Search Results (17,693)

Background/Objectives: Soft tissues are essential for maintaining the function and long-term success of dental implants. In many cases, implant placement necessitates soft tissue augmentation procedures such as free gingival grafts (FGGs) or connective tissue grafts (CTGs) to restore lost gingival architecture. Nevertheless, a significant challenge associated with FGG and CTG is postoperative pain, largely due to morbidity at the palatal donor site. To address this issue, various approaches have been proposed to reduce patient discomfort and promote improved wound healing at the donor site. This study aimed to compare the effectiveness of four different methods for protecting the palatal donor site following free gingival graft harvesting. Methods: A total of 76 patients undergoing implant therapy with an indication for free gingival grafting were selected and divided into four groups based on the method used to protect the palatal donor site: an absorbable gelatin sponge secured with sutures (GS); an absorbable gelatin sponge with sutures and cyanoacrylate tissue adhesive (GS+CTA); oxidized regenerated cellulose combined with cyanoacrylate tissue adhesive (ORC+CTA); and an absorbable gelatin sponge covered with a flowable resin composite and stabilized with sutures (GS+FRC). The effectiveness of each method was evaluated in terms of postoperative pain, bleeding, and wound healing. Results: Although the differences in pain intensity among the groups were not statistically significant throughout the observation period (p > 0.05), the GS+FRC group consistently exhibited the lowest mean pain scores. No statistically significant differences were observed between the groups regarding the incidence of secondary bleeding. The highest mean wound healing rate was recorded in the GS+FRC group (75.95 ± 18.75%), whereas the ORC+CTA group demonstrated the lowest rate (43.66 ± 25.74%). Conclusions: The use of an absorbable gelatin sponge covered with a flowable resin composite and secured with sutures, despite the presented limitations, appears to be a promising approach for palatal wound protection. While this group consistently demonstrated the lowest mean pain scores, differences in pain intensity among the groups were not statistically significant. Nonetheless, it achieved the most favorable outcomes in terms of wound epithelialization. Full article

Cobalt-based bulk metallic glasses (Co-based BMGs) offer a combination of high strength, corrosion resistance, and soft magnetic properties, yet their limited glass-forming ability (GFA) and poor room-temperature ductility restrict broader application. In this study, a microalloying strategy was applied to the Co₆₁Nb₈B₃₁ base composition to develop Co-Nb-B-Si and Co-Fe-Nb-B-Si systems. The effects of Si addition and Fe substitution on GFA, thermal stability, and mechanical properties were systematically investigated. Si doping combined with Co/B ratio tuning broadened the supercooled liquid region and increased the critical glass-forming diameter from 1 mm to 3 mm. Further addition of 5 at.% Fe expanded the supercooled liquid region and enabled the fabrication of a fully amorphous plate with 1 mm thickness. The optimized Co₆₃Nb₈B₂₇Si₂ alloy exhibited a compressive strength of 5.18 GPa and a plastic strain of 3.81%. Fracture surface analysis revealed ductile fracture features in the Si-containing alloy and brittle characteristics in Fe-rich compositions. These results demonstrate that microalloying is effective in optimizing the balance between GFA and mechanical performance of Co-based BMGs, offering guidance for composition and processing design. Full article

Enhanced Giant Magneto-Impedance (GMI) effects of composite materials play a crucial role in producing devices with a good soft magnetic property. To improve this soft magnetic property, graphene is introduced to increase the conductivity of composite materials. However, the quality of graphene layers restricts the enhancement of GMI effects. There are few reports on the direct growth of graphene on Fe_73.5Si_13.5B₉Cu₁Nb₃ (FINEMET). In this paper, the composite ribbons of FINEMET coated with as-grown graphene are prepared by chemical vapor deposition (CVD), which is much better than previous results obtained by methods such as the transfer method or electroless plating in quality. The Ni layer, with good magnetic conductivity, is induced to the FINEMET as an auxiliary layer by the magnetron sputtering method for high-quality graphene-layer growth due to its high carbon dissolution rate. The results show that the growth temperature of the as-grown graphene layer on the FINEMET with the best GMI ratio could reach as high as 560 °C. Moreover, it was found that an Ni layer thickness of 300 nm has a crucial impact on GMI, with the maximum ratio reaching 76.8%, which is 1.9 times that of an initial bare FINEMET ribbon (39.7%). As a result, the direct growth of graphene layers on FINEMET ribbons by the CVD method is a promising way to light GMI-based devices. Full article

