227 research outputs found

    Fault-Tolerant Consensus of Multi-Agent Systems Subject to Multiple Faults and Random Attacks

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    This paper explores the consensus control problem of nonlinear multi-agent systems (MASs) under complex cyber-physical threats (CPTs), which encompass sensor/actuator faults, input/output channel noises, and random cyber-attacks. The multiple sensor/actuator faults are uniformly modeled as an exponential type, while random cyber-attacks are characterized by a Markov chain. To enhance the safety and security of MASs under CPTs, the distributed normalized observers are first developed, enabling precise estimations of unknown state and fault information. Subsequently, the distributed fault-tolerant consensus control (FTCC) scheme with a positive reconstruction mechanism is proposed to maintain resilience against attacks, compensation for faults, and robustness to noises in MASs under adverse CPTs. The two notable innovations can be outlined as follows: i) The achievement of FTCC objectives under complex CPTs, demonstrating strong algorithmic transferability in both non-attack and random attack scenarios. ii) The adoption of a double-layer distributed framework in the estimation layer and control layer, balancing computational complexity and efficiency improvements compared to a combination of decentralized and distributed approaches. Simulation results finally confirm the efficacy and feasibility of the proposed FTCC algorithm

    Endoscopic rhizotomy for chronic lumbar zygapophysial joint pain.

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    BACKGROUND: Chronic lumbar zygapophysial joint pain is a common cause of chronic low back pain. Percutaneous radiofrequency ablation (RFA) is one of the effective management options; however, the results from the traditional RFA need to be improved in certain cases. The aim of this study is to investigate the effect of percutaneous radiofrequency ablation under endoscopic guidance (ERFA) for chronic low back pain secondary to facet joint arthritis. METHODS: This is a prospective study enrolled 60 patients. The cases were randomized into two groups: 30 patients in the control group underwent traditional percutaneous radiofrequency ablation, others underwent ERFA. The lumbar visual analog scale (VAS), MacNab score, and postoperative complications were used to evaluate the outcomes. All outcome assessments were performed at postoperative 1 day, 1 month, 3 months, 6 months, and 12 months. RESULTS: There was no difference between the two groups in preoperative VAS (P \u3e 0.05). VAS scores, except the postoperative first day, in all other postoperative time points were significantly lower than preoperative values each in both groups (P \u3c 0.05). There was no significant difference between the two groups in VAS at 1 day, 1 month, and 3 months after surgery (P \u3e 0.05). However, the EFRA demonstrated significant benefits at the time points of 3 months and 6 months (P \u3e 0.05). The MacNab scores of 1-year follow-up in the ERFA group were higher than that in the control group (P \u3c 0.05). The incidence of complications in the ERFA group was significantly less than that in the control group (P \u3c 0.05). CONCLUSIONS: ERFA may achieve more accurate and definite denervation on the nerves, which leads to longer lasting pain relief

    Retrospective respiration-gated whole-body photoacoustic computed tomography of mice

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    Photoacoustic tomography (PAT) is an emerging technique that has a great potential for preclinical whole-body imaging. To date, most whole-body PAT systems require multiple laser shots to generate one cross-sectional image, yielding a frame rate of <1 Hz. Because a mouse breathes at up to 3 Hz, without proper gating mechanisms, acquired images are susceptible to motion artifacts. Here, we introduce, for the first time to our knowledge, retrospective respiratory gating for whole-body photoacoustic computed tomography. This new method involves simultaneous capturing of the animal’s respiratory waveform during photoacoustic data acquisition. The recorded photoacoustic signals are sorted and clustered according to the respiratory phase, and an image of the animal at each respiratory phase is reconstructed subsequently from the corresponding cluster. The new method was tested in a ring-shaped confocal photoacoustic computed tomography system with a hardware-limited frame rate of 0.625 Hz. After respiratory gating, we observed sharper vascular and anatomical images at different positions of the animal body. The entire breathing cycle can also be visualized at 20 frames/cycle

    Progressive Transfer Learning for Dexterous In-Hand Manipulation with Multi-Fingered Anthropomorphic Hand

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    Dexterous in-hand manipulation for a multi-fingered anthropomorphic hand is extremely difficult because of the high-dimensional state and action spaces, rich contact patterns between the fingers and objects. Even though deep reinforcement learning has made moderate progress and demonstrated its strong potential for manipulation, it is still faced with certain challenges, such as large-scale data collection and high sample complexity. Especially, for some slight change scenes, it always needs to re-collect vast amounts of data and carry out numerous iterations of fine-tuning. Remarkably, humans can quickly transfer learned manipulation skills to different scenarios with little supervision. Inspired by human flexible transfer learning capability, we propose a novel dexterous in-hand manipulation progressive transfer learning framework (PTL) based on efficiently utilizing the collected trajectories and the source-trained dynamics model. This framework adopts progressive neural networks for dynamics model transfer learning on samples selected by a new samples selection method based on dynamics properties, rewards and scores of the trajectories. Experimental results on contact-rich anthropomorphic hand manipulation tasks show that our method can efficiently and effectively learn in-hand manipulation skills with a few online attempts and adjustment learning under the new scene. Compared to learning from scratch, our method can reduce training time costs by 95%.Comment: 12 pages, 7 figures, submitted to TNNL
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