Magnetoactive Millirobots with Ternary Phase Transition.

Magnetoactive soft millirobots have made significant advances in programmable deformation, multimodal locomotion, and untethered manipulation in unreachable regions. However, the inherent limitations are manifested in the solid-phase millirobot as limited deformability and in the liquid-phase millirobot as low stiffness. Herein, we propose a ternary-state magnetoactive millirobot based on a phase transitional polymer embedded with magnetic nanoparticles. The millirobot can reversibly transit among the liquid, solid, and viscous-fluid phases through heating and cooling. The liquid-phase millirobot has elastic deformation and mobility for unimpeded navigation in a constrained space. The viscous-fluid phase millirobot shows irreversible deformation and large ductility. The solid-phase millirobot shows good shape stability and controllable locomotion. Moreover, the ternary-state magnetoactive millirobot can achieve prominent capabilities including stiffness change and shape reconfiguration through phase transition. The millirobot can perform potential functions of navigation in complex terrain, three-dimensional circuit connection, and simulated treatment in a stomach model. This magnetoactive millirobot may find new applications in flexible electronics and biomedicine.

Resolution enhancement via guided filtering for spatial-frequency multiplexing single-shot high-speed imaging.

The frequency recognition algorithm for multiple exposures (FRAME) is a progressive single-shot high-speed videography technique that employs the spatial-frequency multiplexing concept to provide high temporal and spatial resolution. However, the inherent crosstalk from the zero-frequency component to the carrier-frequency component leads to resolution degradation and artifacts. To improve recovered frames' quality, we propose a FRAME reconstruction method using guided filters for a removal of the zero-frequency component, which can minimize the artifacts while enhance spatial resolution. A total variation (TV) denoising operation is involved to remove artifacts further to achieve optimized performances. Simulations and experiments were conducted to demonstrate the robust and efficient post-processing capability of the proposed method. With a two-frame experimental system, the results of a USAF 1951 resolution target reveal a 1.8-fold improvement in spatial resolution from 16 lp/mm to 28.5 lp/mm. For complex dynamic scenarios, the wide field of high-speed fuel spray was shot and the proposed method can resolve two droplets with a 30 µm distance which outperforms the traditional method.

Magnetic Continuum Robot with Intraoperative Magnetic Moment Programming.

Magnetic continuum robots (MCRs), which are free of complicated structural designs for transmission, can be miniaturized and are therefore widely used in the medical field. However, the deformation shapes of different segments, including deflection directions and curvatures, are difficult to control simultaneously under an external programmable magnetic field. This is because the latest MCRs have designs with an invariable magnetic moment combination or profile of one or more actuating units. Therefore, the limited dexterity of the deformation shape causes the existing MCRs to collide readily with their surroundings or makes them unable to approach difficult-to-reach regions. These prolonged collisions are unnecessary or even hazardous, especially for catheters or similar medical devices. In this study, a novel magnetic moment intraoperatively programmable continuum robot (MMPCR) is introduced. By applying the proposed magnetic moment programming method, the MMPCR can deform under three modalities, that is, J, C, and S shapes. Additionally, the deflection directions and curvatures of different segments in the MMPCR can be modulated as desired. Furthermore, the magnetic moment programming and MMPCR kinematics are modeled, numerically simulated, and experimentally validated. The experimental results exhibit a mean deflection angle error of 3.3° and correspond well with simulation results. Comparisons between navigation capacities of the MMPCR and MCR demonstrate that the MMPCR has a higher capacity for dexterous deformation.

3D printable, tough, magnetic hydrogels with programmed magnetization for fast actuation.

Magnetic hydrogels have demonstrated great potential in soft robots, drug delivery, and bioengineering, and their functions are usually determined by the deforming capability. However, most magnetic hydrogels are embedded with soft magnetic particles (e.g. Fe3O4), where the magnetic domains cannot be programmed and retained under external magnetic fields. Here, we present a strategy to prepare a microgel-reinforced magnetic hydrogel, embedded with hard magnetic NdFeB particles. These magnetic hydrogels show outstanding mechanical properties (ultimate stretching ratio >15 and fracture toughness >15 000 J m-2) and fast actuation speed under external magnetic fields. We use direct ink writing to fabricate magnetic hydrogels with sophisticated geometry and program their magnetization to achieve complex deformations. Fast, reversible, shape-changing structures have been demonstrated with printed magnetic hydrogels. It is hoped that this material system of hard magnetic hydrogels can open opportunities for wide applications.

Simultaneous analysis 26 mineral element contents from highly consumed cultured chicken overexposed to arsenic trioxide by inductively coupled plasma mass spectrometry.

