use of the surprisingly strong non-covalent inclusion of crown ethers into suitably sized CPPs.
View Article and Find Full Text PDFMechanical and optical properties of additively manufactured denture base resin in different colors modified with antimicrobial substances: An in vitro study.
J Prosthet Dent
January 2025
Associate Professor, Department of Restorative, Preventive and Pediatric Dentistry, School of Dental Medicine, University of Bern, Switzerland; and Adjunct Professor, Division of Restorative and Prosthetic Dentistry, The Ohio State University, Columbus, OH.
Statement Of Problem: Acrylic denture base resins are subject to colonization by oral and nonoral bacteria, contributing to the onset of denture stomatitis. However, how the addition of antimicrobial substances affects the mechanical and optical properties of additively manufactured denture base resin remains unclear.
Purpose: The purpose of this in vitro study was to investigate the surface roughness, color stainability, and flexural strength of antimicrobial-modified, additively manufactured polymethyl methacrylate (PMMA) denture base resin in tooth and gingiva colors.
Facile fabrication of sensing electrode based on CoFe-MOFs/MXene for ultrasensitive detection of picomolar chloramphenicol.
Talanta
January 2025
School of Environment Science and Optoelectronic Technology, University of Science and Technology of China, Hefei, 230026, China; Institute of Solid State Physics, Hefei Institute of Physical Science, Chinese Academy of Sciences, Hefei, 230031, China. Electronic address:
Precise detection of ultralow-level antibiotics, such as picomole, in aqueous environments is significant for human health, however, it presents a great challenge to the adsorption capacity and electrocatalytic ability of sensing materials. Here, we used a one-step hydrothermal method to in situ grow spindle-like CoFe-based metal-organic frameworks (MOFs) with a size of about 50 nm in the region of hydrophilic MXene-loading hydrophobic carbon paper. By combining MOFs with abundant adsorption sites and MXene with high conductivity, the problems of adsorption and electrons transfer of ultralow-level antibiotics have been solved, and achieving precise detection of picomole-level antibiotics.
View Article and Find Full Text PDFNovel robust control with disturbance rejection for permanent magnet synchronous motors and experimental validation.
Rev Sci Instrum
January 2025
Hangzhou Huger Medical Robotics Co., Ltd., Hangzhou 310002, Zhejiang, People's Republic of China.
A novel robust control strategy is proposed in this work to address the dynamic control problem of permanent magnet synchronous motors (PMSM) position tracking and lessen the effect of system parameter and load fluctuations on the dynamic performance of PMSM. The tracking performance is improved by a robust control element built with the Lyapunov method to reduce the impact of uncertain factors such as parameter uncertainty, nonlinear friction, and external interference; the nominal control element is stabilized by the dynamics model. The uniformly bounded and uniformly final bounded systems are proven, and the associated conclusions are provided using the Lyapunov minimax approach.
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