Pub Date : 2024-06-06eCollection Date: 2024-01-01DOI: 10.1155/2024/5567457
Mazen Nassar, Refah Alotaibi, Ahmed Elshahhat
For the first time, this paper offers the Bayesian and E-Bayesian estimation methods using the spacing function (SF) instead of the classical likelihood function. The inverse Lindley distribution, including its parameter and reliability measures, is discussed in this study through the mentioned methods, along with some other classical approaches. Six-point and six-interval estimations based on an adaptive Type-I progressively censored sample are considered. The likelihood and product of spacing methods are used in classical inferential setups. The approximate confidence intervals are discussed using both classical approaches. For various parameters, the Bayesian methodology is studied by taking both likelihood and SFs as observed data sources to derive the posterior distributions. Moreover, the E-Bayesian estimation method is considered by using the same data sources in the usual Bayesian approach. The Bayes and E-Bayes credible intervals using both likelihood and SFs are also taken into consideration. Several Monte Carlo experiments are carried out to assess the performance of the acquired estimators, depending on different accuracy criteria and experimental scenarios. Finally, two data sets from the engineering and physics sectors are analyzed to demonstrate the superiority and practicality of the suggested approaches.
本文首次提出了使用间距函数（SF）代替经典似然函数的贝叶斯和电子贝叶斯估计方法。本研究通过上述方法讨论了逆 Lindley 分布，包括其参数和可靠性度量，以及其他一些经典方法。研究还考虑了基于自适应 I 型逐步删减样本的六点和六区间估计。在经典推论设置中使用了似然法和间隔乘积法。使用这两种经典方法讨论了近似置信区间。对于各种参数，研究了贝叶斯方法，将似然法和 SFs 作为观测数据源，得出后验分布。此外，还考虑了 E-Bayesian 估计方法，即在通常的贝叶斯方法中使用相同的数据源。还考虑了使用似然和 SF 的贝叶斯和 E-Bayes 可信区间。根据不同的精度标准和实验情况，进行了若干蒙特卡罗实验，以评估所获得的估计器的性能。最后，对工程和物理领域的两个数据集进行了分析，以证明所建议方法的优越性和实用性。
{"title":"E-Bayesian Estimation Using Spacing Function for Inverse Lindley Adaptive Type-I Progressively Censored Samples: Comparative Study with Applications.","authors":"Mazen Nassar, Refah Alotaibi, Ahmed Elshahhat","doi":"10.1155/2024/5567457","DOIUrl":"10.1155/2024/5567457","url":null,"abstract":"<p><p>For the first time, this paper offers the Bayesian and E-Bayesian estimation methods using the spacing function (SF) instead of the classical likelihood function. The inverse Lindley distribution, including its parameter and reliability measures, is discussed in this study through the mentioned methods, along with some other classical approaches. Six-point and six-interval estimations based on an adaptive Type-I progressively censored sample are considered. The likelihood and product of spacing methods are used in classical inferential setups. The approximate confidence intervals are discussed using both classical approaches. For various parameters, the Bayesian methodology is studied by taking both likelihood and SFs as observed data sources to derive the posterior distributions. Moreover, the E-Bayesian estimation method is considered by using the same data sources in the usual Bayesian approach. The Bayes and E-Bayes credible intervals using both likelihood and SFs are also taken into consideration. Several Monte Carlo experiments are carried out to assess the performance of the acquired estimators, depending on different accuracy criteria and experimental scenarios. Finally, two data sets from the engineering and physics sectors are analyzed to demonstrate the superiority and practicality of the suggested approaches.</p>","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"2024 ","pages":"5567457"},"PeriodicalIF":1.8,"publicationDate":"2024-06-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC11196851/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141449454","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Ning Cao, Jinsheng Liu, Feiling Shen, Xuming Pei, Yupu Liu, Hengyu Li
Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D–H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments.
