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Model reference adaptive impedance control for physical human-robot interaction

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Control Theory and Technology 2016年第1期14卷 68-82页

作者： Bakur AlQAUDI Hamidreza MODARES Isura RANATUNGA Shaikh M. TOUSIF frank l. lEwIS Dan O. POPA The University of Texas at Arlington Research Institute (UTARI) Fort Worth TX 76118 U.S.A. Department of Electrical Engineering College of Engineering The University of Texas at Arlington Arlington TX 76019 U.S.A. Electronics and Instrumentation Engineering Technology Department Yanbu Industrial College P.O. Box 30436 41912 Yanbu al-Sinaiyah K.S.A. State Key laboratory of Synthetical Automation for Process Industries Northeastern University Shenyang Liaoning 110819 China

This paper presents a novel enhanced human-robot interaction system based on model reference adaptive control. The presented method delivers guaranteed stability and task performance and has two control loops. A robot-specific inner loop, which is a neuroadaptive controller, learns the robot dynamics online and makes the robot respond like a prescribed impedance model. This loop uses no task information, including no prescribed trajectory. A task-specific outer loop takes into account the human operator dynamics and adapts the prescribed robot impedance model so that the combined human-robot system has desirable characteristics for task performance. This design is based on model reference adaptive control, but of a nonstandard form. The net result is a controller with both adaptive impedance characteristics and assistive inputs that augment the human operator to provide improved task performance of the human-robot team. Simulations verify the performance of the proposed controller in a repetitive point-to-point motion task. Actual experimental implementations on a PR2 robot further corroborate the effectiveness of the approach.

关键词： Human-robot interaction model reference adaptive control model reference neuroadaptive impedance control

Prospective evaluation of small bowel preparation with bisacodyl and sodium phosphate for capsule endoscopy

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world Journal of Gastroenterology 2008年第13期14卷 2061-2064页

作者： Andreas franke frank Hummel Phillip Knebel Christoph Antoni Ulrich Bcker Manfred V Singer Matthias lhr Department of Medicine Ⅱ (Gastroenterology Hepatology and Infectious Diseases) University Hospital of Heidelberg at Mannheim Mannheim D-68167 Germany Department of Medicine Ⅱ (Gastroenterology Hepatology and Infectious Diseases) University Hospital of Heidelberg at Mannheim Mannheim D-68167 Germany Department of Medicine Rotes Kreuz Krankenhaus Kassel Kassel D-34121 Germany

AIM： To determine the effect of Prepacol, a combination of sodium phosphate and bisacodyl, on transit and quality of capsule endoscopy （CE）. METHODS： Fivety two consecutive patients were included in this prospective study. CE was performed following a 12 h fasting period. Twenty six patients were randomized for additional preparation with Prepacol. The quality of CE was assessed separately for the proximal and the distal small bowel by 3 experienced endoscopists on the basis of a graduation which was initially developed with 20 previous CE. RESUlTS： Preparation with Prepacol accelerated small bowel transit time （262 ± 55 rain vs 287 ± 97 min）, but had no effect on the quality of CE. Visibility was significantly reduced in the distal compared to the proximal small bowel. CONClUSION： The significantly reduced visibility of CE in the distal small bowel allocates the need for a good preparation. Since Prepacol has no beneficial effect on CE the modality of preparation and the ideal time of application remains unclear. Further standardized examinations are necessary to identify sufficient preparation procedures and to determine the impact of the volume of the preparation solution.

关键词： Small bowel Capsule endoscopy Preparation laxative Visibility Transit time

Cross-scale modeling of surface temperature and tree seedling establishment in mountain landscapes

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Ecological Processes 2013年第1期2卷 313-327页

作者： John R Dingman lynn C Sweet Ian McCullough frank w Davis Alan Flint Janet franklin lorraine E Flint Earth Research Institute University of California Santa BarbaraSanta BarbaraCA 93106USA U.S.Geological Survey California Water Science CenterSacramentoCA 95819USA Bren School of Environmental Science&Management University of California Santa BarbaraSanta BarbaraCA93106USA School of Geographical Sciences and Urban Planning Arizona State UniversityTempeAZ85287USA

