Applications of a vacuum-actuated multi-material hybrid soft gripper: lessons learnt from RoboSoft manipulation challenge.

Soft grippers are garnering increasing attention for their adeptness in conforming to diverse objects, particularly delicate items, without warranting precise force control. This attribute proves especially beneficial in unstructured environments and dynamic tasks such as food handling. Human hands, owing to their elevated dexterity and precise motor control, exhibit the ability to delicately manipulate complex food items, such as small or fragile objects, by dynamically adjusting their grasping configurations. Furthermore, with their rich sensory receptors and hand-eye coordination that provide valuable information involving the texture and form factor, real-time adjustments to avoid damage or spill during food handling appear seamless. Despite numerous endeavors to replicate these capabilities through robotic solutions involving soft grippers, matching human performance remains a formidable engineering challenge. Robotic competitions serve as an invaluable platform for pushing the boundaries of manipulation capabilities, simultaneously offering insights into the adoption of these solutions across diverse domains, including food handling. Serving as a proxy for the future transition of robotic solutions from the laboratory to the market, these competitions simulate real-world challenges. Since 2021, our research group has actively participated in RoboSoft competitions, securing victories in the Manipulation track in 2022 and 2023. Our success was propelled by the utilization of a modified iteration of our Retractable Nails Soft Gripper (RNSG), tailored to meet the specific requirements of each task. The integration of sensors and collaborative manipulators further enhanced the gripper's performance, facilitating the seamless execution of complex grasping tasks associated with food handling. This article encapsulates the experiential insights gained during the application of our highly versatile soft gripper in these competition environments.

Soft Robotics: A Route to Equality, Diversity, and Inclusivity in Robotics.

Robotics is entering our daily lives. The discipline is increasingly crucial in fields such as agriculture, medicine, and rescue operations, impacting our food, health, and planet. At the same time, it is becoming evident that robotic research must embrace and reflect the diversity of human society to address these broad challenges effectively. In recent years, gender inclusivity has received increasing attention, but it still remains a distant goal. In addition, awareness is rising around other dimensions of diversity, including nationality, religion, and politics. Unfortunately, despite the efforts, empirical evidence shows that the field has still a long way to go before achieving a sufficient level of equality, diversity, and inclusion across these spectra. This study focuses on the soft robotics community-a growing and relatively recent subfield-and it outlines the present state of equality and diversity panorama in this discipline. The article argues that its high interdisciplinary and accessibility make it a particularly welcoming branch of robotics. We discuss the elements that make this subdiscipline an example for the broader robotic field. At the same time, we recognize that the field should still improve in several ways and become more inclusive and diverse. We propose concrete actions that we believe will contribute to achieving this goal, and provide metrics to monitor its evolution.

Supramolecular Peptide Self-Assemblies Facilitate Oral Immunization.

Oral immunization is a promising strategy for preventing and treating gastrointestinal (GI) infections and diseases, as it allows for direct access to the disease site. To elicit immune responses within the GI tract, however, there are many obstacles that oral vaccines must surmount, including proteolytic degradation and thick mucus barriers. Here, we employed a modular self-assembling peptide nanofiber platform to facilitate oral immunization against both peptide and small molecule epitopes. Synthesizing nanofibers with d-amino acids rendered them resistant to proteases in vitro, whereas l-amino acid nanofibers were rapidly degraded. Additionally, the inclusion of peptide sequences rich in proline, alanine, and serine (PAS), increased nanofiber muco-penetration, and accelerated nanofiber transport through the GI tract. Oral immunization with PASylated nanofibers and mucosal adjuvant generated local and systemic immune responses to a peptide epitope but only for l-amino acid nanofibers. Further, we were able to apply this design to also enable oral immunization against a small molecule epitope and illustrated the therapeutic and prophylactic effectiveness of these immunizations in mouse models of colitis. These findings demonstrate that supramolecular peptide self-assemblies have promise as oral vaccines and immunotherapies.

A Multimodal, Reconfigurable Workspace Soft Gripper for Advanced Grasping Tasks.

