Complex Manipulation Research Articles

Learning strategies for underwater robot autonomous manipulation control

Autonomous manipulation operations represent the high intelligent coordination from robotic vision and control, it is also a symbol of the advances of robotic intelligence. The limitations of visual sensing and the increasingly complex experimental conditions make autonomous manipulation operations more difficult, particularly for deep reinforcement learning methods, which can enhance robotic control intelligence but require a lot of training process. Due to the high-dimensional continuous state space and continuous action space characteristics of underwater operations, this paper adopts a policy-based reinforcement learning method as the foundational approach. To address the issues of instability and low convergence efficiency in traditional policy-based reinforcement learning algorithms during the learning process, this paper proposes a novel policy learning method. This method adopts the Proximal Policy Optimization algorithm (PPOClip) and optimizes it through an actor-critic network. The aim is to improve the stability and effectiveness of convergence in the learning process. In the underwater training environment, a new reward shaping scheme has been designed to address the issue of reward sparsity during the training process. The manually crafted dense reward function is utilized as attractive and repulsive potential functions for goal manipulation and obstacle avoidance. On the highly complex underwater manipulation and training environment, transferred learning algorithm has been established to reduce the training times and compensate the differences between the simulation and experiment. Simulations and tank experiments have verified the performance of the proposed strategy learning method.

Clinical and experimental parallels in the substantiation of the method of hernioplasty of postoperative ventral hernias of median localization

Objective: development, clinical application of a new original method of hernioplasty of median postoperative ventral hernias and biomechanical experimental substantiation of the effectiveness of this method.Materials and methods: the method of hernioplasty of median postoperative ventral hernias with strengthening of fascial-aponeurotic structures of the anterior abdominal wall was developed and clinically tested on 63 patients. An anatomical experiment was performed in which the biomechanical parameters of the reinforced scar-altered structures of the median parts of the anterior abdominal wall were studied according to the method developed by us.Results: an increase in the biomechanical parameters of the median structures reinforced by the original method with a frame thread was found: the strength limit of the fascia — by 59.4%, and the modulus of elasticity — by 40.2%, compared with the scar-altered fascia in herniators. These results suggest a confident prevention of recurrence of herniation when using this technique. This assumption was confirmed after the introduction of the technique into clinical practice. In all 63 observed patients, there is no recurrence of herniation for 1-5 years. There were no significant complications of the course of the early postoperative period associated with the applied method of plastic surgery. The method is characterized by material and financial accessibility, the absence of complex technical manipulations that increase the duration of hernioplasty.Conclusions: the effectiveness in preventing recurrence of herniation, accessibility and simplicity of the proposed method of surgical treatment of postoperative and recurrent ventral hernias allows us to recommend it for wide clinical use.

Development of a vision-based tactile sensor with micro suction cups

Tactile sensors capable of measuring contact force distribution are being actively developed for complex manipulation by robotic hands. In recent years, vision-based tactile sensors that estimate contact conditions by observing elastomer deformation with a camera from the backside and analyzing the images have attracted much attention. In the general marker displacement method using a single camera, it is difficult to estimate the contact force in the normal direction with high resolution. By applying a microstructure array (micro suction cup array) to the surface of the elastomer that is in contact with the object, the micro suction cups are deformed by the contact force. A device was fabricated that can estimate the normal contact force to each suction cup from this deformation images using machine learning. The device can vacuum a micro suction cup array and capture its deformation from the backside. The micro suction cup array (2×2) was fabricated by transferring a master mold fabricated on a high-resolution optical fabrication 3D printer onto polydimethylsiloxane. It was shown that UV nanoimprinting with soft molds can be used to fabricate large-area micro suction cup arrays relatively easily. A regression CNN model was created to estimate the normal force applied to each suction cup from the deformation image. An average error between the measured and estimated value was 21 mN, which was sufficient for the accuracy of the estimation.

Grado de usabilidad de plataformas e-learning a través delmétodo de evaluación heurística en estudiantes de universidad pública de Trujillo 2021-2022

The National University of Trujillo offers high quality educational services in its various programmes; due to the health crisis, the institution underwent a major change in the mode of delivery of classes, which became from face-to-face to virtual. This change forced the university population to make use of technological tools such as virtual platforms, but the process of adaptation was very difficult for everyone. Barriers such as the lack of previous culture and the complex manipulation of these systems prevented many students from continuing their studies. In order to address this problem, a study was carried out to determine the degrees of usability of virtual platforms through a heuristic evaluation method with the aim of identifying attributes that could be improved with the support of experts. In order to achieve this, the components that make the correct and simple use of these platforms possible were determined, where the student has the possibility of developing their subjects and being able to understand the use of the platform, which has intuitive characteristics. This research concluded with the evaluation of the grades for each component giving as a result a very significant level in the use of the virtual classroom E-learning.

