An improved comprehensive model for assessing the heavy metals exposure towards waterbirds: A case report from Black-necked cranes (Grus nigricollis) in Caohai Wetland, China.

Heavy metal contamination poses a significant environmental threat to wildlife on global scale, making accurate assessment of exposure risk crucial for conservation efforts, particularly for vulnerable species. Existing risk assessment models have been widely used, but their construction process lacks comprehensive considerations. In this study, we constructed an optimized health risk assessment model based on the well-established "Liu's model" and "ADI model", and applied the pollution allocation factor (AF) to accurately assess the risk of heavy metal exposure to wildlife. Our model was applied to assess exposure risk of heavy metal for the black-necked crane(Grus nigricollis), a flagship species in the alpine wetland ecosystem of Caohai Wetland. Soil, plant and black-necked crane fecal samples were collected from the Caohai Wetland and surrounding areas in Guizhou, China. We revealed varying degrees of As, Cd, Cr, Ni, Pb, and Zn contamination in soil and plants from different habitats, exceeding the background or plant limit values. This indicated that the black-necked crane and other waterbirds living in Caohai Wetland are suffering with the multi-elemental heavy metal contamination, especially in the gutterway and grassland. The exposure dose of As, Cd, Cr, Ni, Cu, and Zn toward black-necked cranes differed significantly in soil and plant pathways (P < 0.05). As, Cd, Cu, and Zn were mainly derived from plants consumption, while Cr and Ni originated from soil. Considering the contribution of soil and plant pathways to heavy metal exposure in black-necked cranes, the exposure doses of each elements calculated via food intake accounted for over half of the exposure calculated via feces (AF>0.5). The risk assessment model identified Cr and Pb were the highest risk elements for black-necked cranes, with exposure risk simulated through feces exceeding those through food. These findings suggested that current Liu's model may underestimate the effects of other pathways and medium. Therefore, we proposed a more comprehensive and accurate model for evaluating the exposure risk of black-necked cranes, incorporating AF to quantify the contribution of risk sources to black-necked cranes and understand their overall health risk. This model can serve as a useful tool for the conservation and habitat quality improvement of the black-necked cranes and other waterbirds.

Integrated computer-aided engineering and design for DNA assemblies.

Recently, DNA has been used to make nanodevices for a myriad of applications across fields including medicine, nanomanufacturing, synthetic biology, biosensing and biophysics. However, current DNA nanodevices rely primarily on geometric design, and it remains challenging to rationally design functional properties such as force-response or actuation behaviour. Here we report an iterative design pipeline for DNA assemblies that integrates computer-aided engineering based on coarse-grained molecular dynamics with a versatile computer-aided design approach that combines top-down automation with bottom-up control over geometry. This intuitive framework allows for rapid construction of large, multicomponent assemblies from three-dimensional models with finer control over the geometrical, mechanical and dynamical properties of the DNA structures in an automated manner. This approach expands the scope of structural complexity and enhances mechanical and dynamic design of DNA assemblies.

Carbon Black/PDMS Based Flexible Capacitive Tactile Sensor for Multi-Directional Force Sensing.

Flexible sensing tends to be widely exploited in the process of human-computer interactions of intelligent robots for its contact compliance and environmental adaptability. A novel flexible capacitive tactile sensor was proposed for multi-directional force sensing, which is based on carbon black/polydimethylsiloxane (PDMS) composite dielectric layer and upper and lower electrodes of carbon nanotubes/polydimethylsiloxane (CNTs/PDMS) composite layer. By changing the ratio of carbon black, the resolution of carbon black/PDMS composite layer increases at 4 wt%, and then decreases, which was explained according to the percolation theory of the conductive particles in the polymer matrix. Mathematical model of force and capacitance variance was established, which can be used to predict the value of the applied force. Then, the prototype with carbon black/PDMS composite dielectric layer was fabricated and characterized. SEM observation was conducted and a ratio was introduced in the composites material design. It was concluded that the resolution of carbon sensor can reach 0.1 N within 50 N in normal direction and 0.2 N in 0-10 N in tangential direction with good stability. Finally, the multi-directional force results were obtained. Compared with the individual directional force results, the output capacitance value of multi-directional force was lower, which indicated the amplitude decrease in capacity change in the normal and tangential direction. This might be caused by the deformation distribution in the normal and tangential direction under multi-directional force.

