Multidisciplinary Digital Publishing Institute (Switzerland)
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A TPU-Based 3D Printed Robotic Hand: Design and Its Impact on Human–Robot Interaction
No full textThis study outlines the design and evaluation of a biomimetic robotic hand tailored for Human–Robot Interaction (HRI), focusing on improvements in tactile fidelity driven by material choice. Thermoplastic polyurethane (TPU) was selected over polylactic acid (PLA) based on its reported elastomeric characteristics and mechanical compliance described in prior literature. Rather than directly matching human skin properties, TPU was perceived as providing a softer and more comfortable tactile interaction compared to rigid PLA. The robotic hand was anatomically reconstructed from an open-source model and integrated with AX-12A and MG90S actuators to simplify wiring and enhance motion precision. A custom PCB, built around an ATmega2560 microcontroller, enables real-time communication with ROS-based upper-level control systems. Angular displacement analysis of repeated gesture motions confirmed the high repeatability and consistency of the system. A repeated-measures user study involving 47 participants was conducted to compare the PLA- and TPU-based prototypes during interactive tasks such as handshakes and gesture commands. The TPU hand received significantly higher ratings in tactile realism, grip satisfaction, and perceived responsiveness (p < 0.05). Qualitative feedback further supported its superior emotional acceptance and comfort. These findings indicate that incorporating TPU in robotic hand design not only enhances mechanical performance but also plays a vital role in promoting emotionally engaging and natural human–robot interactions, making it a promising approach for affective HRI applications
Integrated Preflash Drum Optimisation for Energy Efficiency and Profitability in Crude Distillation Units
No full textCrude distillation units operate as the most energy-intensive refinery operations and generate substantial carbon dioxide emissions. This research models the crude distillation system through its three main components: the atmospheric distillation unit, the naphtha stabilisation unit, and the vacuum distillation unit. The simulation platform Aspen HYSYS version 14.1 enabled optimisation of the preflash drum under product quality constraints, and the analysis included pinch analysis techniques and techno-economic evaluation. The optimisation results demonstrated an 8.95% reduction in atmospheric furnace duty, a 7.38% decrease in total hot utility consumption with the crude distillation system, and an increase in heat recovery capability from 35.57% to 42.71%. Although the preflash process alone decreases profitability because of increased steam demand, combining preflash operation with heat recovery measures maintains both energy conservation and favourable economic performance. The study shows that refinery optimisation requires treating the crude distillation system as a fully integrated process. This approach offers effective strategies to improve energy performance and reduce carbon dioxide emissions while sustaining economic viability. The work differs from previous studies by evaluating the entire distillation system as an integrated sequence and demonstrating how preflash optimisation affects overall energy demand, heat-recovery potential, and economic outcomes while maintaining product quality
Ultrasonographic Thrombosis Rates Associated with Midline Catheters in Patients with Advanced Chronic Kidney Disease: A Prospective Cohort Study
No full textBackground: Preserving arm veins is important for arteriovenous fistula (AVF) creation in patients with advanced chronic kidney disease (CKD), as mature AVF is the preferred hemodialysis access. Midline catheters introduced into AVF candidate veins may cause thrombosis, hindering AVF formation. This study aims to determine ultrasonographic rates of midline-associated upper extremity deep venous thrombosis (UE-DVT) or superficial venous thrombosis (SVT) in patients with advanced CKD. Methods: We conducted a prospective study involving subjects with advanced CKD, who had a point-of-care ultrasound-guided midline placed in an arm vein. Within 35 days of midline insertion, participants underwent routine bilateral UE venous duplex ultrasound. The primary outcome was a composite occurrence of UE-DVT/SVT ipsilateral to the midline. Comparative analyses were performed based on patient demographics and device-specific variables. Results: 49 subjects with advanced CKD received midlines. The median midline catheter dwell time was <6 days for 15/49 patients (30.6%). The primary outcome occurred in 15/49 patients (30.6%), mostly asymptomatic thrombosis. No significant associations were found between outcomes and patient or device characteristics. Conclusions: Our study identified frequent use of midlines with short dwell times in subjects with advanced CKD which calls into question proper device selection. In this cohort, midline-associated arm clots were frequent
Variants in IRF5 Increase the Risk of Primary Sjögren’s Syndrome in the Mexican Population