Generation of arbitrarily structured optical vortex arrays based on the epicycle model.

Optical vortex arrays (OVAs) are complex light fields with versatile structures that have been widely studied in large-capacity optical communications, optical tweezers, and optical measurements. However, generating OVAs with arbitrary structures without explicit analytical expressions remains a challenge. To address this issue, we propose an alternative scheme for customizing OVAs with arbitrary structures using an epicycle model and vortex localization techniques. This method can accurately generate an OVA with an arbitrary structure by pre-designing the positions of each vortex. The influence of the number and coordinates of the locating points on customized OVAs is discussed. Finally, the structures of the OVA and each vortex are individually shaped into specifically formed fractal shapes by combining cross-phase techniques. This unique OVA will open up novel potential applications, such as the complex manipulation of multiparticle systems and optical communication based on optical angular momentum.

A Dexterous Hand-Arm Teleoperation System Based on Hand Pose Estimation and Active Vision.

Markerless vision-based teleoperation that leverages innovations in computer vision offers the advantages of allowing natural and noninvasive finger motions for multifingered robot hands. However, current pose estimation methods still face inaccuracy issues due to the self-occlusion of the fingers. Herein, we develop a novel vision-based hand-arm teleoperation system that captures the human hands from the best viewpoint and at a suitable distance. This teleoperation system consists of an end-to-end hand pose regression network and a controlled active vision system. The end-to-end pose regression network (Transteleop), combined with an auxiliary reconstruction loss function, captures the human hand through a low-cost depth camera and predicts joint commands of the robot based on the image-to-image translation method. To obtain the optimal observation of the human hand, an active vision system is implemented by a robot arm at the local site that ensures the high accuracy of the proposed neural network. Human arm motions are simultaneously mapped to the slave robot arm under relative control. Quantitative network evaluation and a variety of complex manipulation tasks, for example, tower building, pouring, and multitable cup stacking, demonstrate the practicality and stability of the proposed teleoperation system.

Self-regulated reversal deformation and locomotion of structurally homogenous hydrogels subjected to constant light illumination

Environmentally adaptive hydrogels that are capable of reconfiguration in response to external stimuli have shown great potential toward bioinspired actuation and soft robotics. Previous efforts have focused mainly on either the sophisticated design of heterogeneously structured hydrogels or the complex manipulation of external stimuli, and achieving self-regulated reversal shape deformation in homogenous hydrogels under a constant stimulus has been challenging. Here, we report the molecular design of structurally homogenous hydrogels containing simultaneously two spiropyrans that exhibit self-regulated transient deformation reversal when subjected to constant illumination. The deformation reversal mechanism originates from the molecular sequential descending-ascending charge variation of two coexisting spiropyrans upon irradiation, resulting in a macroscale volumetric contraction-expansion of the hydrogels. Hydrogel film actuators were developed to display complex temporary bidirectional shape transformations and self-regulated reversal rolling under constant illumination. Our work represents an innovative strategy for programming complex shape transformations of homogeneous hydrogels using a single constant stimulus.

High-affinity truncated aptamers for detection of Cronobacter spp with magnetic separation-assisted DNAzyme-driven 3D DNA walker.

Afteroptimizing the original aptamer sequence by truncation strategy, a magnetic separation-assisted DNAzyme-driven 3D DNA walker fluorescent aptasensor was developed for detecting the food-borne pathogen Cronobacter species. Iron oxide magnetic nanoparticles (MNPs) modified with a hybrid of truncated aptamer probe and DNAzyme strand (AP-E1) denoted as MNPs@AP-E1, were employed as capture probes. Simultaneously, a DNAzyme-driven 3D-DNA walker was utilized as the signal amplification element. The substrate strand (Sub) was conjugated with the gold nanoparticles (AuNPs), resulting in the formation of AuNPs@Sub, which served as a 3D walking track. In the presence of the target bacteria and Mg2+, E1-DNAzyme was activated and moved along AuNPs@Sub, continuously releasing the signal probe. Under optimized conditions, a strong linear correlation was observed for Cronobacter sakazakii (C. sakazakii) in the concentration range 101 to 106 CFU mL-1, with a low detection limit of 2 CFU mL-1. The fluorescence signal responses for different Cronobacter species exhibited insignificant differences, with a relative standard deviation of 3.6%. Moreover, the aptasensor was successfully applied to determine C. sakazakii in real samples with recoveries of 92.86%-108.33%. Therefore, the novel method could be a good candidate for ultra-sensitiveand selective detection of Cronobacter species without complex manipulation.