Introduction:Estimating surface temperature from above-ground field measurements is important for understanding the complex landscape patterns of plant seedling survival and establishment,processes which occur at heights of only several ***,future climate models predict temperature at 2 m above ground,leaving ground-surface microclimate not well ***:Using a network of field temperature sensors and climate models,a ground-surface temperature method was used to estimate microclimate variability of minimum and maximum *** lapse rates were derived from field temperature sensors and distributed across the landscape capturing differences in solar radiation and cold air drainages modeled at a 30-m spatial ***:The surface temperature estimation method used for this analysis successfully estimated minimum surface temperatures on north-facing,south-facing,valley,and ridgeline topographic settings,and when compared to measured temperatures yielded an R2 of 0.88,0.80,0.88,and 0.80,*** surface temperatures generally had slightly more spatial variability than minimum surface temperatures,resulting in R2 values of 0.86,0.77,0.72,and 0.79 for north-facing,south-facing,valley,and ridgeline topographic ***-Poisson regressions predicting recruitment of Quercus kelloggii(black oak)seedlings from temperature variables were significantly improved using these estimates of surface temperature compared to air temperature modeled at 2 ***:Predicting minimum and maximum ground-surface temperatures using a downscaled climate model coupled with temperature lapse rates estimated from field measurements provides a method for modeling temperature effects on plant *** methods could be applied to improve projections of species’range shifts under climate *** of complex topography can provide intricate microclimates that may allow species to redistribute locally as climate

关键词： Black oak Climate change Generalized linear models Microclimate Topography Spatial scale Surface temperature

Call for papers Special issue on learning and control in cooperative multi-agent systems

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Control Theory and Technology 2014年第2期12卷 215-216页

作者： frank l. lewis Zhong-Ping Jiang Tengfei liu UTA Research Institute The University of Texas at Arlington Texas U.S.A. Department of Electrical and Computer Engineering Polytechnic Institute of NYU BrooklynNY U.S.A. State Key laboratory of Synthetical Process Automation Northeast University Shenyang China

Cooperative control of multi-agent systems linked by communication networks is a well-developed and still growing field. The interplay of the individual agent dynamics and the communication graph topology results in intriguing and often surprising behaviors that are not manifested in the study of control systems for single-agent dynamics. This field brings systems theory, feedback control, graph theory, communication systems, complex systems theory to provide rigorous analysis and design for multiple dynamical systems interconnected by a graph information flow structure. Applications have been made to vehicle formation control, coordinated multi-satellite control, electric power system control, robotics, autonomous airborne systems, manufacturing production lines, and the synchronization of dynamical processes in chemistry, physics, biology, and chaotic systems.

关键词：多智能体系统协同控制论文征集复杂系统理论动力学过程合作学习通信系统

Clinical application of concentrated bone marrow aspirate in orthopaedics:A systematic review

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world Journal of Orthopedics 2017年第6期8卷 491-506页

作者： Arianna l Gianakos li Sun Jay N Patel Donald M Adams frank A liporace Division of Orthopedic Surgery Department of Orthopedic SurgeryJersey City Medical Center-RWJ Barnabas Health

AIM To examine the evidence behind the use of concentrated bone marrow aspirate(c BMA) in cartilage, bone, and tendon repair; establish proof of concept for the use of cB MA in these biologic environments; and provide the level and quality of evidence substantiating the use of cB MA in the clinical *** we conducted a systematic review according to PRISMA guidelines. EMBASE, MEDlINE, and web of Knowledge databases were screened for the use of cB MA in the repair of cartilage, bone, and tendon repair. we extracted data on tissue type, cB MA preparation, cB MA concentration, study methods, outcomes, and level of evidence and reported the results in tables and *** A total of 36 studies met inclusion/exclusion criteria and were included in this review. Thirty-one of 36(86%) studies reported the method of centrifugation and preparation of cB MA with 15(42%) studies reporting either a cell concentration or an increase from baseline. Variation of c BMA application was seen amongst the studies evaluated. Twenty-one of 36(58%) were level of evidence Ⅳ, 12/36(33%) were level of evidence Ⅲ, and 3/36(8%) were level of evidence Ⅱ. Studies evaluated full thickness chondral lesions(7 studies), osteochondral lesions(10 studies), osteoarthritis(5 studies), nonunion or fracture(9 studies), or tendon injuries(5 studies). Significant clinical improvement with the presence of hyaline-like values and lower incidence of fibrocartilage on T2 mapping was found in patients receiving cB MA in the treatment of cartilaginous lesions. Bone consolidation and time to bone union was improved in patients receiving cB MA. Enhanced healingrates, improved quality of the repair surface on ultrasound and magnetic resonance imaging, and a decreased risk of re-rupture was demonstrated in patients receiving cB MA as an adjunctive treatment in tendon repair. CONClUSION The current literature demonstrates the potential benefits of utilizing c BMA for the repair of cartilaginous lesions, bo

关键词： Concentrated bone marrow aspirate Bone Cartilage Osteochondral lesion Osteoarthritis Tendon

Clinical application and management of temporary mechanical circulatory support:A clinical consensus

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Chinese Medical Journal 2024年第10期137卷 1135-1139页

