Achievement of chaotic synchronization trajectories of master-slave manipulators with feedback control strategy

This paper addresses a master-slave synchro- nization strategy for complex dynamic systems based on feedback control. This strategy is applied to 3-DOF pla- nar manipulators in order to obtain synchronization in such complicated as chaotic motions of end-effectors. A chaotic curve is selected from Duffing equation as the trajectory of master end-effector and a piecewise approximation method is proposed to accurately represent this chaotic trajectory of end-effectors. The dynamical equations of master-slave manipulators with synchronization controller are derived, and the Lyapunov stability theory is used to determine the stability of this controlled synchronization system. In numer- ical experiments, the synchronous motions of end-effectors as well as three joint angles and torques of master-slave manipulators are studied under the control of the proposed synchronization strategy. It is found that the positive gain matrix affects the implementation of synchronization con- trol strategy. This synchronization control strategy proves the synchronization＇s feasibility and controllability for com- plicated motions generated by master-slave manipulators.

Treatment of Dyes Wastewater by a New Kind of Bio - Fluid Bed

A new kind of bio-fluid bed used to treat dyes wastewater is described in detail due to its several special features,such as high removal efficiency,simple struc-ture,shock load resistance,etc.By means of analyzing the experiment data,the results show that the dye wastewater’s organic matter is removed greatly after be-ing treated by this new kind of bio-fluid bed.On the other hand,the removal efficiency of chromaticity of

Where is the rudder of a fish?:the mechanism of swimming and control of self-propelled fish school

Numerical simulation and control of self- propelled swimming of two- and three-dimensional biomimetic fish school in a viscous flow are investigated. With a parallel computational fluid dynamics package for the two- and three-dimensional moving boundary problem, which combines the adaptive multi-grid finite volume method and the methods of immersed boundary and volume of fluid, it is found that due to the interactions of vortices in the wakes, without proper control, a fish school swim with a given flap- ping rule can not keep the fixed shape of a queue. In order to understand the secret of fish swimming, a new feedback con- trol strategy of fish motion is proposed for the first time, i,e., the locomotion speed is adjusted by the flapping frequency of the caudal, and the direction of swimming is controlled by the swinging of the head of a fish. Results show that with this feedback control strategy, a fish school can keep the good order of a queue in cruising, turning or swimming around circles. This new control strategy, which separates the speed control and direction control, is important in the construction of biomimetic robot fish, with which it greatly simplifies the control devices of a biomimetic robot fish.

Overview of In—Situ Biodegradation and Enhancement

Microbial degradation technologies have been developed to restore ground water quality in aquifers polluted by organic contaminants effectively in recent years. However, in course of the degradation, the formation of biofilms in ground water remediation technology can be detrimental to the effectiveness of a ground water remediation project. Several alternatives are available to a remedial design engineer, such as Permeable Reactive Barriers (PRBs) and in -situ bioremediation, Hydrogen Releasing Compounds (HRCs) barrier, Oxygen Releasing Compounds (ORCs) barrier etc. which are efficient and cost- effective technologies. Excessive biomass formation renders a barrier ineffective in degrading the contaminants, Efforts are made to develop kinetics models which accurately determine bio - fouling and bio - filn formation and to control excessive biomass formation.

O(t^(-β))-SYNCHRONIZATION AND ASYMPTOTIC SYNCHRONIZATION OF DELAYED FRACTIONAL ORDER NEURAL NETWORKS

This article explores the O(t^(-β))synchronization and asymptotic synchronization for fractional order BAM neural networks(FBAMNNs)with discrete delays,distributed delays and non-identical perturbations.By designing a state feedback control law and a new kind of fractional order Lyapunov functional,a new set of algebraic sufficient conditions are derived to guarantee the O(t^(-β))Synchronization and asymptotic synchronization of the considered FBAMNNs model;this can easily be evaluated without using a MATLAB LMI control toolbox.Finally,two numerical examples,along with the simulation results,illustrate the correctness and viability of the exhibited synchronization results.

Feedback of Active Galactic Nuclei in Seyfert 2 Galaxies

It is well accepted that feedback from active galactic nuclei （AGNs） plays an important role in the coevolution of the supermassive black hole （SMBH） and its host galaxy, but the concrete mechanism of feedback remains unclear. A considerable body of evidence suggests that AGN feedback suppresses star formation in the host galaxy. We assemble a sample of Seyfert 2 galaxies with recent observational data of compact nuclear starbursts and estimate the gas surface density as a function of column density to illuminate the relation between feedback and AGN properties. Although there are some uncertainties, our data still imply the deviation from the star formation law （Kennicutt-Schmidt law）. Further, they indicate that： （1） Feedback correlates with the Eddington ratio, rather than with the mass of SMBH, as a result of decreasing star formation efficiency. （2） The SMBH and the torus are probably undergoing coevolution. Conclusions presented here can be refined through future high resolution CO or HCN observations.

