Joint space compliance control for a hydraulic quadruped robot based on force feedback

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.

Atlantoaxial joint fusion using anterior transarticular screw fixation and bone grafting for atlantoaxial joint instability

Objective To evaluate the clinical application of atlantoaxial joint fusion using anterior transarticular screw fixation and bone grafting for atlantoaxial joint instability. Methods Twenty-three cases of atlantoaxial joint instability were

Research Progress on the Solder Joint Reliability of Electronics Using in Deep Space Exploration

The spacecraft for deep space exploration missions will face extreme environments,including cryogenic temperature,intense radiation,wide-range temperature variations and even the combination of conditions mentioned above.Harsh environments will lead to solder joints degradation or even failure,resulting in damage to onboard electronics.The research activities on high reliability solder joints using in extreme environments can not only reduce the use of onboard protection devices,but effectively improve the overall reliability of spacecraft,which is of great significance to the aviation industry.In this paper,we review the reliability research on SnPb solder alloys,Sn-based lead-free solder alloys and In-based solder alloys in extreme environments,and try to provide some suggestions for the follow-up studies,which focus on solder joint reliability under extreme environments.

Three-dimensional CT angiography study on the relations between the vertebral artery and atlantoaxial joint

Background The vertebral artery （VA） and atlantoaxial joint （AAJ）, with complicated structures, are located in the depths of the head-neck boundary area, the regional anatomy of which cannot be shown globally and directly. This study aims to evaluate three-dimensional CT angiography （3DCTA） in displaying the AAJ, atlantoaxial segment of the vertebral artery （ASVA） and the identification of their interrelations. Methods Sixty-eight subjects without pathology of the ASVA and AAJ were selected from head-neck CTA examination. All the 3D images were formed with volume rendering （VR） together with techniques of separating, fusing, opacifying and false-coloring （SFOF）. On the 3D images, the ASVA and AAJ were observed, and their interrelations were measured. Results All the 3DCTA images were of high quality and up to our requirements. They could clearly and directly show the ASVA, ascending along the AAJ. There were 5 curves in the course of the ASVA, of which 2 curves were away from the atlantoaxial joint, one in the 2rid curve of 0.0 mm-5.4 mm, the other in the 4th of 2.6 mm-9.2 mm. There was no significant difference in the measurements between left and right （P 〉0.05）. The curved parts of the ASVA slightly expanded, with the biggest diameter of 5.6 mm in the 4th curve. Statistical comparison shows that the left ASVA is larger than the right （P 〈0.05）. Variations of the ASVA were found in 8 cases and of the AAJ in 12. Conclusions 3DCTA can globally and directly demonstrate the structures of the AAJ, ASVA and their interrelations. The 3D imaging data make up and enrich the research contents of regional anatomy and lay the foundation for related study and applications.

New variables for measuring joint space width to evaluate knee osteoarthritis

Assessing the radiographic features of knee osteoarthritis （OA）, especially joint space narrowing, is important for evaluating disease progression. The purpose of this study was to quantitatively analyze joint space narrowing by measuring 2 new variables： the average joint space width （aJSW） and the articulate angle （AA） on X-ray films, and to evaluate the relationship between the 2 variables, knee function and OA symptoms. Methods Using the web-based radiology viewer （Cedara I-ReachTM 4.1.1）, we measured the 2 variables in 50 knees of 41 patients with knee OA participating in the Shanghai OA Study. We also evaluated the Kellgren-Lawrence （K-L） grade, the Western Ontario and McMaster Universities OA Index （WOMAC）, and additional questionnaire in OA knees. The study was approved by the ethics committee of Shanghai Ninth People＇s Hospital （No. 2009-28）. Results The aJSW correlated with the K-L grade （r=-0.57, P 〈0.001）, kneeling （r=-0.29, P=0.04）, sitting cross-legged on the floor （r=-0.31, P=0.03）, WOMAC pain （r=-0.31, P=0.03）, WOMAC disability （r=-0.35, P=0.01）, pain while squatting （r=-0.37, P=0.01）, and defecating in a squatting position （r=-0.39, P= 0.01）. The AA correlated with defecating in a squatting position （r=0.29, P=0.05）, WOMAC disability （r=0.30, P=0.04） and K-L grade （r=0.44, P=0.003）. The K-L grade also correlated with pain while squatting （r=-0.40, P=0.005） and defecating in a squatting position （r=-0.34, P=0.02）, WOMAC pain （r=0.30, P=0.04）, and WOMAC disability （r=0.30, P=0.04）. Conclusions The aJSW closely correlated with knee OA symptoms and function scores, and was more sensitive to knee OA related disabilities than K-L grade and the AA. The aJSW could be used as a new variable for knee OA evaluation.