This study presents a comprehensive comparison between classical sampling-based motion planners from the Open Motion Planning Library (OMPL) and a learning-based planner based on Soft Actor–Critic (SAC) for motion planning in industrial robotic arms. Using a UR3e robot equipped with an RG2 gripper, we constructed a large-scale dataset of over 100,000 collision-free trajectories generated with MoveIt-integrated OMPL planners. These trajectories were used to train a DRL agent via curriculum learning and expert demonstrations. Both approaches were evaluated on key metrics such as planning time, success rate, and trajectory smoothness. Results show that the DRL-based planner achieves higher success rates and significantly lower planning times, producing more compact and deterministic trajectories. Time-optimal parameterization using TOPPRA ensured the dynamic feasibility of all trajectories. While classical planners retain advantages in zero-shot adaptability and environmental generality, our findings highlight the potential of DRL for real-time and high-throughput motion planning in industrial contexts. This work provides practical insights into the trade-offs between traditional and learning-based planning paradigms, paving the way for hybrid architectures that combine their strengths. Full article

The field of robotics faces significant challenges in creating adaptable and flexible end-effectors. Soft robotics, specifically soft robotic end-effectors, offer an innovative solution. This paper focuses on designing fluid elastomeric actuators (FEAs) for soft robotic end-effectors. The study presents key design considerations and evaluates the use of Finite Element Method (FEM) simulations for optimizing FEA performance. The study then concludes by proposing design guidelines for developing application-specific fluid elastomeric actuators. Full article

In light of Industry 5.0’s emphasis on human-centric approaches, future engineering education should prioritise the development of soft skills to complement students’ digital and technological competencies. This paper investigates the in-demand skills for Industry 5.0 and explores pedagogical approaches to foster these skills in engineering students. The identified skill categories include digital and technological proficiency, analytical and critical thinking, creativity and innovation, and communication and interpersonal skills. However, to date, no universal teaching model exists that holistically imparts all these skills. To address this gap, the paper introduces a new universal pedagogical model: the EPIC framework, which integrates Experiential, Paired, Inquiry-based, and Collective learning principles and provides examples of how this framework can be incorporated into engineering curricula to simultaneously cultivate all Industry 5.0 skills. Successfully implemented in engineering courses spanning different academic levels (Year 1 to Year 4), EPIC offers a promising framework for equipping students with the skills essential for thriving in the Industry 5.0 era. Full article

Perineuriomas are a rare form of peripheral nerve sheath tumors, with occurrences in the oral cavity being exceptionally uncommon. This scarcity underscores the clinical significance of each documented case, as it facilitates enhanced diagnostic precision among oral health professionals. We hereby present a case involving a 68-year-old female patient with an extraneural perineurioma (EPN) located on the mandibular region. A laser-assisted excisional biopsy was performed, and the diagnosis of EPN was confirmed through histopathological examination complemented by immunohistochemical analysis. The lesion was surgically excised, and no recurrence was observed during a one-year follow-up period. Accurate recognition of EPNs in the oral cavity is crucial to prevent unnecessary aggressive surgical interventions. Misdiagnoses may occur in cases of fibromas, neurofibromas, schwannomas, ossifying fibromas, or low-grade malignancies, which can potentially result in overtreatment that may compromise both function and aesthetics. Given the rarity of oral EPN, precise diagnosis and appropriate management are essential to avoid unwarranted invasive procedures and to mitigate potential medico-legal implications originating from misdiagnosis or suboptimal treatment. Ensuring comprehensive informed consent and meticulous documentation is also vital in minimizing medico-legal risks. Full article

The alpine marmot (Marmota marmota) once vanished from Romania’s Carpathian Mountains, but a reintroduction initiative launched in 1973 has since fostered population recovery. This study evaluates the long-term success of those efforts and explores the feasibility of further reintroductions. Population data from 2004 to 2025 across the Rodna, Retezat, and Făgăraș Mountains show a steady growth trend, culminating in a national population of approximately 815 individuals by 2025. Habitat quality was assessed using a Habitat Suitability Index, identifying robust colonies that could serve as donor populations. Additionally, an Ecological Diagnostic Key was developed to evaluate 27 potential reintroduction sites in the Țarcu, Ciucaș, and Bucegi Mountains. Findings reveal that 61 ha are suitable for reintroduction, with 40.5 ha rated as highly suitable. The study proposes a phased reintroduction strategy, combining individuals from established Romanian colonies with genetically diverse founders from Western Europe. It emphasizes soft-release protocols and calls for mitigation of anthropogenic pressures. This research supports a broader conservation framework that integrates habitat evaluation, demographic stability, and genetic health to enhance the alpine marmot’s persistence and expansion in Romania. Full article