A new generation of soft functional materials and actuator designs has ushered the development of highly advanced soft grippers as adaptive alternatives to traditional rigid end-effectors for grasping and manipulation applications. While being advantageous over their rigid counterparts, soft gripper capabilities such as contact effort are mostly a consequence of the gripper workspace, which in turn is largely constrained by the gripper design. Moreover, soft grippers designed for highly specific grasping tasks such as scooping grains or wide payloads are usually limited in grasping other payload types or in their manipulation versatility. This article describes a reconfigurable workspace soft (RWS) gripper that exploits compliant structures and pneumatic actuators to reconfigure its workspace to suit a wide range of grasping tasks. To achieve desired kinematics, finite element analysis (FEA) studies are conducted to dictate actuator design and materials used. Various grasping modes and their reconfiguration of the gripper workspace are presented and characterized, including the gripper's capability to reliably scoop granular items with radii as small as 1.5 mm, precisely pick items as thin as 300 µm from flat surfaces, as well as grasp large convex, nonconvex, and deformable items as heavy as 1.4 kg. The RWS gripper can modify and increase its grasping workspace volume by 397%, enabling the widest range of grasping capabilities to date achieved by a single soft gripper.

Importancia del estigma en epilepsia / Importance of Stigma in Epilepsy

Resumen El estigma es un fenómeno caracterizado por una respuesta negativa hacia una persona poseedora de un atributo diferente dentro del grupo social en el que se desarrolla. Se han descrito dos tipos de estigma: el percibido (sentido o interiorizado) y el promovido (social o promulgado). Dentro de las enfermedades con más carga asociada a estigma se encuentra la epilepsia, una de las enfermedades neurológicas más prevalentes a nivel mundial y de curso crónico. En los últimos años, se ha mostrado mayor interés en el estudio de este fenómeno, ya que afecta de manera directa la calidad de vida de las personas con epilepsia, influyendo en su desarrollo personal, escolar, laboral y pronóstico.

Abstract Stigma is a phenomenon characterized by a negative response to a person possessing a different attribute within the social group it develops. Two types of stigmas have been described: perceived (felt) and promoted (enacted). Among the diseases with the greatest burden associated with stigma is epilepsy, one of the most prevalent neurological diseases worldwide and with a chronic course. In recent years, greater interest has been shown in the study of this phenomenon since it directly affects the quality of life of people with epilepsy, influencing their personal, academic and work development and prognosis.

FASSVid: Fast and Accurate Semantic Segmentation for Video Sequences.

Most of the methods for real-time semantic segmentation do not take into account temporal information when working with video sequences. This is counter-intuitive in real-world scenarios where the main application of such methods is, precisely, being able to process frame sequences as quickly and accurately as possible. In this paper, we address this problem by exploiting the temporal information provided by previous frames of the video stream. Our method leverages a previous input frame as well as the previous output of the network to enhance the prediction accuracy of the current input frame. We develop a module that obtains feature maps rich in change information. Additionally, we incorporate the previous output of the network into all the decoder stages as a way of increasing the attention given to relevant features. Finally, to properly train and evaluate our methods, we introduce CityscapesVid, a dataset specifically designed to benchmark semantic video segmentation networks. Our proposed network, entitled FASSVid improves the mIoU accuracy performance over a standard non-sequential baseline model. Moreover, FASSVid obtains state-of-the-art inference speed and competitive mIoU results compared to other state-of-the-art lightweight networks, with significantly lower number of computations. Specifically, we obtain 71% of mIoU in our CityscapesVid dataset, running at 114.9 FPS on a single NVIDIA GTX 1080Ti and 31 FPS on the NVIDIA Jetson Nano embedded board with images of size 1024×2048 and 512×1024, respectively.

Amanita Section Phalloideae Species in the Mediterranean Basin: Destroying Angels Reviewed.

