Bio-inspired multi-mode finger mechanism based on Miura-ori unit equivalent linkages

Origami structures, characterized by predefined crease patterns and configurable properties, offer valuable insights for designing reconfigurable mechanisms. Inspired by diverse grasping states of the human finger and multi-mode characteristics of the Miura-ori unit, this paper proposes a novel finger mechanism capable of four distinct single degree-of-freedom (DOF) motion modes. Each mode corresponds to a distinct finger state, characterized by two interphalangeal joints that are either rotatable or nonrotatable. First, the Miura-ori unit equivalent linkage (PFSFL, plane-symmetric flat-deployable spherical four-bar linkage) is introduced, and its multi-mode characteristics are analyzed through an approach based on dual quaternions. Next, the finger mechanism is constructed by coupling specific links and joints of two PFSFLs, and its multi-mode kinematics are systematically demonstrated. Three such fingers are integrated with an orthogonal Bricard linkage to develop a multi-mode grasping mechanism. A pneumatically actuated, 3D printed gripper based on this mechanism is fabricated, and experimentally confirms its multi-mode grasping capability. The results demonstrate the potential of the proposed finger mechanism for developing reconfigurable grippers or hands with enhanced flexibility, adaptability, and multi-task capability

AV-SLAF:A Scenario-Layered Framework for Safety Analysis of Autonomous Vehicles Based on STPA and CTA

Ensuring safety in autonomous vehicles (AVs) requires addressing hazards beyond functional failures, especially those arising from Performance Limitations (PLs) and Triggering Conditions (TCs) under varying Operational Design Domains (ODDs). This paper proposes AV-SLAF, a scenario-layered safety analysis framework integrating System-Theoretic Process Analysis (STPA) with Cause Tree Analysis (CTA) and internal algorithm modeling. By incorporating layered ODD scenarios into the control structure and modeling internal logic of AV modules, AV-SLAF systematically identifies PLs and TCs critical for Safety of the Intended Functionality (SOTIF). Unlike traditional methods focusing solely on structural-level interactions, the proposed framework bridges external scenario modeling with internal algorithms, enabling a more complete view of hazard propagation. A case study on autonomous port vehicles demonstrates the framework’s applicability, yielding a structured set of 84 PL-TC pairs and a partial cause tree for the Planning and Control module. The resulting causal structure reveals dependencies among algorithmic components and their safety-relevant conditions. The proposed framework enhances the traceability and completeness of safety analysis for complex AV applications.</p

Higher form symmetries and orbifolds of two-dimensional Yang–Mills theory

We undertake a detailed study of the gaugings of two-dimensional Yang–Mills theory by its intrinsic charge conjugation 0-form and centre 1-form global symmetries, elucidating their higher algebraic and geometric structures, as well as the meaning of dual lower form symmetries. Our derivations of orbifold gauge theories make use of a combination of standard continuum path integral methods, networks of topological defects, and techniques from higher gauge theory. We provide a unified description of higher and lower form gauge fields for a p-form symmetry in the geometric setting of p-gerbes, and derive reverse orbifolds by the dual (-1)-form symmetries. We identify those orbifolds in which charge conjugation symmetry is spontaneously broken, and relate the breaking to mixed anomalies involving (-1)-form symmetries. We extend these considerations to gaugings by the non-invertible 1-form symmetries of two-dimensional Yang–Mills theory by introducing a notion of generalized θ-angle.</p

Experimental study on the bond-slip behavior between the shape steel and PVA fiber concrete

