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Soft arms have shown great application potential because of their flexibility and compliance in unstructured environments. However, soft arms made from soft materials exhibit limited cargo-loading capacity, which restricts their ability to manipulate objects. In this research, a novel soft arm was developed by coupling a rigid origami exoskeleton with soft airbags. The joint module of the soft arm was composed of a deployable origami exoskeleton and three soft airbags. The motion and load performance of the soft arm of the eight-joint module was tested. The developed soft arm withstood at least 5 kg of load during extension, contraction, and bending motions; exhibited bistable characteristics in both fully contracted and fully extended states; and achieved a bending angle of more than 240° and a contraction ratio of more than 300%. In addition, the high extension, contraction, bending, and torsional stiffnesses of the soft arm were experimentally demonstrated. A kinematic-based trajectory planning of the soft arm was performed to evaluate its error in repetitive motion. This work will provide new design ideas and methods for flexible manipulation applications of soft arms.

The cargo handling capacity of a port is the most basic and important indicator of port size. Based on the Defense Meteorological Satellite Program-Operational Linescan System (DMSP-OLS) nighttime light data and panel model, this study attempts to estimate the cargo handling capacity of 28 coastal ports in China using satellite remote sensing. The study confirmed that there is a very close correlation between DMSP-OLS nighttime light data and the cargo handling capacity of the ports. Based on this correlation, the panel data model was established for remote sensing-based estimation of cargo handling capacity at the port and port group scales. The test results confirm that the nighttime light data can be used to accurately estimate the cargo handling capacity of Chinese ports, especially for the Yangtze River Delta Port Group, Pearl River Delta Port Group, Southeast Coastal Port Group, and Southwest Coastal Port Group that possess huge cargo handling capacities. The high accuracy of the model reveals that the remote sensing analysis method can make up for the lack of statistical data to a certain extent, which helps to scientifically analyze the spatiotemporal dynamic changes of coastal ports, provides a strong basis for decision-making regarding port development, and more importantly provides a convenient estimation method for areas that have long lacked statistical data on cargo handling capacity.

Viruses and virally derived particles have the intrinsic capacity to deliver molecules to cells, but the difficulty of readily altering cell-type selectivity has hindered their use for therapeutic delivery. Here, we show that cell surface marker recognition by antibody fragments displayed on membrane-derived particles encapsulating CRISPR–Cas9 protein and guide RNA can deliver genome editing tools to specific cells. Compared to conventional vectors like adeno-associated virus that rely on evolved capsid tropisms to deliver virally encoded cargo, these Cas9-packaging enveloped delivery vehicles (Cas9-EDVs) leverage predictable antibody–antigen interactions to transiently deliver genome editing machinery selectively to cells of interest. Antibody-targeted Cas9-EDVs preferentially confer genome editing in cognate target cells over bystander cells in mixed populations, both ex vivo and in vivo. By using multiplexed targeting molecules to direct delivery to human T cells, Cas9-EDVs enable the generation of genome-edited chimeric antigen receptor T cells in humanized mice, establishing a programmable delivery modality with the potential for widespread therapeutic utility. Cell-specific molecular delivery with enveloped delivery vehicles enables genome editing ex vivo and in vivo.

Genome editing has the potential to treat an extensive range of incurable monogenic and complex diseases. In particular, advances in sequence-specific nuclease technologies have dramatically accelerated the development of therapeutic genome editing strategies that are based on either the knockout of disease-causing genes or the repair of endogenous mutated genes. These technologies are progressing into human clinical trials. However, challenges remain before the therapeutic potential of genome editing can be fully realized. Delivery technologies that have serendipitously been developed over the past couple decades in the protein and nucleic acid delivery fields have been crucial to genome editing success to date, including adeno-associated viral and lentiviral vectors for gene therapy and lipid nanoparticle and other non-viral vectors for nucleic acid and protein delivery. However, the efficiency and tissue targeting capabilities of these vehicles must be further improved. In addition, the genome editing enzymes themselves need to be optimized, and challenges regarding their editing efficiency, specificity and immunogenicity must be addressed. Emerging protein engineering and synthetic chemistry approaches can offer solutions and enable the development of safe and efficacious clinical genome editing.As CRISPR therapies move into clinical testing, David Schaffer and colleagues review a raft of different delivery technologies being road tested to address cargo capacity limitations, maximize potency, minimize off-target effects and avoid immunogenicity.

Fossil marine fuels need to be substituted by renewable energy carriers to meet global climate targets. However, a deeper understanding of the technological suitability of carbon-neutral fuels at fleet level is needed. Here we provide a first-order assessment of the techno-economic suitability of hydrogen, ammonia, methane, methanol and diesel—all produced from renewable electricity—to power Europe’s shipping fleet carrying bulk cargo. We compared gravimetric energy density constraints on current operations, the electricity demand for fuel production and total costs of ownership, and found that over 93% of the transport work can be covered with all fuel options when a reduced cargo capacity of less than 3% is allowed for. Compared with Europe’s electricity consumption in 2019, carbon-neutral bulk shipping demands an additional 4–8% thereof. Ammonia emerges as one of the most balanced carbon-free fuels and methanol as one of the most balanced carbonaceous fuels. Using such carbon-neutral fuels could increase the total costs of ownership by a factor of 2–6 in 2030 compared with those of conventional operations. To decarbonise the shipping sector, a deeper understanding of the suitability of carbon-neutral fuels is required. Here, the authors assess the techno-economics of a variety of energy carriers in terms of their ability to power the bulk shipping fleet in Europe.

