TacFR-Gripper: A Reconfigurable Fin Ray-Based Compliant Robotic Gripper with Tactile Skin for In-Hand Manipulation

This paper introduces the TacFR-Gripper, a reconfigurable Fin Ray-based soft and compliant robotic gripper equipped with tactile skin, which can be used for dexterous in-hand manipulation tasks. This gripper can adaptively grasp objects of diverse shapes and stiffness levels. An array of Force Sensitive Resistor (FSR) sensors is embedded within the robotic finger to serve as the tactile skin, enabling the robot to perceive contact information during manipulation. We provide theoretical analysis for gripper design, including kinematic analysis, workspace analysis, and finite element analysis to identify the relationship between the gripper's load and its deformation. Moreover, we implemented a Graph Neural Network (GNN)-based tactile perception approach to enable reliable grasping without accidental slip or excessive force. Three physical experiments were conducted to quantify the performance of the TacFR-Gripper. These experiments aimed to i) assess the grasp success rate across various everyday objects through different configurations, ii) verify the effectiveness of tactile skin with the GNN algorithm in grasping, iii) evaluate the gripper's in-hand manipulation capabilities for object pose control. The experimental results indicate that the TacFR-Gripper can grasp a wide range of complex-shaped objects with a high success rate and deliver dexterous in-hand manipulation. Additionally, the integration of tactile skin with the GNN algorithm enhances grasp stability by incorporating tactile feedback during manipulations. For more details of this project, please view our website: https://sites.google.com/view/tacfr-gripper/homepage

Low- and High-velocity \ion{O}{6} in Milky Way-like Galaxies: the Role of Stellar Feedback

Milky Way-type galaxies are surrounded by a warm-hot gaseous halo containing a considerable amount of baryons and metals. The kinematics and spatial distribution of highly-ionized ion species such as \ion{O}{6} can be significantly affected by supernova (SN) explosions and early (pre-SN) stellar feedback (e.g., stellar winds, radiation pressure). Here, we investigate effects of stellar feedback on \ion{O}{6} absorptions in Milky Way-like galaxies by analyzing the suites of high-resolution hydrodynamical simulations under the framework of {\it SMUGGLE}, a physically motivated subgrid interstellar medium and stellar feedback model for the moving-mesh code {\sc Arepo}. We find that the fiducial run with the full suite of stellar feedback and moderate star formation activities can reasonably reproduce Galactic \ion{O}{6} absorptions observed by space telescopes such as {\it FUSE}, including the scale height of low-velocity ($|v_{\rm LSR}|< 100\, \rm km~s^{-1}$) \ion{O}{6}, the column density $-$ line width relation for high-velocity ($100 \leq |v_{\rm LSR}|< 400\, \rm km~s^{-1}$) \ion{O}{6}, and the cumulative \ion{O}{6} column densities. In contrast, model variations with more intense star formation activities deviate from observations further. Additionally, we find that the run considering only SN feedback is in broad agreement with the observations, whereas in runs without SN feedback this agreement is absent, which indicates a dominant role of SN feedback in heating and accelerating interstellar \ion{O}{6}. This is consistent with the current picture that interstellar \ion{O}{6} is predominantly produced by collisional ionization where mechanical feedback can play a central role. In contrast, photoionization is negligible for \ion{O}{6} production due to the lack of high-energy ($\gtrsim114\ {\rm eV}$) photons required.Comment: 20 pages, 14 figures, ApJ accepte

Charge redistribution, charge order and plasmon in La2−x_{2-x}Srx_{x}CuO4_{4}/La2_{2}CuO4_{4} superlattices

Interfacial superconductors have the potential to revolutionize electronics, quantum computing, and fundamental physics due to their enhanced superconducting properties and ability to create new types of superconductors. The emergence of superconductivity at the interface of La$_{2-x}$Sr$_{x}$CuO$_{4}$/La$_{2}$CuO$_{4}$ (LSCO/LCO), with a T$_c$ enhancement of $\sim$ 10 K compared to the La$_{2-x}$Sr$_{x}$CuO$_{4}$ bulk single crystals, provides an exciting opportunity to study quantum phenomena in reduced dimensions. To investigate the carrier distribution and excitations in interfacial superconductors, we combine O K-edge resonant inelastic X-ray scattering and atomic-resolved scanning transmission electron microscopy measurements to study La$_{2-x}$Sr$_{x}$CuO$_{4}$/La$_{2}$CuO$_{4}$ superlattices (x=0.15, 0.45) and bulk La$_{1.55}$Sr$_{0.45}$CuO$_{4}$ films. We find direct evidence of charge redistribution, charge order and plasmon in LSCO/LCO superlattices. Notably, the observed behaviors of charge order and plasmon deviate from the anticipated properties of individual constituents or the average doping level of the superlattice. Instead, they conform harmoniously to the effective doping, a critical parameter governed by the T$_c$ of interfacial superconductors.Comment: 8 pages, 5 figure

The complete mitochondrial genome of Lumbricus rubellus (Oligochaeta, Lumbricidae) and its phylogenetic analysis

