Qualitative analysis of the Dix-Hallpike maneuver in multi-canal BPPV using a biomechanical model: Introduction of an expanded Dix-Hallpike maneuver for enhanced diagnosis of multi-canal BPPV

Introduction/Objective:Multiple canal BPPV can be a diagnostic challenge to the clinician.This is due in part to the complex anatomy of the labyrinth but also to complex and often simultaneous ocular responses that result from stimulation of multiple canals during traditional diagnostic testing.Our objective was to analyze the Dix-Hallpike maneuver used in the diagnosis of BPPV to look for patterns of simultaneous canal response and to develop a diagnostic maneuver that will allow separation of canal responses in multiple canal BPPV.Methods:A previously created and published 3D biomechanical model of the human labyrinths for the study of BPPV was used to analyze and compare the position and movement of otoliths in the Dix-Hallpike maneuver as well as in a proposed expanded version of the traditional DixHallpike maneuver.Results:The traditional Dix-Hallpike maneuver with the head hanging may promote movement of otoliths in 5 of the six semicircular canals.The Dix-Hallpike maneuver with the head lowered only to the horizontal position allows for otoconia in only the lowermost posterior canal to fall to the most gravity dependent position.This position allows for minimal or no movement of otoconia in the contralateral posterior canal,or in either superior canal.Turning the head ninety degrees to the opposite side while still in the horizontal position will provoke otolith movement in only the contralateral posterior canal.The superior canals can then be examined for free otolith debris by extending the neck to a head-hanging position.These positions may be assumed directly from one to the next in the lying position.There seems to be no advantage to sitting up between positions.Conclusion:The Dix-Hallpike maneuver may cause simultaneous movement of otoliths present in multiple canals and create an obstacle to accurate diagnosis in multi-canal BPPV.An expanded Dix-Hallpike maneuver is described which adds intermediate steps with the head positioned to the right and left in the horizontal position before head-hanging.This expanded maneuver has helped to isolate affected semi-circular canals for individual assessment in multiple canal BPPV.

Multi-UAV cooperative maneuver decision-making for pursuitevasion using improved MADRL

Aiming at the problem of multi-UAV pursuit-evasion confrontation, a UAV cooperative maneuver method based on an improved multi-agent deep reinforcement learning(MADRL) is proposed. In this method, an improved Comm Net network based on a communication mechanism is introduced into a deep reinforcement learning algorithm to solve the multi-agent problem. A layer of gated recurrent unit(GRU) is added to the actor-network structure to remember historical environmental states. Subsequently,another GRU is designed as a communication channel in the Comm Net core network layer to refine communication information between UAVs. Finally, the simulation results of the algorithm in two sets of scenarios are given, and the results show that the method has good effectiveness and applicability.

Cooperative guidance law based on super-twisting observer for target maneuvering

To solve the problem that multiple missiles should simultaneously attack unmeasurable maneuvering targets,a guidance law with temporal consistency constraint based on the super-twisting observer is proposed.Firstly,the relative motion equations between multiple missiles and targets are established,and the topological model among multiple agents is considered.Secondly,based on the temporal consistency constraint,a cooperative guidance law for simultaneous arrival with finite-time convergence is derived.Finally,the unknown target maneuver-ing is regarded as bounded interference.Based on the second-order sliding mode theory,a super-twisting sliding mode observer is devised to observe and track the bounded interfer-ence,and the stability of the observer is proved.Compared with the existing research,this approach only needs to obtain the sliding mode variable which simplifies the design process.The simulation results show that the designed cooperative guidance law for maneuvering targets achieves the expected effect.It ensures successful cooperative attacks,even when confronted with strong maneuvering targets.

An air combat maneuver pattern extraction based on time series segmentation and clustering analysis

Target maneuver recognition is a prerequisite for air combat situation awareness,trajectory prediction,threat assessment and maneuver decision.To get rid of the dependence of the current target maneuver recognition method on empirical criteria and sample data,and automatically and adaptively complete the task of extracting the target maneuver pattern,in this paper,an air combat maneuver pattern extraction based on time series segmentation and clustering analysis is proposed by combining autoencoder,G-G clustering algorithm and the selective ensemble clustering analysis algorithm.Firstly,the autoencoder is used to extract key features of maneuvering trajectory to remove the impacts of redundant variables and reduce the data dimension;Then,taking the time information into account,the segmentation of Maneuver characteristic time series is realized with the improved FSTS-AEGG algorithm,and a large number of maneuver primitives are extracted;Finally,the maneuver primitives are grouped into some categories by using the selective ensemble multiple time series clustering algorithm,which can prove that each class represents a maneuver action.The maneuver pattern extraction method is applied to small scale air combat trajectory and can recognize and correctly partition at least 71.3%of maneuver actions,indicating that the method is effective and satisfies the requirements for engineering accuracy.In addition,this method can provide data support for various target maneuvering recognition methods proposed in the literature,greatly reduce the workload and improve the recognition accuracy.

