Evaluation on Effectiveness of a New System as well as Analysis on Optimal Horizontal Eye Position for Vertical Video Head Impulse Test

Objective To compare the performances among three different systems for video head impulse test(vHIT),and to identify an optimal target angle for precisely evaluating the function of vertical semicircular canals in vHIT.Methods A two-center prospective study was done.Participants were sit 1.2 m away from the wall in a noise-proved room that dedicated for vHIT experiments.During the comparison experiments,similar settings were ensured in both hospitals,with the same distance to wall and angle of staring.For each equipment,the procedures followed the developers’recommendations.The same examiner performed the comparison between two systems in one location.For the eye-position projects,targets were placed on the wall sequentially at the pre-marked lines for different angles.For the comparison projects,9 and 13 participants were recruited,respectively.Any participant with otologic or vestibular disorders was excluded.A total of 26 healthy participants were recruited in the eye-position experiments,16 of which were further involved in inter-examiner tests.Results Our evaluations of three different systems showed that a new vHIT system,VertiGoggles®ZT-VNG-I(VG)performed as good as the long-tested Otometrics®ICS impulse(Oto)and EyeSeeCam®(ESC).During the comparison,we validated 25-degree,instead of right ahead at 0 degree,is a better place to set the targets when torsion was applied at vertical semicircular canal planes.Conclusion The new VG system is good for clinical practices.Furthermore,we proposed a new protocol to set the targets 25 degrees from right ahead after tilting head 45 degrees to evaluate vertical canals during vHIT.

Reactive Navigation of Underwater Mobile Robot Using ANFIS Approach in a Manifold Manner

Learning and self-adaptation ability is highly required to be integrated in path planning algorithm for underwater robot during navigation through an unspecified underwater environment. High frequency oscillations during underwater motion are responsible for nonlinearities in dynamic behavior of underwater robot as well as uncertainties in hydrodynamic coefficients. Reactive behaviors of underwater robot are designed considering the position and orientation of both target and nearest obstacle from robot s current position. Human like reasoning power and approximation based learning skill of neural based adaptive fuzzy inference system（ANFIS）has been found to be effective for underwater multivariable motion control. More than one ANFIS models are used here for achieving goal and obstacle avoidance while avoiding local minima situation in both horizontal and vertical plane of three dimensional workspace.An error gradient approach based on input-output training patterns for learning purpose has been promoted to spawn trajectory of underwater robot optimizing path length as well as time taken. The simulation and experimental results endorse sturdiness and viability of the proposed method in comparison with other navigational methodologies to negotiate with hectic conditions during motion of underwater mobile robot.