{"title":"Research on Modeling and Motion Optimization for an Underactuated Bionic Scorpion Robot Arm","authors":"Ning Cao, Jinsheng Liu, Feiling Shen, Xuming Pei, Yupu Liu, Hengyu Li","doi":"10.1155/2024/9439878","DOIUrl":"https://doi.org/10.1155/2024/9439878","url":null,"abstract":"Flexible screen possessing a high-contrast ratio to accomplish high-definition display can be attributed to the accuracy of polarizer assembly. Different from the existing polarizer attached onto a flexible screen, resulting in low-accuracy and nonalignment attaching behaviors, a unique approach of underactuated bionic scorpion robot arms can be developed to explore the stable capture and accurate alignment motion operations. Overall structure design and D–H kinematic simulation of bionic scorpion robot arm can be conducted to analyze virtual three-key typical motions. Motion optimization of structural parameters and corresponding motion workspaces verification can be adopted to evaluate motion range and ability. Experiments can be utilized to verify the rationality of theoretical modeling and optimization simulation of bionic scorpion robot arm. Experimental results illustrate that it is evident to demonstrate that the motion behaviors of bionic scorpion robot arm can be verified to be consistent with three key states of virtual theoretical motions. The key joints possessing minor errors may also be utilized to illustrate the relatively excellent dynamic motions existing in bionic scorpion robot arm. Further, advancing the stable motion behaviors of bionic scorpion robot arm may solve the problems of low-accuracy and misalignment polarizer attachments.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"101-102 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"141188444","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Hyunkwan Seo, Sung Kwan Hwang, Hee-Won Kim, Kyu Chan Lee
The latest advancement in high-intensity focused ultrasound (HIFU) treatment technology integrates magnetic resonance imaging (MRI) guidance for precise treatment of prostate disease. As conventional electromagnetic motors are not applicable for utilization within MRI scanners, we have developed a prototype robotic system driven by pneumatic stepper motors to control the movement of the HIFU transducer within an intrarectal probe during MRI-guided HIFU treatment procedures. These pneumatic stepper motors were constructed entirely from MRI-compatible plastic materials. Assessment of the robotic system’s MRI compatibility was conducted utilizing a 3.0T MRI scanner, revealing no discernible MRI image distortion with a minor decrease in the signal-to-noise ratio (2.8%) during the motor operation. The robotic system enabled the transducer to move inside the probe with two degrees of freedom, allowing both linear and rotational motion. The positional accuracy of the transducer movement was assessed, yielding ±0.20 and ±0.22 mm accuracies in the forward and backward linear movements, respectively, and ±0.79° and ±0.74° accuracies in the clockwise and counterclockwise rotational motions, respectively. Emulation of authentic HIFU procedures involved creating a two-dimensional array of thermal lesions in a tissue-mimicking phantom, achieving positional accuracy within ±1 mm for the generated HIFU focal spots. The prototype robotic system incorporating pneumatic stepper motors fabricated entirely from MRI-compatible plastic materials has demonstrated the requisite positional accuracy necessary for effective HIFU treatment of prostate disease, indicating substantial promise for future clinical application.
{"title":"Motion Accuracy of Pneumatic Stepper Motor-Driven Robotic System Developed for MRI-Guided High-Intensity Focused Ultrasound Treatment of Prostate Disease","authors":"Hyunkwan Seo, Sung Kwan Hwang, Hee-Won Kim, Kyu Chan Lee","doi":"10.1155/2024/5556537","DOIUrl":"https://doi.org/10.1155/2024/5556537","url":null,"abstract":"The latest advancement in high-intensity focused ultrasound (HIFU) treatment technology integrates magnetic resonance imaging (MRI) guidance for precise treatment of prostate disease. As conventional electromagnetic motors are not applicable for utilization within MRI scanners, we have developed a prototype robotic system driven by pneumatic stepper motors to control the movement of the HIFU transducer within an intrarectal probe during MRI-guided HIFU treatment procedures. These pneumatic stepper motors were constructed entirely from MRI-compatible plastic materials. Assessment of the robotic system’s MRI compatibility was conducted utilizing a 3.0T MRI scanner, revealing no discernible MRI image distortion with a minor decrease in the signal-to-noise ratio (2.8%) during the motor operation. The robotic system enabled the transducer to move inside the probe with two degrees of freedom, allowing both linear and rotational motion. The positional accuracy of the transducer movement was assessed, yielding ±0.20 and ±0.22 mm accuracies in the forward and backward linear movements, respectively, and ±0.79° and ±0.74° accuracies in the clockwise and counterclockwise rotational motions, respectively. Emulation of authentic HIFU procedures involved creating a two-dimensional array of thermal lesions in a tissue-mimicking phantom, achieving positional accuracy within ±1 mm for the generated HIFU focal spots. The prototype robotic system incorporating pneumatic stepper motors fabricated entirely from MRI-compatible plastic materials has demonstrated the requisite positional accuracy necessary for effective HIFU treatment of prostate disease, indicating substantial promise for future clinical application.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"254 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-05-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140933852","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Cardiovascular diseases remain the main cause of death worldwide which makes it essential to better understand, diagnose, and treat atherosclerosis. Artificial intelligence (AI) and novel technological solutions offer us new possibilities and enable the practice of individually tailored medicine. The study was performed using the PRISMA protocol. As of January 10, 2023, the analysis has been based on a review of 457 identified articles in PubMed and MEDLINE databases. The search covered reviews, original articles, meta-analyses, comments, and editorials published in the years 2009–2023. In total, 123 articles met inclusion criteria. The results were divided into the subsections presented in the review (genome-wide association studies, radiomics, and other studies). This paper presents actual knowledge concerning atherosclerosis, in silico, and big data analyses in cardiology that affect the way medicine is practiced in order to create an individual approach and adjust the therapy of atherosclerosis.
