女性尿失禁是需长期治疗的顽固症。体外电磁波刺激(extracorporeal magnetic innervations,ExMI)和可携式功能性磁环刺激(functional electrical magnetic stimulation,FES)以及植入式骶骨神经调节治疗是目前认为是颇具潜力的疗法,...女性尿失禁是需长期治疗的顽固症。体外电磁波刺激(extracorporeal magnetic innervations,ExMI)和可携式功能性磁环刺激(functional electrical magnetic stimulation,FES)以及植入式骶骨神经调节治疗是目前认为是颇具潜力的疗法,治疗压力性、尿急性尿失禁、频尿综合征(过动性膀胱)、间质性膀胱炎和排尿功能障碍等,短期即显示有可观的疗效和改善,但长期疗效仍期待更多的临床观察。展开更多
The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum wit...The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.展开更多
文摘女性尿失禁是需长期治疗的顽固症。体外电磁波刺激(extracorporeal magnetic innervations,ExMI)和可携式功能性磁环刺激(functional electrical magnetic stimulation,FES)以及植入式骶骨神经调节治疗是目前认为是颇具潜力的疗法,治疗压力性、尿急性尿失禁、频尿综合征(过动性膀胱)、间质性膀胱炎和排尿功能障碍等,短期即显示有可观的疗效和改善,但长期疗效仍期待更多的临床观察。
文摘The arm driven inverted pendulum system is a highly nonlinear model, muhivariable and absolutely unstable dynamic system so it is very difficult to obtain exact mathematical model and balance the inverted pendulum with variable position of the ann. To solve this problem, this paper presents a mathematical model for arm driven inverted pendulum in mid-position configuration and an adaptive gain scheduling linear quadratic regulator control method for the stabilizing the inverted pendulum. The proposed controllers for arm driven inverted pendulum are simulated using MATLAB-SIMULINK and implemented on an experiment system using PIC 18F4431 mieroeontroller. The result of experiment system shows the control performance to be very good in a wide range stabilization of the arm position.