Manipulation Modes Research Articles

Assessing quality of experience for manipulation modes in virtual reality interaction

Assessing quality of experience for manipulation modes in virtual reality interaction

Widespread Wolbachia infection is correlated with increased mtDNA diversity in native bees across the Fijian archipelago

AbstractInsects have a complex coevolutionary history with bacterial symbionts, among which Wolbachia pipientis stands out for its prevalence and role in reproductive manipulation. Wolbachia can induce cytoplasmic incompatibility, feminisation, male killing, and parthenogenesis, greatly influence the population genetics of their hosts and are potential drivers of invertebrate speciation. We might then assume that Wolbachia could act synergistically with other factors, such as niche conservation and isolation by distance, to drive speciation in hyper-diverse invertebrate taxa. The Fijian archipelago hosts a remarkable and recently diverged clade of Lasioglossum (Homalictus) bees. Some of these Lasioglossum have highly unusual species-level sex ratios and mitochondrial diversities, which can be hallmarks of infection by a bacterial reproductive manipulator. To examine the role of Wolbachia in Fijian Lasioglossum speciation, we screened the endemic Fijian bees for Wolbachia using the Wolbachia surface protein gene (wsp). We compare the distribution of Wolbachia infection across species with host mitochondrial haplotype diversity and conducted phylogenetic analyses to determine the relationship of host relatedness and symbiont infection status. We found that Wolbachia haplotypes probably span across supergroups A and B. In addition, we found multiple haplotypes were highly similar, with the most abundant group of wsp haplotypes being closely related with the drosophila Wolbachia strain wHa. We found evidence of mostly horizontal and limited vertical transmission, and little evidence for Wolbachia-host cospeciation. We show that, contrary to general patterns, Wolbachia-infected Lasioglossum species have higher mitochondrial diversity. Finally, we present evidence for the potential of multiple modes of host manipulation in this clade.

Optically Actuated Soft Microrobot Family for Single-Cell Manipulation.

Precisely controlled manipulation of nonadherent single cells is often a pre-requisite for their detailed investigation. Optical trapping provides a versatile means for positioning cells with submicrometer precision or measuring forces with femto-Newton resolution. A variant of the technique, called indirect optical trapping, enables single-cell manipulation with no photodamage and superior spatial control and stability by relying on optically trapped microtools biochemically bound to the cell. High-resolution 3D lithography enables to prepare such cell manipulators with any predefined shape, greatly extending the number of achievable manipulation tasks. Here, it is presented for the first time a novel family of cell manipulators that are deformable by optical tweezers and rely on their elasticity to hold cells. This provides a more straightforward approach to indirect optical trapping by avoiding biochemical functionalization for cell attachment, and consequently by enabling the manipulated cells to be released at any time. Using the photoresist Ormocomp, the deformations achievable with optical forces in the tens of pN range and present three modes of single-cell manipulation as examples to showcase the possible applications such soft microrobotic tools can offer are characterized. The applications describe here include cell collection, 3D cell imaging, and spatially and temporally controlled cell-cell interaction.

Frequency-selective acoustic micromanipulation platform

Acoustic micromanipulation methods offer versatile tools ranging from lab-on-chip diagnostic platforms to mobile microrobots. Acoustically oscillating bubble-powered microsystems are gaining increased attention owing to their low cost and convenient operation. To date, no studies have reported on the controllability of the driving frequency on acoustic micromanipulation platforms using Helmholtz resonators. Here, we introduce a Helmholtz resonant cavity into a bubble-powered microsystem to reveal the function of the oscillation modes and frequency selectivity. The Su–Schrieffer–Heeger (SSH) model was utilized to construct a topological interfacial state and bubble-powered working location. We experimentally observed that the microparticles were captured by the oscillation bubble and underwent orbital rotation at the topological frequency. However, the microparticles were tightly bound close to the oscillation bubble area when the driving frequency was outside the topological frequency range. Our acoustic micromanipulation platform implements multiple microparticle manipulation modes based on frequency selectivity that are independent of optical or magnetic properties, which can enrich the micromanipulation toolbox and exhibit enormous application potential in the biomedical field.