Numerical evaluation of buckling behavior in space structure considering geometrical parameters with joint rigidity

The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stiffness of joint system, which is neither total pin assumption nor perfect fix condition, is very important to apply to the real single layer space one. Therefore, the purpose of this work was to investigate the buckling behavior of single layer space structure, using the development of the upgraded stiffness matrix for the joint rigidity. To derive tangential stiffness matrix, a displacement function was assumed using translational and rotational displacement at the node. The geometrical nonlinear analysis was simulated not only with perfect model but also with imperfect one. As a result, the one and two free nodal numerical models were investigated using derived stiffness matrix. It was figured out that the buckling load increases in proportion to joint rigidity with rise-span ratio. The stability of numerical model is very sensitive with the initial imperfection, responding of bifurcation in the structure.

The formation of orthogonal joint systems and cuboidal blocks:New insights gained from flat-lying limestone beds in the region of Havre-Saint-Pierre(Quebec,Canada)

Vertical orthogonal joints are a common feature in shallow crustal rocks.There are several competing theories for their formation despite the ubiquity.We examined the exceptional exposures of orthogonal joints in flat-lying Ordovician limestone beds from the Havre-Saint-Pierre Region in Quebec,Canada(north shore of Saint-Lawrence River)to test conceptual models of joint formation in a natural setting.In the region,the spacing of cross-joints is consistently larger than the spacing of systematic joints by a factor of 1.5 approximately.The joint-spacing-to-bed-thickness ratios(s/t)are much larger in these beds(s/t=4.3 for systematic joints,and 6.4 for cross-joints)than those in higher strained strata along the south shore of the Saint-Lawrence River(s/t=1),highlighting the effect of tectonic strain in decreasing fracture spacing and block size.The high values of s/t indicate that cross-joint formation was unlikely caused by a switch from compression to tension once a critical s/t ratio for systematic joints was reached(as hypothesized in previous studies).We proposed a new model for the formation of orthogonal joint systems where the principal stress axes locally switch during the formation of systematic fractures.The presence of ladder-shaped orthogonal joints suggests a state of effective stress withσ_(1)^(∗)≫0>σ_(2)^(∗)>σ_(3)^(∗)and whereσ_(2)^(∗)-σ_(3)^(∗)is within the range of fracture strength variability at the time of fracture.This research provides a new mechanical model for the formation of orthogonal joint systems and cuboidal blocks.

Influence of void space on microscopic behavior of fluid flow in rock joints

Advanced microfluidic technology was used to examine the microscopic viscous and inertial effects evolution of water flow in rock joints. The influence of void space on fluid flow behaviour in rock joints under different flow velocities was experimentally investigated at the micro scale. Using advanced fabrication technology of microfluidic device, micro flow channels of semicircular, triangular, rectangular and pentagonal cavities were fabricated to simulate different void space of rock joints, respectively. Using the fluorescence labelling approach, the trajectory of water flow was captured by the microscope digital camera when it passed over the cavity under different flow velocities. The flow tests show that the flow trajectory deviated towards the inside of the cavity at low flow velocities. With the increase in flow velocity, this degree of flow trajectory deviation decreased until there was no trajectory deviation for flow in the straight parallel channel. The flow trajectory deviation initially reduced from the void corner near the entrance. At the same time, a small eddy appeared near the void corner of the entrance. The size and intensity of the eddy increased with the flow velocity until it occupied the whole cavity domain. The gradual reduction of flow trajectory near the straight parallel channel and the growth of eddy inside the cavity reflect the evolution of microscopic viscous and inertial forces under different flow velocities.The eddy formed inside the cavity does not contribute to the total flow flux, but the running of the eddy consumes flow energy. This amount of pressure loss due to voids could contribute to the nonlinear deviation of fracture fluid flow from Darcy's law. This study contributes to the fundamental understanding of non-Darcy's flow occurrence in rock joints at the micro scale.

