Hexapodal

Detecting transportation pipeline leakage points within chemical plants is difficult due to complex pathways, multi-dimensional survey points, and highly dynamic scenarios. However, hexapod robots' maneuverability and adaptability make it an ideal candidate for conducting surveys across different planes. The path-planning problem of hexapod robots in multi-dimensional environments is a significant challenge, especially when identifying suitable transition points and planning shorter paths to reach survey points while traversing multi-level environments...

The design of single-component organic compounds acting as efficient solid-state proton conduction (SSPC) materials has been gaining significant traction in recent times. Molecular design and controlled self-assembly are critical components in achieving highly efficient SSPC. In this work, we report the design, synthesis, and self-assembly of an organic macrocyclic aza-crown-type compound, P2Mac, which complements synthetic ease with efficient SSPC. P2Mac is derived from the pyridine-2,6-dicarboxamide (PDC) framework and contains polar amide and amine residues in its inner region, while aromatic residues occupy the periphery of the macrocycle...

Hexapods, consisting of three mutually orthogonal arms, have been utilized as a representative nonconvex shape to demonstrate the impact of interlocking on the strength properties of granular materials. Nevertheless, the microstructural characteristics of hexapod packings, which underlie their strength, have remained insufficiently characterized. We use particle dynamics simulations to build isotropically-packed aggregates of hexapods and we analyze the effects of aspect ratio and interparticle friction on the microstructure and force transmission...

OBJECTIVES: This study aimed to objectively define whether human hexapod fixation (Maxframe), with or without the use of 3D-printed positioning guides, can correct a canine antebrachial deformity with greater accuracy than the clinically established techniques of 3D patient-specific osteotomy and reduction guides (3D-PSORG) or hinged circular external skeletal fixation (CESF). METHODS: CT of a canine antebrachium was manipulated to induce distal radial deformity of the valgus, external torsion, and procurvatum, each of magnitude 20o ...

This study explores the kinematic model of the popular RHex hexapod robots which have garnered considerable interest for their locomotion capabilities. We study the influence of tripod trajectory parameters on the RHex robot's movement, aiming to craft a precise kinematic model that enhances walking mechanisms. This model serves as a cornerstone for refining robot control strategies, enabling tailored performance enhancements or specific motion patterns. Validation conducted on a bespoke test bed confirms the model's efficacy in predicting spatial movements, albeit with minor deviations due to motor load variations and control system dynamics...

Planktonic bacterial presence in many industrial and environmental applications and personal health-care products is generally countered using antimicrobials. However, antimicrobial chemicals present an environmental threat, while emerging resistance reduces their efficacy. Suspended bacteria have no defense against mechanical attack. Therefore, we synthesized silica hexapods on an α-Fe2 O3 core that can be magnetically-rotated to inflict lethal cell-wall-damage to planktonic Gram-negative and Gram-positive bacteria...

CASE: A 16-year-old boy presented with a recurrent distal femur aneurysmal bone cyst accompanied by a combined sagittal knee deformity (20° of femoral antecurvatum and 26.8° of tibial recurvatum) and limb shortening. After preoperative planning, the treatment involved new intralesional curettage, phenolization, and bone allograft filling. Additional procedures included distal extension femoral osteotomy with plate fixation, and proximal tibial osteotomy with, gradually corrected through a hexapod frame...

The incidence of deep surgical site infections following high tibial osteotomy (HTO) ranges between 0.4 to 4.7%. It is a severe complication with a high risk for poor clinical outcome. The aim of this study was to proof that a salvage algorithm for infected HTO with unstable bone situation leads to an infection-free status and bone union of the osteotomy and that correct limb alignment can be restored with good knee function.The study included seven patients with peri-implant infections following HTO. Infections occurred 83 ± 58...

Since metabolism, survival, and reproduction in hexapods are closely related to temperatures; changes in the mean and variance of temperature are major aspects of global climate change. In the typical context of biological control, understanding how predator-prey systems are impacted under thermal conditions can make pest control more effective and resilient. With this view, this study investigated temperature-mediated development and predation parameters of the predator Harmonia axyridis against the potential prey Spodoptera litura ...

In this research, we designed a stepwise synthetic method for Au@Pt hexapods where six elongated Au pods are arranged in a pairwise perpendicular fashion, sharing a common point (the central origin in a Cartesian-coordinate-like hexapod shape), featured with tip-selectively decorated Pt square nanoplates. Au@Pt hexapods were successfully synthesized by applying three distinctive chemical reactions in a stepwise manner. The Pt adatoms formed discontinuous thin nanoplates that selectively covered six concave facets of a Au truncated octahedron and served as etching masks in the succeeding etching process, which prevented underlying Au atoms from being oxidized...