{"title":"Artificial Intelligence in Cardiology and Atherosclerosis in the Context of Precision Medicine: A Scoping Review","authors":"Oliwia Kolaszyńska, Jacek Lorkowski","doi":"10.1155/2024/2991243","DOIUrl":"https://doi.org/10.1155/2024/2991243","url":null,"abstract":"Cardiovascular diseases remain the main cause of death worldwide which makes it essential to better understand, diagnose, and treat atherosclerosis. Artificial intelligence (AI) and novel technological solutions offer us new possibilities and enable the practice of individually tailored medicine. The study was performed using the PRISMA protocol. As of January 10, 2023, the analysis has been based on a review of 457 identified articles in PubMed and MEDLINE databases. The search covered reviews, original articles, meta-analyses, comments, and editorials published in the years 2009–2023. In total, 123 articles met inclusion criteria. The results were divided into the subsections presented in the review (genome-wide association studies, radiomics, and other studies). This paper presents actual knowledge concerning atherosclerosis, in silico, and big data analyses in cardiology that affect the way medicine is practiced in order to create an individual approach and adjust the therapy of atherosclerosis.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"91 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-04-30","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140835243","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Jaison Jacob Mathunny, Hari Krishnan S, Ashokkumar Devaraj, Varshini Karthik
This study proposes a mecanum-built perturbation-based balance training device aimed at improving motor adaptive skills for fall prevention in individuals with neurological disorders or the elderly. Incorporating multidirectional fall simulations in line with modified constraint-induced movement therapy, the device’s efficacy was evaluated by measuring the distance traveled and peak acceleration under different static loads (20, 30, and 40 kg) and input accelerations (1, 2, and 3 m/s2). A pilot study with 10 subjects was conducted to assess device performance, utilizing repeated measures analysis of variance and Bonferroni’s post hoc analysis. Results indicated a load-dependent reduction in distance traveled, with an average mean difference of 0.74–1.23 cm between the 20 and 40 kg loads for trials of 9 and 18 cm, respectively. Despite varying loads, the device consistently achieved near-anticipated peak accelerations, suggesting its capability to induce effective perturbations. The study also observed a significant lateral movement preference, suggesting adjustments to pulse width modulation and time period may optimize lateral movement performance.
{"title":"Design and Performance Analysis of a Mecanum-Built Perturbation-Based Balance Training Device","authors":"Jaison Jacob Mathunny, Hari Krishnan S, Ashokkumar Devaraj, Varshini Karthik","doi":"10.1155/2024/3622556","DOIUrl":"https://doi.org/10.1155/2024/3622556","url":null,"abstract":"This study proposes a mecanum-built perturbation-based balance training device aimed at improving motor adaptive skills for fall prevention in individuals with neurological disorders or the elderly. Incorporating multidirectional fall simulations in line with modified constraint-induced movement therapy, the device’s efficacy was evaluated by measuring the distance traveled and peak acceleration under different static loads (20, 30, and 40 kg) and input accelerations (1, 2, and 3 m/s<sup>2</sup>). A pilot study with 10 subjects was conducted to assess device performance, utilizing repeated measures analysis of variance and Bonferroni’s post hoc analysis. Results indicated a load-dependent reduction in distance traveled, with an average mean difference of 0.74–1.23 cm between the 20 and 40 kg loads for trials of 9 and 18 cm, respectively. Despite varying loads, the device consistently achieved near-anticipated peak accelerations, suggesting its capability to induce effective perturbations. The study also observed a significant lateral movement preference, suggesting adjustments to pulse width modulation and time period may optimize lateral movement performance.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"35 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-03-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140323193","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Objective. This study aimed to compare the impacts of different dual-task paradigms on the postural control ability and dynamic stability of the youth during stair descent. Method. Twenty young adults without regular exercise habits were randomly recruited to perform stair descent tasks with three different paradigms: single-task, cognitive dual-task, and manual dual-task. Kinematic and dynamic data were collected using an 8 Vicon motion analysis system and a Kistler force plate to evaluate postural control ability and dynamic stability during stair descent. Results. The variation trends of lower limb joint moment were similar under the three task models. Compared with a single-task, both dual-task paradigms significantly reduced the mechanical parameters and dynamic stability during stair descent. Conclusion. The dual-task paradigm increases the risk of stair-related falls. Both cognitive and manual tasks have similar impacts on postural control ability and dynamic stability during stair walking. It is recommended that people avoid performing dual tasks during stair descent.
