Mechanical implementation of kinematic synergy for continual grasping generation of anthropomorphic hand

The synergy-based motion generation of current anthropomorphic hands generally employ the static posture synergy, which is extracted from quantities of joint trajectory, to design the mechanism or control strategy. Under this framework, the temporal weight sequences of each synergy from pregrasp phase to grasp phase are required for reproducing any grasping task. Moreover, the zero-offset posture has to be preset before starting any grasp. Thus, the whole grasp phase appears to be unlike natural human grasp. Up until now, no work in the literature addresses these issues toward simplifying the continual grasp by only inputting the grasp pattern. In this paper, the kinematic synergies observed in angular velocity profile are employed to design the motion generation mechanism. The kinematic synergy extracted from quantities of grasp tasks is implemented by the proposed eigen cam group in tendon space. The completely continual grasp from the fully extending posture only require averagely rotating the two eigen cam groups one cycle. The change of grasp pattern only depends on respecifying transmission ratio pair for the two eigen cam groups. An illustrated hand prototype is developed based on the proposed design principle and the grasping experiments demonstrate the feasibility of the design method. The potential applications include the prosthetic hand that is controlled by the classified pattern from the bio-signal

Clustering of Steel Strip Sectional Profiles Based on Robust Adaptive Fuzzy Clustering Algorithm

In this paper, the intelligent techniques are applied to enhance the quality control precision in the steel strip cold rolling production. Firstly a new control scheme is proposed, establishing the classifier of the steel strip cross-sectional profiles is the core of the system. The fuzzy clustering algorithm is used to establish the classifier. Secondly, a novel fuzzy clustering algorithm is proposed and used in the real application. The results, under the comparisons with the results obtained by the conventional fuzzy clustering algorithm, show the new algorithm is robust and efficient and it can not only get better clustering prototypes, which are used as the classifier, but also easily and effectively detect the outliers; it does great help in improving the performances of the new system. Finally, it is pointed out that the new algorithm's efficiency is mainly due to the introduction of a set of adaptive operators which allow for treating the different influences of data objects on the clustering operations; and in nature, the new fuzzy algorithm is the generalized version of the existing fuzzy clustering algorithm

Parthenolide attenuates LPS-induced activation of NF-κB in a time-dependent manner in rat myocardium.

Parthenolide (PTN), a selective nuclear factor kappa B (NF-κB) inhibitor, has been used extensively to inhibit NF-κB activation. The duration of the inhibitory effect of PTN on NF-κB in vivo remains unclear. This study was to determine whether a lipopolysaccharide (LPS) challenge 6, 12 and 24 h after the administration of PTN could activate NF-κB. Rats were devided into five groups. The rats in the PTN, PTN+LPS and DMSO groups were injected intraperitoneally with PTN or DMSO. After 6, 12 or 24 h, LPS was administered in LPS and PTN+LPS groups. The expressions of NF-κB p50, IκBα and p-IκBα were inhibited in both PTN and PTN+LPS group at end of 6 and 12 h and no effects at 24 h. In summary, myocardial NF-κB expression occurs 1 h after the administration of LPS. PTN blocks this effect given at 6 h and no inhibitory effect 24 h after administration in vivo

Analysis of Power-aware Buffering Schemes in Wireless Sensor Networks

We study the power-aware buffering problem in battery-powered sensor networks, focusing on the fixed-size and fixed-interval buffering schemes. The main motivation is to address the yet poorly understood size variation-induced effect on power-aware buffering schemes. Our theoretical analysis elucidates the fundamental differences between the fixed-size and fixed-interval buffering schemes in the presence of data size variation. It shows that data size variation has detrimental effects on the power expenditure of the fixed-size buffering in general, and reveals that the size variation induced effects can be either mitigated by a positive skewness or promoted by a negative skewness in size distribution. By contrast, the fixed-interval buffering scheme has an obvious advantage of being eminently immune to the data-size variation. Hence the fixed-interval buffering scheme is a risk-averse strategy for its robustness in a variety of operational environments. In addition, based on the fixed-interval buffering scheme, we establish the power consumption relationship between child nodes and parent node in a static data collection tree, and give an in-depth analysis of the impact of child bandwidth distribution on parent's power consumption. This study is of practical significance: it sheds new light on the relationship among power consumption of buffering schemes, power parameters of radio module and memory bank, data arrival rate and data size variation, thereby providing well-informed guidance in determining an optimal buffer size (interval) to maximize the operational lifespan of sensor networks

Pulse-duration dependence of high-order harmonic generation with coherent superposition state

We make a systematic study of high-order harmonic generation (HHG) in a He$^+$-like model ion when the initial states are prepared as a coherent superposition of the ground state and an excited state. It is found that, according to the degree of the ionization of the excited state, the laser intensity can be divided into three regimes in which HHG spectra exhibit different characteristics. The pulse-duration dependence of the HHG spectra in these regimes is studied. We also demonstrate evident advantages of using coherent superposition state to obtain high conversion efficiency. The conversion efficiency can be increased further if ultrashort laser pulses are employed