Plastic pollution, particularly in the form of nanoplastics, has emerged as a significant global environmental concern, affecting ecosystems and human health. This review examines complex interactions between fungi emphasizing dual role plastic degradation potential pathogenicity. Fungi possess unique enzymatic machinery that allows them to degrade various materials, offering promising bioremediation strategies. However, presence nanoplastics can impact fungal physiology, potentially...

Stiffness variation is useful in soft robots, especially for continuum manipulators which have a high slenderness ratio. Softness intrinsically gives robots flexibility of movement, but stiffness the enough carrying capacity. Many types can change their stiffness; however, both large-range and fast-response has not been realized. In this work, an omnidirectional steering flexible manipulator with was designed fabricated. It composed nested structure layer, tendon-driven transport channel....

Multilink cable-driven hyper-redundant manipulators (MCDHMs) have a slender body and flexible movement characteristics, which are very suitable for complex unstructured environments. Since MCDHMs multiple coupling between active cables, linkage joints, the end-effector, mathematical modeling of segmented MCDHM becomes more complicated, uncertainty its model makes motion accuracy end-effector become low. Traditional calibration methods that rely solely on eye-in-hand or eye-to-hand method to...

Accurately estimating the pose of spacecraft is indispensable for space applications. However, such targets are generally non-cooperative, i.e., no markers mounted on it and parts operation. Therefore, detection measurement a non-cooperative target very challenging. Stereovision sensors important solutions in near field. In this paper, rectangular natural feature recognition method proposed. Solar panels or bodies selected as objects their image features captured by stereo vision. These...

Accurately estimating the pose of spacecraft is indispensable for space applications. However, such targets are generally non-cooperative, i.e., no markers mounted on them, and they include parts operation. Therefore, detection measurement a non-cooperative target very challenging. Stereovision sensors important solutions in near field. In this paper, rectangular natural feature recognition method proposed. Solar panels were selected as objects, their image features captured via stereo...

Compared to rigid manipulators, the soft manipulator can operate inside some special environments, such as cavity, assembled machine, or other crowded rooms. The movement of manipulators is generated by structural deformation instead joint rotation used manipulators. Structure often required be complicated and lightweight guarantee load capacity positional accuracy. 3D printing technology casting applied fabricate above structure, but it also difficult a complex variable stiffness structure....

A cable-driven space manipulator has great application potential in operations due to its advantages of flexible movement and slender body. However, the pose accuracy end-effector is worse than that traditional manipulators because it's difficult measure joint angles. The lack shape information will increase risk colliding with others. method measuring configuration by adding cooperative markers on body complex not suitable space. To solve above problems, this paper proposes a measurement...

The rotary joint actuated by dielectric elastomer has advantages to fabricate a biomimetic soft robot because of the large output torque, deformation and light weight. Conventional is difficult meet requirements due its small torque. This paper proposes improved fabrication process structure which can increase comprehensive performance. From experiments, design had maximum moment 14.21mNm was almost 2 times that conventional design, voltage-induced angle 5 degrees weight decreased too. will...

A cable-driven hyper-redundant manipulator receives great attention due to its slender body and flexible movement. The configuration of the driving cable is key design. At present, cables are arranged at equal angles on disk, but it lacks theoretical support. analysis about influence positions tensions relatively deficient. In this paper, force links studied. analyzed. relationship between position, force, external joint Numerical simulation carried out verify analysis. results show maximum...