A Novel Wearable Soft Glove for Hand Rehabilitation and Assistive Grasping.

In order to assist patients with finger rehabilitation training and grasping objects, we propose a new type of soft rehabilitation gloves (SRGs), which has both flexion/extension and abduction/adduction movement function for every finger. This paper describes the structure design of the bending actuator and rotating actuator, the fabrication process of the soft actuator, and the implementation of the soft wearable gloves based on a fabric glove. FEM simulation analysis and experiments were conducted to characterize the mechanical behavior and performance of the soft glove in terms of the angle output and force output upon pressurization. To operate this soft wearable glove, we designed the hardware system for SRGs with a flexible strain sensor and force sensor in the loop and introduced a force/position hybrid PID control algorithm to regulate the pressure inputted. Experiment evaluation focused on rehabilitation training gestures; motions and the precise grasping assistance function were executed. The rotating actuator between each finger can supply abduction/adduction motion manner for patients, which will improve rehabilitation effect. The experimental results demonstrated that the developed SRGs have the potential to improve hand movement freedom and the range of grasping successfully.

Model Analysis and Experimental Investigation of Soft Pneumatic Manipulator for Fruit Grasping.

With the superior ductility and flexibility brought by compliant bodies, soft manipulators provide a nondestructive manner to grasp delicate objects, which has been developing gradually as a rising focus of soft robots. However, the unexpected phenomenon caused by environmental effects, leading to high internal nonlinearity and unpredictable deformation, makes it challenging to design, model, and control soft manipulators. In this paper, we designed a soft pneumatically actuated manipulator consisting of four soft actuators, as well as a flange, and investigated the influence of structural parameters on the output characteristics of the manipulator through finite element analysis (FEA). To enhance the bending deformation of the soft actuator, annular rings were employed on the soft actuator. A mathematical model for the bending deformation of air cavities was established to explore the relationship between the driving pressure and the bending angle based on the Yeoh strain energy function. Moreover, an end-output force model was established to depict the variation of the force output with the bending angle of the soft actuator, which was then experimentally validated by adopting the manufactured manipulator. The soft actuator studied in this paper can bend from 0° to 110° under an applied pressure of 0-60 kPa, and the maximum grasping load of the soft manipulator is 5.8 N. Finally, practical tests were conducted to assess the adaptability of the soft manipulator when grasping delicate fruits, such as apples, pears, tomatoes, and mangoes, demonstrating its broad application prospects in nondestructive fruit harvesting.

Drivers' Spatio-Temporal Attentional Distributions Are Influenced by Vehicle Dynamics and Displayed Point of View.

OBJECTIVE: The aim of this study is to measure drivers' attention to preview and their velocity and acceleration tracking error to evaluate two- and three-dimensional displays for following a winding roadway. BACKGROUND: Display perturbation techniques and Fourier analysis of steering movements can be used to infer drivers' spatio-temporal distribution of attention to preview. Fourier analysis of tracking error time histories provides measures of position, velocity, and acceleration error. METHOD: Participants tracked a winding roadway with 1 s of preview in low-fidelity driving simulations. Position and rate-aided vehicle dynamics were paired with top-down and windshield displays of the roadway. RESULTS: For both vehicle dynamics, tracking was smoother with the windshield display. This display emphasizes nearer preview positions and has a closer correspondence to the control-theoretic optimal attentional distributions for these tasks than the top-down display. This correspondence is interpreted as a form of stimulus-response compatibility. The position error and attentional signal-to-noise ratios did not differ between the two displays with position control, but with more complex rate-aided control much higher position error and much lower attentional signal-to-noise ratios occurred with the top-down display. CONCLUSION: Display-driven influences on the distribution of attention may facilitate tracking with preview when they are similar to optimal attentional distributions derived from control theory. APPLICATION: Display perturbation techniques can be used to assess spatially distributed attention to evaluate displays and secondary tasks in the context of driving. This methodology can supplement eye movement measurements to determine what information is guiding drivers' actions.

