SIMULATING RHYTHMIC MOVEMENT OF HUMAN ELBOW JOINT USING A NEURAL NETWORK PREDICTIVE MODEL

Human brain is hypothesized to store a geometry and dynamic model of the limb.A multilayer perceptron (or MLP) network is used to stand for the model.In this paper the human elbow joint rhythmic movement is simulated in three cases:1)Parameters of the MLP,the limb geometry and dynamic model match completely,2)Parameters mismatch between them,and 3)Disturbance exists.The results show that parameters mismatch is the main error source,which causes the elbow joint movement to be aberrant.From this we can infer that movement study is a process in which the internal model is updated continuously to match the geometry and dynamic model of limb.

Relay movement control for maintaining connectivity in aeronautical ad hoc networks

As a new sort of mobile ad hoc network(MANET), aeronautical ad hoc network(AANET) has fleet-moving airborne nodes(ANs) and suffers from frequent network partitioning due to the rapid-changing topology. In this work, the additional relay nodes(RNs) is employed to repair the network and maintain connectivity in AANET. As ANs move, RNs need to move as well in order to re-establish the topology as quickly as possible. The network model and problem definition are firstly given, and then an online approach for RNs' movement control is presented to make ANs achieve certain connectivity requirement during run time. By defining the minimum cost feasible moving matrix(MCFM), a fast algorithm is proposed for RNs' movement control problem. Simulations demonstrate that the proposed algorithm outperforms other control approaches in the highly-dynamic environment and is of great potential to be applied in AANET.

Control strategy of central pattern generator gait movement under condition of attention selection

As a typical rhythmic movement, human being＇s rhythmic gait movement can be generated by a central pattern generator （CPG） located in a spinal cord by self- oscillation. Some kinds of gait movements are caused by gait frequency and amplitude variances. As an important property of human being＇s motion vision, the attention selection mechanism plays a vital part in the regulation of gait movement. In this paper, the CPG model is amended under the condition of attention selection on the theoretical basis of Matsuoka neural oscillators. Regulation of attention selection signal for the CPG model parameters and structure is studied, which consequentially causes the frequency and amplitude changes of gait movement output. Further, the control strategy of the CPG model gait movement under the condition of attention selection is discussed, showing that the attention selection model can regulate the output model of CPG gait movement in three different ways. The realization of regulation on the gait movement frequency and amplitude shows a variety of regulation on the CPG gait movement made by attention selection and enriches the controllability of CPG gait movement, which demonstrates potential influence in engineering applications.

The Modulation and Control of the Gecko's Foot Movement

The modulation and control of gecko＇s foot movements were studied electrophysiologically in order to design the motor control system of a gecko-mimic robot. In this study （1） the anatomy of the peripheral nerves controlling the gecko＇s foot movements was determined; （2） the relationship between the limb nerves of the gecko and its foot motor patterns was studied; （3） the afferent impulses of the nerves evoked by rubbing the gecko＇s toes and palm were recorded; （4） copying the natural patterns of movement of the gecko＇s foot （abduction, adduction, flexion, and revolution） and its limb nerve modulation and control mechanism, the nerves were stimulated under computer control, and the results recorded by CCD. Results suggest that gecko＇s foot movements can be successfully controlled by artificial electrical signals.

Modelling and Simulation for Train Movement Control Using Car-Following Strategy

Based on optimM velocity car-following model, in this paper, we propose a new railway tramc model for describing the process of train movement control. In the proposed model, we give an improved form of the optimal velocity function V^opt, which is considered as the desired velocity function for train movement control under different control conditions. In order to test the proposed model, we simulate and analyze the trajectories of train movements, moreover, discuss the relationship curves between the train allowable velocity and the site of objective point in detail. Analysis results indicate that the proposed model can well capture some realistic futures of train movement control.

Modeling and simulation of high-speed passenger train movements in the rail line

In this paper, we propose a new formula of the real-time minimum safety headway based on the relative velocity of consecutive trains and present a dynamic model of high-speed passenger train movements in the rail line based on the proposed formula of the minimum safety headway. Moreover, we provide the control strategies of the high-speed passenger train operations based on the proposed formula of the real-time minimum safety headway and the dynamic model of highspeed passenger train movements. The simulation results demonstrate that the proposed control strategies of the passenger train operations can greatly reduce the delay propagation in the high-speed rail line when a random delay occurs.

Smoke movement in a tunnel of a running metro train on fire

Research on the distribution of smoke in tunnels is significant for the fire emergency rescue after an operating metro train catches fire. A dynamic grid technique was adopted to research the law of smoke flow diffusion inside the tunnel when the bottom of a metro train was on fire and to compare the effect of longitudinal ventilation modes on the smoke motion when the burning train stopped. Research results show that the slipstream curves around the train obtained by numerical simulation are consistent with experimental data. When the train decelerates, the smoke flow first extends to the tail of the train. With the decrease of the train's speed, the smoke flow diffuses to the head of the train. After the train stops, the slipstream around the train formed in the process of train operation plays a leading role in the smoke diffusion in the tunnel. The smoke flow quickly diffuses to the domain in front of the train. After forward mechanical ventilation is provided, the smoke flow inside the tunnel continues to diffuse downstream. When reverse mechanical ventilation operates, the smoke in front of the train flows back rapidly and diffuses to the rear of the train.