No full textPrimary Sjögren’s syndrome (pSS) is an autoimmune disease characterized by inflammation and damage to salivary and lacrimal glands. Its etiology involves both genetic and environmental factors. Among susceptibility genes, IRF5 has been highlighted in European populations, but evidence in non-European groups remains limited. This study evaluated whether IRF5 variants rs2004640G/T, rs2070197T/C, rs10954213G/A, and rs59110799G/T are associated with pSS susceptibility, clinical manifestations, or the presence of autoantibodies in a Mexican population. The diagnosis was confirmed by rheumatologists using the 2016 ACR–EULAR classification criteria for pSS. Genotyping was performed using TaqMan probes in 231 controls and 132 pSS patients from central Mexico. Associations were analyzed through binary logistic regression under different genetic models, adjusting for age and geographic origin. Clinical correlations were examined with SNPStats, and haplotypes were constructed using Haploview. Results showed that all four IRF5 variants were significantly associated with pSS susceptibility. Moreover, rs2004640, rs2070197, and rs10954213 variants were associated with arthritis, a frequent clinical manifestation in pSS patients. This represents the first evidence in a Latin American population demonstrating that IRF5 variants contribute to increased risk of developing pSS. These findings suggest ethnicity-specific genetic influences and highlight the importance of expanding research beyond European cohorts. Replication in larger samples and functional analyses are needed to confirm these associations and clarify their biological relevance
Hepatocellular Carcinoma Around the Clock
No full textThe dramatic shift in human behavior from hunter-gatherer to modern lifestyles has led to a systematic disruption of the human circadian cycle. Contributors include night-shift work, jet lag, and less intuitive but widespread factors, such as exposure to artificial light at night and irregular eating schedules. Circadian disruption is classified as a Group 2A carcinogen by the International Agency for Research on Cancer (IARC). Hepatocellular carcinoma (HCC) is the third most deadly cancer worldwide, with a rising prevalence in Western countries, largely driven by increasing rates of obesity and steatotic liver disease-associated hepatocarcinogenesis. Emerging evidence suggests that circadian disruption plays a significant role in HCC pathogenesis. Several genes involved in metabolism, cell survival, and immunosurveillance are under the control of circadian rhythms. Experimental preclinical data and epidemiological studies have indicated a strong association between circadian disruption and HCC development. Moreover, molecular signatures related to circadian regulation appear to accurately predict the prognosis of patients with HCC. The concept of chronotherapy is also gaining interest, with studies suggesting improved immunotherapy effectiveness when immune checkpoint inhibitors are administered in the morning. This review summarizes the current literature on the impact of circadian disruption on HCC pathogenesis, prognosis, and treatment
The Effect of Different Particle Size Distribution on the Quality of Rice Flour
No full textRice flour, as an essential food ingredient, exhibits processing and end-use properties that are critically influenced by its particle size distribution (D10, D50, D90). This study systematically investigates the effect of varying particle size fractions on the chemical composition, color, water absorption, pasting behavior, thermal properties, and rheological characteristics of rice flour. Our results indicate no statistically significant differences in the major chemical constituents across different particle size ranges (p > 0.05). However, finer particles demonstrated increased whiteness (89.94 to 90.52) and higher levels of damaged starch. A consistent decline was observed in several pivotal parameters—including peak viscosity, final viscosity, breakdown, setback, onset temperature, peak temperature, conclusion temperature, gelatinization enthalpy (ΔH), storage modulus (G′), and loss modulus (G″)—with decreasing particle size, although only marginal variations were noted for the finest D and E fractions. Notably, the coarsest fraction exhibited the highest gelatinization enthalpy (ΔH = 11.12 J/g). These findings elucidate the fundamental role of particle size distribution in modulating the multifunctional properties of rice flour, providing a theoretical foundation for its targeted application and quality optimization in food industry practices
Calibration of Snow Particle Contact Parameters for Simulation Analysis of Membrane Structure Snow Removal Robot
No full textTo enhance the accuracy of discrete element method (DEM) simulation for the snow removal process performed by autonomous robots on membrane structures, this study calibrated the key contact parameters of snow particles used in the simulation. Through literature research, the intrinsic parameters and contact parameter ranges for snow particles and membrane structures were determined. A discrete element model of snow particles was established, and the Hertz–Mindlin with Johnson–Kendall–Robert contact model was selected to simulate the formation process of the repose angle. Using the actual repose angle of snow particles as the target, four significant factors were identified through the P-B experiment, and other factors were set at the intermediate level. Through the steepest slope climbing experiment and response surface design, second-order response equations of the four significant factors were obtained. The optimal parameter combination was calculated as follows: the surface energy of snow particles was 0.23 J/m2; the restitution coefficient, static friction coefficient, and rolling friction coefficient of snow–snow were 0.141, 0.05, and 0.03; and the restitution coefficient, static friction coefficient, and rolling friction coefficient of snow–membrane were 0.2, 0.18, and 0.03. The simulated repose angle was 40.62°, and the relative error with the actual repose angle was 0.32%. These calibration results are reliable and can provide a reliable simulation basis and essential data support for the optimal design of a snow removal robot and the dynamic simulation of the operation process
Ten Years of Atypical Cartilaginous Tumors—Is Curettage Really Enough?