High ectoine production by an engineered Halomonas hydrothermalis Y2 in a reduced salinity medium.

BACKGROUND: As an attracted compatible solute, 1,4,5,6-tetrahydro-2-methyl-4-pyrimidinecarboxylic acid (ectoine) showed great potentials in various field. However, lower productivity and high saline medium seriously hinder its wide applications. RESULTS: The entire ectoine metabolism, including pathways for ectoine synthesis and catabolism, was identified in the genome of an ectoine-excreting strain Halomonas hydrothermalis Y2. By in-frame deletion of genes encoding ectoine hydroxylase (EctD) and (or) ectoine hydrolase (DoeA) that responsible for ectoine catabolism, the pathways for ectoine utilization were disrupted and resulted in an obviously enhanced productivity. Using an optimized medium containing 100 g L-1 NaCl in a 500-mL flask, the double mutant of Y2/ΔectD/ΔdoeA synthesized 3.13 g L-1 ectoine after 30 h cultivation. This is much higher than that of the wild type strain (1.91 g L-1), and also exceeds the production of Y2/ΔectD (2.21 g L-1). The remarkably enhanced accumulation of ectoine by Y2/ΔectD/ΔdoeA implied a critical function of Doe pathway in the ectoine catabolism. Furthermore, to reduce the salinity of fermentation medium and overcome the wastewater treatment difficulty, mutants that lacking key Na+/H+ antiporter, Mrp and (or) NhaD2, were constructed based on strain Y2/ΔectD/ΔdoeA. As a result, the Mrp-deficient strain could synthesize equal amount of ectoine (around 7 g L-1 or 500 mg (g DCW) -1) in the medium containing lower concentration of NaCl. During a fed-batch fermentation process with 60 g L-1 NaCl stress, a maximum 10.5 g L-1 ectoine was accumulated by the Mrp-deficient strain, with a specific production of 765 mg (g DCW)-1 and a yield of 0.21 g g-1 monosodium glutamate. CONCLUSION: The remarkably enhanced production of ectoine by Y2/ΔectD/ΔdoeA implied the critical function of Doe pathway in the ectoine catabolism. Moreover, the reduced salinity requirement of Mrp-deficient strain implied a feasible protocol for many compatible solute biosynthesis, i.e., by silencing some Na+/H+ antiporters in their halophilic producers and thus lowering the medium salinity.

Paper Origami-Inspired Design and Actuation of DNA Nanomachines with Complex Motions.

Significant progress in DNA nanotechnology has accelerated the development of molecular machines with functions like macroscale machines. However, the mobility of DNA self-assembled nanorobots is still dramatically limited due to challenges with designing and controlling nanoscale systems with many degrees of freedom. Here, an origami-inspired method to design transformable DNA nanomachines is presented. This approach integrates stiff panels formed by bundles of double-stranded DNA connected with foldable creases formed by single-stranded DNA. To demonstrate the method, a DNA version of the paper origami mechanism called a waterbomb base (WBB) consisting of six panels connected by six joints is constructed. This nanoscale WBB can follow four distinct motion paths to transform between five distinct configurations including a flat square, two triangles, a rectangle, and a fully compacted trapezoidal shape. To achieve this, the sequence specificity of DNA base-pairing is leveraged for the selective actuation of joints and the ion-sensitivity of base-stacking interactions is employed for the flattening of joints. In addition, higher-order assembly of DNA WBBs into reconfigurable arrays is achieved. This work establishes a foundation for origami-inspired design for next generation synthetic molecular robots and reconfigurable nanomaterials enabling more complex and controllable motion.