UAV maneuvering decision-making algorithm based on deep reinforcement learning under the guidance of expert experience

Autonomous umanned aerial vehicle(UAV) manipulation is necessary for the defense department to execute tactical missions given by commanders in the future unmanned battlefield. A large amount of research has been devoted to improving the autonomous decision-making ability of UAV in an interactive environment, where finding the optimal maneuvering decisionmaking policy became one of the key issues for enabling the intelligence of UAV. In this paper, we propose a maneuvering decision-making algorithm for autonomous air-delivery based on deep reinforcement learning under the guidance of expert experience. Specifically, we refine the guidance towards area and guidance towards specific point tasks for the air-delivery process based on the traditional air-to-surface fire control methods.Moreover, we construct the UAV maneuvering decision-making model based on Markov decision processes(MDPs). Specifically, we present a reward shaping method for the guidance towards area and guidance towards specific point tasks using potential-based function and expert-guided advice. The proposed algorithm could accelerate the convergence of the maneuvering decision-making policy and increase the stability of the policy in terms of the output during the later stage of training process. The effectiveness of the proposed maneuvering decision-making policy is illustrated by the curves of training parameters and extensive experimental results for testing the trained policy.

Multiple model PHD filter for tracking sharply maneuvering targets using recursive RANSAC based adaptive birth estimation

An algorithm to track multiple sharply maneuvering targets without prior knowledge about new target birth is proposed. These targets are capable of achieving sharp maneuvers within a short period of time, such as drones and agile missiles.The probability hypothesis density (PHD) filter, which propagates only the first-order statistical moment of the full target posterior, has been shown to be a computationally efficient solution to multitarget tracking problems. However, the standard PHD filter operates on the single dynamic model and requires prior information about target birth distribution, which leads to many limitations in terms of practical applications. In this paper,we introduce a nonzero mean, white noise turn rate dynamic model and generalize jump Markov systems to multitarget case to accommodate sharply maneuvering dynamics. Moreover, to adaptively estimate newborn targets’information, a measurement-driven method based on the recursive random sampling consensus (RANSAC) algorithm is proposed. Simulation results demonstrate that the proposed method achieves significant improvement in tracking multiple sharply maneuvering targets with adaptive birth estimation.

Trajectory and Correction Maneuver During the Transfer from Earth to Halo Orbit

This article addresses the design of the trajectory transferring from Earth to Halo orbit, and proposes a timing closed-loop strategy of correction maneuver during the transfer in the frame of circular restricted three body problem （CR3BP）. The relation between the Floquet multipliers and the magnitudes of Halo orbit is established, so that the suitable magnitude for the aerospace mission is chosen in terms of the stability of Halo orbit. The stable manifold is investigated from the Poincar6 mapping defined which is different from the previous researches, and six types of single-impulse transfer trajectories are attained from the geometry of the invariant manifolds. Based on one of the trajectories of indirect transfer which are ignored in the most of literatures, the stochastic control theory for imperfect information of the discrete linear stochastic system is applied to design the trajectory correction maneuver. The statistical dispersion analysis is performed by Monte-Carlo simulation,

Fish maneuver analysis system based on sequence images

The aim is to establish an automatic system to analyze the maneuver performance of fish. A high speed camera （1 000 frame/s） is employed to record fast-start maneuver. Three steps are taken to analyze the kinematics： first, the midline in the first image is partitioned into equal interval lengths and the coordinates of all inter segmental points are saved. Secondly, these points coordinates are searched in the next frame with the digital image correlation （DIC） method, then these points are fitted with a spline curve function. Repeat this step until all the midlines are figured out frame by frame. Finally, according to the variety of midlines, the kinematics of the fast-start is calculated. Using this system to test carp C-start, the duration is divided into two stages： stage 1 is defined as the formation of the C shape and stage 2 as the return flip of the tail followed with forward motion. By tracing the middle line, the kinematic parameters of turning rate, centre of mass （CM） turning rate, CM turning radius, etc. are obtained.