In Europe, amatoxin-containing mushrooms are responsible for most of the deadly poisonings caused by macrofungi. The present work presents a multidisciplinary revision of the European species of Amanita sect. Phalloideae based on morphology, phylogeny, epidemiology, and biochemistry of amatoxins and phallotoxins. Five distinct species of this section have been identified in Europe to date: A. phalloides, A. virosa, A. verna, the recently introduced North American species A. amerivirosa, and A. vidua sp. nov., which is a new name proposed for the KOH-negative Mediterranean species previously described as A. verna or A. decipiens by various authors. Epitypes or neotypes are selected for species lacking suitable reference collections, namely A. verna and A. virosa. Three additional taxa, Amanita decipiens, A. porrinensis, and A. virosa var. levipes are here considered later heterotypic synonyms of A. verna, A. phalloides, and A. amerivirosa, respectively.

A Novel Framework for Generating Personalized Network Datasets for NIDS Based on Traffic Aggregation.

In this paper, we addressed the problem of dataset scarcity for the task of network intrusion detection. Our main contribution was to develop a framework that provides a complete process for generating network traffic datasets based on the aggregation of real network traces. In addition, we proposed a set of tools for attribute extraction and labeling of traffic sessions. A new dataset with botnet network traffic was generated by the framework to assess our proposed method with machine learning algorithms suitable for unbalanced data. The performance of the classifiers was evaluated in terms of macro-averages of F1-score (0.97) and the Matthews Correlation Coefficient (0.94), showing a good overall performance average.

Deep Brain Stimulation for Refractory Temporal Lobe Epilepsy. Current Status and Future Trends.

A comparative analysis of the targets for deep brain stimulation (DBS) to treat refractory temporal lobe epilepsy and the rationale for its use is presented, with an emphasis on the latency to obtain the significant antiepileptic effect and the long-term seizure control. The analysis includes consideration of surgical techniques currently used to optimize antiseizure effects and decrease surgical risks. Seizure control is similar for programed DBS and DBS responsive to abnormal cortical or subcortical electroencephalogram (EEG) activity. There is no difference in the long-term seizure control between programmed and responsive and intermittent or continuous DBS. However, intermittent programed DBS may have a significant antiseizure effect starting in the first month when applied to a non-sclerotic tissue such as the parahippocampal cortex. DBS induces no neuropsychological deterioration.

Optimizing deep brain stimulation for the treatment of drug-resistant temporal lobe epilepsy: a pilot study.

OBJECTIVE: The authors sought to determine the antiseizure effects of deep brain stimulation (DBS) of the parahippocampal cortex (PHC) for treatment of drug-resistant mesial temporal lobe epilepsy (MTLE). METHODS: After a 3-month baseline period, 6 adult patients with drug-resistant MTLE and hippocampal sclerosis (HS) had stereoelectroencephalography (SEEG)-DBS electrodes implanted at the PHC for identification of the seizure onset zone (SOZ). Patients entered an 8-month, randomized, double-blind protocol for DBS, followed by a 12-month open-phase study. Monthly reports of seizure frequency were collected, with separate counting of focal seizures with or without awareness impairment (focal impaired awareness seizures [FIAS] or focal aware seizures [FAS], respectively) and focal evolving to bilateral generalized tonic clonic seizures (GTCS). Stimulation parameters were 130 Hz, 450 µsec, 2.5-3 V, and cyclic stimulation 1 minute on/4 minutes off. RESULTS: The total seizure rate decrement during follow-up was 41% (CI 25%-56%), with better seizure control for GTCS (IQR 19%-20%) and FIAS (IQR 0%-16%), with FAS being less responsive (IQR 67%-236%). No neuropsychological deterioration was observed. CONCLUSIONS: PHC DBS induced important antiseizure effects in patients with incapacitating FIAS and GTCS, most likely through blocking the propagation of hippocampal-onset seizures. The PHC target can be easily and safely approached due to positioning away from vascular structures, and there was no evidence of DBS-induced cognitive deterioration.

Freeform Liquid 3D Printing of Soft Functional Components for Soft Robotics.