Virtual Reality‐Enabled Intuitive Magnetic Manipulation of Microrobots and Nanoparticles

Magnetic microrobots and nanoparticles offer unique capabilities for medical applications by granting unprecedented access to intricate and delicate anatomical structures. Nevertheless, an intuitive manipulation approach remains a challenge due to their small size and limited feedback. This study presents a new method for magnetic microrobot and nanoparticle control that employs virtual reality (VR), creating an immersive and realistic view of the bodily anatomy and the microrobot within. This study compares three manipulation modes: a traditional mode using 2D displays, VR mode using a VR headset and touch controllers, and VR autonomous programmed maneuvering. It is shown that VR‐assisted modes reduce the manipulation time by improving spatial awareness. Nanoparticles in a VR environment are also manipulated. The proposed method will find applications in terms of intuitive, immersive microrobots or magnetic nanoparticle control in complex biological environments, thus in many medical procedures and for drug and cell delivery. The immersive nature of this approach enhances the ability of the user to perceive and understand complex anatomical structures, facilitating better navigation within delicate environments; both dexterity and spatial awareness are improved. Thus, it is shown how microrobots and magnetic nanoparticles can be controlled using immersive simulations to improve both visualization and manipulation.

Universal Adhesive Application Modes Differentially Affect the Fracture Resistance of Resin Composite Restored Teeth.

This study evaluated the fracture resistance of teeth with mesio-occluso-distal (MOD) resin composite restorations using universal adhesive (Single Bond Universal; SBU) in three different manipulation modes compared with those using two-step self-etch (Clearfil SE bond; CSE) and 3-step etch-and-rinse (Scotchbond Multi-Purpose; SBMP) adhesives at 24 hours and after thermocycling. One hundred and sixty maxillary premolars were assigned into eight groups of 20 each. Intact teeth and nonrestored cavity-prepared teeth served as controls. For the remaining specimens, cavities were restored with resin composite using different adhesives-SBU in self-etch, etch-and-rinse, or selective enamel etching modes; CSE in self-etch or selective enamel etching; and SBMP. Specimens from each group were either stored in 37°C water for 24 hours or further submitted to thermocycling for 30,000 cycles (n=10), then subjected to axial compression stress until fracture. Fracture patterns were observed microscopically. Data were statistically analyzed at a 95% confidence level. Among the restored teeth, mean failure load of the group using SBMP was the highest at both short-term and long-term evaluation periods (p<0.05). Fracture strengths of the SBU groups where enamel was etched with phosphoric acid prior to the adhesive application were similar and were greater than in those specimens without pre-etching (p<0.05). After thermal aging, a significant decrease in fracture resistance value was detected only for the group using SBU in etch-and-rinse application mode (p<0.05). For the self-etch strategy, SBU demonstrated lower load to fracture than CSE following thermocycling; all specimens failed at and beneath the crestal level (p<0.05). Application of SBU universal adhesive in selective enamel etching mode provided higher and more stable fracture resistance of teeth with MOD resin composite restorations than in self-etch mode.

Robust image watermarking using ant colony optimization and fast generic radial harmonic Fourier moment calculation

AbstractIn open networks, the geometric deformation and common image processing are common image manipulation modes, which pose a great challenge in robust watermarking. To improve the robustness of GRHFM‐based watermarking, a watermarking algorithm based on the fast GRHFM calculation method and ant colony optimization (ACO) based fractional parameter selection method is proposed. With the similarity between the discrete Fourier transform and GRHFM moment calculation, the algorithm utilizes fast Fourier transform to improve the GRHFM calculation accuracy and speed. To select the optimal GRHFM fractional parameter for watermarking algorithm, ACO is introduced to the fractional parameter adaptive selection method. Here, the fast Fourier transform‐based calculation method is combined with the adaptive parameter selection method to maximize the invisibility and robustness of watermarking. The experimental results indicate that the algorithm achieves higher robustness with the same payload and invisibility compared with other existing watermarking methods.

真实盈余管理不同操纵方式对投资效率的 影响研究——基于A股房地产行业的实证研究

真实盈余管理不同操纵方式对投资效率的 影响研究——基于A股房地产行业的实证研究

Magnetically Manipulated Optoelectronic Hybrid Microrobots for Optically Targeted Non-Genetic Neuromodulation.