Mitochondria-Associated Transcriptome Profiling via Localizable Aggregation-Induced Emission Photosensitizers in Live Cells.

In recent decades, there has been increasing interest in studying mitochondria through transcriptomic research. Various exogenous fusion protein-based proximity labeling methods have been reported that focus on the site of one particular protein/peptide and might also influence the corresponding localization or interactome. To enable unbiased and high spatial-resolution profiling of mitochondria-associated transcriptomes in live cells, a flexible RNA proximity labeling approach was developed using aggregation-induced emission (AIE) type photosensitizers (PSs) that possess great mitochondria-targeting capabilities. Their accumulation in an enclosed mitochondrial environment tends to enhance the fluorescence emission and reactive oxygen species generation. By comparing the in vitro optical properties, photosensitization processes, as well as the in cellulo mitochondrial specificity and RNA labeling performance of four AIE PSs, high-throughput sequencing analysis was conducted using TFPy-mediated RNA proximity labeling in live HeLa cells. This approach successfully captured a comprehensive list of transcripts, including mitochondria-encoded RNAs, as well as some nuclear-derived RNAs located at the outer mitochondrial membrane and interacting organelles. This small molecule-based proximity labeling method bypasses complex genetic manipulation and transfection steps, making it readily applicable for diverse research purposes.

Method for assessing the content of molybdenum enzymes in the internal organs of fish

Molybdenum enzymes (Mo-enzymes) contain a molybdenum cofactor (MoCo) in the active site. These enzymes are potentially interesting for studying the survival mechanism of fish under hypoxic water conditions. This is because Mo-enzymes can synthesize nitric oxide from nitrates and nitrites, which are present in high concentrations under hypoxic water conditions. However, there is currently no method for assessing the Mo-enzymes content in the fish internal organs. Methods capable of determining Mo-enzymes content in the fish are of major importance. For this purpose, a method for quantitative determination of MoCo from plant tissues was modified. We demonstrated the Mo-enzyme content assessment by isolated MoCo from the fish's internal organs and the Neurospora crassa nit-1 extract containing inactive NADPH nitrate reductase. The Mo enzyme content was calculated using a calibration curve in nM of nitrites as a product of restored NADPH reductase activity after complementation with MoCo. Here we present a robust laboratory method which can be used to assess the content of Mo-enzymes in the internal organs of fish.•Mo-enzymes play a crucial role in detoxifying toxic compounds. Therefore, it is important to develop a method to accurately determine the amount of Mo-enzymes present. Notably, the method demonstrated the efficiency and accuracy as detected high content of Mo-enzymes in the liver and intestines (P < 0.0001). The obtained data on the distribution of Mo-enzymes in the internal organs of this species correspond to that of other vertebrates. Here, we present a rapid, sensitive, accurate and accessible method.•The developed method is simple and easy to use. Importantly, the protocol does not require complex manipulations, and the equipment used is available in most laboratories. The article provides step-by-step instructions for reproducing the method.

Patient Radiation Exposure during Enteroscopy-Assisted Endoscopic Retrograde Cholangiopancreatography in Surgically Altered Anatomy (with Video).

Fluoroscopy must be used cautiously during endoscopic retrograde cholangiopancreatography (ERCP). Radiation exposure data in patients with surgically altered anatomy undergoing enteroscopy-assisted ERCP (EA-ERCP) are scarce. 34 consecutive EA-ERCP procedures were compared with 68 conventional ERCP (C-ERCP) procedures. Patient and procedure characteristics and radiation data were collected. Surgical reconstructions were gastrojejunostomy, Roux-en-Y hepaticojejunostomy, Roux-en-Y total gastrectomy, Roux-en-Y gastric bypass and Whipple's duodenopancreatectomy. Procedures were restricted to biliary indications. Mean fluoroscopy time was comparable in both groups (370 ± 30 s EA-ERCP vs. 393 ± 40 s C-ERCP, p = 0.7074), whereas total mean radiation dose was lower in EA-ERCP (83 ± 6 mGy) compared to C-ERCP (110 ± 11 mGy, p = 0.0491) and dose area product (DAP) was higher in EA-ERCP (2216 ± 173 µGy*m2) compared to C-ERCP (1600 ± 117 µGy*m2, p = 0.0038), as was total procedure time (77 ± 5 min vs. 39 ± 3 min, p < 0.0001). Enteroscope insertion to reach the bile duct during EA-ERCP took 28 ± 4 min, ranging from 4 to 90 min. These results indicate that C-ERCP procedures are generally more complex, needing magnified fluoroscopy, whereas EA-ERCP procedures take more time for enteroscope insertion under wide field fluoroscopic guidance (increased DAP) with less complex ERCP manipulation (lower total radiation dose). Radiation exposure during EA-ERCP in surgically altered anatomy is different as compared to C-ERCP. EA-ERCP takes longer with a higher DAP because of the enteroscope insertion, but with lower total radiation dose because these ERCP procedures are usually less complex.