{"title":"Different Dual-Task Paradigm Reduce Postural Control Ability and Dynamic Stability of Healthy Young Adults during Stair Descent","authors":"Jiankang Yang, Shifang Yan, Chuanbao Cao","doi":"10.1155/2024/9942042","DOIUrl":"https://doi.org/10.1155/2024/9942042","url":null,"abstract":"<i>Objective</i>. This study aimed to compare the impacts of different dual-task paradigms on the postural control ability and dynamic stability of the youth during stair descent. <i>Method</i>. Twenty young adults without regular exercise habits were randomly recruited to perform stair descent tasks with three different paradigms: single-task, cognitive dual-task, and manual dual-task. Kinematic and dynamic data were collected using an 8 Vicon motion analysis system and a Kistler force plate to evaluate postural control ability and dynamic stability during stair descent. <i>Results</i>. The variation trends of lower limb joint moment were similar under the three task models. Compared with a single-task, both dual-task paradigms significantly reduced the mechanical parameters and dynamic stability during stair descent. <i>Conclusion</i>. The dual-task paradigm increases the risk of stair-related falls. Both cognitive and manual tasks have similar impacts on postural control ability and dynamic stability during stair walking. It is recommended that people avoid performing dual tasks during stair descent.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"286 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-03-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140108156","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
This paper develops an adaptive nonsingular fast terminal sliding-mode control (ANFTSMC) scheme for the continuum robot subjected to uncertain dynamics, external disturbances, and input nonlinearities (e.g., actuator deadzones/faults). Concretely, a function approximation technique (FAT) is utilized to estimate unknown robot dynamics and actuator deadzones/faults online. Furthermore, a disturbance observer (DO) is devised to make up for unknown external disturbances. Then, an ANFTSMC scheme combined with FAT and DO is developed, to expedite the restoration of the stability for the continuum robot. The proposed ANFTSMC not only can retain the benefits of traditional terminal sliding-mode control (TSMC), containing easy enforcement, quick response, and robustness to uncertainties but also dispose of the latent singularity for traditional faster TSMC designs. Afterward, the simulation results show that the proposed controller can effectively improve the trajectory tracking accuracy of the continuum robot, and the tracking root-mean-square errors are 0.0115 and 0.0128 rad. Finally, the effectiveness of ANFTSMC scheme is validated by experiments.