Optically controlled neuromodulation is a promising approach for basic research of neural circuits and the clinical treatment of neurological diseases. However, developing a non-invasive and well-controllable system to deliver accurate and effective neural stimulation is challenging. Micro/nanorobots have shown great potential in various biomedical applications because of their precise controllability. Here, a magnetically-manipulated optoelectronic hybrid microrobot (MOHR) is presented for optically targeted non-genetic neuromodulation. By integrating the magnetic component into the metal-insulator-semiconductor junction design, the MOHR has excellent magnetic controllability and optoelectronic properties. The MOHR displays a variety of magnetic manipulation modes that enables precise and efficient navigation in different biofluids. Furthermore, the MOHR could achieve precision neuromodulation at the single-cell level because of its accurate targeting ability. This neuromodulation is achieved by the MOHR's photoelectric response to visible light irradiation, which enhances the excitability of the targeted cells. Finally, it is shown that the well-controllable MOHRs effectively restore neuronal activity in neurons damaged by β-amyloid, a pathogenic agent of Alzheimer's disease. By coupling precise controllability with efficient optoelectronic properties, the hybrid microrobot system is a promising strategy for targeted on-demand optical neuromodulation.

Switchable rotation of metal nanostructures in an intensity chirality-invariant focus field.

Light-induced rotation is a fundamental motion form that is of great significance for flexible and multifunctional manipulation modes. However, current optical rotation by a single optical field is mostly unidirectional, where switchable rotation manipulation is still challenging. To address this issue, we demonstrate a switchable rotation of non-spherical nanostructures within a single optical focus field. Interestingly, the intensity of the focus field is chiral invariant. The rotation switch is a result of the energy flux reversal in front and behind the focal plane. We quantitatively analyze the optical force exerted on a metal nanorod at different planes, as well as the surrounding energy flux. Our experimental results indicate that the direct switchover of rotational motion is achievable by adjusting the relative position of the nanostructure to the focal plane. This result enriches the basic motion mode of micro-manipulation and is expected to create potential opportunities in many application fields, such as biological cytology and optical micromachining.

Human Exposure Levels of Volatile Organic Compounds in E-waste Recycling Area: Get Insight into Impacts of Manipulation Mode and Associations with Oxidative Stress Markers.

There is currently a dearth of evidence regarding the impact of the manipulation mode on human occupational exposure to volatile organic compounds (VOCs) originating from e-waste dismantling. Therefore, 11 VOC metabolites (mVOCs) and four oxidative stress biomarkers (OSBs; i.e., 8-oxo-7,8-dihydro-2'-deoxyguanosine, 8-oxo-7,8-dihydro-guanosine, 8-oxo-7,8-dihydroguanine, and dityrosine) were analyzed in urine collected from two disassembly regions. Urinary ∑mVOC concentrations were significantly higher for e-waste-related participants than controls (geometric mean: 2500 vs 1360 ng/mL; p < 0.05). Notably, adults from formal dismantling site (3020 ng/mL) had equivalent ∑mVOC levels as those from informal area (2830 ng/mL) but with varying composition features, indicating that elevated exposure VOC levels still remained even e-waste is properly recycled. Majority of mVOCs were significantly correlated with OSB levels occurring in nucleotides and proteins, and weighted quantile sum regression analysis further manifested that urinary metabolites of 1,3-butadiene and N,N-dimethylformamide occupied the highest contributions to the positive responses of measured OSBs. The hazard quotients of 1,3-butadiene and benzene were greater than one for more than 80% of participants, implying the potential health risk associated with e-waste dismantling. Thus, this study provides crucial information on e-waste-related priority VOCs of various recycling practices for management to mitigate their health risks.

Great ape interaction: Ladyginian but not Gricean.

Nonhuman great apes inform one another in ways that can seem very humanlike. Especially in the gestural domain, their behavior exhibits many similarities with human communication, meeting widely used empirical criteria for intentionality. At the same time, there remain some manifest differences, most obviously the enormous range and scope of human expression. How to account for these similarities and differences in a unified way remains a major challenge. Here, we make a key distinction between the expression of intentions (Ladyginian) and the expression of specifically informative intentions (Gricean), and we situate this distinction within a "special case of" framework for classifying different modes of attention manipulation. We hence describe how the attested tendencies of great ape interaction-for instance, to be dyadic rather than triadic, to be about the here-and-now rather than "displaced," and to have a high degree of perceptual resemblance between form and meaning-are products of its Ladyginian but not Gricean character. We also reinterpret video footage of great ape gesture as Ladyginian but not Gricean, and we distinguish several varieties of meaning that are continuous with one another. We conclude that the evolutionary origins of linguistic meaning lie not in gradual changes in communication systems, but rather in gradual changes in social cognition, and specifically in what modes of attention manipulation are enabled by a species' cognitive phenotype: first Ladyginian and in turn Gricean. The second of these shifts rendered humans, and only humans, "language ready."