Machine learning meets advanced robotic manipulation

Automated industries lead to high quality production, lower manufacturing cost and better utilization of human resources. Robotic manipulator arms have major role in the automation process. However, for complex manipulation tasks, hard coding efficient and safe trajectories is challenging and time consuming. Machine learning methods have the potential to learn such controllers based on expert demonstrations. Despite promising advances, better approaches must be developed to improve safety, reliability, and efficiency of ML methods in both training and deployment phases. This survey aims to review cutting edge technologies and recent trends on ML methods applied to real-world manipulation tasks. After reviewing the related background on ML, the rest of the paper is devoted to ML applications in different domains such as industry, healthcare, agriculture, space, military, and search and rescue. The paper is closed with important research directions for future works.

A Dual-Arm Robot Cooperation Framework Based on a Nonlinear Model Predictive Cooperative Control

Dual-arm robots show better task adaptability but face more constraints than single-arm robots. Inspired by human cooperation options, a nonlinear model predictive cooperative control (NMPCC) coupled with a cooperative index is proposed in this article. By adjusting the cooperative index, dual-arm cooperation can be classified into four modes: tracking, motion synchronization, impedance, and force priority. Thus, the cooperation operation problem is converted to a multiobjective optimization problem. Then, a nonlinear model predictive solver coupled with the ACADO toolkit is designed to solve the multiobjective optimization problem, where the robotic torque control input can be calculated in real time (less than 1 ms). The motion synchronization, cooperative transportation, and human dual-arm robot interaction experiments were conducted on dual Franka panda robots. Experiments reveal that the NMPCC control coupled with the cooperative index is easy to apply in dual-arm robots and can adapt to different complex manipulation tasks.

A Novel Incipient Slip Degree Evaluation Method and Its Application in Adaptive Control of Grasping Force

Grasping is the most basic and important function of robots. However, the grasping performance of existing manipulators is far inferior to that of human hands. Human hands are able to evaluate the degree of incipient slip on contact surface based on tactile information during grasping process and thus regulate grasping force. As a result, humans can use the smallest possible grasping force while ensuring successful grasping, which maximizes the performance of their hands and avoids damaging the grasped object as much as possible. The existing incipient slip degree evaluation methods have certain shortcomings. So this paper proposes a novel method which can be applied to complex contact conditions where the incipient slip degree is not unidirectional and torque exists. Also, there are no restrictions on the material parameters and surface topography of the grasped object, and no need to obtain any information about it in advance. We construct a grasping force control strategy for parallel grippers based on this evaluation method, with the goal of enabling the gripper to achieve the similar grasping performance of human hands. The grasping strategy is verified in simulations and actual experiments, and the difference between the controlled force and minimum grasping force is demonstrated. <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Note to Practitioners</i> —In unstructured grasping tasks, the information of the grasped object cannot be obtained in advance, which makes it difficult for robotic grasping. Conventional grasping strategies often use the maximum force of grippers, but this can cause damage to fragile objects. In contrast, human hands can flexibly control the size of the grasping force, which will not far exceed the minimum force required to ensure successful grasping. This capability greatly expands the grasping range of human hands. Neuroscience studies have shown that such excellent grasping performance owes to the perception of incipient slip by human’s tactile system. However, existing incipient slip detection methods for manipulators have certain drawbacks. To fill this gap, we propose a novel method that can be applied to contact conditions where tangential forces are reversed and torques exist. Meanwhile the method has no restrictions on the surface morphology and material parameters of the contact object, which has a good range of applications. This paper applies this method to a parallel gripper commonly used in industrial scenarios, and proposes a grasping force control strategy that can automatically adjust the magnitude of the grasping force to achieve a similar grasping performance to human hands -keeping the grasping force within a certain range beyond the minimum value. In the future, we also intend to apply the proposed method to more dexterous manipulators and perform more complex manipulation tasks. Possible application scenarios include: smart prosthesis, virtual reality, remote control, etc. Currently, we assume that the Coulomb’s law of friction is satisfied on the contact surface, and more complex friction models will be introduced in the future to further improve the applicability of this method.

