Online identification and nonlinear control of the electrically stimulated quadriceps muscle

A new approach for estimating nonlinear models of the electrically stimulated quadriceps muscle group under nonisometric conditions is investigated. The model can be used for designing controlled neuro-prostheses. In order to identify the muscle dynamics (stimulation pulsewidth-active knee moment relation) from discrete-time angle measurements only, a hybrid model structure is postulated for the shank-quadriceps dynamics. The model consists of a relatively well known time-invariant passive component and an uncertain time-variant active component. Rigid body dynamics, described by the Equation of Motion (EoM), and passive joint properties form the time-invariant part. The actuator, i.e. the electrically stimulated muscle group, represents the uncertain time-varying section. A recursive algorithm is outlined for identifying online the stimulated quadriceps muscle group. The algorithm requires EoM and passive joint characteristics to be known a priori. The muscle dynamics represent the product of a continuous-time nonlinear activation dynamics and a nonlinear static contraction function described by a Normalised Radial Basis Function (NRBF) network which has knee-joint angle and angular velocity as input arguments. An Extended Kalman Filter (EKF) approach is chosen to estimate muscle dynamics parameters and to obtain full state estimates of the shank-quadriceps dynamics simultaneously. The latter is important for implementing state feedback controllers. A nonlinear state feedback controller using the backstepping method is explicitly designed whereas the model was identified a priori using the developed identification procedure

Ischemic preconditioning attenuates portal venous plasma concentrations of purines following warm liver ischemia in man

Background/Aims: Degradation of adenine nucleotides to adenosine has been suggested to play a critical role in ischemic preconditioning (IPC). Thus, we questioned in patients undergoing partial hepatectomy whether (i) IPC will increase plasma purine catabolites and whether (ii) formation of purines in response to vascular clamping (Pringle maneuver) can be attenuated by prior IPC. Methods: 75 patients were randomly assigned to three groups: group I underwent hepatectomy without vascular clamping; group II was subjected to the Pringle maneuver during resection, and group III was preconditioned (10 min ischemia and 10 min reperfusion) prior to the Pringle maneuver for resection. Central, portal venous and arterial plasma concentrations of adenosine, inosine, hypoxanthine and xanthine were determined by high-performance liquid chromatography. Results: Duration of the Pringle maneuver did not differ between patients with or without IPC. Surgery without vascular clamping had only a minor effect on plasma purine transiently increased. After the Pringle maneuver alone, purine plasma concentrations were most increased. This strong rise in plasma purines caused by the Pringle maneuver, however, was significantly attenuated by IPC. When portal venous minus arterial concentration difference was calculated for inosine or hypoxanthine, the respective differences became positive in patients subjected to the Pringle maneuver and were completely prevented by preconditioning. Conclusion: These data demonstrate that (i) IPC increases formation of adenosine, and that (ii) the unwanted degradation of adenine nucleotides to purines caused by the Pringle maneuver can be attenuated by IPC. Because IPC also induces a decrease of portal venous minus arterial purine plasma concentration differences, IPC might possibly decrease disturbances in the energy metabolism in the intestine as well. Copyright (C) 2005 S. Karger AG, Basel

Biopsieeinrichtung zur histologischen Sicherung von Kleinsttumoren in der MR-Mammografie

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.Die kontrastmittelunterstützte Magnetresonanztomographie der Mamma (MR-Mammographie) hat sich in den vergangenen Jahren bei gezielter Indikationsstellung zunehmend in der Mammadiagnostik etabliert. Dabei findet man im Einzelfall suspekte Herdbefunde, die weder palpatorisch, mammographisch noch sonographisch nachgewiesen werden können. Der wesentliche Vorteil dieses Verfahrens besteht in der sehr hohen Sensitivität im Nachweis des invasiv wachsenden Mammakarzinoms. Die wichtigste Voraussetzung für die erfolgreiche Durchführung einer bildbasierten Biopsie ist die sichere räumliche Punktion des Tumors. Dies ist nur im unmittelbaren Anschluß an die Mammographie bei sicherer Fixierung der Mamma zu erreichen. Die erschwerten räumlichen Bedingungen im MRT erfordern eine externe Punktion des Tumors. Die bei herkömmlichen Systemen notwendige Patientenverlagerung sowie eine ungenügende Erfolgskontrolle durch Überprüfung der Lage der Punktionsnadel führen zu erheblichen Limitierungen des Biopsieerfolges

Breathing synchronized electrical stimulation of the abdominal muscles in patients with acute tetraplegia

Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively

The Influence of Streaming Velocities on the Formation of the First Stars

How, when and where the first stars formed are fundamental questions regarding the epoch of Cosmic Dawn. A second order effect in the fluid equations was recently found to make a significant contribution: an offset velocity between gas and dark matter, the so-called streaming velocity. Previous simulations of a limited number of low-mass dark matter haloes suggest that this streaming velocity can delay the formation of the first stars and decrease halo gas fractions and the halo mass function in the low mass regime. However, a systematic exploration of its effects in a large sample of haloes has been lacking until now. In this paper, we present results from a set of cosmological simulations of regions of the Universe with different streaming velocities performed with the moving mesh code AREPO. Our simulations have very high mass resolution, enabling us to accurately resolve minihaloes as small as $10^5 \: {\rm M_{\odot}}$. We show that in the absence of streaming, the least massive halo that contains cold gas has a mass $M_{\rm halo, min} = 5 \times 10^{5} \: {\rm M_{\odot}}$, but that cooling only becomes efficient in a majority of haloes for halo masses greater than $M_{\rm halo,50\%} = 1.6 \times 10^6 \: {\rm M_{\odot}}$. In regions with non-zero streaming velocities, $M_{\rm halo, min}$ and $M_{\rm halo,50\%}$ both increase significantly, by around a factor of a few for each one sigma increase in the value of the local streaming velocity. As a result, in regions with streaming velocities $v_\mathrm{stream} \ge 3\,\sigma_\mathrm{rms}$, cooling of gas in minihaloes is completely suppressed, implying that the first stars in these regions form within atomic cooling haloes.Comment: 13 pages, 16 figures, resubmitted to MNRA