Small-scale magnetic robots are remotely actuated and controlled by an externally applied magnetic field. These robots have a characteristic size ranging from several millimetres down to a few ...nanometres. They are often untethered in order to access constrained and hard-to-reach space buried deep in human body. Thus, they promise to bring revolutionary improvement to minimally invasive diagnostics and therapeutics. However, existing research is still mostly limited to scenarios in over-simplified laboratory environment with unrealistic working conditions. Further advancement of this field demands researchers to consider complex unstructured biological workspace. In order to deliver its promised potentials, next-generation small-scale magnetic robotic systems need to address the constraints and meet the demands of real-world clinical tasks. In particular, integrating medical imaging modalities into the robotic systems is a critical step in their evolution from laboratory toys towards potential life-savers. This review discusses the recent efforts made in this direction to push small-scale magnetic robots towards genuine biomedical applications. This review examines the accomplishment achieved so far and sheds light on the open challenges. It is hoped that this review can offer a perspective on how next-generation robotic systems can not only effectively integrate medical imaging methods, but also take full advantage of the imaging equipments to enable additional functionalities.
Liquid crystal elastomers exhibit large reversible strain and programmable shape transformations, enabling various applications in soft robotics, dynamic optics, and programmable origami and ...kirigami. The morphing modes of these materials depend on both their geometries and director fields. In two dimensions, a pixel-by-pixel design has been accomplished to attain more flexibility over the spatial resolution of the liquid crystal response. Here we generalize this idea in two steps. First, we create independent, cubic light-responsive voxels, each with a predefined director field orientation. Second, these voxels are in turn assembled to form lines, grids, or skeletal structures that would be rather difficult to obtain from an initially connected material sample. In this way, the orientation of the director fields can be made to vary at voxel resolution to allow for programmable optically- or thermally-triggered anisotropic or heterogeneous material responses and morphology changes in three dimensions that would be impossible or hard to implement otherwise.
A series of monotonic and cyclic triaxial shearing tests on Toyoura sand are simulated by discrete element method (DEM) incorporating rolling resistance. The input parameters are calibrated against ...laboratory triaxial test data considering different initial states and monotonic loading paths. The calibrated DEM model successfully captures the density and stress dependency of sand behavior under both monotonic and cyclic conditions. It is shown that when approaching liquefaction, contact yielding alters from sliding-dominant to rolling-dominant. The expression of mechanical redundancy index (IR) is derived considering both effects of contact sliding and rolling. The IR = 1.0 condition is shown to be a unified criterion distinguishing between solid state and liquid state upon both monotonic and cyclic liquefactions. A unique micro critical state line (CSL) is obtained in MCN-p′ plane. The cyclic resistance ratio is exponentially correlated with both the macro state parameter (ψe0) derived from the e-p′ CSL and the micro state parameter (ψMCN0) determined from the MCN-p′ CSL. The specimens with the same ψe0 may have distinct cyclic behaviors, while cyclic behaviors of specimens with the same ψMCN0 are close to each other, indicating that ψMCN0 is a more plausible state variable for characterizing the behavior of sand than ψe0.
Stimuli‐responsive and active materials promise radical advances for many applications. In particular, soft magnetic materials offer precise, fast, and wireless actuation together with versatile ...functionality, while liquid crystal elastomers (LCEs) are capable of large reversible and programmable shape‐morphing with high work densities in response to various environmental stimuli, e.g., temperature, light, and chemical solutions. Integrating the orthogonal stimuli‐responsiveness of these two kinds of active materials could potentially enable new functionalities and future applications. Here, magnetic microparticles (MMPs) are embedded into an LCE film to take the respective advantages of both materials without compromising their independent stimuli‐responsiveness. This composite material enables reconfigurable magnetic soft miniature machines that can self‐adapt to a changing environment. In particular, a miniature soft robot that can autonomously alter its locomotion mode when it moves from air to hot liquid, a vine‐like filament that can sense and twine around a support, and a light‐switchable magnetic spring are demonstrated. The integration of LCEs and MMPs into monolithic structures introduces a new dimension in the design of soft machines and thus greatly enhances their use in applications in complex environments, especially for miniature soft robots, which are self‐adaptable to environmental changes while being remotely controllable.
A liquid crystal elastomer material with embedded ferromagnetic microparticles takes advantage of both magnetic and thermal stimuli‐responsiveness. Such a monolithic soft material enables reconfigurable magnetic soft miniature machines that self‐adapt to changing environmental conditions. The hybrid material introduces a multi‐modal actuation and physical intelligence capability for wireless soft machines.
