When robots perform complex tasks, the pose accuracy of the end-effector is critical. However, errors from individual joints tend to accumulate along the kinematic chain, making it challenging to guarantee high pose precision at the end-effector. To address this issue, this study proposes a virtual-constraints-based end-effector pose compensator (VEPC). The method treats the actual angles of specific joints as known inputs and automatically adjusts the remaining joint angles in real time, effectively eliminating the pose errors of the end-effector caused by the joints. Experimental results demonstrate that the method can reduce the maximum end-effector position error by over 75%. Moreover, the method requires no additional sensors, offering low cost and high compatibility.

Impaired mitophagy and the accumulation of damaged mitochondria are key drivers of endothelial cell (EC) dysfunction in diabetic wounds. While mitochondrial transplantation (MT) has demonstrated therapeuticpotential in such mitochondrial damage-related diseases, its application is still thwarted by elusive mechanisms and practical hurdles such as poor targeting specificity and low delivery efficiency. Here, wereveal that MT acts by reactivating mitophagy to selectively eliminate dysfunctional mitochondria, therebyrestoring mitochondrial homeostasis and rescuing EC functionality. To exploit this discovery, we engineer abiomimetic MT strategy through coating EC-derived apoptotic vesicle membrane (AVM) onto the surfaceof isolated mitochondria. The resulting mitochondria–AVM complex (Mito-AVM) leverages homologoustargeting and phosphatidylserine-mediated “eat-me” signaling, achieving a remarkable 150% increasein delivery efficiency to ECs in diabetic wounds. Furthermore, we construct a 3-aminophenylboric acid-modified hyaluronic acid/polyvinyl alcohol hydrogel for the diabetic wound microenvironment, enablingreactive oxygen species/glucose-triggered sustained release of encapsulated Mito-AVM at the wound site. In summary, our work elucidates a fundamental mechanism of MT and provides an efficient and targetedstrategy for MT therapy, offering fresh perspectives for diabetic wound treatment.

The research findings have been published in Research under the title "Apoptotic Vesicle Membrane-Mediated Targeted Endothelial Mitochondrial Transplantation-Clearance Therapy for Diabetic Wound Healing."

Living tissues do not change through biology alone.

Allergen immunotherapy is entering the era of precision medicine. Instead of treating all allergy patients according to the same scheme, doctors can now tailor therapy to an individual’s molecular allergy profile and specific disease mechanisms. Thanks to modern diagnostics and biomarkers, it is becoming possible to distinguish true allergy from cross-reactivity, better predict treatment effectiveness, and improve patient safety. According to Prof. Marek Jutel from Wroclaw Medical University, allergology is moving toward highly personalized causal treatment, although wider implementation still requires further research, standardization, and broader access to advanced diagnostics.

Researchers have developed a novel quaternary zirconia-based electrolyte by partially replacing expensive scandia with low-cost ytterbia. The optimized composition, (Yb₂O₃)₀.₀₆(Sc₂O₃)₀.₀₄(CeO₂)₀.₀₁(ZrO₂)₀.₈₉, exhibits a pure cubic phase structure, high ionic conductivity (0.088 S·cm⁻¹ at 800 °C and 0.0020 S·cm⁻¹ at 500 °C), and enhanced thermal compatibility with electrodes. A single fuel cell using this electrolyte achieved a peak power density of 0.65 W·cm⁻² at 800 °C and operated stably for 100 hours.

Perovskite-based photovoltaic devices have garnered significant interest owing to their remarkable performance in converting light into electricity. Recently, the focus in the field of perovskite solar cells (PSCs) has shifted towards enhancing their durability over extended periods. One promising strategy is the incorporation of two-dimensional (2D) perovskites, known for their ability to enhance stability due to the large organic cations that act as a barrier against moisture. However, the broad optical bandgap and limited charge transport properties of 2D perovskites hinder their efficiency, making them less suitable as the sole light-absorbing material when compared to their three-dimensional (3D) counterparts. An innovative approach involves using 2D perovskite structures to modify the surface properties of 3D perovskite. This hybrid approach, known as 2D/3D perovskites, while enhancing their performance. Beyond solar energy applications, 2D perovskites offer a flexible platform for chemical engineering, allowing for significant adjustments to crystal and thin-film configurations, bandgaps, and charge transport properties through the different organic ligands and halide mixtures. Despite these advantages, challenges remain in integration of 2D perovskites into solar cells without compromising device stability. This review encapsulates the latest developments in 2D perovskite research, focusing on their structural, optoelectronic, and stability attributes, while delving into the challenges and future potential of these materials.

Hydrogen, with its carbon-free composition and the availability of abundant renewable energy sources for its production, holds significant promise as a fuel for internal combustion engines (ICEs). Its wide flammability limits and high flame speeds enable ultra-lean combustion, which is a promising strategy for reducing NOx emissions and improving thermal efficiency. However, lean hydrogen-air flames, characterized by low Lewis numbers, experience thermo-diffusive instabilities that can significantly influence flame propagation and emissions. To address this challenge, it is crucial to gain a deep understanding of the fundamental flame dynamics of hydrogen-fueled engines. This study uses high-speed planar SO2-LIF to investigate the evolutions of the early flame kernels in hydrogen and methane flames, and analyze the intricate interplay between flame characteristics, such as flame curvature, the gradients of SO2-LIF intensity, tortuosity of flame boundary, the equivalent flame speed, and the turbulent flow field. Differential diffusion effects are particularly pronounced in H2 flames, resulting in more significant flame wrinkling. In contrast, CH4 flames, while exhibiting smoother flame boundaries, are more sensitive to turbulence, resulting in increased wrinkling, especially under stronger turbulence conditions. The higher correlation between curvature and gradient of H2 flames indicates enhanced reactivity at the flame troughs, leading to faster flame propagation. However, increased turbulence can mitigate these effects. Hydrogen flames consistently exhibit higher equivalent flame speeds due to their higher thermo-diffusivity, and both hydrogen and methane flames accelerate under high turbulence conditions. These findings provide valuable insights into the distinct flame behaviors of hydrogen and methane, highlighting the importance of understanding the interactions between thermo-diffusive effects and turbulence in hydrogen-fueled engine combustion.

Erectile dysfunction is one of the most frequent and distressing complications after radical prostatectomy, significantly impairing patients’ quality of life. A new review published in UroPrecision summarizes current evidence on penile rehabilitation strategies, including oral medications, intracavernosal injections, and vacuum devices, and proposes a risk-stratified algorithm to guide clinical decision-making. 

This review is part of the themed issue “Distinct Themes for the Advanced Practice Providers in Andrology”