An Effective Multiple Model Least Squares Method in Tracking of a Maneuvering Target

A polynomial model, time origin shifting model(TOSM, is used to describe the trajectory of a moving target .Based on TOSM, a recursive laeast squares(RLS) algorithm with varied forgetting factor is derived for tracking of a non-maneuvering target. In order to apply this algorithm to maneuvering targets tracking ,a tracking signal is performed on-line to determine what kind of TOSm will be in effect to track a target with different dynamics. An effective multiple model least squares filtering and forecasting method dadpted to real tracking of a maneuvering target is formulated. The algorithm is computationally more effcient than Kalman filter and the percentage improvement from simulations show both of them are considerably alike to some extent.

85例Dix-Hallpike双侧阳性BPPV患者眼震视图分析及对治疗和预后判断的价值

目的分析双侧Dix-Hallpike阳性良性阵发性位置性眩晕(Benign Paroxysmal Positional Vertigo,BPPV)患者眼震视图的特点,为此类患者的鉴别诊断、治疗及预后提供依据。方法将105例单侧Dix-Hallpike阳性患者的眼震视图结果作为对照组,85例双侧Dix-Hallpike阳性患者作为观察组,回顾性分析比较两组合并Rolltest、垂直悬头位试验阳性的病例,以及复位治疗效果。结果与对照组相比,观察组合并Rolltest、垂直悬头位试验阳性的病例出现的概率更高,短期内需要多次复位的概率更高,但半年内复发率两组无统计学差异。结论与单侧Dix-Hallpike阳性患者相比,双侧Dix-Hallpike阳性病例中,责任半规管为水平半规管、上半规管的概率更大。此类患者可能需要多次复位,但明确受累半规管并给予相应复位治疗后远期效果与单侧Dix-Hallpike阳性患者无明显差异。

An approach to improving maneuver performance of coning algorithm

Aiming to improve the maneuver performance of the strapdown inertial navigation attitude coning algorithm a new coning correction structure is constructed by adding a sample to the traditional compressed coning correction structure. According to the given definition of classical coning motion the residual coning correction error based on the new coning correction structure is derived. On the basis of the new structure the frequency Taylor series method is used for designing a coning correction structure coefficient and then a new coning algorithm is obtained.Two types of error models are defined for the coning algorithm performance evaluation under coning environments and maneuver environments respectively.Simulation results indicate that the maneuver accuracy of the new 4-sample coning algorithm is almost double that of the traditional compressed 4-sample coning algorithm. The new coning algorithm has an improved maneuver performance while maintaining coning performance compared to the traditional compressed coning algorithm.

Maneuvering target tracking using threshold interacting multiple model algorithm

To avoid missing track caused by the target maneuvers in automatic target tracking system, a new maneuvering target tracking technique called threshold interacting multiple model （TIMM） is proposed. This algorithm is based on the interacting multiple model （IMM） method and applies a threshold controller to improve tracking accuracy. It is also applicable to other advanced algorithms of IMM. In this research, we also compare the position and velocity root mean square （RMS） errors of TIMM and IMM algorithms with two different examples. Simulation results show that the TIMM algorithm is superior to the traditional IMM alzorithm in estimation accuracy.

Dix-Hallpike诱发试验双侧阳性的良性阵发性位置性眩晕的临床分析

目的探讨良性阵发性位置性眩晕(Benign Paroxysmal Positional Vertigo,BPPV)患者Dix-Hallpike诱发试验双侧阳性的眼震特点和诊治策略。方法回顾性分析2018年1月至2019年12月就诊于安徽医科大学第二附属医院耳鼻喉科的BPPV患者的诊治过程。结果 Dix-Hallpike诱发试验,阳性患者150例,其中双侧阳性患者14例,2例双侧可见扭转、向上、向地性眼震,进一步行平躺试验为垂直向上性眼震,分次给予双侧改良Epley法复位后双侧眼震均消失;12例患侧为扭转、向上、向地性眼震,健侧为扭转、向上、离地性眼震者,给予患侧改良Epley法复位后双侧眼震均消失。结论除了双侧后半规管BPPV,部分单侧后半规管BPPV患者行Dix-Hallpike诱发试验也可表现为双侧阳性结果,临床诊治应注意眼震方向形式的差别。

