Accurate multivariable arbitrary piecewise model regression of McKibben and Peano muscle static and damping force behavior

Machines that efficiently and safely interact with the uncertainty of the natural world need actuators with the properties of living creatures' muscles. However, the inherent nonlinearity of the static and damping properties that the most promising of these muscle-like actuators have makes them difficult to control. Our ability to accurately control these actuators requires accurate models of their behavior. One muscle-like actuator for which no accurate models have been specifically developed is the Peano muscle. This paper presents and validates a model generation algorithm, multivariable arbitrary piecewise model regression (MAPMORE), that produces accurate models for predicting the static and damping force behavior of Peano muscles, as well as of the popular McKibben muscle. MAPMORE builds a training data processing, muscle-specific model term dictionary, and piecewise function fusion framework around Billings et al's forward regression orthogonal least squares estimator algorithm. We demonstrate that MAPMORE's static and damping force models have a normalized root mean square error (NRMSE) of 48%–88% of the NRMSE of the most accurate of Peano and McKibben muscles' existing models. The improved accuracy of MAPMORE's models for these artificial muscles potentially aids the muscles' ability to be accurately controlled and hence is a step towards enabling machines that interact with the real world. Further steps could be made by improving MAPMORE's accuracy through the addition of hysteresis operator and lagged terms in the damping force dictionary

Barriers to participation in a placebo-surgical trial for lumbar spinal stenosis

© 2019 Background: Placebo-controlled trials are an important tool when assessing the efficacy of spinal surgical procedures. The most common spinal surgical procedure in older adults is decompression for lumbar spinal stenosis. Before conducting a placebo-surgical trial on decompression surgery, an investigation of patients’ willingness to participate in a placebo-controlled trial of decompression surgery and barriers to participation were explored. Materials: An online survey. Methods: Descriptive analyses of demographic and clinical data, and participants' willingness to participate in a placebo-surgical trial. Logistic regression was used to examine potential predictors of willingness to participate. Two independent researchers performed a coded framework analysis of patients’ barriers to participation. Results: 68 patients were invited and 63 participants completed the survey (91.3% response, mean (SD) age 69.5 (10.9) years, 52% females), 71% suffered from moderate to very severe pain. Ten participants (15.9%) were willing to participate in a placebo-controlled trial. Being married was associated with decreased odds of participating (OR: 0.2; 95% CI, 0.05 to 0.8; P = 0.03), while the main barriers were a lack of information about the procedure, reassurance of a positive outcome with participation, and concerns about the risks and benefits of placebo surgery. Conclusions: A minority of patients with lumbar spinal stenosis were willing to participate in a placebo-controlled trial of surgery. The identified barriers indicate that educating eligible patients about: the need for placebo-surgical trials, the personal risks and benefits of participation, and the importance and potential benefits of placebo trials to others, may be crucial to ensure adequate recruitment into the placebo-controlled surgical trial. Conclusions should be read cautiously however, given the small sample size present in this study

First order parent formulation for generic gauge field theories

We show how a generic gauge field theory described by a BRST differential can systematically be reformulated as a first order parent system whose spacetime part is determined by the de Rham differential. In the spirit of Vasiliev's unfolded approach, this is done by extending the original space of fields so as to include their derivatives as new independent fields together with associated form fields. Through the inclusion of the antifield dependent part of the BRST differential, the parent formulation can be used both for on and off-shell formulations. For diffeomorphism invariant models, the parent formulation can be reformulated as an AKSZ-type sigma model. Several examples, such as the relativistic particle, parametrized theories, Yang-Mills theory, general relativity and the two dimensional sigma model are worked out in details.Comment: 36 pages, additional sections and minor correction

Bosonization of Fermi liquids

We bosonize a Fermi liquid in any number of dimensions in the limit of long wavelengths. From the bosons we construct a set of coherent states which are related with the displacement of the Fermi surface due to particle-hole excitations. We show that an interacting hamiltonian in terms of the original fermions is quadratic in the bosons. We obtain a path integral representation for the generating functional which in real time, in the semiclassical limit, gives the Landau equation for sound waves and in the imaginary time gives us the correct form of the specific heat for a Fermi liquid even with the corrections due to the interactions between the fermions. We also discuss the similarities between our results and the physics of quantum crystals.Comment: 42 pages, RevteX, preprint UIUC (1993

Parent formulation at the Lagrangian level

The recently proposed first-order parent formalism at the level of equations of motion is specialized to the case of Lagrangian systems. It is shown that for diffeomorphism-invariant theories the parent formulation takes the form of an AKSZ-type sigma model. The proposed formulation can be also seen as a Lagrangian version of the BV-BRST extension of the Vasiliev unfolded approach. We also discuss its possible interpretation as a multidimensional generalization of the Hamiltonian BFV--BRST formalism. The general construction is illustrated by examples of (parametrized) mechanics, relativistic particle, Yang--Mills theory, and gravity.Comment: 26 pages, discussion of the truncation extended, typos corrected, references adde

Ferroelectricity induced by interatomic magnetic exchange interaction

Multiferroics, where two or more ferroic order parameters coexist, is one of the hottest fields in condensed matter physics and materials science[1-9]. However, the coexistence of magnetism and conventional ferroelectricity is physically unfavoured[10]. Recently several remedies have been proposed, e.g., improper ferroelectricity induced by specific magnetic[6] or charge orders[2]. Guiding by these theories, currently most research is focused on frustrated magnets, which usually have complicated magnetic structure and low magnetic ordering temperature, consequently far from the practical application. Simple collinear magnets, which can have high magnetic transition temperature, have never been considered seriously as the candidates for multiferroics. Here, we argue that actually simple interatomic magnetic exchange interaction already contains a driving force for ferroelectricity, thus providing a new microscopic mechanism for the coexistence and strong coupling between ferroelectricity and magnetism. We demonstrate this mechanism by showing that even the simplest antiferromagnetic (AFM) insulator MnO, can display a magnetically induced ferroelectricity under a biaxial strain

Exact integral equation for the renormalized Fermi surface

The true Fermi surface of a fermionic many-body system can be viewed as a fixed point manifold of the renormalization group (RG). Within the framework of the exact functional RG we show that the fixed point condition implies an exact integral equation for the counterterm which is needed for a self-consistent calculation of the Fermi surface. In the simplest approximation, our integral equation reduces to the self-consistent Hartree-Fock equation for the counterterm.Comment: 5 pages, 1 figur