Alien species, one of the biggest threats to natural ecosystems worldwide, are of particular concern for oceanic archipelagos such as Galápagos. To enable more effective management of alien species, we reviewed, collated and analysed all available records of alien species for Galápagos. We also assembled a comprehensive dataset on pathways to and among the Galápagos Islands, including tourist and resident numbers, tourist vessels, their itineraries and visitation sites, aircraft capacity and occupancy, air and sea cargo and biosecurity interceptions. So far, 1,579 alien terrestrial and marine species have been introduced to Galápagos by humans. Of these, 1,476 have become established. Almost half of these were intentional introductions, mostly of plants. Most unintentional introductions arrived on plants and plant associated material, followed by transport vehicles, and commodities (in particular fruit and vegetables). The number, frequency and geographic origin of pathways for the arrival and dispersal of alien species to and within Galápagos have increased over time, tracking closely the increase in human population (residents and tourists) on the islands. Intentional introductions of alien species should decline as biosecurity is strengthened but there is a danger that unintentional introductions will increase further as tourism on Galápagos expands. This unique world heritage site will only retain its biodiversity values if the pathways for invasion are managed effectively.

Abstract Extensive evidence suggests that the release of membrane-enclosed compartments, more commonly known as extracellular vesicles (EVs), is a potent newly identified mechanism of cell-to-cell communication both in normal physiology and in pathological conditions. This review presents evidence about the formation and release of different EVs, their definitive markers and cargo content in reproductive physiological processes, and their capacity to convey information between cells through the transfer of functional protein and genetic information to alter phenotype and function of recipient cells associated with reproductive biology. In the male reproductive tract, epididymosomes and prostasomes participate in regulating sperm motility activation, capacitation, and acrosome reaction. In the female reproductive tract, follicular fluid, oviduct/tube, and uterine cavity EVs are considered as vehicles to carry information during oocyte maturation, fertilization, and embryo-maternal crosstalk. EVs via their cargo might be also involved in the triggering, maintenance, and progression of reproductive- and obstetric-related pathologies such as endometriosis, polycystic ovarian syndrome, preeclampsia, gestational diabetes, and erectile dysfunction. In this review, we provide current knowledge on the present and future use of EVs not only as biomarkers, but also as therapeutic targeting agents, mainly as vectors for drug or compound delivery into target cells and tissues. We review the most common EVs at early-stage embryo implantation and during fetus-placenta communication and present updated knowledge of EVs' role in pregnancy success and obstetric disorders.

CRISPR–Cas-based genome editing holds great promise for targeting genetic disorders, including inborn errors of hepatocyte metabolism. Precise correction of disease-causing mutations in adult tissues in vivo, however, is challenging. It requires repair of Cas9-induced double-stranded DNA (dsDNA) breaks by homology-directed mechanisms, which are highly inefficient in nondividing cells. Here we corrected the disease phenotype of adult phenylalanine hydroxylase (Pah) enu2 mice, a model for the human autosomal recessive liver disease phenylketonuria (PKU) 1 , using recently developed CRISPR–Cas-associated base editors 2 – 4 . These systems enable conversion of C∙G to T∙A base pairs and vice versa, independent of dsDNA break formation and homology-directed repair (HDR). We engineered and validated an intein-split base editor, which allows splitting of the fusion protein into two parts, thereby circumventing the limited cargo capacity of adeno-associated virus (AAV) vectors. Intravenous injection of AAV-base editor systems resulted in Pah enu2 gene correction rates that restored physiological blood phenylalanine ( l -Phe) levels below 120 µmol/l [ 5 ]. We observed mRNA correction rates up to 63%, restoration of phenylalanine hydroxylase (PAH) enzyme activity, and reversion of the light fur phenotype in Pah enu2 mice. Our findings suggest that targeting genetic diseases in vivo using AAV-mediated delivery of base-editing agents is feasible, demonstrating potential for therapeutic application. AAV-mediated base editing corrects an autosomal recessive mutation in the Pah enu2 gene and ameliorates molecular deficits in a mouse model of metabolic liver disease.

This paper proposes a decision support system (DSS) for optimizing cargo composition, and resulting stowage plan, in a containership of a shipping company in collaboration with en-route ports in the service. Due to considerable growth in transportation over years, an increasing number of containers are being handled by containerships, and ports consequently. Trade imbalances between regions and recent disruptions, such as LA/LB/Shanghai port congestion, blocking of Suez canal, drought in Panama canal, typhoons at ports, COVID-19 restrictions and the lack- and then over-supply of empty containers, have resulted in an accumulation of containers in exporting ports around the world. These factors have underscored the urgency of sustainability and circular economy within the shipping industry. The demand for container transportation is higher than the ship capacities in the recent times. In this regard, it is essential for shipping companies to generate a cargo composition plan for each service by selecting and transporting containers with relatively high financial returns, while offering a realistic stowage plan considering ship stability, capacity limitations and port operations. Ultimately, the selected containers should enable a ship stowage plan which keeps the ship seaworthy obeying complex stability considerations and minimizes the vessel stay at the ports, and port carbon emissions consequently, through efficient collaboration with en-route ports. This study provides a bi-level programming based DSS that selects the set of containers to be loaded at each port of service and generates a detailed stowage plan considering revenue, stowage efficiency and quay crane operational considerations. Numerical experiments indicate that the proposed DSS is capable of returning high-quality solutions within reasonable solution times for all ship sizes, cargo contents and shipping routes, supporting the principles of the circular economy in the maritime domain.

The article presents analysis of the current situation and development trends of the international UAVs cargo market. It is shown that the UAVs market has made a transition from a stage of studying technologies to commercial operation and implementation of finished products. Nowadays it is at the stage of rapid growth. However, a global market for cargo UAVs and commercial services on their basis for transporting bulky goods is still at the early stage of commercial development. At the same time, the trend for the development of cargo UAVs with the large carrying capacity corresponds to the analysis results of the global air cargo market.