Autonomous air combat maneuver decision using Bayesian inference and moving horizon optimization

To reach a higher level of autonomy for unmanned combat aerial vehicle(UCAV) in air combat games, this paper builds an autonomous maneuver decision system. In this system,the air combat game is regarded as a Markov process, so that the air combat situation can be effectively calculated via Bayesian inference theory. According to the situation assessment result,adaptively adjusts the weights of maneuver decision factors, which makes the objective function more reasonable and ensures the superiority situation for UCAV. As the air combat game is characterized by highly dynamic and a significant amount of uncertainty,to enhance the robustness and effectiveness of maneuver decision results, fuzzy logic is used to build the functions of four maneuver decision factors. Accuracy prediction of opponent aircraft is also essential to ensure making a good decision; therefore, a prediction model of opponent aircraft is designed based on the elementary maneuver method. Finally, the moving horizon optimization strategy is used to effectively model the whole air combat maneuver decision process. Various simulations are performed on typical scenario test and close-in dogfight, the results sufficiently demonstrate the superiority of the designed maneuver decision method.

Erythropoietin ameliorates early ischemia-reperfusion injury following the Pringle maneuver

AIM:To investigate the protective effect of erythropoietin (Epo) against ischemia-reperfusion injury (IR/I) following the Pringle maneuver (PM),in comparison with conventional steroid administration in a prospective randomized trial. METHODS:Patients were randomized by age, sex, diagnosis, and surgical method, and assigned to three groups:(1) A steroid group (STRD, n= 9) who received 100 mg of hydrocortisone before PM, and on postoperative days 1, 2 and 3, followed by tapering until postoperative day 7; (2) An EPO1 group (n=10) who received 30 000 U of Epo before the PM and at the end of surgery; and (3) An EPO2 group (n=8) who received 60 000 U of Epo before the PM. Hemoglobin (Hb), hematocrit (Ht), aspartate aminotransferase (AST), alanine transaminase (ALT),lactate dehydrogenase (LDH), lactate, interleukin-6 (IL-6),and tumor necrosis factor(TNF)-α were measured before and just after (Day 0) surgery, and on postoperative days 1, 3, 7 and 14. RESULTS: There were no increases in Hb and Ht in the EPO1 and EPO2 groups. AST was signif icantly lower in EPO1 than in STRD on Day 0 (P=0.041), and lower in EPO1 than in STRD and EPO2 on Day 1 (P=0.018). ALT was signif icantly lower in EPO1 than in STRD and EPO2 on Day 0 (P=0.020) and Day 1 (P=0.004). There were no signif icant inter-group differences in the levels of LDH and lactate. IL-6 was signif icantly lower in EPO1 than in STRD and EPO2 on Day 0 (P=0.0036) and Day 1 (P=0.0451). TNF-α was signif icantly lower in EPO1 than in STRD and EPO2 on Day 0 (P=0.0006) and Day 1 (P<0.0001). Furthermore, hospitalization was signif icantly shorter in EPO1 and EPO2 than in STRD.CONCLUSION:Epo has greater potential than steroids to ameliorate IR/I after the PM. Epo at a dose of 30000 U, administered before PM and just after surgery, yields better results.

CFD Investigations of Ship Maneuvering in Waves Using naoe-FOAM-SJTU Solver

Ship maneuvering in waves includes the performance of ship resistance, seakeeping, propulsion, and maneuverability. It is a complex hydrodynamic problem with the interaction of many factors. With the purpose of directly predicting the behavior of ship maneuvering in waves, a CFD solver named naoe-FOAM-SJTU is developed by the Computational Marine Hydrodynamics Lab(CMHL) in Shanghai Jiao Tong University. The solver is based on open source platform OpenFOAM and has introduced dynamic overset grid technology to handle complex ship hull-propeller-rudder motion system. Maneuvering control module based on feedback control mechanism is also developed to accurately simulate corresponding motion behavior of free running ship maneuver. Inlet boundary wavemaker and relaxation zone technique is used to generate desired waves. Based on the developed modules, unsteady Reynolds-averaged Navier-Stokes(RANS) computations are carried out for several validation cases of free running ship maneuver in waves including zigzag, turning circle, and course keeping maneuvers. The simulation results are compared with available benchmark data. Ship motions, trajectories, and other maneuvering parameters are consistent with available experimental data, which indicate that the present solver can be suitable and reliable in predicting the performance of ship maneuvering in waves. Flow visualizations, such as free surface elevation, wake flow, vortical structures, are presented to explain the hydrodynamic performance of ship maneuvering in waves. Large flow separation can be observed around propellers and rudders. It is concluded that RANS approach is not accurate enough for predicting ship maneuvering in waves with large flow separations and detached eddy simulation(DES) or large eddy simulation(LES) computations are required to improve the prediction accuracy.