This article presents an interaction-aware motion planning framework that integrates a graph neural network (GNN) based multi-modal trajectory predictor with a model predictive control (MPC) based planner. Unlike past studies that predict a single future trajectory per agent, our algorithm outputs three distinct trajectories for each surrounding road user, capturing different interaction scenarios (e.g., yielding, non-yielding, and aggressive driving behaviors). We design a GNN-based predictor with bi-directional gated recurrent unit (Bi-GRU) encoders for agent histories, VectorNet-based lane encoding for map context, an interaction-aware attention mechanism, and multi-head decoders to predict trajectories for each mode. The MPC-based planner employs a bicycle model and solves a constrained optimal control problem using CasADi and IPOPT (Interior Point OPTimizer). All three predicted trajectories per agent are fed to the planner; the primary prediction is thus enforced as a hard safety constraint, while the alternative trajectories are treated as soft constraints via penalty slack variables. The designed motion planning algorithm is examined in real-world intersection scenarios from the INTERACTION dataset. Results show that the multi-modal trajectory predictor covers possible interaction outcomes, and the planner produces smoother and safer trajectories compared to a single-trajectory baseline. In high-conflict situations, the multi-modal trajectory predictor anticipates potential aggressive behaviors of other drivers, reducing harsh braking and maintaining safe distances. The innovative method by integrating the GNN-based multi-modal trajectory predictor with the MPC-based planner is the backbone of the effective motion planning algorithm for robust, safe, and comfortable autonomous driving in complex intersections. Full article

Objective: The objective of this study was to compare the performance and robustness of a deep learning reconstruction method against established alternatives for soft tissue CT image reconstruction. Materials and Methods: Images were generated from portal venous phase chest–abdomen–pelvis CT scans (n = 99) acquired on a dual-layer spectral detector CT using filtered back projection, iterative model reconstruction (IMR), and deep learning reconstruction (DLR) with three parameter settings, namely ‘standard’, ‘sharper’, and ‘smoother’. Experienced raters performed a quantitative assessment by considering attenuation stability and image noise levels in ten representative structures across all reconstruction methods, as well as a qualitative assessment using a four-point Likert scale (1 = poor, 2 = fair, 3 = good, 4 = excellent) for their overall perception of ‘smoother’ DLR and IMR images. One scan was excluded due to cachexia, which limited the quantitative measurements. Results: The inter-rater reliability for quantitative measurements ranged from moderate to excellent (r = 0.63–0.96). Attenuation values did not differ significantly between reconstruction methods except for DLR against IMR in the psoas muscle (mean + 3.0 HU, p < 0.001). Image noise levels differed significantly between reconstruction methods for all structures (all p < 0.001) and were lower than FBP with any DLR parameter setting. Image noise levels with ‘smoother’ DLR were predominantly lower than or equal to IMR, while they were higher with ‘standard’ DLR and ‘sharper’ DLR. The ‘smoother’ DLR images received a higher mean rating for overall image quality than the IMR images (3.7 vs. 2.3, p < 0.001). Conclusions: ‘Smoother’ DLR images were perceived by experienced readers as having improved quality compared to FBP and IMR while also exhibiting objectively lower or equivalent noise levels. Full article

Peaches are highly susceptible to rapid deterioration and bacterial infection during postharvest transportation and storage, leading to significant losses. In order to maintain peach fruit postharvest quality and extend its shelf life, it is critical to understand the physiological changes in postharvest fruit and implement effective postharvest technologies. This paper reviews the major postharvest physiological changes in peach fruit, including respiration, ethylene, hormones, texture, sugars, amino acids, phenolics, and volatiles, analyzes the major postharvest peach fruit diseases and their control techniques (covering brown rot, soft rot, and gray mold), and summarizes approaches to extend the storage life of peach fruit and maintain quality through physical, chemical, and biological preservation techniques. This review evaluates the advantages and disadvantages of postharvest peach fruit preservation techniques by analyzing postharvest physiological and nutritional quality, and suggests future research directions aimed at ensuring peach fruit safety and quality assurance. Full article