Ultralong TiO2 (B) Nanowires/TiO2 Nanoparticles Composites for Rapid Electron Transport in Dye-Sensitized Solar Cells.

The relatively small electron diffusion coefficient and high charge recombination rate of TiO2 nanoparticle (NP) film limit charge collection in TiO2 NP based dye-sensitized solar cells (DSSCs). Herein, ultralong bending TiO2 (B) nanowires (NWs) were introduced to TiO2 NP photoanode and expected to modify electron transport of DSSCs. The TiO2 (B) NWs/TiO2 NP composite structure was prepared by a facial process combining the stirring hydrothermal method with mechanical mixing method. When the composite structure was applied to DSSCs, the rapid electron transport pathway was formed in photoanode, which was clarified by the small electron transport resistance and long electron diffusion length, improving the charge collection efficiency. Moreover, the scattering effect of TiO2 (B) NWs could enhance the light harvesting, and thus improve the power conversion efficiency (PCE) of DSSCs. The excellent electronic and optical characteristics of TiO2 (B) NWs yield the maximum enhancement of PCE (36.4%) when 50% (wt.%) TiO2 (B) NWs was integrated into TiO2 NP based DSSC. The work provides new insights into the design and tailoring nanowires to enhance the PCE of DSSCs for practical applications.

Programmable motion of DNA origami mechanisms.

DNA origami enables the precise fabrication of nanoscale geometries. We demonstrate an approach to engineer complex and reversible motion of nanoscale DNA origami machine elements. We first design, fabricate, and characterize the mechanical behavior of flexible DNA origami rotational and linear joints that integrate stiff double-stranded DNA components and flexible single-stranded DNA components to constrain motion along a single degree of freedom and demonstrate the ability to tune the flexibility and range of motion. Multiple joints with simple 1D motion were then integrated into higher order mechanisms. One mechanism is a crank-slider that couples rotational and linear motion, and the other is a Bennett linkage that moves between a compacted bundle and an expanded frame configuration with a constrained 3D motion path. Finally, we demonstrate distributed actuation of the linkage using DNA input strands to achieve reversible conformational changes of the entire structure on ∼ minute timescales. Our results demonstrate programmable motion of 2D and 3D DNA origami mechanisms constructed following a macroscopic machine design approach.

Direct design of an energy landscape with bistable DNA origami mechanisms.

Structural DNA nanotechnology provides a feasible technique for the design and fabrication of complex geometries even exhibiting controllable dynamic behavior. Recently we have demonstrated the possibility of implementing macroscopic engineering design approaches to construct DNA origami mechanisms (DOM) with programmable motion and tunable flexibility. Here, we implement the design of compliant DNA origami mechanisms to extend from prescribing motion to prescribing an energy landscape. Compliant mechanisms facilitate motion via deformation of components with tunable stiffness resulting in well-defined mechanical energy stored in the structure. We design, fabricate, and characterize a DNA origami nanostructure with an energy landscape defined by two stable states (local energy minima) separated by a designed energy barrier. This nanostructure is a four-bar bistable mechanism with two undeformed states. Traversing between those states requires deformation, and hence mechanical energy storage, in a compliant arm of the linkage. The energy barrier for switching between two states was obtained from the conformational distribution based on a Boltzmann probability function and closely follows a predictive mechanical model. Furthermore, we demonstrated the ability to actuate the mechanism into one stable state via additional DNA inputs and then release the actuation via DNA strand displacement. This controllable multistate system establishes a foundation for direct design of energy landscapes that regulate conformational dynamics similar to biomolecular complexes.

High electrocatalytic and wettable nitrogen-doped microwave-exfoliated graphene nanosheets as counter electrode for dye-sensitized solar cells.