This study aims to investigate the bond-slip behaviour between shaped steel and polyvinyl alcohol (PVA) fibre-reinforced concrete, a critical aspect affecting the structural performance of steel-concrete composite structures. The experiment on 14 specimens, considering various parameters such as concrete strength, cover thickness, anchorage length, PVA fibre volume, and the presence of shear studs were conducted. A novel experimental method was devised to analyse the bond-slip characteristics between shaped steel and PVA fibre concrete. All specimens exhibited failure due to the bond between shaped steel and concrete. The load-slip curve exhibited four distinct stages: the initial stage, slip stage, descending stage, and horizontal residual stage. Notably, the addition of PVA fibre significantly enhanced the load-bearing capacity, with optimal performance observed at a fibre volume of 8 kg/m3, surpassing conventional concrete bond strength. Moreover, increasing PVA concrete strength, anchorage length, and the use of shear studs were found to augment the bond strength. To further understand this bond-slip behaviour, a constitutive model correlating bond strength with characteristic slip values was developed, and it aligns well with experimental results, validating its accuracy and applicability.</p

Integrating External Tools with Large Language Models (LLMs) to Improve Accuracy

This paper deals with improving querying large language models (LLMs). It is well-known that without relevant contextual information, LLMs can provide poor-quality responses or tend to hallucinate. Several initiatives have proposed integrating LLMs with external tools to provide them with up-to-date data to improve accuracy. In this paper, we propose a framework to integrate external tools to enhance the capabilities of LLMs in answering queries in educational settings. Precisely, we develop a framework that allows accessing external APIs to request additional relevant information. Integrated tools can also provide computational capabilities such as calculators or calendars. The proposed framework has been evaluated using datasets from the Multi-Modal Language Understanding (MMLU) collection. The data consists of questions on mathematical and scientific reasoning. Results compared to basic OpenAI model show that the proposed approach significantly improves performance. On mathematical questions, our framework scores 83% where basic OpenAI scores 36%. In scientific reasoning, the difference is even more significant with 88% for the proposed method as compared to 56% for the basic OpenAI model. These promising results open the way to creating complex computing ecosystems around LLMs to make their use more natural to support various tasks and activities.</p

Synergy of the flow behaviour and disperse phase of polysaccharide nanoparticles derived from Corchorus olitorius in enhancing oil recovery at an offshore operation

The escalating global energy demand necessitates enhanced oil recovery methods, particularly offshore. Biological nanotechnology offers sustainable, environment-friendly, and cost-effective alternatives to synthetic chemicals. This study explored the synthesis of polysaccharide-based nanoparticles (PNPs) from Corchorus olitorius leaves using a weak acid-assisted ultrasonic method and their application as nanocomposites for oil recovery. The PNPs were characterised using X-ray diffraction (XRD), scanning electron microscopy (SEM), transmission electron microscopy (TEM), Fourier-transform infrared (FTIR) spectroscopy, zeta potential, and 1H NMR analyses. Performance assessments included rheological properties under varying temperatures and shear rates, interfacial tension (IFT) via the pendant-drop method, and core flooding to evaluate the oil recovery. The weak acid-assisted ultrasonic method produced PNPs with sizes ranging from 35 to 175 nm, exhibiting stable hydrophilic and hydrophobic properties. Rheological tests showed viscosity dependence on PNP concentration, with viscosity decreasing as the temperature increased. Salinity amplified the viscosity at higher PNP concentrations (&gt;1.5 wt%). The PNPs enhanced the nanocomposite stability by reducing the consistency index, increasing the flow behaviour index, and minimising shear thinning. The PNP fluid improved oil recovery by 3.77 %, achieving a total recovery of 60.30 %. Combining PNPs with mucilage further increased recovery by 18 %, resulting in a total recovery of 75.52 %. The cost-effectiveness of PNP production makes it a viable solution for large-scale oil-recovery applications.</p

Cyber risk assessment for capital management

This paper introduces a two-pillar cyber risk management framework to address the pervasive challenges in managing cyber risk. The first pillar, cyber risk assessment, combines insurance frequency-severity models with cybersecurity cascade models to capture the unique nature of cyber risk. The second pillar, cyber capital management, facilitates informed allocation of capital for a balanced cyber risk management strategy, including cybersecurity investments, insurance coverage, and reserves. A case study, based on historical cyber incident data and realistic assumptions, demonstrates the necessity of comprehensive cost-benefit analysis for budget-constrained companies with competing objectives in cyber risk management. In addition, sensitivity analysis highlights the dependence of the optimal strategy on factors such as the price of cybersecurity controls and their effectiveness. The framework's implementation across a diverse range of companies yields general insights on cyber risk management

