Robust iterative feedback tuning control of a compliant rehabilitation robot for repetitive ankle training

Robot-assisted rehabilitation offers benefits, such as repetitive, intensive, and task-specific training, as compared to traditional manual manipulation performed by physiotherapists. In this paper, a robust iterative feedback tuning (IFT) technique for repetitive training control of a compliant parallel ankle rehabilitation robot is presented. The robot employs four parallel intrinsically compliant pneumatic muscle actuators that mimic skeletal muscles for ankle's motion training. A multiple degrees-of-freedom normalized IFT technique is proposed to increase the controller robustness by obtaining an optimal value for the weighting factor and offering a method with learning capacity to achieve an optimum of the controller parameters. Experiments with human participants were conducted to investigate the robustness as well as to validate the performance of the proposed IFT technique. Results show that the normalized IFT scheme will achieve a better and better tracking performance during the robot repetitive control and provides more robustness to the system by adapting to various situations in robotic rehabilitation

Thermal Effects and Small Signal Modulation of 1.3-μm InAs/GaAs Self-Assembled Quantum-Dot Lasers

We investigate the influence of thermal effects on the high-speed performance of 1.3-μm InAs/GaAs quantum-dot lasers in a wide temperature range (5–50°C). Ridge waveguide devices with 1.1 mm cavity length exhibit small signal modulation bandwidths of 7.51 GHz at 5°C and 3.98 GHz at 50°C. Temperature-dependent K-factor, differential gain, and gain compression factor are studied. While the intrinsic damping-limited modulation bandwidth is as high as 23 GHz, the actual modulation bandwidth is limited by carrier thermalization under continuous wave operation. Saturation of the resonance frequency was found to be the result of thermal reduction in the differential gain, which may originate from carrier thermalization

Specific subsystems of the inferior parietal lobule are associated with hand dysfunction following stroke: A cross-sectional resting-state fMRI study

Aim The inferior parietal lobule (IPL) plays important roles in reaching and grasping during hand movements, but how reorganizations of IPL subsystems underlie the paretic hand remains unclear. We aimed to explore whether specific IPL subsystems were disrupted and associated with hand performance after chronic stroke. Methods In this cross-sectional study, we recruited 65 patients who had chronic subcortical strokes and 40 healthy controls from China. Each participant underwent the Fugl-Meyer Assessment of Hand and Wrist and resting-state fMRI at baseline. We mainly explored the group differences in resting-state effective connectivity (EC) patterns for six IPL subregions in each hemisphere, and we correlated these EC patterns with paretic hand performance across the whole stroke group and stroke subgroups. Moreover, we used receiver operating characteristic curve analysis to distinguish the stroke subgroups with partially (PPH) and completely (CPH) paretic hands. Results Stroke patients exhibited abnormal EC patterns with ipsilesional PFt and bilateral PGa, and five sensorimotor-parietal/two parietal–temporal subsystems were positively or negatively correlated with hand performance. Compared with CPH patients, PPH patients exhibited abnormal EC patterns with the contralesional PFop. The PPH patients had one motor-parietal subsystem, while the CPH patients had one sensorimotor-parietal and three parietal-occipital subsystems that were associated with hand performance. Notably, the EC strength from the contralesional PFop to the ipsilesional superior frontal gyrus could distinguish patients with PPH from patients with CPH. Conclusions The IPL subsystems manifest specific functional reorganization and are associated with hand dysfunction following chronic stroke.Natural Science Foundation of Zhejiang Province, Grant/Award Number: LGF19H270001; Shanghai Sailing Program, Grant/Award Number: 20YF144510

Wavelength-multiplexed duplex transceiver based on III-V/Si hybrid integration for off-chip and on-chip optical interconnects

A six-channel wavelength-division-multiplexed optical transceiver with a compact footprint of 1.5 x 0.65 mm(2) for off-chip and on-chip interconnects is demonstrated on a single silicon-on-insulator chip. An arrayed waveguide grating is used as the (de)multiplexer, and III-V electroabsorption sections fabricated by hybrid integration technology are used as both modulators and detectors, which also enable duplex links. The 30-Gb/s capacity for each of the six wavelength channels for the off-chip transceiver is demonstrated. For the on-chip interconnect, an electrical-to-electrical 3-dB bandwidth of 13 GHz and a data rate of 30 Gb/s per wavelength are achieved

Revealing microstructural evolutions, mechanical properties and wear performance of wire arc additive manufacturing homogeneous and heterogeneous NiTi alloy