In this paper, high electrocatalytic and wettable nitrogen-doped microwave-exfoliated graphene (N-MEG) nanosheets are used as Pt-free counter electrode (CE) for dye-sensitized solar cells (DSSCs). A low cost solution-based process is developed by using cyanamide (NH2 CN) at room temperature and normal pressure. The pyrrolic and pyridinic N atoms are doped into the carbon conjugated lattice to enhance electrocatalytic activity. N-MEG film having N-doping active sites and large porosity provides a wettable surface to facilitate electrolyte diffusion so that improves fill factor. Moreover, the control of the air exposure time after completing N-MEG film is found to be crucial to obtain a reliable N-MEG CE. A high DSSC efficiency up to 7.18% can be achieved based on N-MEG CE, which is nearly comparable to conventional Pt CE.

A new odorous frog species of Odorrana (Amphibia, Anura, Ranidae) from Guizhou Province, China.

The frog genus Odorrana is distributed across east and southeastern Asia. Based on morphological differences and molecular phylogenetics, a new species of the genus occurring from Leigong Mountain in Guizhou Province, China is described. Phylogenetic analyses based on DNA sequences of the mitochondrial 12S rRNA, 16S rRNA, and ND2 genes supported the new species as an independent lineage. The uncorrected genetic distances between the 12S rRNA, 16S rRNA, and ND2 genes between the new species and its closest congener were 5.0%, 4.9%, and 16.3%, respectively. The new species is distinguished from its congeners by a combination of the following characters: body size moderate (SVL 39.1-49.4 mm in males, 49.7 mm in female); head width larger than head length; tympanum distinctly visible; small rounded granules scattered all over dorsal body and limbs; dorsolateral folds absent; heels overlapping when thighs are positioned at right angles to the body; tibiotarsal articulation reaching the level between eye to nostril when leg stretched forward; vocal sacs absent in male and nuptial pads present on the base of finger I.

Acoustic difference in advertisement calls among two sympatric Boulenophrys species: A confirmatory case to acoustic niche hypothesis and morphological constraint hypothesis.

In anurans, acoustic communication is the most important form of communication at the interspecific and intraspecific levels. Acoustic diagnostic features may be a potential alternative to morphometric and molecular diagnostics. Here, we assessed the variations in advertisement calls between two sympatric species, Boulenophrys leishanensis and Boulenophrys spinata, that share their breeding season and breeding sites. In addition, we investigated any potential relationships between call parameters and body size. We found that the advertisement calls of both species are simple calls. The two species exhibited significant differences in all call parameters. Both B. leishanensis and B. spinata showed a significant negative correlation with their body size on dominant frequency. These differences in call parameters may play an important role in interspecific recognition. Additionally, because intraspecific acoustic variation reflects body size, calls may be relevant for sexual selection. Our study supports the acoustic niche hypothesis and the morphological constraint hypothesis and calls are a valid tool for distinguishing between the two species of Boulenophrys in the field.

Winter Dietary Analysis Reveals the Foraging Differences of Wild Boar (Sus scrofa) in Different Regions of a Karst Mountainous Area.

Wild boars (Sus scrofa) are extremely common in southern China, but little study has been conducted regarding reporting the dietary habits of wild boars using high-throughput sequencing technology, especially in karst areas, due to the difficulty in obtaining stomach contents of wild boars. In our study, the stomach contents of 14 wild boars in southern China were analyzed by DNA metabarcoding. The results showed that there were 153 genera, 93 families, and 48 orders of plant food sources for wild boars. The main plant food component were Cissus, Dioscorea, Quercus, Actinidia, and Houttuynia. The most numerous taxa of animal food sources were Elaphodus, Amynthas, Chonaphe, Rattus, and Tanytarsus. It is noteworthy that Elaphodus cephalophus were detected in most of the stomach samples, accounting for a large portion of animal food sources. The results showed that there were significant differences in the diets of wild boars in different regions; however, no significant differences were noted between male and female wild boars. Our study revealed the dietary preference of wild boars under the special forest conditions in the mountainous area of southwest China, as well as the relationship between the dietary habits of wild boars and their habitats from the perspective of resource utilization, thus providing a key scientific basis for the prevention and control of wild boars, along with resource protection.