Freeform liquid three-dimensional printing (FL-3DP) is a promising new additive manufacturing process that uses a yield stress gel as a temporary support, enabling the processing of a broader class of inks into complex geometries, including those with low viscosities or long solidification kinetics that were previously not processable. However, the full exploitation of these advantages for the fabrication of complex multilateral structures has been hindered by difficulties in controlling the interfaces between inks and supports. In this work, an in-depth study of the rheological properties and interfacial stabilities between a nanoclay-modified support and silicone-based inks enabled a better understanding of the impact printing parameters have on the extruded filament morphology, and thus on printing resolutions. With these improvements, the fabrication of functional multimaterial pneumatic components applied to soft robotics could be demonstrated, exhibiting superior capabilities compared to casting or traditional extrusion-based additive manufacturing in terms of geometric freedom (overhanging and multimaterial structures), tunability of the component's functionality, and robustness between different phases. Overall, the full exploitation of FL-3DP advantages enables a broader design space for features and functionalities in soft robotic components that require complex and robust combinations of materials.

Morchella nipponensis sp. nov. (Ascomycota, Pezizales): a paleoendemic species of section Morchella discovered in Japan.

A previously unknown morel species apparently endemic to Japan is here described. Morchella nipponensis is proposed for this species. This new taxon displays archaic features recalling section Rufobrunnea (pileus lanceolate, few primary alveoli), and a yellow pileus similar to subsection Sceptriformis of section Morchella. The phylogenetic analysis of ITS rDNA, as well as RPB1, RPB2 and TEF1 genes from up to four collections suggests that this morel species represents a basal branch of section Morchella (yellow morels), for which the new subsection Japonicae is proposed.

New studies on Apiospora (Amphisphaeriales, Apiosporaceae): epitypification of Sphaeriaapiospora, proposal of Ap.marianiae sp. nov. and description of the asexual morph of Ap.sichuanensis.

In the present work, an epitype for Sphaeriaapiospora, the basionym of the type species of the genus Apiospora, Apiosporamontagnei, is selected among collections growing in the host plant species reported in the original protologue, Arundomicrantha. Most samples obtained from localities near that of the lectotype (Perpignan, France) belong to the same species, which is not significantly different from the clade previously named Ap.phragmitis, suggesting that this name is a later synonym of Ap.montagnei. In addition, the name Ap.marianiae is here proposed to accommodate a newly discovered species found in the Balearic Islands (Spain), and the asexual state of Ap.sichuanensis is described for the first time from samples growing in the same islands.

Erratum: Corrigendum: Pintos Á, Alvarado P (2022) New studies on Apiospora (Amphisphaeriales, Apiosporaceae): epitypification of Sphaeriaapiospora, proposal of Ap.marianiae sp. nov. and description of the asexual morph of Ap.sichuanensis. MycoKeys 92: 63-78. https://doi.org/10.3897/mycokeys.92.87593.

[This corrects the article DOI: 10.3897/mycokeys.92.87593.].

Olfactory function in patients with temporal lobe epilepsy; correlation of functional magnetic resonance imaging for olfaction with the laterality of the epileptic focus.

The olfactory function shares the same cerebral structures as those involved in the origin and propagation of focal temporal lobe seizures. Likewise, functional magnetic resonance imaging (fMRI) allows the study of olfactory function. This suggests that by quantitatively studying the olfactory function with an olfactory paradigm through fMRI it is possible to identify the functional alteration produced by the epileptic focus. The objective of the present study was to assess the olfactory function in the side of the epileptic focus in patients with mesial temporal lobe epilepsy, using fMRI for smell, and propose a non-invasive diagnostic method for patients candidates to mesial temporal lobe epilepsy surgery. METHODS: Patients (n = 18) with clinical diagnosis of mesial temporal lobe epilepsy, refractory to pharmacological treatment: 7 patients (38.9%) with non-invasive studies consistent enough to submit them to anterior temporal lobectomy, and 11 (61.1%) patients where focal onset seizures were identified by stereoelectroencephalography (SEEG) on the left temporal lobe in 5 (27.8%) and in both temporal lobes in 2 (11.1%). Patients were evaluated using EEG, MRI, neuropsychological data, and fMRI with olfactory paradigm. Results of the fMRI were compared with the laterality of the epileptic focus determined by intracranial electroencephalogram recordings through stereotactically placed electrodes, and with post-surgical outcome at one year of follow-up. RESULTS: fMRI showed a lower olfactory activation in 81.8% concordant with unilateral onset seizures. There were significant differences of olfactory fMRI activation between epileptic and non-epileptic foci. CONCLUSION: Functional magnetic resonance imaging with an olfactory paradigm may be a non-invasive diagnostic tool to determine the laterality of seizure onset in the mesial temporal lobe.