Variable structure guidance law for attacking surface maneuver targets

The characteristics of surface maneuver targets are analyzed and a 3-D relative motion model for missiles and targets is established. A variable structure guidance law is designed considering the characteristics of targets. In the guidance law, the distance between missiles and targets as well as the missile-target relative velocity are all substituted by estimation values. The estimation errors, the target＇s velocity, and the maneuver acceleration are all treated as bounded disturbance. The guidance law proposed can be implemented conveniently in engineering with little target information. The performance of the guidance system is analyzed theoretically and the numerical simulation result shows the effectiveness of the guidance law.

Wing kinematics measurement and aerodynamics of free-flight maneuvers in drone-flies

The time courses of wing and body kinematics of two free-flying drone-flies, as they performed saccades, were measured using 3D high-speed video, and the morpho- logical parameters of the wings and body of the insects were also measured. The measured wing kinematics was used in a Navier-Stokes solver to compute the aerodynamic forces and moments acting on the insects. The main results are as following. （1） The turn is mainly a 90° change of heading. It is made in about 10 wingbeats （about 55 ms）. It is of interest to note that the number of wingbeats taken to make the turn is approximately the same as and the turning time is only a little different from that of fruitflies measured recently by the same approach, even if the weight of the droneflies is more than 100 times larger than that of the fruitflies. The long axis of body is about 40° from the horizontal during the maneuver. （2） Although the body rotation is mainly about a vertical axis, a relatively large moment around the yaw axis （axis perpendicular to the long axis of body）, called as yaw moment, is mainly needed for the turn, because moment of inertial of the body about the yaw axis is much larger than that about the long axis. （3） The yaw moment is mainly pro- duced by changes in wing angles of attack： in a right turn, for example, the dronefly lets its right wing to have a rather large angle of attack in the downstroke （generally larger than 50°） and a small one in the upstroke to start the turn, and lets its left wing to do so to stop the turn, unlike the fruitflies who generate the yaw moment mainly by changes in the stroke plane and stroke amplitude.

An impact angle constraint integral sliding mode guidance law for maneuvering targets interception

An integral sliding mode guidance law(ISMGL)combined with the advantages of the integral sliding mode control(SMC)method is designed to address maneuvering target interception problems with impact angle constraints.The relative motion equation of the missile and the target considering the impact angle constraint is established in the longitudinal plane,and an integral sliding mode surface is constructed.The proposed guidance law resolves the existence of a steady-state error problem in the traditional SMC.Such a guidance law ensures that the missile hits the target with an ideal impact angle in finite time and the missile is kept highly robust throughout the interception process.By adopting the dynamic surface control method,the ISMGL is designed considering the impact angle constraints and the autopilot dynamic characteristics.According to the Lyapunov stability theorem,all states of the closed-loop system are finally proven to be uniformly bounded.Simulation results are compared with the general sliding mode guidance law and the trajectory shaping guidance law,and the findings verify the effectiveness and superiority of the ISMGL.

Quick repositioning maneuver for horizontal semicircular canal benign paroxysmal positional vertigo

Objective:To investigate the efficacy of quick repositioning maneuver for horizontal semicircular canal benign paroxysmal positional vertigo (H-BPPV). Methods:Clinical data of 67 patients with H-BPPV who underwent quick repositioning maneuver in our hospital from July 2009 to November 2014 were retrospectively analyzed. The maneuver involved rotating the patient in the axial plane for 180? from the involved side towards contralateral side as quickly as possible. Results:Complete symptom resolution was achieved in 61 patients (91.0%) at one week and in 64 patients (95.5%) at 3 months post-treatment. During the repositioning maneuver process, there were no obvious untoward responses except transient nausea with or without vomiting in a few patients. Conclusion:The results indicate that the quick repositioning maneuver is an easy and effective alternative treatment in the management of H-BPPV. Copyright ? 2015 The Authors. Production & hosting by Elsevier (Singapore) Pte Ltd On behalf of PLA General Hospital Department of Otolaryngology Head and Neck Surgery. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).