Orthodontic retreatment of an adult woman with mandibular backward positioning and temporomandibular joint disorder:A case report

BACKGROUND The role of occlusal factors on the occurrence of temporomandibular joint disorders(TMDs)is still unclear and it is tricky for orthodontists to treat malocclusions in patients with TMDs.We report the case of the second orthodontic treatment of an adult female with Class II division 2 malocclusion associated with TMD.With the removal of anterior occlusal interference,TMD symptoms were alleviated and cone beam computed tomography(CBCT)images showed the bilateral condyles shifted forward.CASE SUMMARY This case report presented an orthodontic retreatment of an adult female with TMD and mandibular backward positioning based on CBCT examination and Joint Space Index(JSI)analysis.The left and right JSI values of-38.5 and-52.6 indicated that the position of bilateral condyles had posterior displacement.Ten years prior to this evaluation,she underwent orthodontic treatment resulting in the extraction of two upper premolars and one lower central incisor.The joint symptoms,including pain and sounds,were alleviated along with verified mandibular forward repositioning by extraction of another lower central incisor.CONCLUSION Mandibular backward positioning could be associated with TMD.JSI analysis based on CBCT is a convenient way to examine condylar positions quantitatively.

磁共振3D space序列在膝关节半月板放射状撕裂中的诊断价值

目的 评价磁共振3D space序列在膝关节半月板放射状撕裂中的诊断价值,提高对此病的影像认识,为临床诊疗提供帮助。方法 回顾性分析29例经关节镜证实的膝关节半月板放射状撕裂患者的磁共振资料;对比常规磁共振2D序列与3D space序列在半月板放射状撕裂病变中的诊断效能,使用Fisher确切概率法对两种方法诊断半月板放射状撕裂的准确率进行比较。结果 3D space序列和常规2D序列诊断半月板放射状撕裂的准确率分别为96.7%(29/30)、80.0%(24/30),3D space序列诊断准确率高于常规2D序列,差异有统计学意义(P<0.05)。结论 3D space序列在半月板放射状撕裂的诊断中具有较高价值,其诊断效能优于2D序列。

Joint Angle Correction in Rheumatoid Arthritis and Its Reliability Analysis Based on Phase Dispersion Quantification

Background: Rheumatoid arthritis is a form of autoimmune disease characterized by synovitis that can ultimately cause joint deformities and impaired functioning. The cartilage destruction is one of the most important indicators for diagnosis and treatment of rheumatoid arthritis, and it is radiographically manifested as joint space narrowing. Issue: In the literature, the joint space narrowing progression between a baseline and its follow-up finger joint images can be quantified by using image registration algorithm. We found that the inconsistencies of joint angles may lead to characteristic mismatches and thus severely affect the accuracy of joint space narrowing quantifications. Methods: In this work, we introduce a rotation invariant phase only correlation in joint space narrowing quantification for the joint angle correction. Further, we propose a confidence index to quantify the quantification reliability of phase only correlation based on phase dispersion in phase difference spectrum. Conclusion: In our clinical experiments, the proposed quantification method can effectively overcome and manage the mismatch due to the inconsistency of joint angles. Additionally, the confidence index shows a high consistency with the joint space narrowing progression examinations manually done by a trained radiologist and one radiological technologist.

