Heterogeneous wettability surfaces can passively direct the motion of impacting droplets without external actuation. However, the mechanisms governing droplet impact across a single planar wettability boundary remain insufficiently understood, particularly when the lamella undergoes perforation and rupture. In this study, the non-orthogonal multiple-relaxation-time lattice Boltzmann method is used to examine the effects of the contact angle $\theta _R$, Weber number $\textit{We}$ and dimensionless impact deviation $D$. Increasing $\theta _R$ suppresses spreading and advances recoil. The kinetic energy valley time decreases approximately exponentially, whereas the minimum kinetic energy increases nearly linearly. The recoil-stage kinetic energy peak generally increases with $\theta _R$ but drops markedly at $\theta _R=170^\circ$, where lamella perforation disrupts coherent retraction. Increasing $\textit{We}$ raises the peak effective surface energy, vorticity and wetted area, yet reduces the normalised recoil-stage kinetic energy peak. Perforation and fragmentation redistribute energy into local deformation and viscous dissipation, thereby weakening coherent recoil and lateral migration. Shifting the impact position towards the less-wetting region suppresses spreading but enhances recoil. The recoil-stage vorticity is largest at $D=0$, while the lateral migration exhibits two deviation-dependent regimes. These results demonstrate that surface wettability contrast and lamella connectivity play important roles in directional droplet transport.

The shear flow induced by a jetting cavitation bubble within grooved structures is systematically investigated using a three-dimensional compressible volume-of-fluid (VoF) solver combined with ultra-high-speed photography of one million frames per second (fps). The structured surface comprises twenty parallel micro-channels, and local mesh refinement down to $0.1\ {\unicode[Arial]{x03BC}}\text{m}$ near the groove bottom resolves the linear tangential velocity profile within the boundary layer. The simulations accurately reproduce experimental observations for two representative configurations, namely bubbles initiated above the groove and above the protrusion. In general, a microjet formed from the distal bubble surface impacts the lower bubble interface and subsequently spreads both along and across the groove channel, generating strong shear flow. Spatio-temporal wall-stress distributions indicate that the maximum shear stress occurs near the instant of jet impact, while the subsequent evolution is further modulated by daughter-bubble fragmentation and re-expansion. For a bubble initiated above the groove, the microjet produces a single impact, whereas for a bubble initiated above the protrusion, the jet becomes oblique: it first strikes the protrusion, spreads into the trapped bubble inside the groove and finally pierces the lower bubble surface at an angle. The influences of three geometric parameters, namely the horizontal offset $d^*$, vertical stand-off distance $h^*$ and groove width $w^*$, are systematically examined, revealing their coupled effects on bubble deformation, jet orientation, fragmentation and the vortex dynamics. A peak wall-shear stress of approximately $150\,\text{kPa}$ is obtained under specific geometric conditions due to rapid jet spreading and flow refocusing within the groove. These results provide fundamental insight into the three-dimensional, unsteady wall-shear generation produced by jetting cavitation bubbles interacting with micro-structured surfaces.

We reorient Haueis and Colaço’s metabolic framework of cognitive modeling by drawing on neuroscientific evidence from animal motor control, reinforcement learning, and decision-making to show that cognition emerged to serve the metabolic demands of the whole organism, rather than those of the brain alone. We also illustrate the generative value of our reframing to model cognition in artificial systems.

As ready-to-eat (RTE) meals and dining out become increasingly popular, limited empirical evidence exists on how domestically produced ingredients are positioned relative to other food values in these contexts. Using online survey data from Japanese consumers collected in 2024, this study applies best–worst scaling to samples of 786 respondents for RTE meals and 771 for dining out to estimate the relative importance of 11 food values. Aggregated scores summarize overall rankings, and latent class analysis characterizes heterogeneity in stated priorities. Across both contexts, taste, price, and safety consistently rank highest, while domestically produced ingredients rank fifth, indicating a secondary yet meaningful position relative to core experiential and economic attributes. Ranking patterns are highly similar across contexts, suggesting substantial stability in food value prioritization. Segmentation reveals recurring consumer profiles, including a large price-oriented segment and a substantial hedonic segment, alongside smaller health-/safety-concerned and societal impact-centered segments, which differ systematically in gender, age, income, and perceptions of domestically produced ingredients and – particularly in the dining-out context – in usage frequency. Overall, the findings provide benchmark evidence on the role of domestic origin within the hierarchy of food values, highlighting its secondary importance unless credibly linked to tangible benefits such as taste and safety.