Host genetic background rather than diet-induced gut microbiota shifts of sympatric black-necked crane, common crane and bar-headed goose.

Introduction: Gut microbiota of wild birds are affected by many factors, and host genetic background and diet are considered to be two important factors affecting their structure and function. Methods: In order to clarify how these two factors influence the gut microbiota, this study selected the sympatric and closely related and similar-sized Black-necked Crane (Grus nigricollis) and Common Crane (Grus grus), as well as the distantly related and significantly different-sized Bar-headed Goose (Anser indicus). The fecal samples identified using sanger sequencing as the above three bird species were subjected to high-throughput sequencing of rbcL gene and 16S rRNA gene to identify the feeding types phytophagous food and gut microbiota. Results: The results showed significant differences in food diversity between black-necked cranes and Common Cranes, but no significant differences in gut microbiota, Potatoes accounted for approximately 50% of their diets. Bar-headed Geese mainly feed on medicinal plants such as Angelica sinensis, Alternanthera philoxeroides, and Ranunculus repens. Black-necked cranes and Common Cranes, which have a high-starch diet, have a similar degree of enrichment in metabolism and synthesis functions, which is significantly different from Bar-headed Geese with a high-fiber diet. The differences in metabolic pathways among the three bird species are driven by food. The feeding of medicinal plants promotes the health of Bar-headed Geese, indicating that food influences the functional pathways of gut microbiota. Spearman analysis showed that there were few gut microbiota related to food, but almost all metabolic pathways were related to food. Conclusion: The host genetic background is the dominant factor determining the composition of the microbiota. Monitoring the changes in gut microbiota and feeding types of wild birds through bird feces is of great reference value for the conservation of other endangered species.

The Food Niche Overlap and Interspecific Relationship between the Sympatric Tibetan Macaque and Grey Snub-Nosed Monkey.

Assessing the trophic niche and interspecific relationships between related species and determining how the species maintain differences in nutritional niches while coexisting in the same area are important topics in ecological research. Therefore, exploring the mechanism of food resource utilization, competition and coexistence among species distributed in the same region is important. In this study, we used fecal samples and metagenome sequencing technology to study the plant feeding habits and coexistence mechanisms of Tibetan macaques (Macaca thibetana) and grey snub-nosed monkeys (Rhinopithecus brelichi) within the same area. In the winter of 2020, we collected a total of 40 fecal samples from Tibetan macaques and grey snub-nosed monkeys; of those, 29 samples were considered valid and were analyzed using DNA metabarcoding. The results showed that in winter, Tibetan macaques consumed plants from 117 families and 184 genera, whereas grey snub-nosed monkeys consumed plants from 109 families and 165 genera. Diversity analysis revealed that there was a significant difference in the food composition of Tibetan macaques and grey snub-nosed monkeys. Tibetan macaques had a broader food niche width than grey snub-nosed monkeys at the family and genus levels. In winter, the food niches of Tibetan macaques and grey snub-nosed monkeys almost entirely overlapped (0.99). Our research provides detailed dietary data for Tibetan macaques and grey snub-nosed monkeys and valuable information that can aid in conservation efforts targeting these species.

DNA origami tubes with reconfigurable cross-sections.