Iatrogenic atlantoaxial rotatory subluxation after thyroidectomy in a pediatric patient:A case report

BACKGROUND Atlantoaxial rotatory subluxation(AARS)is an uncommon disease with a greater prevalence among children than adults,and it is mostly associated with trauma.Iatrogenic spinal injury accounts for a low percentage of injuries.However,in AARS,20%-40%of cases are associated with surgery,and 48%are caused by infection.Here,we describe our experience with a case of iatrogenic AARS after general anesthesia.CASE SUMMARY A 12-year-old girl presented with right-sided torticollis and cervical motion limit.The patient had undergone thyroidectomy 2 mo ago.Computed tomography revealed AARS with bilateral locked facets.Following the failure of repeated external reduction under general anesthesia,the patient underwent an open surgical reduction.The patient gained atlantoaxial alignment without any complications.Follow-up radiographs showed a normal appearance without instability.The cervical spine of children is more predisposed to injury due to anatomical and biomechanical differences.AARS secondary to infection and surgery is known as Grisel’s syndrome,which involves non-traumatic AARS.Several cases of AARS after surgery and other procedures with no evidence of inflammation have been reported.Our experience shows that surgery requiring hyperextension of the neck after general anesthesia should also be included as a risk factor.CONCLUSION Surgeons and anesthesiologists should be careful not to excessively extend the neck during pediatric surgery.Moreover,clinicians caring for pediatric patients with recent head and neck procedures must be aware of common AARS presentations.

Posterior pedicle screw fixation combined with local steroid injections for treating axial eosinophilic granulomas and atlantoaxial dislocation:A case report

BACKGROUND Eosinophilic granuloma(EG)is a proliferative condition that affects the cells of bone tissue.There are no specific clinical signs or imaging manifestations in the early stages of the disease,making it simple to overlook and misdiagnose.Because of the disease's rarity,there is presently no standardized treatment principle.There are few accounts of such occurrences affecting the axis among children.We discovered a case of a child whose EG resulted in atlantoaxial joint dislocation and destruction of the axial bone.CASE SUMMARY After having pharyngeal discomfort for more than six months without a clear explanation,a 6-year-old boy was brought to our hospital.Following a careful evaluation,the pathology indicated a strong likelihood of an axial EG.Ultimately,we decided to treat the boy with posterior pedicle screw fixation and local steroid injections.CONCLUSION EGs of the upper cervical spine are quite uncommon in children,and they are exceedingly easy to overlook or misdiagnose.Posterior pedicle screw fixation and local steroid injections are effective treatments for patients with axial EGs affecting the atlantoaxial junction.

2D joint inversion of CSAMT and magnetic data based on cross-gradient theory

A two-dimensional forward and backward algorithm for the controlled-source audio-frequency magnetotelluric （CSAMT） method is developed to invert data in the entire region （near, transition, and far） and deal with the effects of artificial sources. First, a regularization factor is introduced in the 2D magnetic inversion, and the magnetic susceptibility is updated in logarithmic form so that the inversion magnetic susceptibility is always positive. Second, the joint inversion of the CSAMT and magnetic methods is completed with the introduction of the cross gradient. By searching for the weight of the cross-gradient term in the objective function, the mutual influence between two different physical properties at different locations are avoided. Model tests show that the joint inversion based on cross-gradient theory offers better results than the single-method inversion. The 2D forward and inverse algorithm for CSAMT with source can effectively deal with artificial sources and ensures the reliability of the final joint inversion algorithm.

EFFECT OF Z-PINS’ DIAMETER,SPACING AND OVERLAP LENGTH ON CONNECTING PERFORMANCE OF CMC SINGLE LAP JOINT

The effect of through-thickness reinforcement by composite pins （Z-pins） on the static tensile strength and failure mechanisms of the joints made from ceramic matrix composite （CMC） is investigated. Overlap length of the single lap joint is 15 mm, 20 mm, 23 mm, 37 mm, and 60 mm, respectively. The experimental results indicate that the final failure modes of the joints can be divided into two groups, （a） the bond-line stops debonding until crack encounters Z-pins; and then the adherends break at the location of Z-pins, when overlap length is more than 20 mm; （b） the bond-line detaches entirely and Z-pins are drawn from adherends, when overlap length is equal to 15 mm. A simple efficient computational approach is presented for analyzing the benefit of through-thickness pins for restricting failure in the single lap joints. Here, the mechanics problem is simplified by representing the effect of the pins by tractions acting on the fracture surfaces of the cracked bond-line. The tractions are prescribed as functions of the crack displacement, which are available in simple forms that summarize the complex deformations to a reasonable accuracy. The resulting model can be used to track the evolution of complete failure mechanisms, for example, bond-line initial delamination and ultimate failure associated with Z-pin pullout, ultimate failure of the adherends. The paper simulates connecting performance of the single lap joints with different Z-pins＇ diameter, spacing and overlap length; the numerical results agree with the experimental results; the numerical results indicate enlarging diameter and decreasing spacing of Z-pins are in favor of improving the connecting performance of the joints. By numerical analysis method, the critical overlap length that lies between two final failure modes is between 18 mm and 19 mm, when Z-pins＇ diameter and spacing are 0.4 mm, 5 mm, respectively.