Due to the difficulty of repairing defect, many research efforts have been devoted into automatic defect repair. Given a buggy program that fails some test cases, a typical automatic repair technique ...tries to modify the program to make all tests pass. However, since the test suites in real world projects are usually insufficient, aiming at passing the test suites often leads to incorrect patches. This problem is known as weak test suites or overfitting. In this paper we aim to produce precise patches, that is, any patch we produce has a relatively high probability to be correct. More concretely, we focus on condition synthesis, which was shown to be able to repair more than half of the defects in existing approaches. Our key insight is threefold. First, it is important to know what variables in a local context should be used in an "if" condition, and we propose a sorting method based on the dependency relations between variables. Second, we observe that the API document can be used to guide the repair process, and propose document analysis technique to further filter the variables. Third, it is important to know what predicates should be performed on the set of variables, and we propose to mine a set of frequently used predicates in similar contexts from existing projects. Based on the insight, we develop a novel program repair system, ACS, that could generate precise conditions at faulty locations. Furthermore, given the generated conditions are very precise, we can perform a repair operation that is previously deemed to be too overfitting: directly returning the test oracle to repair the defect. Using our approach, we successfully repaired 18 defects on four projects of Defects4J, which is the largest number of fully automatically repaired defects reported on the dataset so far. More importantly, the precision of our approach in the evaluation is 78.3%, which is significantly higher than previous approaches, which are usually less than 40%.
Target gene delivery is crucial to gene therapy. Adeno-associated virus (AAV) has emerged as a primary gene therapy vector due to its broad host range, long-term expression, and low pathogenicity. ...However, AAV vectors have some limitations, such as immunogenicity and insufficient targeting. Designing or modifying capsids is a potential method of improving the efficacy of gene delivery, but hindered by weak biological basis of AAV, complexity of the capsids, and limitations of current screening methods. Artificial intelligence (AI), especially machine learning (ML), has great potential to accelerate and improve the optimization of capsid properties as well as decrease their development time and manufacturing costs. This review introduces the traditional methods of designing AAV capsids and the general steps of building a sequence-function ML model, highlights the applications of ML in the development workflow, and summarizes its advantages and challenges.
Dutch society is open and international-oriented. A long standing tradition of world trade has contributed to the English proficiency of Dutch citizens. This, however, brings challenges to the status ...of Dutch as the national official language in the Netherlands. This paper takes the framework of national language capacity building proposed by Wen Qiufang and inspects the Dutch language policy in official language promotion and standardization. Results of the research show that coming from other languages that undermines the position of Dutch as national official language is gradually increasing. The Dutch solution is to put facilitating measures in place and to develop functional tools to support language users and learners. This solution can be valuable for the building of European multilingual landscape with its facilitating feature.
Photocatalytic oxidation of methanol on various anatase TiO2 nanocrystals was studied by in situ and time‐resolved characterizations and DFT calculations. Surface site and resulting surface ...adsorbates affect the surface band bending/bulk‐to‐surface charge migration processes and interfacial electronic structure/interfacial charge transfer processes. TiO2 nanocrystals predominantly enclosed by the {001} facets expose a high density of reactive fourfold‐coordinated Ti sites (Ti4c) at which CH3OH molecules dissociate to form the CH3O adsorbate (CH3O(a)Ti4c). CH3O(a)Ti4c localized density of states are almost at the valence band maximum of TiO2 surface, facilitating the interfacial hole transfer process; CH3O(a)Ti4c with a high coverage promotes upward surface band bending, facilitating bulk‐to‐surface hole migration. CH3O(a)Ti4c exhibits the highest photocatalytic oxidation rate constant. TiO2 nanocrystals enclosed by the {001} facets are most active in photocatalytic methanol oxidation.
Surface sites and resulting methanol adsorbates strongly affect the surface band bending/bulk‐to‐surface charge migration processes and the interfacial electronic structure/interfacial charge transfer processes, and consequently play a key role in the photocatalytic efficiency.
Small-scale soft-bodied machines that respond to externally applied magnetic field have attracted wide research interest because of their unique capabilities and promising potential in a variety of ...fields, especially for biomedical applications. When the size of such machines approach the sub-millimeter scale, their designs and functionalities are severely constrained by the available fabrication methods, which only work with limited materials, geometries, and magnetization profiles. To free such constraints, here, we propose a bottom-up assembly-based 3D microfabrication approach to create complex 3D miniature wireless magnetic soft machines at the milli- and sub-millimeter scale with arbitrary multimaterial compositions, arbitrary 3D geometries, and arbitrary programmable 3D magnetization profiles at high spatial resolution. This approach helps us concurrently realize diverse characteristics on the machines, including programmable shape morphing, negative Poisson's ratio, complex stiffness distribution, directional joint bending, and remagnetization for shape reconfiguration. It enlarges the design space and enables biomedical device-related functionalities that are previously difficult to achieve, including peristaltic pumping of biological fluids and transport of solid objects, active targeted cargo transport and delivery, liquid biopsy, and reversible surface anchoring in tortuous tubular environments withstanding fluid flows, all at the sub-millimeter scale. This work improves the achievable complexity of 3D magnetic soft machines and boosts their future capabilities for applications in robotics and biomedical engineering.
PDF