Controlled Movements in Superlubric MEMS

Structural superlubricity(SSL)refers to a state where the friction and wear between two directly contacted solid surfaces are virtually zero.The realization of microscale SSL in 2012 rapidly explored SSL technologies which hold great potential in the development of reliable and energy⁃efficient micro devices.A key to a successful superlubric device is to control the movements of the superlubric slider.To solve this challenge,here two general principles are shown to guide and control the motion of the slider,i.e.,by minimization of interfacial energy and minimization of electrostatic energy.When the shapes of the slider and substrate are designed appropriately,the excess interfacial energy of the contact⁃pair provides restoring and constraining forces to the slider.Similarly,tunable driving and constraining forces are enabled by the electric fields induced by the electrodes buried in the substrate.These concepts are demonstrated on the design of a superlubric resonator whose natural frequency of the lateral translational mode is well⁃defined and unfavorable rotation is constrained.The above design principles should be applicable to superlubric devices in general and help the development of future applications of structural superlubricity.

Rebuilding motor function of the spinal cord based on functional electrical stimulation

Rebuilding the damaged motor function caused by spinal cord injury is one of the most serious challenges in clinical neuroscience.The function of the neural pathway under the damaged sites can be rebuilt using functional electrical stimulation technology.In this study,the locations of motor function sites in the lumbosacral spinal cord were determined with functional electrical stimulation technology.A three-dimensional map of the lumbosacral spinal cord comprising the relationship between the motor function sites and the corresponding muscle was drawn.Based on the individual experimental parameters and normalized coordinates of the motor function sites,the motor function sites that control a certain muscle were calculated.Phasing pulse sequences were delivered to the determined motor function sites in the spinal cord and hip extension,hip flexion,ankle plantarflexion,and ankle dorsiflexion movements were successfully achieved.The results show that the map of the spinal cord motor function sites was valid.This map can provide guidance for the selection of electrical stimulation sites during the rebuilding of motor function after spinal cord injury.

Mechanics criterion and factors affecting overburden stability in solid dense filling mining

The effect of controlling strata movement in solid filling mining depends on the filling rate of the goal. However, the mechanical property of the overburden in the backfill stope and the designed size of the backfill mining workface should also be considered. In this study, we established a main roof strata model with loads in accordance with the theory of key strata to investigate the stability of the overburden in solid dense filling mining. We analyzed the stress distribution law of the main roof strata based on elastic thin plate theory. The results show that the position of the long side midpoint of the main roof strata failed more easily because of tensile yield, indicating that this position is the area where failure is likely to occur more easily. We also deduced the stability mechanics criterion of the main roof strata based on tensile yield criterion. The factors affecting the stability of the overburden in solid dense filling mining were also analyzed, including the thickness and elasticity modulus of the main roof strata, overlying strata loads, advanced distance and length of workface, and elastic foundation coefficient of backfill body. The research achievements can provide an important theoretical basis for determining the designed size of the solid dense filling mining workface.

Multiscale entropy:A tool for understanding the complexity of postural control

Clinical disorders often are characterized by a breakdown in dynamical processes that contribute to the control of upright standing.Disruption to a large number of physiological processes operating at different time scales can lead to alterations in postural center of pressure(Co P)fluctuations.Multiscale entropy(MSE) has been used to identify differences in fluctuations of postural Co P time series between groups with and without known physiological impairments at multiple time scales.The purpose of this paper is to:1) review basic elements and current developments in entropy techniques used to assess physiological complexity;and 2) identify how MSE can provide insights into the complexity of physiological systems operating at multiple time scales that underlie the control of posture.We review and synthesize evidence from the literature providing support for MSE as a valuable tool to evaluate the breakdown in the physiological processes that accompany changes due to aging and disease in postural control.This evidence emerges from observed lower MSE values in individuals with multiple sclerosis,idiopathic scoliosis,and in older individuals with sensory impairments.Finally,we suggest some future applications of MSE that will allow for further insight into how physiological deficits impact the complexity of postural fluctuations;this information may improve the development and evaluation of new therapeutic interventions.

Reduced Basis Approaches in Time-Dependent Non-Coercive Settings for Modelling the Movement of Nuclear Reactor Control Rods

In this work,two approaches,based on the certified Reduced Basis method,have been developed for simulating the movement of nuclear reactor control rods,in time-dependent non-coercive settings featuring a 3D geometrical framework.In particular,in a first approach,a piece-wise affine transformation based on subdomains division has been implemented for modelling the movement of one control rod.In the second approach,a“staircase”strategy has been adopted for simulating themovement of all the three rods featured by the nuclear reactor chosen as case study.The neutron kinetics has been modelled according to the so-called multi-group neutron diffusion,which,in the present case,is a set of ten coupled parametrized parabolic equations(two energy groups for the neutron flux,and eight for the precursors).Both the reduced order models,developed according to the two approaches,provided a very good accuracy comparedwith high-fidelity results,assumed as“truth”solutions.At the same time,the computational speed-up in the Online phase,with respect to the fine“truth”finite element discretization,achievable by both the proposed approaches is at least of three orders of magnitude,allowing a real-time simulation of the rod movement and control.

Micro/nanomotor: A promising drug delivery system for cancer therapy

Micro/nanomotors(MNMs)are small-scale devices that can effectively convert various forms of energy into mechanical motion.Their controllable motility and good permeability have attracted the interest of researchers as promising drug carriers in cancer therapy.Compared with traditional formulations,micro/nanomotor drug delivery systems can greatly improve therapeutic efficiency and reduce the side effects of antitumor drugs.This review mainly discusses the advantages of micro/nanomotor drug delivery systems and the applications of MNMs propelled by exogenous,endogenous,and biohybrid power in cancer therapy.Finally,the main challenges of the applications of micro/nanomotor drug delivery systems,as well as future development trends and opportunities are discussed.

Position/Force Hybrid Control System for High Precision Aligning of Small Gripper to Ring Object

A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.