Cavitation bubbles collapsing near capillary exits can generate fast microjets that penetrate into the channel and promote fluid exchange. Here, we combine high-speed imaging and axisymmetric compressible volume-of-fluid simulations to study laser-induced cavitation bubbles near the exit of a long capillary. By varying the stand-off distance $\gamma$, the normalised inner radius $R_i^*$ and the normalised outer radius $R_o^*$, we identify two distinct jetting mechanisms. Regular jets are driven primarily by the vertical collapse of the bubble surface distal to the capillary, whereas wave-driven jets arise from the propagation and convergence of an interfacial wave initiated at the proximal bubble surface, causing distal-surface splitting and strong local pressure amplification. Wave-driven jets occur for sufficiently small stand-off distances and outer radii, with formation velocities typically above $500\,\mathrm{m\,s}^{-1}$ and reaching up to $2000\,\mathrm{m\,s}^{-1}$ in the simulations. Regular jets dominate at larger stand-off distances or larger outer radii, where interfacial-wave effects weaken. The outer radius $R_o^*$ governs the jetting regime by controlling interfacial-wave formation, propagation and convergence, while the inner radius $R_i^*$ mainly affects the later jet dynamics, including the impact location and vapour-jet penetration into the capillary. Compared with the needle jet generated by a bubble collapsing near a smooth rigid wall at nearly zero stand-off distance, the wave-driven jet here occurs over a much wider parameter range and its velocity and size can be tuned geometrically. These results establish a physical framework for cavitation-driven jetting near capillary boundaries and suggest strategies for controlling confined microjets in microfluidics and biomedical applications.

Robots have found widespread applications across industrial and service domains, making reliable collision detection increasingly important for safe human–robot collaboration. This paper presents a collision-detection method based on a Speed-Adaptive Nonlinear Gain Momentum Observer (SNGMO). The proposed framework integrates an enhanced Stribeck friction model, velocity-dependent observer gain scheduling, and a time-varying threshold to address dynamic-model uncertainty, low-speed friction disturbances, and the trade-off between residual suppression and collision response. First, the Stribeck model incorporates load-dependent and wear-related parameter variations to represent friction changes associated with operating load and equivalent wear state. Second, the SNGMO adjusts its natural frequency, gain, and damping according to joint velocity, increasing bandwidth at higher speeds for faster disturbance tracking while reducing bandwidth and increasing damping at low speeds and during direction reversals to suppress residual fluctuations and measurement noise. Finally, the threshold is adjusted online using motion-state and model-uncertainty information to distinguish external collisions from internal residual variations. The wear-related component was evaluated through representative parameter-drift simulations, and the complete method was experimentally validated on a UR5e robot. Under the evaluated conditions, the SNGMO achieved mean detection delays of 26.4–28.7 ms and reduced the average joint-wise collision-free residual root mean square by approximately 53% relative to the conventional GMO. These results indicate improved residual suppression and collision-response performance under the tested conditions.

Compliant control of dexterous hands is increasingly demanded for environmental interaction. Conventional strategies often suffer from significant force tracking errors and poor adaptability when interacting with unknown environments. To meet the constant-force contact requirements in omnidirectional dexterous hand (ODH) grasping and object pose adjustment, this paper proposes an admittance control strategy integrating an extended state observer (ESO) with sliding mode control (SMC), termed extended state observer and sliding-mode admittance control. This method maintains the required contact forces for grasping and manipulation while demonstrating good adaptability to unknown object properties. A modified D-H method is employed to establish the kinematic model of the ODH, based on which its workspace and graspable object range are analyzed. Within the virtual mass-damping admittance framework, SMC is introduced to enhance the system’s robustness against unknown environmental parameters. The ESO is utilized to estimate and compensate for the disturbance in the derivative of the force error, thereby reconstructing a smooth sliding surface to suppress chattering. Furthermore, a continuous SMC law is designed based on Lyapunov stability theory, guaranteeing stable convergence and smooth force tracking. Experimental results confirm that the proposed strategy can well track the desired grasping force and satisfy the requirements of grasping tasks. This work demonstrates the effectiveness of the proposed strategy in achieving robust and precise force control, offering a viable solution for the compliant manipulation of dexterous hands in complex environments.