Frequency regulated transmission-reflection integration modes of a terahertz metasurface.

The conventional transmission and reflection operating mode switching metasurface depends on phase change materials, which are often difficult to integrate with metasurface devices and work in real time. Here, we propose an integration of a transmission-reflection metasurface that can dynamically control beam direction and functions in both transmission and reflection modes by varying the frequency of the incident wave. Remarkably, the transmission and reflection modes of terahertz beam manipulation can be obtained by illuminating only the transmission side of the metasurface. The full-wave simulation results are in good agreement with the theoretically calculated results, which verifies the terahertz wave manipulation capability of the proposed structure. This metasurface provides a design method for full-space terahertz beam regulation devices.

ABOUT ONE APPROACH TO IMPLEMENTATION OF THE MATRIX GAME WHEN RESEARCH ECONOMIC PROCESSES

The work examines the problem of researching economic processes in conditions of uncertainty and conflict between parties participating in them. It is emphasized that, from the point of view of mathematics, such research is usually reduced to solving a discrete antagonistic game of two players. Examples of specific economic situations are given, which lead to the need to use mathematical models based on matrix games, including the production behavior of firms (enterprises) both at the level of the product and at the level of its production. Special attention is paid to the relationship between matrix games and linear programming problems.&#x0D; For the implementation of mathematical models of matrix games, an approach is proposed, the basis of which is the transition to a pair of dual problems of linear programming, the further solution of each of which is carried out in the environment of the table processor MS Excel using a special add-in Solver. The organization of data on the MS Excel worksheet is described in detail, all the necessary formulas and conditions for finding the optimal solution are given.&#x0D; The proposed approach is illustrated by an example of solving the problem of choosing optimal strategies for the production of various types of products by an enterprise in conditions of uncertain demand. The obtained results are in good agreement with the data of other authors obtained by analytical methods. At the same time, one of the most attractive features of the proposed approach is the ease of computer implementation, solving the problem in data manipulation mode without the need for programming. There is also no need to simplify the problem by discarding the subordinate strategies of the players. Solving dual problems of linear programming makes it possible to calculate the mixed strategies of two players and contributes to making a reasonable management decision among the set of alternative solutions.&#x0D; The considered approach can be used for any firms that are engaged in the production of products and wish to reduce risks in conditions of uncertain demand.

Sapere aude: Towards a brand new humanity

Knowledge that we possess nowadays circulates along a straight, and on an aligned path, despite of biotechnological and cybernetic advances. Showing clearly that we run quickly towards distant stars and transhumanism, but deep inside, we end up with an existential anguish from loss of meaning. Does science provides Human Beings freedom? Does it offer meanings for consciousness development?, or has become a new “myth” that, while it claims to explain how the world revolves , covers up a new mode of human manipulation?. Edward Matchett said: “Today it is easier to shout out loud Ahead than where to”.

Towards understanding Shewanella algae-induced degradation of passive film of stainless steel based on electrochemical, XPS and multi-mode AFM analyses

The degradation of the passive film of stainless steel caused by Shewanella algae was investigated through electrochemical tests, X-ray photoelectron spectroscopy and atomic force microscopy (AFM). The dynamic mode and the nano manipulation mode of AFM were adopted to obtain the 3D topography of cell/passive film interfaces and to manipulate cell movement, respectively. The surface Volta potential scanning by tapping-amplitude modulation mode and the conductivity tests by PeakForce-TUNA mode of AFM revealed the electron injection phenomenon from S. algae cells into adjacent passive film, which promoted the reduction of Fe3+ compounds and accelerated the degradation of passive film.

Optical Manipulation Heats up: Present and Future of Optothermal Manipulation.

Optothermal manipulation is a versatile technique that combines optical and thermal forces to control synthetic micro-/nanoparticles and biological entities. This emerging technique overcomes the limitations of traditional optical tweezers, including high laser power, photon and thermal damage to fragile objects, and the requirement of refractive-index contrast between target objects and the surrounding solvents. In this perspective, we discuss how the rich opto-thermo-fluidic multiphysics leads to a variety of working mechanisms and modes of optothermal manipulation in both liquid and solid media, underpinning a broad range of applications in biology, nanotechnology, and robotics. Moreover, we highlight current experimental and modeling challenges in the pursuit of optothermal manipulation and propose future directions and solutions to the challenges.