No full textBackground: Atypical cartilaginous tumors (ACT), formerly classified as Grade 1 chondrosarcomas (CS1) of the extremities, are hyaline cartilage-producing neoplasms. The WHO classification (4th edition, 2013) redefined ACT as locally aggressive rather than malignant tumors, prompting a shift toward less aggressive surgical management. This study reports data of a single, tertiary musculoskeletal tumor center and compares the long-term oncological outcomes of wide resections and intralesional curettage for primary ACT. Methods: This retrospective study included 61 patients with ACT treated at a tertiary tumor center between 2003 and 2023. Patients were divided into two cohorts: Cohort 1 was treated before 2013 with wide or radical resection, while cohort 2 was treated with an intralesional approach. Data on recurrence, revision rates, survival, and predictors of outcomes were analyzed using Kaplan–Meier survival analysis and log-rank testing. Results: Wide resections were performed in 24 patients, requiring prosthetic reconstruction in 76% of cases. Intralesional curettage was performed in 37 patients. Local recurrence occurred in 8% in wide resections versus 16% of curettage cases (p = 0.198), with no significant difference in time to recurrence between cohorts. Unplanned revision rates were higher in the wide resection group (42%) compared to curettage (35%), driven primarily by prosthesis-related complications. Overall survival was high in both groups (88% in wide resections vs. 94% in curettage; p = 0.705). Resection margins, and metastases were identified as significant predictors of both recurrence and tumor-related death. Conclusions: Intralesional curettage provides comparable oncological outcomes to wide resections with reduced morbidity, supporting its use as the preferred treatment for ACT in appropriately selected patients
Advancing Nipple Reconstruction in Skin-Sparing Mastectomy: The Efficacy of the Long V-Y Flap Technique for Enhanced Size Retention and Symmetry
No full textReconstruction of the nipple is the final step of breast reconstruction following skin-sparing mastectomy (SSM) and plays a critical role in restoring breast symmetry and aesthetic completeness. Various nipple reconstruction techniques have been described, including split transplantation of normal nipples and flap-based procedures; however, long-term maintenance of nipple projection and volume remains challenging due to postoperative tissue loss. This study evaluates the clinical outcomes of a previously described long V-Y flap technique, focusing on its ability to mitigate postoperative nipple projection and volume loss. A retrospective analysis was performed on 27 patients who underwent nipple reconstruction using the long V-Y flap following SSM with tissue expander–implant reconstruction. Nipple projection and volume were measured immediately after surgery and at follow-up beyond six months, and volume loss rates were calculated. Outcomes were compared descriptively with projection loss rates reported for other commonly used flap techniques in the literature. The mean nipple volume loss was 34.23%, and the mean projection loss was 32.79%, while nipple width remained largely unchanged over time. These values were numerically lower than those reported for skate, star, bell, and arrow flaps in prior studies. The long V-Y flap appears to be a practical and reliable option for nipple reconstruction after SSM, particularly for larger nipples, with favorable short- to mid-term maintenance of projection and volume
Pupillary Pain Index-Guided Postoperative Pain Therapy in ENT Surgery: A Randomized Trial
No full textBackground: Postoperative pain levels and opioid requirements vary considerably, even among patients undergoing similar surgical interventions. The pupillary pain index—a pupillometry-derived measure of nociception-antinociception balance—may help individualize postoperative analgesia. We therefore tested the hypothesis that a pupillary pain index-guided opioid titration at the end of surgery reduces postoperative pain and opioid consumption compared with standard care. Methods: At the end of surgery, a portable infrared pupilometer was used to measure pupillary dilation reflex during stepwise tetanic stimulation (10–60 mA), generating a pupillary pain index score. Adult patients undergoing elective ear-nose-throat surgery under general anesthesia were randomized to pupillary pain index-guided opioid therapy or standard care. Opioid administration in the pupillary pain index group followed predefined pupillary pain index cutoffs; in the control group, analgesia was managed per routine practice. Postoperative opioid consumption and pain—assessed using a numerical rating scale (NRS, 0–10)—were recorded every 30 min for 2 h in the post-anesthesia care unit. Linear models with covariates including remifentanil, weight, nose surgery, and sex were calculated to compare outcomes between groups. Results: Mean (±SD) opioid consumption during the first 2 postoperative hours was 4.9 ± 4.3 mg in the pupillary pain index-guided group and 6.5 ± 4.3 mg in the control group (adjusted p = 0.12). Mean pain scores were 2.0 ± 1.1 and 2.6 ± 1.4, respectively (adjusted p = 0.10). Conclusions: Pupillary pain index-guided analgesia resulted in a nearly 25% reduction in opioid consumption and lower pain scores, although not statistically significant. This suggests that PPI-guided analgesia is not inferior to standard care in terms of pain management