Teleonomy: The Feedback Circuit Involving Information and Thermodynamic Processes

Informational and entropic - metabolic aspects are strictly intertwined in organisms. An overview of bacterial chemotaxis is presented as a good and simple model to study these issues. In particular, the paper shall focus on the ability of the organism to restore its homeostasis not only from a metabolic point of view but also from an informational point of view. The organism cannot accomplish this task without a good “model” of the environment and without undertaking appropriate actions that will somehow modify it or at least the relation “organism - environment”. Subsequently, the concept of teleonomy is developed as a dynamical trade - off between segregation and openness of the organism both from a thermodynamic and informational point of view.

狭义生物反馈和广义针灸康复反馈疗法的研究近况及展望

生物反馈疗法是从控制论中的反馈概念,推广到康复医学的一种进行自身功能调节的物理治疗方法。虚拟现实技术被融合到康复治疗中得到广泛应用,类似于生物反馈疗法的再次拓展应用。针灸疗法以多元反馈的非自主意识性的功能调节方式治疗疾病。本文综合分析了这三种物理性刺激治疗方法在神经调节、体液调节和器官组织的自我调节三个方面的机制。

情感计算的信息隐私法律风险及其应对

情感计算是指以人类情感为机器学习对象,具有情感识别和情感分析功能的智能科技。情感计算不以信息主体的身份识别为前提,旨在通过对输入端生物反馈信息或状态的分析处理而输出情感信息。为应对情感信息不当获取与利用所带来的情感操纵风险,需以信息隐私理论为框架展开风险应对之探讨。然而,现行信息隐私规范却存在风险应对不足的问题。情感信息因其具体类型的多样性而难以划入敏感个人信息的保护范围;生物反馈信息因其情感识别而非身份识别的目的难以作为生物识别信息而被保护;作为信息处理之合法性基础的告知同意也因情感信息的特殊性存在被架空的风险。鉴于欧盟《人工智能法案(草案)》中规制情感识别的经验,我国可尝试在算法治理中构建“生物数据”的概念并以之为媒介展开技术风险的分级分领域规制,从而构建可信赖情感智能的数字环境。

电刺激联合生物反馈治疗非产后患者压力性尿失禁疗效观察

目的探讨电刺激联合生物反馈用于非产后患者压力性尿失禁的临床效果.方法选择56例轻度及中度女性非产后压力性尿失禁患者,进行1～2个疗程的电刺激联合生物反馈锻炼盆底肌肉治疗,观察其治疗效果.结果 56名患者中,有43人完成了治疗,尿失禁症状得到了不同程度的缓解.相对于治疗前,尿失禁问卷简表（ICI-Q-SF）和膀胱颈旋转角均有改变,差异有统计学意义（P〈0.05）.结论电刺激联合生物反馈能有效的治疗压力性尿失禁;在治疗过程中应注意多种治疗方法联合应用,强调个体化治疗原则.

运用压力生物反馈行腹横肌及多裂肌协同训练治疗下背痛

目的:研究运用压力生物反馈行腹横肌及多裂肌协同训练对下背痛的近远期疗效。方法:将符合诊断标准的60例下背痛患者随机分为研究组和对照组各30例,2组均按常规给予物理治疗。研究组在此基础上加用压力生物反馈行腹横肌及多裂肌协同训练;对照组配合五点支撑法及飞燕点水法等功能训练。治疗前后采用疼痛视觉模拟评分(VAS)和SF-36健康状况调查问卷评定疼痛程度及日常生活活动能力,1年后跟踪随访复发率。结果:与治疗前比较,治疗1、6个月及1年时2组VAS评分与治疗前比较逐步下降明显,SF-36逐渐上升(P<0.05,0.01);与对照组比较,研究组表现更明显(P<0.05,0.01)。1年后跟踪随访,研究组复发率明显低于对照组(10.0%与33.3%,P<0.01)。结论:配合运用压力生物反馈行腹横肌及多裂肌协同训练可有效减轻下背痛患者的疼痛程度,改善其功能障碍,并明显降低复发率,其远期疗效巩固。

视频强化表象训练的效果

通过主观感受状态、状态自信、内隐自信及多项生理指标的变化,研究不同类型视频强化表象训练的效果。结果显示:精彩球视频比不佳球视频在被试表象训练的过程中,更能提高其主观感受水平,激发其正向情绪;观看精彩球视频对强化表象训练的被试比观看不佳球视频的被试,在实验后主观感受水平更高,皮温更高,皮肤电阻更大,血容波幅更小;接受精彩球视频处理的被试在实验结束后状态自信水平显著提高,接受不佳球视频处理的被试状态自信水平无显著性变化;观看精彩球视频的高水平运动员内隐自信水平在实验后得到提高,观看不佳球视频的高水平运动员则显著下降,该现象未出现在对照组被试中。

压力性尿失禁患者盆底电刺激治疗临床分析

目的探讨盆底电刺激疗法治疗压力性尿失禁的治疗方案及疗效。方法12名压力性尿失禁患者随机进入前瞻性研究,应用StimogynBIO2001型生物反馈+盆底电刺激治疗仪进行治疗,选择适应治疗方案,随访观察治疗效果。结果12名患者中有4人治疗2～3次即明显有效,剩余8名患者接受8～24次治疗,6名患者治愈,2名患者症状改善,所有患者对治疗效果满意。结论生物反馈及盆底电刺激疗法能够有效治疗压力性尿失禁,应强调个体化的治疗原则及患者主动参与治疗。