En-bloc retraction is a common procedure in orthodontic therapy. The application of palatal root torque moments is required to control incisor inclination during retraction, yet studies comparing forces and moments with respect to different mechanics are lacking. This study aimed to investigate the forces and moments during orthodontic en-bloc retraction using a robotic biomechanical simulation system, comparing two distinct approaches: (I) compound technique [stainless steel (SS) combined with nickel-titanium (NiTi)] using industrially pretorqued retraction-torque-archwires (RTA) in combination with NiTi closed coil springs; (II) conventional sliding mechanics using SS archwires with manually applied anterior twist bends in combination with elastic chains...

Studies using antigen-presenting systems at the single-cell and ensemble levels can provide complementary insights into T-cell signaling and activation. Although crucial for advancing basic immunology and immunotherapy, there is a notable absence of synthetic material toolkits that examine T cells at both levels, and especially those capable of single-molecule-level manipulation. Here we devise a biomimetic antigen-presenting system (bAPS) for single-cell stimulation and ensemble modulation of T-cell recognition...

Central pattern generators are small networks that contribute to generating animal locomotion. The models used to study gait generation and gait transition mechanisms often require biologically accurate neuron and synapse models, with high dimensionality and complex dynamics. Tuning the parameters of these models to elicit network dynamics compatible with gait features is not a trivial task, due to the impossibility of inferring a priori the effects of each parameter on the nonlinear system's emergent dynamics...

This paper proposes a generalized spring-loaded inverted pendulum (G-SLIP) model to explore various popular reduced-order dynamic models' characteristics and suggest a better robot leg design under specified performance indices. The G-SLIP model's composition can be varied by changing the model's parameters, such as ground contacting type and spring property. It can be transformed into four widely used models: the spring-loaded inverted pendulum (SLIP) model, the two-segment leg (TSL) model, the SLIP with rolling foot (SLIP-RF) model, and the rolling SLIP (R-SLIP) model...

PURPOSE: Using a commercial orthodontic treatment planning system, tooth movements were simulated to analyse how precise predefined movements can be determined by three different superimposition methods. Additionally, a retrospective analysis on clinical patient models before and after orthodontic treatment was performed to analyse possible differences in determination of clinical tooth movements with these methods. METHODS: (1) A hexapod system was used to perform the tooth movements in physical maxillary dental models (N = 70)...

This article investigates the stabilization issue of highly non-linear hybrid stochastic delayed networks (HSDNs) via periodic self-triggered control under impulse (PS-TCI). Firstly, the existence of a unique global solution for highly non-linear HSDNs under PS-TCI is studied. Then, a stabilization criterion for highly non-linear HSDNs is established, by combining a graph-theoretic approach with a novel Lyapunov-based analysis, based on a 'genuine' Lyapunov function defined by introducing an auxiliary timer...

Micro-hexapods, well-suited for navigating tight or uneven spaces and suitable for mass production, hold promise for exploration by robot groups, particularly in disaster scenarios. However, research on simultaneous localization and mapping (SLAM) for micro-hexapods has been lacking. Previous studies have not adequately addressed the development of SLAM systems considering changes in the body axis, and there is a lack of comparative evaluation with other movement mechanisms. This study aims to assess the influence of walking on SLAM capabilities in hexapod robots...

Synthesis of advanced structure and multiple heteroatom-doped carbon based heterostructure materials are the key to the preparation of high-performance energy storage electrode materials. Herein, the hexapod-shaped Co1-x S@NPSC has been triumphantly prepared using hexapod ZIF-67 as the sacrificial template to prepare Co1-x S inner core and N, P, and S tri-doped carbon (NPSC) as the shell through the carbonization of the organic polymer precursor. When applied as anode for Na+ batteries (SIBs) and K+ batteries (PIBs), Co1-x S@NPSC presents the high reversible specific capability of 747...

BACKGROUND: While conventional threaded implants (TI) have proven to be effective for replacing missing teeth, they have certain limitations in terms of diameter, length, and emergence profile when compared to customised root analogue implants (RAI). To further investigate the potential benefits of RAIs, the aim of this study was to experimentally evaluate the micromotion of RAIs compared to TIs. METHODS: A 3D model of tooth 47 (mandibular right second molar) was segmented from an existing cone beam computed tomography (CBCT), and a RAI was designed based on this model...

Diplura is a cryptic and edaphic group of hexapod animals characterized by the presence of filiform or pincer-like cerci located at the end of the abdomen. As one of the early diverging lineages of Hexapoda, diplurans play a crucial role in unraveling the origin of the hyperdiverse insects. The fossil record of diplurans, however, is exceptionally limited due to their delicate bodies and habitat requirements. Here we report the discovery of a new japygid, Cretojapyx huangi gen. et sp. nov., entombed in mid-Cretaceous Kachin amber (northern Myanmar)...