作者： Nianguo Dong liangwan Chen Xin Chen Huishan wang Yingbin Xiao Xianqiang wang Jinsong Huang Yang Yan Pramod Bonde Neel Sodha Pavan Atluri Juan Pablo Maureira AndréVincentelli Masanobu Yanase Yixuan wang Haitao Zhang Xiaotong Hou Yoshijuki Takami Pascal leprince Thierry Folliguet frank w Sellke Chinese Society for Thoracic and Cardiovascular Surgery Chinese Association of Cardiovascular Surgeons Cardiac Critical Care Professional Committee of Chinese Medical Association Chinese Society of Extracorporeal life Support European Society of Cardiovascular and Endovascular Surgery French Society of Thoracic and Cardiovascular Surgery Japanese Society for Cardiovascular Surgery Japanese Society of Artificial Organs Department of Cardiovascular Surgery Union Hospital of Tongji Medical CollegeHuazhong University of Science and TechnologyWuhanHubei 430022China Department of Cardiovascular Surgery Fujian Medical University Union HospitalFuzhouFujian 350000China Department of Thoracic and Cardiovascular Surgery Nanjing First HospitalNanjing Medical UniversityNanjingJiangsu 210000China Department of Cardiovascular Surgery General Hospital of Northern Theater CommandShenyangLiaoning 110000China Department of Cardiovascular Surgery Xinqiao HospitalThird Military Medical UniversityChongqing 400037 China Department of Cardiovascular Surgery Fuwai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100000 China Department of Cardiovascular Surgery Guangdong Provincial Cardiovascular InstituteGuangdong General HospitalGuangdong Academy of Medical SciencesGuangzhouGuangdong 510000 China Department of Cardiovascular Surgery First Affiliated Hospital of Xi’an Jiaotong UniversityXi’anShaanxi 710061China Department of Cardiac Surgery Yale School of Medicine330 Cedar St204 BoardmanNew HavenCT 06510USA Department of Cardiothoracic Surgery Alpert Medical SchoolBrown University Rhode Island HospitalProvidenceRI 02912USA Department of Cardiovascular Surgery Department of SurgeryUniversity of PennsylvaniaPhiladelphiaPA 19113USA Department of Cardiovascular Surgery and Transplantation University Hospital of NancyUniversity of LorraineVandoeuvre-lès-Nancy 54500France Department of Cardiovascular Surgery University Hospital of LilleUniversity of LilleLille 59037France Department of Cardiology Fujita Health University School of MedicineToyoakeAichi 470-1192Japan Department of Adult Surgical Intensive Care Unit Fuwai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100000China Department of Cardiac Intensive Care Beijing Institute of HeartLung and B

Temporary mechanical circulatory support(tMCS)plays a pivotal role in managing severe or refractory cardiogenic shock(CS),furnishing essential hemodynamic support,and sustaining organ perfusion from hours to weeks,or to even *** the past decade,the utilization of tMCS has witnessed a signicant increase in American and European *** in Asia,the newly developed concepts and devices constituting tMCS have also made rapid ***,the absence of a consensus or standardized guidelines,especially for the Asian population considering inherited polymorphism,is *** address this knowledge gap,eight associations/societies and experts in thiseld came up with the present consensus after repeated discussions,more specically for the Asian *** comprehensively elucidates the commonly employed tMCS devices,criteria for patient selection,indications and contraindications,clinical management,and the optimal timing for implantation and *** goal of this statement is to promote the standardized application of tMCS and make reasonable decisions in clinical ***-length version of the consensus can be seen in Supplementary File,http://***/CM9/B883.

关键词： application statement discussions

Forecasting the effects of EU policy measures on the nitrate pollution of groundwater and surface waters

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Journal of Environmental Sciences 2010年第6期22卷 872-877页

作者： Ralf Kunkel Peter Kreins Bjrn Tetzlaff frank wendland Research Centre Jülich Institute of Chemistry and Dynamics of the Geosphere Institute of Rural Studies Federal Agricultural Research Centre

we used the interdisciplinary model network REGFlUD to predict the actual mean nitrate concentration in percolation water at the scale of the weser river basin （Germany） using an area differentiated （100 m × 100 m） approach. REGFlUD combines the agro-economic model RAUMIS for estimating nitrogen surpluses and the hydrological models GROwA/DENUZ for assessing the nitrate leaching from the soil. For areas showing predicted nitrate concentrations in percolation water above the European Union （EU） groundwater quality standard of 50 mg NO3-N/l, effective agri-environmental reduction measures need to be derived and implemented to improve groundwater and surface water quality by 2015. The effects of already implemented agricultural policy are quantified by a baseline scenario projecting the N-surpluses from agricultural sector to 2015. The REGFlUD model is used to estimate the effects of this scenario concerning groundwater and surface water pollution by nitrate. From the results of the model analysis the needs for additional measures can be derived in terms of required additional N-surplus reduction and in terms of regional prioritization of measures. Research work will therefore directly support the implementation of the water Framework Directive of the European Union in the weser basin.