个体化盆底生物反馈电刺激对盆腔脱垂器官解剖和功能的影响

目的探讨个体化盆底生物反馈电刺激治疗盆腔脱垂对器官解剖复位和功能恢复的影响。方法入选120例盆腔器官脱垂患者,随机分组接受为期6个月的Kegel锻炼联合个体化生物反馈电刺激方案(治疗组,60例)和单纯Kegel锻炼(对照组,60例),比较两组干预后患者的器官解剖复位和功能恢复指标的变化。结果 (1)解剖位置方面:盆腔器官脱垂量化分期法比较,两组治疗后较治疗前明显改善(Z=6.790,P=0.000;Z=3.208,P=0.001),但治疗组患者的改善效果更佳(Z=3.530,P=0.000);(2)器官功能方面:两组治疗后的盆腔肌力均优于治疗前(Z=7.231,P=0.000;Z=1.995,P=0.037),但治疗组的疗效更好(Z=6.156,P=0.000);治疗后两组患者的最大尿流率较治疗前明显升高(P<0.05),两组残余尿量明显减少,治疗组更优于对照组(P<0.05);最大逼尿肌压在治疗前后差异无统计学意义(P>0.05)。结论个体化生物反馈电刺激治疗盆腔器官脱垂疗效良好、安全、无创伤性,值得在临床推广。

基于ARM的多路信号生物反馈仪的设计

目的:设计检测多路生理信号并反馈多个生理参数的生物反馈仪器,用于相关疾病的治疗。方法:由生物反馈的基本原理,以ARM微处理器为核心,设计了以RSA、肌电、皮电和皮温为参数的生物反馈仪;并提供了深呼吸放松训练方法。结果:通过系统的反馈指标,系统可以完成生物反馈的功能,并通过深呼吸达到了放松状态。结论:本系统操作简单、功能强大,可用于治疗身心疾病、精神科疾病等。

肌电生物反馈仪放松反馈信号提取的方案设计及实现

目的在不干扰目标设备的条件下提出一种基于视频图像处理的技术方案,从而实现肌电生物反馈仪实时视觉反馈状态信息的数据提取。方法在不对原装备作任何改动的情况下通过视频图像实时采集,对每一帧图像中肌电生物反馈仪放松信号灯的点亮位置进行目标自动识别及动态跟踪,完成放松状态反馈信息数据的采集。结果该方案用于识别并跟踪肌电生物反馈仪中视觉反馈灯点亮位置的准确率达到100%,可全程记录整个实验过程中的肌电生物反馈仪放松反馈状态信息。结论利用图像动态跟踪识别技术提取目标设备状态信息是一种对目标设备无干扰的一种新方法,具有较好的应用前景。

神经功能重建治疗仪对脑卒中患者神经功能恢复及血液流变学的应用研究

目的:探讨神经功能重建治疗仪对脑卒中患者神经功能恢复及血液流变学的应用研究。方法:选择医院收治的65例脑卒中患者,采用随机数表法将患者分为联合治疗组(33例)和对照组(32例),联合治疗组患者在应用基础药物治疗基础上,进行康复训练联合神经功能重建治疗仪治疗;对照组患者在药物治疗基础上,进行单独康复训练治疗,对比两组患者治疗前、后的临床疗效、神经功能恢复及血液流变学的变化情况。结果:联合治疗组患者临床治疗有效率为96.97%,对照组患者临床治疗有效率为59.38%,两组比较差异有统计学意义(x^2=12.473,P<0.05);治疗后对两组日常生活行为Barthel指数量表、Fug I-Meyer运动功能评分(FMA)法评分比较,其差异均有统计学意义(t=7.632,t=5.693;P<0.05);治疗后联合治疗组患者的血浆粘度、红细胞比积、血小板聚集率、红细胞变形指数、红细胞聚集指数以及纤维蛋白原显著优于对照组患者,差异均具有统计学意义(t=6.859,t=10.263,t=7.626,t=6.623,t=8.257,t=6.003;P<0.05)。结论:神经功能重建治疗仪在治疗脑卒中起到了协同作用,能够有效的治疗脑卒中患者,改善其临床症状,提高患者的肢体运动功能以及生活自理能力,并明显改善患者血液流变学各项指标,取得较好的临床治疗效果。

类生物化自适应制造系统控制结构(英文)

未来的制造系统需要应对多变的不可预测环境的干扰,因此要求制造系统的控制结构具有较好的自适应性、自组织性、敏捷性、智能性和鲁棒性。而具有这些生物行为特征的类生物化制造系统能够很好的满足这一要求。因此,借鉴生物系统的组织结构、控制机理和运行模式,从一个全新角度提出了有机制造单元的概念,并结合基于激素分泌调节的超短反馈机制,建立了类生物化生产系统自适应控制模型;基于神经-内分泌-免疫系统调节机制,建立了类生物化自适应制造系统控制结构模型。最后,通过一个基于信息素通信机制的实例表明:整个系统具有较强的鲁棒性。