Equivalent continuum modeling of beam-like truss structures with flexible joints

The paper investigated the equivalent continuum modeling of beam-like repetitive truss structures considering the flexibility of joints,which models the contact between the truss member and joint by spring-damper with six directional stiffnesses and dampings.Firstly,a two-node hybrid joint-beam element was derived for modeling the truss member with flexible end joints,and a condensed model for the repeating element with flexible joints was obtained.Then,the energy equivalence method was adopted to equivalently model the truss structure with flexible joints and material damping as a spatial viscoelastic anisotropic beam model.Afterwards,the equations of motion for the equivalent beam model were derived and solved analytically in the frequency domain.In the numerical studies,the correctness of the presented method was verified by comparisons of the natural frequencies and frequency responses evaluated by the equivalent beam model with the results of the finite element method model.

Simultaneous effects of joint spacing and joint orientation on the penetration rate of a single disc cutter

This paper describes the influence of joint spacing and joint orientation on the penetration rate of a Tunnel Boring Machine （TBM） disc cutter as modeled by the Discrete Element Method （DEM）. The input data for the siLmulations were obtained from the sandstone along the AIborz tunnel that is currently being excavated in Iran using a 5.2 m diameter open TBM. Three joint spacings, 150, 200, and 300 mm, were modeled together with seven values of joint orientation; 0°, 15°, 30°, 45°, 60°, 75°, and 90°. The results show that the penetration increases when joint orientation increases from 0° to 75°, but it decreases as the joint orientation increases further from 75° to 90°. This is true for each joint spacing. In addition, for a given joint orientation increasing the joint spacing causes the TBM penetration to decrease. The optimum joint orientation, from the viewpoint of TBM penetration, is about 60-75°.

Determining relative block structure rating for rock erodibility evaluation in the case of non-orthogonal joint sets

The most commonly used method for assessing the hydraulic erodibility of rock is Annandale's method.This method is based on a correlation between the erosive force of flowing water and the capacity of rock resistance. This capacity is evaluated using Kirsten's index, which was initially developed to evaluate the excavatability of earth materials. For rocky material, this index is determined according to certain geomechanical factors related to intact rock and rock mass, such as compressive strength of intact rock, rock block size, discontinuity shear strength and relative block structure. To quantify the relative block structure, Kirsten(1982) developed a mathematical expression that accounts for the shape and orientation of the blocks relative to the direction of flow. Kirsten's initial concept for assessing the relative block structure considers that the geological formation is mainly fractured by two joint sets forming an orthogonally fractured system. An adjusted concept is proposed to determine the relative block structure when the fractured system is non-orthogonal where the angle between the planes of the two joint sets is greater or less than 90°. An analysis of the proposed relative block structure rating shows that considering a non-orthogonally fractured system has a significant effect on Kirsten's index and, as a consequence, on the assessment of the hydraulic erodibility of rock.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

柔性关节空间机械臂传感容错无模型自适应控制

针对传感信号畸变、丢失等故障状态严重影响空间机械臂控制系统性能的问题,提出基于空间机械臂运动传感器故障观测的无模型自适应容错控制方法。采用动态线性化和递推参数估计思想设计传感故障监测器,实现对传感畸变及数据丢失等故障的判定,并进行运动状态预测估计;建立包含跟踪误差变化率项的无模型自适应控制准则函数,有效惩罚由传感故障引起的参数估计突变问题;设计面向柔性关节空间机械臂的新型传感容错无模型自适应控制(SFT-MFAC)算法。仿真结果表明,在不同传感故障情况下,所提控制策略均能快速准确识别传感故障信息,避免系统瞬时发散,有效延长系统响应时间,增加控制系统的鲁棒性。