The complete mitochondrial genome of Lumbricus rubellus was analyzed by next-generation sequencing. The mitogenome was 15,464 bp in length, comprising 13 protein-coding genes (PCGs), 22 transfer RNAs, 2 ribosomal RNAs, and a non-coding region. The phylogenetic analysis of 13 PCGs within the class Oligochaeta suggested that L. rubellus was placed as sister to L. terrestris of the same genus. The results obtained here can contribute to the phylogenetic analysis of earthworms

The complete mitochondrial genome of diamond dove (Geopelia cuneata) and its phylogeny

The complete mitochondrial genome (mitogenome) of diamond dove (Geopelia cuneata) was first determined in this study. The mitogenome is 17,880 bp in size and composed of 22 transfer RNA genes, 13 protein-coding genes, two ribosomal RNA genes, and a control region. The overall nucleotide composition is 30.11% of A, 13.66% of G, 25.11% of T, and 31.13% of C. The mitochondrial structure and gene order were similar to other Columbidae species. Phylogenetic analysis suggested that G. cuneata was placed as sister to G. striata of the same genus. The data could provide valuable information for further studies on conservation genetics and evolution of G. cuneata

The complete mitogenome of red-collared lorikeet (Trichoglossus rubritorquis) and its phylogenetic analysis

The complete mitogenome of a lorikeet, Trichoglossus rubritorquis (Psittaciformes, Loriidae), was determined first in the genus Trichoglossus. The assembled mitogenome was 17,915 bp and composed of 13 protein-coding genes, 22 tRNAs, two rRNAs and two control regions. Nucleotide composition of T. rubritorquis mitogenome was 30.20% A, 33.30% C, 14.04% G, and 22.46% T, with an A + T bias of 52.66%. ML tree based on 13 protein-coding genes indicated that, Melopsittacus undulatus of the family Psittacidae was the closest related species to T. rubritorquis. This result suggested that lorikeets might still be in the family Psittacidae

The Effect of Layer Moisture Content Distribution on Lumber Surface and Bonding Interface Properties

This study investigated the effect of drying on moisture content (MC) distribution through ash lumber thickness, as well as the effect on wood surface and bonding at the interface. After the drying of lumber, the wood surface contact angles and free energy were collected over 6 days, and the MC difference (between surface and core) was measured. At the same time, the isocyanate adhesive strength, as well as the elemental composition of carbon (C1s), nitrogen (N1s), and oxygen (O1s) on the lumber surface and at the bonding interface, were tested daily. Both the wood surface contact angle and free energy changed with a change in MC difference. The O1s concentration at the bond interface decreased with increased MC difference, and the adhesive strength declined accordingly. To attain the best bond interface, the MC difference between the surface and core should be controlled within the range of 0.5 to 1%

Study on the Function of Pepper Essential Oil in Endowing Flavor of Pepper-Salt Baked Shrimp

To study the effect of Chinese prickly ash essential oil on the flavor of salt-baked shrimp, headspace solid phase microextraction-gas chromatography/mass spectrometry (HS-SPME-GC/MS) in combination with sensory evaluation and relative odor activity values (ROAV) were used for analysis. The results showed that both Chinese prickly ash powder and Chinese prickly ash essential oil could significantly stimulate the attractive pepper flavor of salt-baked shrimp and reduce their fishy flavor as well as had no significant effect on the background odor of salt-baked shrimp. Compared with the control group (no Chinese prickly ash powder and Chinese prickly ash essential oil), the volatile substances in salt-baked shrimp were enriched after the addition of Chinese prickly ash powder and Chinese prickly ash essential oil. A total of 30 volatile compounds were identified in the control group, with the key ones including heptanal, capraldehyde, nonanal, octanal, benzaldehyde, hexanal, linalool, 1-octen-3-ol, and D-limonene. 52, 54 and 51 volatile compounds in the Chinese prickly ash powder group were identified, respectively. And 53, 54 and 54 were in the Chinese prickly ash essential oil group, respectively. Both Chinese prickly ash powder and Chinese prickly ash essential oil could keep the key volatile components well in salt-baked shrimp. Adding Chinese prickly ash powder and Chinese prickly ash essential oil to salt-baked shrimp could significantly (P<0.05) reduce the ROAV of heptanal, hexanal and capraldehyde, and significantly (P<0.05) increase the ROAV of benzaldehyde, linalool, octanal, and 1-ocene-3-ol, with no obvious effect on the key volatile components. In conclusion, both Chinese prickly ash powder and Chinese prickly ash essential oil can effectively reduce the unpleasant smell in salt-baked shrimp. Chinese prickly ash essential oil plays a key role in the overall flavor of salt-baked shrimp, showing certain theoretical guiding significance for improving the flavor quality of salt-baked shrimp

The complete mitogenome of Hong Kong paradise fish (Macropodus hongkongensis), an endemic freshwater fish in South China

The first complete mitogenome of Hong Kong paradise fish (Macropodus hongkongensis) was determined in this study. The assembled mitogenome is 16,494 bp and consisted of 13 protein-coding genes, 22 tRNAs, 2 rRNAs, and a control region. Nucleotide composition of the complete mitogenome is 30.6% A, 24.8% C, 14.8% G, and 29.8% T, with an A + T bias of 60.4%. The maximum-likelihood tree based on 13 protein-coding genes showed that M. erythropterus was the closest related species to M. hongkongensis