关键词： catchment management diffuse source pollution mitigation methods river basin management water Framework Directive

Determination of nitrogen reduction levels necessary to reach groundwater quality targets in Slovenia

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Journal of Environmental Sciences 2014年第9期26卷 1806-1817页

作者： Miso Andelov Ralf Kunkel Jo?e Uhan frank wendland Slovenian Environment Agency Hydrogeological Analysis DivisionVojkova 1bSI-1000 LjubljanaSlovenia Forschungszentrum Jülich (FZJ) Institute of Bio- and Geosciences (IBG)Institute 3: Agrosphere52425 JuelichGermany

within a collaborative project between Slovenian Environment Agency （ARSO） and Research Center Jfilich （FZJ）, nitrogen reduction levels necessary to reach groundwater quality targets in Slovenia were assessed. For this purpose the hydrological model GROwA- DENUZ was coupled with agricultural N balances and applied consistently to the whole territory of Slovenia in a spatial resolution of 100 x 100 m. GROwA was used to determine the water balance in Slovenia for the hydrologic period 1971-2000. Simultaneously, the displaceable N load in soft was assessed from agricultural Slovenian N surpluses for 2011 and the atmospheric N deposition. Subsequently, the DENUZ model was used to assess the nitrate degradation in soil and, in combination with the percolation water rates from the GROwA model, to determine nitrate concentration in the leachate. The areas showing predicted nitrate concentrations in the leachate above the EU groundwater quality standard of 50 mg NO3/l have been identified as priority areas for implementing nitrogen reduction measures. For these ＂hot spot＂ areas DENUZ was used in a backward mode to quantify the maximal permissible nitrogen surplus levels in agriculture to guarantee a nitrate concentration in percolation water below 50 mg NO3/l. Model results indicate that additional N reduction measures should be implemented in priority areas rather than area-covering. Research work will directly support the implementation of the European Union water Framework Directive in Slovenia, e.g., by using the maximal permissible nitrogen surplus levels as a framework for the derivation of regionally adapted and hence effective nitrogen reduction measures.

关键词： EU water Framework DirectiveGroundwater quality targetsNitrate pollutionReactive nitrate transport modeling

Characterization of novel Brown midrib 6 mutations affecting lignin biosynthesis in sorghum

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Journal of Integrative Plant Biology 2016年第2期58卷 136-149页

作者： Erin D. Scully Tammy Gries Deanna l. Funnell-Harris Zhanguo Xin frank A. Kovacs wilfred Vermerris Scott E. Sattler Grain Forage and Bioenergy Research Unit USDA-ARS Lincoln NE 68583 USA Department of Agronomy and Horticulture University of Nebraska-Lincoln Lincoln NE 68583 USA Department of Plant Pathology University of Nebraska-Lincoln Lincoln NE 68583 USA Plant Stress and Germplasm Development Unit USDA-ARS Lubbock TX 79414 USA Department of Chemistry University of Nebraska-Kearney Kearney NE 68849 USA Department of Microbiology & Cell Science and UF Genetics Institute University of Florida Gainesville FL 32610 USA

The presence of lignin reduces the quality of lignocellulosic biomass for forage materials and feedstock for biofuels. In C4 grasses, the brown midrib phenotype has been linked to mutations to genes in the monolignol biosynthesis pathway. For example, the Bmr6 gene in sorghum （Sorghum bicolor） has been previously shown to encode cinnamyl alcohol dehydrogenase （CAD）, which catalyzes the final step of the monolignol biosynthesis pathway. Mutations in this gene have been shown to reduce the abundance of lignin, enhance digestibility, and improve saccharification efficiencies and ethanol yields. Nine sorghum lines harboring five different bmr6 alleles were identified in an EMS-mutagenized TIllING population. DNA sequencing of Bmr6 revealed that the majority of the mutations impacted evolutionarily conserved amino acids while three-dimensional structural modeling predicted that all of these alleles interfered with the enzyme＇s ability to bind with its NAPPH cofactor. All of the new alleles reduced in vitro CAD activity levels and enhanced glucose yields following saccharification. Further, many of these lines were associated with higher reductions in acid detergent lignin compared to lines harboring the previously characterized bmr6-ref allele. These bmr6 lines represent new breeding tools for manipulating biomass composition to enhance forage and feedstock quality.

关键词： Cinnamyl alcohol dehydrogenase (CAD) EMS mutagenesis biofuels C4 grass forage