Advancing Circular Industrial Practices: A Comparison of Logics in Scotland and the Netherlands

Despite urgent environmental challenges, the transition toward a circular economy (CE) remains fragmented; hindered by entrenched linear production paradigms. This study examines the institutional dynamics influencing CE implementation by investigating the interplay between policy aspirations and industrial practices. Drawing on institutional logics theory, we analyze how market, state, and community logics shape organizational responses to CE initiatives in two European contexts with ambitious sustainability agendas: the Netherlands and Scotland. Although both countries demonstrate strong policy commitments to CE transitions, actual implementation reveals significant gaps between stated ambitions and industrial practices. Our findings suggest that while both countries face similar challenges, the Netherlands demonstrates more effective integration of different institutional logics, particularly in coordinating market and state interests. Scotland, by contrast, shows higher ambition but also greater fragmentation between policy rhetoric and industrial adoption currently. This research contributes to understanding the institutional complexities underlying sustainable industrial transitions and offers practical recommendations for reducing policy-practice decoupling in CE implementation. These insights are valuable for policymakers, industry stakeholders, and researchers working toward more coherent and effective circular and eco-efficient industrial practices

Investigation of reaction parameters for esterification of acidic crude palm oil using bubble column reactor

Acidic crude palm oil (ACPO) offers a sustainable option as a non-edible feedstock for biodiesel production. This study investigated a lab-scale bubble column reactor (BCR) for free fatty acid (FFA) esterification of APCO as a pretreatment step for biodiesel production. Air bubbles were sparged through the BCR column to facilitate homogeneous mixing of reactants, and the FFA esterification reaction was catalysed using sulphuric acid (H2SO4) and p-toluenesulfonic acid monohydrate (PTSA). Under optimised conditions, FFA esterification catalysed using H2SO4 required reaction conditions of 3 wt% catalyst dosage, 20:1 methanol-to-oil molar ratio, 30 min reaction time, 30 °C reaction temperature and 0.5 L/min air flow rate, achieving high FFA to FAME conversion of 84.06 %. PTSA-catalysed esterification reaction required similar reaction conditions as H2SO4, albeit at 5 wt% catalyst dosage and 15:1 methanol-to-oil molar ratio, achieving 79.51 % FFA conversion. Changes in the aspect ratio did not significantly affect the FFA conversion. The FFA esterification reaction trends were determined to fit the pseudo second-order reaction rate with activation energies of 28.59 and 22.23 kJ/mol for H2SO4 and PTSA, respectively. This study demonstrates the promising use of BCR for FFA esterification with lower reaction conditions and improved mixing

More Than Sport: A social-identity intervention to support transitions out of elite sport

Elite athletes often make large personal sacrifices to pursue excellence, but there is insufficient support for them when they leave elite sport. Identity loss is central to athletes’ transition trajectories and hence the management of identity change is a crucial area for support. The MORE THAN SPORT (MTS) program is a novel digital intervention that aims to provide this support—helping athletes manage identity change in the process of leaving elite sport. The present research aims to study elite athletes’ experiences with the MTS program and their perceptions of its usefulness in managing the transition away from elite sport. We undertook a qualitative study with athletes (N=25) from three countries (the United Kingdom, Australia and Belgium) using reflexive thematic analysis to explore their experiences of the program and their feedback on program content. We identified three key themes and eight subthemes. The first key theme was Value of the Program, and this was underpinned by four sub-themes that centred on Program importance and novelty, how Positive and confronting experiences afford insight, the Value of developing shared understanding, and Realising the value of social groups. The second key theme was Engagement with Program Elements and here participants commented on Program content and Delivery format. The final key theme was Time and Place for Identity Management Programs which included the sub-themes of Optimal timing and Additional program beneficiaries. Overall, the results highlight the value of MTS specifically, and identity management efforts more broadly, to help elite athletes adjust successfully to life beyond sport