Background/Objectives: The application of additive manufacturing in medicine, and specifically in personalised medicine, has achieved notable development. This article aims to present the results and benefits of applying a comprehensive methodology to simulate, plan, and manufacture customised three-dimensional medical prosthetic devices for use in surgery to restore bone structures with congenital and acquired malformations. Methods: To digitally reconstruct a bone structure in three dimensions from a medical image, a segmentation process is developed to correlate the anatomical model. Then, this model is filtered using a post-processing step to generate stereolithography (STL) files, which are rendered using specialised software. The segmentation of tomographic images is achieved by the specific intensity selection, facilitating the analysis of compact and soft tissues within the anatomical region of interest. With the help of a thresholding algorithm, a three-dimensional digital model of the anatomical structure is obtained, ready for printing the required structure. Results: The described cases demonstrate that the use of anatomical test models, cutting guides, and customised prostheses reduces surgical time and hospital stay, and achieves better aesthetic and functional results. Using materials such as polylactic acid (PLA) for presurgical models, appropriate resins for cutting guides, and biocompatible materials such as polyether ether ketone (PEEK) or polymethylmethacrylate (PMMA) for prostheses, the described improvements are achieved. Conclusions: The achievements attained demonstrate the feasibility of applying these techniques, their advantages and their accessibility in Ecuador. They also reinforce the ideas of personalised medicine in the search for medical treatments and procedures tailored to the needs of each patient. Full article

The 21st century has seen marine tourism in Southeast Asia transform in response to the rapid growth of SCUBA diving and snorkeling activities in the natural environment. However, despite this level of integration between recreation and the natural environment, few assessments have ever been conducted on the biodiversity or ecosystem values and experiences of the SCUBA diving community. Therefore, we explored the awareness, preferences and priorities of this community, with a particular emphasis on investigating the role of biodiversity documentation and species discoveries in motivating recreational diving. By conducting surveys of 366 recreational divers from Thailand, we were able to identify proportional priorities, finding greater valuation towards overall ecosystem esthetics than megafauna, with species-specific dive experiences being a niche but present interest. We also investigated diver priorities based on recently described or discovered marine fauna in Thai waters, focusing on five species of hard and soft coral, seven species of sea slug, and two species of shark. Of these, sea slug species were the most recognized and garnered the greatest potential economic value, likely due to their popularity with photographers. The results of this multidisciplinary investigation highlight the economic value of taxonomy and biodiversity research to the recreational SCUBA community. Full article

Background/Objectives: Yersinia enterocolitica is a pathogenic bacterium that forms biofilms, enhancing its persistence and resistance to antimicrobial agents. Biofilm formation in Y. enterocolitica is influenced by environmental factors such as temperature, calcium, and the presence of the virulence plasmid pYV. This study aims to explore how temperature, calcium, and pYV modulate biofilm formation in Y. enterocolitica, with a focus on motility and extracellular polymeric substance (EPS) production as key factors. Methods: Y. enterocolitica strains with and without the pYV plasmid were cultured at two different temperatures (26 °C and 37 °C). The effect of calcium (5 mM) on biofilm formation was tested at both temperatures. Biofilm formation was measured using crystal violet staining, motility was assessed using soft agar plates, and EPS production was quantified to determine its role in biofilm stabilization. Results: At 26 °C, biofilm formation increased in pYV-negative strains, driven primarily by motility and flagellar expression. In contrast, at 37 °C, pYV-positive strains showed strong biofilm formation despite reduced growth, with EPS production as the key stabilizing factor. Calcium modulated biofilm formation in a temperature-dependent manner: at 26 °C, 5 mM calcium modestly reduced biofilm formation in pYV-negative strains, while at 37 °C, it significantly suppressed both EPS production and biofilm formation by approximately 50% in pYV-positive strains. Conclusions: This study reveals a novel regulatory switch where temperature, calcium, and pYV modulate biofilm formation in Y. enterocolitica. These findings suggest that Y. enterocolitica can adapt between motility- and EPS-dominated biofilm strategies depending on environmental conditions. Understanding these mechanisms offers potential targets for controlling biofilm-related persistence in clinical and food safety contexts. Full article

Soft electrothermal actuators have attracted increasing attention in soft robotics and wearable systems due to their simple structure, low driving voltage, and ease of integration. However, traditional designs based on homogeneous or layered composites often suffer from interfacial failure and limited deformation modes, restricting their long-term stability and actuation versatility. In this study, we present a programmable soft electrothermal actuator based on a functionally graded structure composed of polydimethylsiloxane (PDMS)/multiwalled carbon nanotube (MWCNTs) composite material and an embedded EGaIn conductive circuit. Rheological and mechanical characterization confirms the enhancement of viscosity, modulus, and tensile strength with increasing MWCNTs content, confirming that the gradient structure improves mechanical performance. The device shows excellent actuation performance (bending angle up to 117°), fast response (8 s), and durability (100 cycles). The actuator achieves L-shaped, U-shaped, and V-shaped bending deformations through circuit pattern design, demonstrating precise programmability and reconfigurability. This work provides a new strategy for realizing programmable, multimodal deformation in soft systems and offers promising applications in adaptive robotics, smart devices, and human–machine interfaces. Full article