On-chip droplet analysis and cell spheroid screening by capillary wrapping enabled shape-adaptive ferrofluid transporters.

Non-invasive droplet manipulation with no physical damage to the sample is important for the practical value of manipulation tools in multidisciplinary applications from biochemical analysis and diagnostics to cell engineering. It is a challenge to achieve this for most existing photothermal, electric stimuli, and magnetic field-based technologies. Herein, we present a droplet handling toolbox, the ferrofluid transporter, for non-invasive droplet manipulation in an oil environment. It involves the transport of droplets with high robustness and efficiency owing to low interfacial friction. This capability caters to various scenarios including droplets with varying components and solid cargo. Moreover, we fabricated a droplet array by transporter positioning and achieved droplet gating and sorting for complex manipulation in the droplet array. Benefiting from the ease of scale-up and high biocompatibility, the transporter-based droplet array can serve as a digital microfluidic platform for on-chip droplet-based bioanalysis, cell spheroid culture, and downstream drug screening tests.

Treatment of a Patient With Closed Liver Injury Using Interventional Methods:&#x0D; a Case Study

Background. Mechanical injury occupies a leading position among the causes of mortality in the working-age population. Diagnosis and treatment of isolated and combined abdominal traumas accompanied by bleeding appear to be a specific challenge. Due to difficulties in diagnosis and treatment, they are characterized by frequent complications and an increased mortality rate.Currently, there is no uniform tactics for diagnosing and treating patients with liver damage. In Russia and globally, new approaches are being actively introduced for the treatment of patients with closed liver traumas using minimally invasive techniques.The aim of study was to present a clinical case of a patient with a closed liver injury treated using interventional methods, such as angiography and embolization.Materials and methods. According to conventional techniques, the patient had to undergo laparotomy with complex manipulations to stop intra-abdominal bleeding from a ruptured liver, which would inevitably worsen her condition in the context of a presenting severe injury.Multiple studies reported that the number of postoperative complications after laparotomy is up to 41%, and in case of combined trauma 10-35% of complications can be one of the causes of death [6, 7, 8]. In order to avoid more traumatic treatment approaches, we applied tactics using minimally invasive high-tech diagnostic and treatment options.Results. To stop intra-abdominal bleeding from a liver rupture, which was previously diagnosed during multislice computed tomography (MSCT) with intravenous contrast, using interventional options, selective embolization of the segmental branch of the right hepatic artery was performed with an adhesive composition. The post-traumatic period proceeded without complications; in 14 days after the injury, the patient was discharged in satisfactory condition.Conclusion. Minimally invasive and conservative treatment of patients with closed abdominal traumas using interventional radiology can be successfully applied in specialized trauma centers.

Development of Electrochemical Paper-Based Devices for Field Assays

The birth of the modern field of paper-based analytical devices (PADs) was marked by the pioneering work by the Whitesides’ group which demonstrated that it was possible to perform complex manipulation of liquids within hydrophilic paper channels delimited by hydrophobic barriers [1]. The key features of paper as a platform are: a) flexibility; b) low thickness and lightness; c) absorbency; d) high surface-to-volume ratio; e) hydrophilicity and capillary action; f) chemical and biological inertness; g) disposability and biodegradability, and; h) low cost and wide availability. Among the various detection modes that are compatible with PADs, electrochemical detection is very attractive since electrochemical transducers can be readily and rapidly patterned on paper using various approaches. Combined with low-cost and portable instrumentation, electrochemical PADs (ePADs) are well suited to on-site assays and point-of-care testing and relevant applications have been developed in various fields such as clinical diagnostics, environmental monitoring and food quality control [2-4].The methods of patterning of the hydrophobic barriers and of depositing the electrodes are critical in the fabrication of ePADs and several approaches have been proposed in the literature [2-4]. Τhe aim of this work was the development of different approaches for the fabrication of ePADs. For this purpose, hydrophobic barriers were delimited using: x-y plotting with commercial hydrophobic marker pens, wax printing and thermal printing. Electrodes were deposited on the PADs using x-y plotting with commercial writing pencils and conductive inks formulated in-house and screen-printing. Different fabrication parameters were optimized including the selection of the paper substrate, the conditions for the formation of the hydrophobic barriers and the electrode deposition parameters. Applicability of the ePADs was demonstrated for different applications for on-site assays including the enzymatic amperometric detection of glucose, the determination of trace metals by stripping analysis and the voltammetric detection of organic compounds.