{"title":"Adaptive Approximation Sliding-Mode Control of an Uncertain Continuum Robot with Input Nonlinearities and Disturbances","authors":"Shoulin Xu","doi":"10.1155/2024/8533606","DOIUrl":"https://doi.org/10.1155/2024/8533606","url":null,"abstract":"This paper develops an adaptive nonsingular fast terminal sliding-mode control (ANFTSMC) scheme for the continuum robot subjected to uncertain dynamics, external disturbances, and input nonlinearities (e.g., actuator deadzones/faults). Concretely, a function approximation technique (FAT) is utilized to estimate unknown robot dynamics and actuator deadzones/faults online. Furthermore, a disturbance observer (DO) is devised to make up for unknown external disturbances. Then, an ANFTSMC scheme combined with FAT and DO is developed, to expedite the restoration of the stability for the continuum robot. The proposed ANFTSMC not only can retain the benefits of traditional terminal sliding-mode control (TSMC), containing easy enforcement, quick response, and robustness to uncertainties but also dispose of the latent singularity for traditional faster TSMC designs. Afterward, the simulation results show that the proposed controller can effectively improve the trajectory tracking accuracy of the continuum robot, and the tracking root-mean-square errors are 0.0115 and 0.0128 rad. Finally, the effectiveness of ANFTSMC scheme is validated by experiments.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"301 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-03-06","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"140045048","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
A soft robot is composed of soft materials, which exhibit continuous deformation and driving structure integration and can arbitrarily change shapes and sizes over wide ranges. It shows strong adaptability to unstructured environments and has broad application prospects in military reconnaissance, medical rescues, agricultural production, etc. Soft robots based on ionic electroactive polymers (EAPs) have low-driving voltages, large-actuation displacements, fast responses, light weights, and low powers and have become a hot research field of bionic robots. Ionic liquid gels (ILGs) are new ionic EAPs. In this study, a new soft actuator was designed based on an ILG, and the electromechanical coupling model of an ILG soft actuator was studied in detail. Based on the system transfer function method, a mechatronic coupling model for the soft actuator was developed. According to the material characteristics and current response law of the ILG-containing EAP, an equivalent circuit model was used to describe transfer of the output current and input voltage. Based on the equivalent transformer model for ionic polymer–metal composite (IPMC) actuators proposed by Claudia Bonomo, the electromechanical coupling equation and a driving equation of the ILG soft actuator were established. The least-squares method was used with the coupling model of an ILG soft actuator to identify the system parameters for the model, and the effects of the structural parameters on the end displacement and driving force of the soft actuator were analyzed.
{"title":"Electromechanical Coupling Model for Ionic Liquid Gel Soft Actuators","authors":"Chenghong Zhang, Chengguang Zhang, Guangping Tian, Xun Gu","doi":"10.1155/2024/8369544","DOIUrl":"https://doi.org/10.1155/2024/8369544","url":null,"abstract":"A soft robot is composed of soft materials, which exhibit continuous deformation and driving structure integration and can arbitrarily change shapes and sizes over wide ranges. It shows strong adaptability to unstructured environments and has broad application prospects in military reconnaissance, medical rescues, agricultural production, etc. Soft robots based on ionic electroactive polymers (EAPs) have low-driving voltages, large-actuation displacements, fast responses, light weights, and low powers and have become a hot research field of bionic robots. Ionic liquid gels (ILGs) are new ionic EAPs. In this study, a new soft actuator was designed based on an ILG, and the electromechanical coupling model of an ILG soft actuator was studied in detail. Based on the system transfer function method, a mechatronic coupling model for the soft actuator was developed. According to the material characteristics and current response law of the ILG-containing EAP, an equivalent circuit model was used to describe transfer of the output current and input voltage. Based on the equivalent transformer model for ionic polymer–metal composite (IPMC) actuators proposed by Claudia Bonomo, the electromechanical coupling equation and a driving equation of the ILG soft actuator were established. The least-squares method was used with the coupling model of an ILG soft actuator to identify the system parameters for the model, and the effects of the structural parameters on the end displacement and driving force of the soft actuator were analyzed.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"2 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-02-13","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139759680","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Pub Date : 2024-02-08eCollection Date: 2024-01-01DOI: 10.1155/2024/1150076
Chinyang Henry Tseng, Jiunn-Yih Wu
Step length estimation (SLE) is the core process for pedestrian dead reckoning (PDR) for indoor positioning. Original SLE requires accurate estimations of pedestrian characteristic parameter (PCP) by the linear update, which may cause large distance errors. To enhance SLE, this paper proposes the Sage-Husa adaptive Kalman filtering-based PCP update (SHAKF-PU) mechanism for enhancing SLE in PDR. SHAKF has the characteristic of predicting the trend of historical data; the estimated PCP is closer to the true value than the linear update. Since different kinds of pedestrians can influence the PCP estimation, adaptive PCP estimation is required. Compared with the classical Kalman filter, SHAKF updates its Q and R parameters in each update period so the estimated PCP can be more accurate than other existing methods. The experimental results show that SHAKF-PU reduces the error by 24.86% compared to the linear update, and thus, the SHAKF-PU enhances the indoor positioning accuracy for PDR.
