Insect-Scale Biped Robots Based on Asymmetrical Friction Effect Induced by Magnetic Torque

Multimodal and controllable locomotion in complex terrain is of great importance for practical applications of insect-scale robots. Robust locomotion plays a particularly critical role. In this study, a locomotion mechanism for magnetic robots based on asymmetrical friction effect induced by magnetic torque is revealed and defined. The defined mechanism overcomes the design constraints imposed by both robot and substrate structures, enabling the realization of multimodal locomotion on complex terrains. Drawing inspiration from human walking and running locomotion, a biped robot based on the mechanism is proposed, which not only exhibits rapid locomotion across substrates with varying friction coefficients but also achieves precise locomotion along patterned trajectories through programmed controlling. Furthermore, apart from its exceptional locomotive capabilities, the biped robot demonstrates remarkable robustness in terms of load-carrying and weight-bearing performance. The presented locomotion and mechanism herein introduce a novel concept for designing magnetic robots while offering extensive possibilities for practical applications in insect-scale robotics.

Validity of nomograms for predicting cancer risk in oral leukoplakia and oral lichen planus

OBJECTIVES

This study assessed the validity of nomograms for predicting malignant transformation (MT) among patients with oral leukoplakia (OL) and oral lichen planus (OLP).

MATERIALS AND METHODS

Two nomograms were identified following a systematic search. Variables to interrogate both nomograms were obtained for a retrospective OL/OLP cohort. Then, the nomograms were applied to estimate MT probabilities twice and their average was used to calculate the discriminatory performance, calibration, and potential net benefit of the models. Subgroup analyses were performed for patients with OL, OLP, and oral epithelial dysplasia.

RESULTS

Predicted probabilities were mostly significantly higher among OL/OLP patients who developed MT compared to those who did not (p = <0.001-0.034). AUC values and Brier scores of the nomograms were 0.644-0.844 and 0.040-0.088 among OL patients and 0.580-0.743 and 0.008-0.072 among OLP patients. Decision curve analysis suggested that the nomograms had some net benefit for risk stratification. However, the models did not best binary dysplasia grading in discriminatory validity and net benefit among patients with OL and oral epithelial dysplasia.

CONCLUSION

Nomograms for predicting MT may have satisfactory validity among patients with OL than OLP, but they do not outperform binary dysplasia grading in risk stratification of OL.

Horizontal and Vertical Coalescent Microrobotic Collectives Using Ferrofluid Droplets

Many artificial miniature robotic collectives have been developed to overcome the inherent limitations of inadequate individual capabilities. However, the basic building blocks of the reported collectives are mainly in the solid state, where the morphological boundaries of internal individuals are clear and cannot genuinely merge. Miniature robotic collectives based on liquid units still need to be explored; such on-demand mergeable swarm systems are advantageous for adapting to the changing external environment. Here, a strategy to achieve a coalescent collective system we presented that exploits the ferrofluid droplets' splitting and coalescence properties to trigger the formation of horizontal multimodal and vertical gravity-resistant collectives and unveil pattern-enabled robotic functionalities. When subjected to a time-varying magnetic field, the droplet swarm exhibits a variety of morphologies ranging from horizontal collectives, including vortex-like, chain-like, and crystal-like patterns to vertical layer-upon-layer patterns. Using experiments and simulations, the formation and transformation of different morphological collectives are shown and their robust environmental adaptability are demonstrated. Potential applications of the multimodal droplet collectives are presented, including exploring an unknown environment, targeted object delivery, and fluid flow filtration in a lab-on-a-chip. This work may facilitate the design of microrobotic swarm systems and expand the range of materials for miniature robots.

Prognostic Biomarkers for Survival in Nasopharyngeal Carcinoma: A Systematic Review of the Literature

This systematic review aims to identify prognostic molecular biomarkers which demonstrate strong evidence and a low risk of bias in predicting the survival of nasopharyngeal carcinoma (NPC) patients. The literature was searched for on PubMed to identify original clinical studies and meta-analyses which reported associations between molecular biomarkers and survival, including ≥150 patients with a survival analysis, and the results were validated in at least one independent cohort, while meta-analyses must include ≥1000 patients with a survival analysis. Seventeen studies fulfilled these criteria-two studies on single nucleotide polymorphisms (SNPs), three studies on methylation biomarkers, two studies on microRNA biomarkers, one study on mutational signature, six studies on gene expression panels, and three meta-analyses on gene expressions. The comparison between the hazard ratios of high-risk and low-risk patients along with a multivariate analysis are used to indicate that these biomarkers have significant independent prognostic values for survival. The biomarkers also indicate a response to certain treatments and whether they could be used as therapeutic targets. This review highlights that patients' genetics, epigenetics, and signatures of cancer and immune cells in the tumor microenvironment (TME) play a vital role in determining their survival.