Heterogeneous microstructure designs have attracted a great deal of attention, not only because they have the potential to achieve an ideal combination of two conflicting properties, but also because the processes involved in their fabrication are cost-effective and can be scaled up for industrial production. The process parameters in the preparation process have an important effect on the microstructure and properties of alloy members prepared by wire arc additive manufacturing (WAAM) technology. It was expected that the spatial heterogeneous microstructure with large microstructural heterogeneities in metals can be formed through changing the process parameters. In this work, homogeneous NiTi thin-walled component and heterogeneous NiTi thin-walled component were fabricated using WAAM technology by adjusting the heat input. The effects of deposition height and heat input on the microstructure, mechanical properties and wear properties of WAAM NiTi alloys were investigated. The results show that grains were gradually refined with the increase of deposition height in the homogeneous WAAM NiTi component. The ultimate tensile strength of homogeneous WAAM NiTi component increased from 606.87 MPa to 654.45 MPa and the elongation increased from 12.72% to 15.38%, as the increase of deposition height. Moreover, the homogeneous WAAM NiTi component exhibited excellent wear resistance, the coefficient of friction decreased from 0.760 to 0.715 with the increase of deposition height. Meanwhile, the grains in the heterogeneous WAAM NiTi component shows the finest grains in the central region. The ultimate tensile strength of the lower region, middle region and upper region of heterogeneous WAAM NiTi components were 556.12 MPa, 599.53 MPa and 739.79 MPa, and the elongations were 12.98%, 16.69%, 21.74%, respectively. The coefficient of friction for the lower region, middle region and upper region of heterogeneous WAAM NiTi components were 0.713, 0.720 and 0.710, respectively. The microhardness and cyclic compression properties of the homogeneous components with higher heat input were better than those of the heterogeneous components for the same deposition height. The tensile yield strength, elongation and wear resistance of the heterogeneous components were superior compared to the homogeneous components. These results can be used to optimize the WAAM process parameters to prepare NiTi components with excellent mechanical properties

Giant schwannoma of thoracic vertebra: A case report

BACKGROUND,It is relatively rare for schwannomas to invade bone, but it is very rare for a large,mass to form concurrently in the paravertebral region. Surgical resection is the,only effective treatment. Because of the extensive tumor involvement and the,many important surrounding structures, the tumor needs to be fully exposed.,Most of the tumors are completely removed by posterior combined open-heart,surgery to relieve spinal cord compression, restore the stability of the spine and,maximize the recovery of nerve and spinal cord function. The main objective of,this article is to present a schwannoma that had invaded the T5 and T6 vertebral,bodies and formed a large paravertebral mass with simultaneous invasion of the,spinal canal and compression of the spinal cord.,CASE SUMMARY,A 40-year-old female suffered from intermittent chest and back pain for 8 years.,Computed tomography and magnetic resonance imaging scans showed a,paravertebral tumor of approximately 86 mm × 109 mm × 116 mm, where the,adjacent T5 and T6 vertebral bodies were invaded by the tumor, the right intervertebral,foramen was enlarged, and the tumor had invaded the spinal canal to,compress the thoracic medulla. The preoperative puncture biopsy diagnosed a,benign schwannoma. Complete resection of the tumor was achieved by a two-step,operation. In the first step, the thoracic surgeon adopted a lateral approach to,separate the thoracic tumor from the lung. In the second step, a spine surgeon,performed a posterior midline approach to dissect the tumor from the vertebral,junction through removal of the tumor from the posterior side and further,resection of the entire T5 and T6 vertebral bodies. The large bone defect was,reconstructed with titanium mesh, and the posterior root arch was nail-fixed. Due,to the large amount of intraoperative bleeding, we performed tumor angioembolization,before surgery to reduce and avoid large intraoperative bleeding. The,postoperative diagnosis of benign schwannoma was confirmed by histochemical,examination. There was no sign of tumor recurrence or spinal instability during,the 2-year follow-up.,CONCLUSION,Giant schwannoma is uncommon. In this case, a complete surgical resection of a,giant thoracic nerve sheath tumor that invaded part of the vertebral body and,compressed the spinal cord was safe and effective

Automatic generation of multi-precision multi-arithmetic CNN accelerators for FPGAs

Modern deep Convolutional Neural Networks (CNNs) are computationally demanding, yet real applications often require high throughput and low latency. To help tackle these problems, we propose Tomato, a framework designed to automate the process of generating efficient CNN accelerators. The generated design is pipelined and each convolution layer uses different arithmetics at various precisions. Using Tomato, we showcase state-of-the-art multi-precision multi-arithmetic networks, including MobileNet-V1, running on FPGAs. To our knowledge, this is the first multi-precision multi-arithmetic auto-generation framework for CNNs. In software, Tomato fine-tunes pretrained networks to use a mixture of short powers-of-2 and fixed-point weights with a minimal loss in classification accuracy. The fine-tuned parameters are combined with the templated hardware designs to automatically produce efficient inference circuits in FPGAs. We demonstrate how our approach significantly reduces model sizes and computation complexities, and permits us to pack a complete ImageNet network onto a single FPGA without accessing off-chip memories for the first time. Furthermore, we show how Tomato produces implementations of networks with various sizes running on single or multiple FPGAs. To the best of our knowledge, our automatically generated accelerators outperform closest FPGA-based competitors by at least 2-4x for lantency and throughput; the generated accelerator runs ImageNet classification at a rate of more than 3000 frames per second.EPSRC Doctoral Scholarship Peterhouse Graduate Studentshi

Novel electrospun polyvinylidene fluoride-graphene oxide-silver nanocomposite membranes with protein and bacterial antifouling characteristics

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Polyetheretherketone hybrid composites with bioactive nanohydroxyapatite and multiwalled carbon nanotube fillers

published_or_final_versio