Protective role of perivascular adipose tissue in the cardiovascular system.

This review provides an overview of the key role played by perivascular adipose tissue (PVAT) in the protection of cardiovascular health. PVAT is a specific type of adipose tissue that wraps around blood vessels and has recently emerged as a critical factor for maintenance of vascular health. Through a profound exploration of existing research, this review sheds light on the intricate structural composition and cellular origins of PVAT, with a particular emphasis on combining its regulatory functions for vascular tone, inflammation, oxidative stress, and endothelial function. The review then delves into the intricate mechanisms by which PVAT exerts its protective effects, including the secretion of diverse adipokines and manipulation of the renin-angiotensin complex. The review further examines the alterations in PVAT function and phenotype observed in several cardiovascular diseases, including atherosclerosis, hypertension, and heart failure. Recognizing the complex interactions of PVAT with the cardiovascular system is critical for pursuing breakthrough therapeutic strategies that can target cardiovascular disease. Therefore, this review aims to augment present understanding of the protective role of PVAT in cardiovascular health, with a special emphasis on elucidating potential mechanisms and paving the way for future research directions in this evolving field.

Probing Dual Asymmetric Transverse Spin Angular Momentum in Tightly Focused Vector Beams in Optical Tweezers

AbstractThe spin‐orbit interaction (SOI) of light generated by tight focusing in optical tweezers is regularly employed in generating angular momentum ‐ both spin and orbital ‐ the effects being extensively observed in trapped mesoscopic particles. Specifically, the transverse spin angular momentum (TSAM), which arises due to the longitudinal component of the electromagnetic field generated by tight focusing is of special interest, both in terms of fundamental studies and associated applications. This study provides an effective and optimal strategy for generating TSAM in optical tweezers by tightly focusing first‐order radially and azimuthally polarized vector beams with no intrinsic angular momentum (AM) into a refractive index stratified medium. The choice of such input fields ensures that the longitudinal spin angular momentum (LSAM) arising from the electric (magnetic) field for the radial (azimuthal) polarization is zero. As a result, the effects of the electric and magnetic TSAM are exclusively observed separately in the case of input first‐order radially and azimuthally polarized vector beams on single optically trapped birefringent particles. This research opens up new and simple avenues for exotic and complex particle manipulation in optical tweezers.

Switchable superlyophobic PAN@Co-MOF membrane for on-demand emulsion separation and efficient soluble dye degradation

Developing membrane surfaces with double superlyophobicity properties under liquids for different separation applications poses significant challenges in thermodynamics and material science. Switchable superwettability is usually achieved through complex manipulation means and the application of external stimuli such as light, heat, electrical current, and so on. In this study, a reversible superhydrophobic/superoleophobic membrane (PAN@Co-MOF) was fabricated conveniently by in situ growth of Co(Hmim)2 (Co-MOFs) onto the surfaces of electrospun polyacrylonitrile (PAN). The as-prepared PAN@Co-MOF membrane facilitated the selective passage of water or oil in a unidirectional manner, only when water or oil was prewetted, which enabled the efficient separation of oil-in-water (O/W) or water-in-oil (W/O) emulsions on demand. This novel organic and inorganic hybrid material overcame traditional limitations, resulting in a mechanically robust and reusable membrane. Moreover, the PAN@Co-MOF membrane demonstrated the capability to activate peroxymonosulfate (PMS) for efficient dye degradation through interactions of Co-MOF with diverse liquids. Impressively, the O/W emulsion separation flux surpassed 1600 L·m−2·h−1 with chemical oxygen demand (COD) values of the filtrate below 100 mg·L−1, while the W/O emulsion separation flux exceeded 1040 L·m−2·h−1, maintaining the water content of the filtrate under 50 mg·L−1. Furthermore, the degradation efficiency of methylene blue (MB) (50 ppm) achieved a staggering 99.3% within 10 min. This study offers an innovative idea for the development of multifunctional membrane materials with switchable superwettability in the integrated oil–water treatment.