Multimodal Optothermal Manipulations along Various Surfaces.

Optical tweezers have provided tremendous opportunities for fundamental studies and applications in the life sciences, chemistry, and physics by offering contact-free manipulation of small objects. However, it requires sophisticated real-time imaging and feedback systems for conventional optical tweezers to achieve controlled motion of micro/nanoparticles along textured surfaces, which are required for such applications as high-resolution near-field characterizations of cell membranes with nanoparticles as probes. In addition, most optical tweezers systems are limited to single manipulation modes, restricting their broader applications. Herein, we develop an optothermal platform that enables the multimodal manipulation of micro/nanoparticles along various surfaces. Specifically, we achieve the manipulation of micro/nanoparticles through the synergy between the optical and thermal forces, which arise due to the temperature gradient self-generated by the particles absorbing the light. With a simple control of the laser beam, we achieve five switchable working modes [i.e., tweezing, rotating, rolling (toward), rolling (away), and shooting] for the versatile manipulation of both synthesized particles and biological cells along various substrates. More interestingly, we realize the manipulation of micro/nanoparticles on rough surfaces of live worms and their embryos for localized control of biological functions. By enabling the three-dimensional control of micro/nano-objects along various surfaces, including topologically uneven biological tissues, our multimodal optothermal platform will become a powerful tool in life sciences, nanotechnology, and colloidal sciences.

Mixed reality-integrated soft wearable biosensing glove for manipulating objects

Recent advances in flexible sensors and wireless electronics have driven the development of lightweight and ergonomic wearable sensing gloves. Such gloves can be employed in mixed reality (MR) environments to give haptic capabilities during interactions with various objects. However, no prior study shows a quantitative measurement of physical user interactions of object manipulation in MR. Here, we report an MR-integrated soft bioelectronic system on a glove for quantifying the changes in the user's pinching tasks. We use nanomanufacturing techniques to fabricate flexible sensors, wireless circuits, and stretchable interconnectors seamlessly integrated with a wearable glove. The wearable biosensing glove with an integrated capacitive pressure sensor evaluates how users interact directly and indirectly interact with objects. The direct mode describes a user's direct touching and manipulating objects in MR. In contrast, in the indirect mode, objects are located far away and touched via a narrow light beam. The virtual object measurement parameters include mass, movement latency, dynamic friction coefficient, angular drag coefficient, and linear drag coefficient. The experimental results with human subjects show positive, linear relationships between pinching force and dynamic friction coefficient and mass parameters during the direct manipulation mode. Collectively, the MR-enabled wearable biosensing glove system offers unique advantages in detecting physical interactions and sensory feedback for various rehabilitation applications and MR human-machine interfaces.

Actuation of an electrohydraulic manipulator with a novel feedforward compensation scheme and PID feedback in servo-proportional valves

Achieving good tracking control beyond 0.1Hz by electrohydraulic manipulators still remains challenging due to the coupling of nonlinear actuation dynamics and multiple actuations. A novel order-separated feedforward, or FF, model has been proposed for estimating the major part of the commands of servo-proportional valves for metering their ports to monitor oil flow in the paired cylinders. Motion studies have been executed in serial manipulation mode by using such control to two valves and in serial–parallel mode to eight valves. Oil leakage and cylinder friction have been included as lower-order effects for the narrow radial clearance and near-zero lap in the valves each paired with a low-friction cylinder. Other assumptions of negligible inertia and suspended weight under the pistons have been validated by a numerical exercise. A PID feedback has been added during real-time tracking by an FFPID controller. Reciprocating and circular motion demands in the serial mode and heave tracking in serial–parallel mode, all in a vertical plane, have been executed. More precise and smoother tracking has been achieved up to 1Hz in the serial mode mostly with lower expense of energy than a conventional PID-alone controller. Results indicate FF guidance to mitigate oscillations occasionally apparent in PID-only case due to either hunting among multiple solutions or gain sensitivity of the nonlinear system. Good heave tracking has been obtained up to 0.2Hz. Substantial disturbance rejection capability of the controller has been demonstrated against tension arising from the connecting oil hoses. A potential use of the FF model in diagnosing emerging valve or cylinder fault with their aging has also been explained.