2D-Material-integrated hydrogels as multifunctional protective skins for soft robots.

Soft robots provide compliant object-machine interactions, but they exhibit insufficient material stability, which restricts them from working in harsh environments. Herein, we developed a class of soft robotic skins based on two-dimensional materials (2DMs) and gelatin hydrogels, featuring skin-like multifunctionality (stretchability, thermoregulation, threat protection, and strain sensing). The 2DM-integrated hydrogel (2DM/H) skins enabled soft robots to execute designated missions in the presence of high levels of heat and various environmental threats while maintaining mild machine temperatures. Via adopting different 2DMs (graphene oxide (GO), montmorillonite (MMT), and titanium carbide (MXene)), the 2DM/H-protected robots were able to perform soft grasping in organic liquids (GO/H) and open fire (MMT/H), and in the presence of electromagnetic radiation and biocontamination (MXene/H). Through blending MXene nanosheets into gelatin, the MXene-blended hydrogel (M-H) skin became strain sensitive, and a GO/M-H gripper exhibited the high-level integration of skin-mimicking capabilities. Finally, we incorporated 2DM/H skins onto an origami-inspired walker robot and a soft batoid-like robot to execute vision-guided searching in fire and underwater locomotion/navigation in chemical spills.

Encefalitis por anticuerpos contra el receptor NMDA: a propósito de un caso / Anti-NMDAR encephalitis: Case report

Objetivo: El objetivo de este artículo es destacar la importancia de la realización de un estudio orgánico completo ante un primer episodio psicótico, a través de un caso clínico con diagnóstico de encefalitis autoinmune por anticuerpos anti-NMDA. Caso clínico Se presenta el caso clínico de un varón de 35 años, sin antecedentes psiquiátricos de interés, que comienza con clínica psicótica aguda en forma de alucinaciones y desorganización conductual. El paciente se encontraba pendiente de estudio de un cuadro sincopal sufrido el mes previo al comienzo, con traumatismo craneoencefálico secundario. Finalmente, el cuadro se filió como encefalitis por anticuerpos anti-NMDA, respondiendo favorablemente al tratamiento inmunosupresor. Resultados El abordaje desde el punto de vista neurológico ha sido fundamental para lograr la mejoría del cuadro psicótico agudo. Conclusiones Es necesaria una colaboración estrecha entre los servicios de Psiquiatría y Neurología ante un primer episodio psicótico. (AU)

Objective: The aim of this article is to outline the importance of carrying out a complete organic study when encountering a first psychotic episode by means of a case report showing a diagnosis of anti-NMDA receptor encephalitis. Case report A 35 year-old male, presented without a significant psychiatric history, starts to suffer from severe psychotic symptoms such as hallucinations and behavioural problems. The patient was on the lookout for a study of a syncope with secondary traumatic brain injury experienced one month prior to the beginning of the symptoms. Finally, the patient was diagnosed with anti-NMDAR encephalitis, showing symptom improvement with this immunosuppressive treatment. Results The approach from a neurological perspective has been of outmost importance in order to improve the aforementioned severe psychotic symptoms. Conclusions A close cooperation between the Psychiatry and Neurology departments is needed when encountering a first psychotic episode. (AU)

Centromedian Nucleus and Epilepsy.