Structural DNA nanotechnology has enabled the design and construction of complex nanoscale structures with precise geometry and programmable dynamic and mechanical properties. Recent efforts have led to major advances in the capacity to actuate shape changes of DNA origami devices and incorporate DNA origami into larger assemblies, which open the prospect of using DNA to design shape-morphing assemblies as components of micro-scale reconfigurable or sensing materials. Indeed, a few studies have constructed higher order assemblies with reconfigurable devices; however, these demonstrations have utilized structures with relatively simple motion, primarily hinges that open and close. To advance the shape changing capabilities of DNA origami assemblies, we developed a multi-component DNA origami 6-bar mechanism that can be reconfigured into various shapes and can be incorporated into larger assemblies while maintaining capabilities for a variety of shape transformations. We demonstrate the folding of the 6-bar mechanism into four different shapes and demonstrate multiple transitions between these shapes. We also studied the shape preferences of the 6-bar mechanism in competitive folding reactions to gain insight into the relative free energies of the shapes. Furthermore, we polymerized the 6-bar mechanism into tubes with various cross-sections, defined by the shape of the individual mechanism, and we demonstrate the ability to change the shape of the tube cross-section. This expansion of current single-device reconfiguration to higher order scales provides a foundation for nano to micron scale DNA nanotechnology applications such as biosensing or materials with tunable properties.

The diversity of resident passerine bird in the East Yunnan-Kweichow Plateau is closely related to plant species richness, vertical altitude difference and habitat area.

East Yunnan-Kweichow Plateau is rich in biodiversity in China. Complex geographical and climatic conditions and rich bird resources made this area an ideal system for studying the spatial distribution mechanism and influencing factors of birds, which were still unknown. Bird community data from 37 sites in this region were collected, including 505 bird species and 164 species of resident passerine bird, were extracted for analysis. The taxonomic diversity, phylogenetic diversity, functional diversity (FD), and community structure index were calculated. Ordinary least square (OLS), spatial autoregressive models (SAR), and structural equation model (SEM) were used to explore the relationship between bird diversity index and environmental factors which were used to describe the habitat conditions of birds. Results indicated that species richness (SR), phylogenetic diversity (PD), and FD have similar distribution patterns and are mainly affected by vascular plant species richness, habitat area, and vertical altitude difference. The phylogenetic and functional structure of bird community changed in both longitude and latitude direction, and the phylogenetic structure of community was dispersed in the west and clustered in the east, significantly related to habitat area, and vertical altitude difference, the functional structure was dispersed in all sites, significantly related to average annual precipitation. The community in the west and south of the East Yunnan-Kweichow Plateau is mainly driven by interspecific competitive, while the process in the east and north is mainly driven by environmental filtration. Distribution pattern of bird diversity was caused by the comprehensive action of various habitat factors which were mainly related to food availability and habitat heterogeneity. For maintaining the living space of birds, the protection of urban parks, wetland parks, campuses, and other urban green spaces is as important as national and provincial nature reserves. Revealing the construction mechanism and main influencing factors of bird communities in different areas is conducive to targeted protection work.

A Symbolic Formulation for Analytical Compliance Analysis and Synthesis of Flexure Mechanisms.

This paper presents a symbolic formulation for analytical compliance analysis and synthesis of flexure mechanisms with serial, parallel, or hybrid topologies. Our approach is based on the screw theory that characterizes flexure deformations with motion twists and loadings with force wrenches. In this work, we first derive a symbolic formulation of the compliance and stiffness matrices for commonly used flexure elements, flexure joints, and simple chains. Elements of these matrices are all explicit functions of flexure parameters. To analyze a general flexure mechanism, we subdivide it into multiple structural modules, which we identify as serial, parallel, or hybrid chains. We then analyze each module with the known flexure structures in the library. At last, we use a bottom-up approach to obtain the compliance/stiffness matrix for the overall mechanism. This is done by taking appropriate coordinate transformation of twists and wrenches in space. Four practical examples are provided to demonstrate the approach. A numerical example is employed to compare analytical compliance models against a finite element model. The results show that the errors are sufficiently small (2%, compared with finite element (FE) model), if the range of motion is limited to linear deformations. This work provides a systematical approach for compliance analysis and synthesis of general flexure mechanisms. The symbolic formulation enables subsequent design tasks, such as compliance synthesis or sensitivity analysis.