{"title":"SHAKF-PU: Sage-Husa Adaptive Kalman Filtering-Based Pedestrian Characteristic Parameter Update Mechanism for Enhancing Step Length Estimation in Pedestrian Dead Reckoning.","authors":"Chinyang Henry Tseng, Jiunn-Yih Wu","doi":"10.1155/2024/1150076","DOIUrl":"10.1155/2024/1150076","url":null,"abstract":"<p><p>Step length estimation (SLE) is the core process for pedestrian dead reckoning (PDR) for indoor positioning. Original SLE requires accurate estimations of pedestrian characteristic parameter (PCP) by the linear update, which may cause large distance errors. To enhance SLE, this paper proposes the Sage-Husa adaptive Kalman filtering-based PCP update (SHAKF-PU) mechanism for enhancing SLE in PDR. SHAKF has the characteristic of predicting the trend of historical data; the estimated PCP is closer to the true value than the linear update. Since different kinds of pedestrians can influence the PCP estimation, adaptive PCP estimation is required. Compared with the classical Kalman filter, SHAKF updates its <i>Q</i> and <i>R</i> parameters in each update period so the estimated PCP can be more accurate than other existing methods. The experimental results show that SHAKF-PU reduces the error by 24.86% compared to the linear update, and thus, the SHAKF-PU enhances the indoor positioning accuracy for PDR.</p>","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"2024 ","pages":"1150076"},"PeriodicalIF":2.2,"publicationDate":"2024-02-08","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"https://www.ncbi.nlm.nih.gov/pmc/articles/PMC10869188/pdf/","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139740217","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"OA","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
Nanodrug delivery systems have been used in the diagnosis and treatment of ischemic stroke. However, the delivery mechanisms of nanoparticles within microvascular after cerebral ischemia have not been systematically revealed. This study aims to investigate the binding of different nanoparticles to the walls of ischemic brain microvascular through numerical simulations. In this study, 3D models of cerebral microvascular based on ischemic pathological changes are constructed. After building the mesh of microvascular, computational fluid dynamics is used to simulate blood flow and nanoparticle delivery. The simulation results show that the total amount of binding nanoparticles with small size is higher than that with large size. The large-sized nanoparticles are more easily delivered to the stenosis. The density of the nanoparticles has no significant effect on delivery. Furthermore, the study finds that the presence of red blood cells can significantly enhance the delivery efficiency of nanoparticles. In addition to evaluating the forces exerted on the nanoparticles, the impact of the binding affinity of the modified ligand on nanoparticles to the target receptor on delivery is investigated. In summary, selecting suitable nanoparticles according to different targets will improve the delivery efficiency of nanodrugs. The microvascular delivery model of nanoparticles proposed in this study may be helpful in the design of nanoparticles for diagnosis and treatment of cerebral ischemia.
{"title":"Nanoparticle Delivery in Microvascular after Cerebral Ischemia: A Simulation Study","authors":"Peiqian Chen, Bing Dong, Weiwu Yao","doi":"10.1155/2024/6637846","DOIUrl":"https://doi.org/10.1155/2024/6637846","url":null,"abstract":"Nanodrug delivery systems have been used in the diagnosis and treatment of ischemic stroke. However, the delivery mechanisms of nanoparticles within microvascular after cerebral ischemia have not been systematically revealed. This study aims to investigate the binding of different nanoparticles to the walls of ischemic brain microvascular through numerical simulations. In this study, 3D models of cerebral microvascular based on ischemic pathological changes are constructed. After building the mesh of microvascular, computational fluid dynamics is used to simulate blood flow and nanoparticle delivery. The simulation results show that the total amount of binding nanoparticles with small size is higher than that with large size. The large-sized nanoparticles are more easily delivered to the stenosis. The density of the nanoparticles has no significant effect on delivery. Furthermore, the study finds that the presence of red blood cells can significantly enhance the delivery efficiency of nanoparticles. In addition to evaluating the forces exerted on the nanoparticles, the impact of the binding affinity of the modified ligand on nanoparticles to the target receptor on delivery is investigated. In summary, selecting suitable nanoparticles according to different targets will improve the delivery efficiency of nanodrugs. The microvascular delivery model of nanoparticles proposed in this study may be helpful in the design of nanoparticles for diagnosis and treatment of cerebral ischemia.","PeriodicalId":8029,"journal":{"name":"Applied Bionics and Biomechanics","volume":"21 1","pages":""},"PeriodicalIF":2.2,"publicationDate":"2024-02-07","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"139759610","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":4,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
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