SUMMARY: Centromedian thalamic nucleus is an intralaminar nucleus with vast connectivity to cerebral cortex and basal ganglia. It receives afferents from the brain stem through the central tegmental tract and is part of the diffuse thalamic projection system. Because the reticulothalamic system has been related to initiation and propagation of epileptic activity (centroencephalic theory of epilepsy), deep brain stimulation has been proposed to interfere with seizure genesis or propagation. Centromedian thalamic nucleus is a large nucleus laying nearby the anatomical references for stereotaxis and therefore a convenient surgical target to approach. Electrodes are implanted in the anterior ventral lateral part of the nucleus (parvocellular area), guided by intraoperative recruiting responses elicited by unilateral 6 to 8 Hz electrical stimulation delivered through the deep brain stimulation electrode. Therapeutic stimulation is delivered with the following parameters: 60 Hz, 450 µs, 3.0 V. Seizure control runs between 69% and 83% in different reports, decreasing mainly generalized seizures from the start, with significant improvement in neuropsychological performance. Significant decrease in seizure occurs from hours to days after the onset of deep brain stimulation. Some reports refer that seizure improvement may occur by the simple insertion of the deep brain stimulation electrodes, and therefore, it was used to treat refractory epileptic status.

New Horizons in Temporal Lobe Seizure Control.

SUMMARY: In patients with mesial temporal lobe epilepsy, high-frequency, low-amplitude electrical stimulation (ES) was applied during 3 weeks through contacts of intracranial electrodes that defined the epileptogenic zone. This subacute ES induced cessation of spontaneous seizures, decreased the number of EEG interictal spikes, caused a 10-fold increase in threshold to induce postdischarges, and showed a profound decrease in regional blood flow of the stimulated area in SPECT studies. Autoradiography analysis of surgical specimens from these patients demonstrated increased expression of benzodiazepine receptors and in gamma-aminobutyric acid content, particularly in the parahippocampal cortex. These observations provided evidence of a gamma-aminobutyric acid-mediated antiepileptic effect induced by ES. Several reports of long-term hippocampal ES through internalized neurostimulators have confirmed the antiepileptic effect on mesial temporal lobe-initiated seizures, with preservation of neuropsychological performance, in particular memory functions. The experience of the authors is that the response is optimal in patients without hippocampal sclerosis evidenced by MRI, whereas it is less significant and delayed in patients with hippocampal sclerosis. Other studies reported the best result stimulating through the contacts in the subiculum, the transition between the hippocampus and parahippocampal cortex, that usually escapes to the hippocampal sclerosis. Currently, the effect of ES directed at the subiculum and the parahippocampal cortex in patients with hippocampal sclerosis is under investigation.

Phylogenetic relationships among false truffle genera of Paxillaceae-Alpova, Melanogaster, Neoalpova, and Paralpova, gen. nov.

A phylogenetic analysis of nuc rDNA internal transcribed spacer region ITS1-5.8S-ITS2 (ITS), nuc rDNA 28S domains D1-D2 (28S), and the region between conserved domains 6 and 7 of RNA polymerase II second largest subunit (RPB2) from multiple species of Alpova and Melanogaster revealed four major clades, proposed here as distinct genera: Melanogaster, Alpova s. str. containing the type species A. cinnamomeus, Neoalpova for the species around N. rubescens, and the new genus Paralpova, proposed here for P. artikutzensis, sp. nov. Alpova, Neoalpova, and Paralpova form a monophyletic lineage of hypogeous fungi with a pseudoparenchymatic structure in their peridium (at least in the inner layer) that could be interpreted as a single genus, but they are separated due to distinct morphological and ecological traits. Alpova s. str. is employed for species strictly associated with Alnus, lacking a conspicuous odor, and producing relatively small basidiomata and basidiospores <10 µm long. Neoalpova and Paralpova occur under other hosts, present a conspicuous odor, have larger basidiomata and basidiospores than Alpova, and have a prosenchymatic peridiopellis. Finally, Paralpova is characterized by the yellowish gleba, monosporic or bisporic basidia, and basidiospores >15 µm long with a mean length/width ratio (Qm) of <2.0. In addition, two new species of Neoalpova are proposed: N. arenicola, associated with Mediterranean forests in sandy soils and with spores slightly smaller and wider than those of N. rubescens, and N. montecchii, a cryptic species very similar to N. rubescens but for its putatively smaller peridiopellis elements and its genetic profile.