China generates about 240 million tons of vegetable residues and 1 billion tons of crop straw annually. This study evaluated the performance of black soldier fly larva (BSFL) on three vegetable residues (cabbage (CA), celery (CE), and white radish (WR)), either alone or mixed with wheat straw (3:1, 1:1 w/w). The results showed that CA residue alone supported the best larval growth (maximum individual weight: 76.0 mg, 72.0% of the standard diet (SD)). But straw addition significantly reduced larval weight and survival (P < 0.05). Vegetable residues significantly enhanced straw degradation compared to straw-only treatments, as evaluated by X-ray diffraction and scanning electron microscopy. BSFL reared on vegetable-containing substrates showed comparable dry matter, crude protein, and ash to the SD, while having lower crude fat (19.2–19.9% vs. 21.8%). High-throughput sequencing of the larval gut microbiota showed that straw supplementation significantly increased gut microbial richness and upregulated the abundance of methyl-accepting chemotaxis protein KO3406. At the phylum level, Firmicutes, Actinobacteriota, and Proteobacteria dominated across all treatments. In addition, vegetable–straw mixtures promoted seed germination and root development. These findings offer a practical co-management strategy for high-moisture vegetable residues and lignocellulosic agricultural residues, providing new microbial insights into substrate adaptation in BSFL.

Developing accurate, dynamic feeding formulas for growing-finishing pigs via meta-analysis of large datasets can effectively reduce feed waste from ad libitum feeding and curb environmental pollution from nutrient excretion in feces and urine. This study aims to obtain a dynamic feed formula suitable for growing-finishing pigs through model fitting and to verify its effectiveness. We utilized data from 523 treatments across 112 studies to establish the relationship between daily digestible energy intake and body weight in growing-finishing pigs using three fitting models: linear mixed-effects (LME), Bayesian ridge regression (BRR) and random forest regression (RFR) models. After analysis, LME is the optimized dynamic model. To verify its validity, we selected 16 healthy Duroc × Landrace × Yorkshire crossbred castrated male pigs with an average initial body weight of about 85 kg and randomly assigned them to two groups. The Con group was allowed ad libitum feeding, while the Meta group used the LME model to restrict feeding. After 42 days, the growth performance between the two groups were no significant difference. The Meta group exhibited significantly lower feed-to-gain and average daily feed intake (P < 0.05), serum low-density lipoprotein cholesterol and aspartate aminotransferase levels (P < 0.05), and an increased abundance of beneficial gut microbial communities. The LME model, a precise and dynamic feeding formula derived from meta-analysis, effectively curbs feed intake while enhancing nutrient utilization and feed efficiency. It also mitigates environmental pollution and positively modulates gut microbiota composition.

Though previous studies have explored the relationship between Ca intake and depressive symptoms, epidemiological evidence on cancer survivors remains limited. This study aimed to investigate the association between estimated total Ca intake and depressive symptoms among cancer survivors in the USA. This study analysed data from 2204 cancer survivors in the National Health and Nutrition Examination Survey 2007–2018. Participants with the Patient Health Questionnaire (PHQ-9) scores ≥5 were defined as having depressive symptoms. Total Ca intake was defined as the sum of dietary Ca and Ca supplements, estimated through the first 24-h dietary recall, and was grouped into four ranges [Q1 (≤606·5 mg/day), Q2 (606·5–962·5 mg/day), Q3 (962·5–1476·0 mg/day) and Q4 (>1476·0 mg/day)] according to quartiles. Logistic regression and restricted cubic spline (RCS) were used to assess the relationship. In this study, 25·6 % of participants showed depressive symptoms, with moderate to severe depressive symptoms accounting for 9·7 % among all participants. After adjusting for all relevant confounding variables, compared with Q1, the odds of depressive symptoms in Q3 and Q4 were 40 % lower (OR:0·60, 95 % CI: 0·40,0·89) and 44 % lower (OR: 0·56, 95 % CI: 0·35,0·89), respectively (Pfor trend = 0·003). RCS further depicted the negative association between total Ca intake and depressive symptoms. Higher estimated total Ca intake was associated with lower odds of depressive symptoms among US adult cancer survivors. However, total Ca intake was estimated using a single 24-h dietary recall, which may not capture usual long-term intake. Prospective studies using repeated dietary assessments and clinically validated mental health outcomes are needed to confirm these findings.