This study assessed the impacts of dietary arsenic trioxide (As2O3) on 26 mineral element contents in the liver and kidney of chicken. A total of 100 male Hy-line cocks were randomly divided into 2 groups (50 chickens in each group), including an arsenic-treated group (basic diet supplemented with As2O3 at 30 mg/kg) and a control group (basal diet). The feeding experiment lasted for 90 days and the experimental animals were given free access to feed and water. We determined 26 mineral elements in the liver and kidney by inductively coupled plasma mass spectrometry (ICP-MS). The results showed that nine element levels (Al, Mn, Co, Cu, Zn, Se, Cd, Ba, and Pb) were significantly decreased (P < 0.05) in the liver of chickens exposed to As2O3 compared to the control chickens where three element levels (Ni, As, and Hg) increased significantly (P < 0.05). The results in the kidney showed that nine element levels (Al, K, Ca, Cr, Mn, Ni, Sb, Ba, and Pb) were significantly decreased (P < 0.05) in the chickens exposed to As2O3 compared to the control chickens where four element levels (Mo, As, Cd, and Hg) increased significantly (P < 0.05). These results suggest that supplementation of high levels of arsenic affected trace mineral levels in the liver and kidney of chicken, and the effects vary from organ to organ. The aim of this study is to provide references for further study of heavy metal poisoning by detecting the contents of minerals induced by arsenic in chicken.

Rice protein suppresses ROS generation and stimulates antioxidant gene expression via Nrf2 activation in adult rats.

To elucidate the effects of rice protein on the detoxification and antioxidant defense via the Nuclear factor erythroid 2-related factor 2 (Nrf2) pathway, adult rats were fed casein and rice protein under cholesterol-free and -enriched dietary conditions. Nrf2 proteins and gene expressions were stimulated by rice proteins with respect to caseins accompanied by up-regulating the expression of gene encoding antioxidant and phase II detoxification in the rice protein groups. In the liver, compared with caseins, rice proteins significantly increased hepatic contents of reduced glutathione (GSH) and mRNA levels of glutamate cysteine ligase catalytic subunit (GCLC), glutamate cysteine ligase modulatory subunit (GCLM), glutathione S-transferase (GST), heme oxygenase 1 (HO-1) and NAD(P)H: quinone oxidoreductase 1 (NQO1), whereas hepatic accumulations of reactive oxygen species (ROS) and oxidized glutathione (GSSG) were markedly depressed in adult rats fed rice proteins. The present study demonstrates the endogenous antioxidant potential of rice proteins via mechanism through which Nrf2 activation plays an essential role in inducing Phase II antioxidants/detoxification enzymes and preventing ROS generation. This novel antioxidative function of rice protein is independent of dietary cholesterol during in adult rats.

Evaluated the Twenty-Six Elements in the Pectoral Muscle of As-Treated Chicken by Inductively Coupled Plasma Mass Spectrometry.

This study assessed the impacts of dietary arsenic trioxide on the contents of 26 elements in the pectoral muscle of chicken. A total of 100 Hy-line laying cocks were randomly divided into two groups (n = 50), including an As-treated group (basic diet supplemented with arsenic trioxide at 30 mg/kg) and a control group (basal diet). The feeding experiment lasted for 90 days and the experimental animals were given free access to feed and drinking water. The elements lithium (Li), boron (B), natrum (Na), magnesium (Mg), aluminium (AI), silicium (Si), kalium (K), calcium (Ca), vanadium (V), chromium (Cr), manganese (Mn), ferrum (Fe), cobalt (Co.), nickel (Ni), copper (Cu), zinc (Zn), arsenic (As), selenium (Se), molybdenum (Mo), cadmium (Cd), stannum (Sn), stibium (Sb), barium (Ba), hydrargyrum (Hg), thallium (Tl) and plumbum (Pb) in the pectoral muscles were determined using inductively coupled plasma mass spectrometry (ICP-MS). The resulted data indicated that Li, Na, AI, V, Cr, Mn, Fe, Co, Ni, Cu, Zn, Sn, Ba, Tl and Pb were significantly increased (P < 0.05) in chicken exposed to As2O3 compared to control chicken, while Mg, Si, K, As and Cd decreased significantly (P < 0.05). These results suggest that ICP-MS determination of elements in chicken tissues enables a rapid analysis with good precision and accuracy. Supplementation of high levels of As affected levels of 20 elements (Li, Na, AI, V, Cr, Mn, Fe, Co, Ni, Cu, Zn, Sn, Ba, Tl, Pb, Mg, Si, K, As and Cd) in the pectoral muscles of chicken. Thus, it is needful to monitor the concentration of toxic metal (As) in chicken for human health.