Dynamical Modelling and a Decentralized Adaptive Controller for a 12-Tetrahedral Rolling Robot

The 12-tetrahedral robot is an addressable reconfigurable technology (ART)-based variable geometry truss mechanism with twenty-six extensible struts and nine nodes arranged in a tetrahedral mesh. The robot has the capability of reconfiguring shape and dimension for environment sensing requirements, which makes it suitable for space exploration and environmental perception. In this paper, we have derived a dynamics model and presented a decentralized adaptive controller for a 12-tetrahedral robot. First, the robot is divided into the node and the strut subsystems, and the kinetic and the potential energy are calculated for the two subsystems. Then, the dynamics model is achieved by applying the Lagrangian formalism on the total energy of the robot. Since the dynamics is too complicated for implementing model-based controllers, a two-layer controller is presented to control the robot, in which the planning layer determines gait and trajectory of the robot, and the executive layer adopts the decentralized adaptive control strategy and consists of twenty-six strut controllers. Each strut controller regulates the movement of the corresponding strut without information exchange with other struts. Co-simulations based on ADAMS and Matlab have been conducted to verify the feasibility and effectiveness of the proposed controller

Incidence of Anxiety and Depression in Patients with Chronic Obstructive Pulmonary Disease: A Meta-Analysis

Objective: To systematically evaluate the incidence of COPD with anxiety and depression in the past 5 years. Methods: The databases of CNKI, Wanfang, VIP, CBM, PubMed, WebofScience, TheCochraneLibrary and EMbase were searched by computer. The study type was cross-sectional study or other types of study that included baseline data.  Outcome indicators included the incidence of anxiety or depression; The cross-sectional study evaluation scale recommended by AHRQ was used to evaluate the quality of the included literature, and StataSE 16 was used to complete the meta-analysis. Results: A total of 35 literatures were included, including 27 Chinese literatures and 9 English literatures. Meta-analysis results showed that: The overall incidence of COPD combined with anxiety or depression was 50.00%, the overall incidence of COPD combined with anxiety was 40%, the incidence of COPD combined with depression was 42%, and the incidence of COPD combined with anxiety and depression was 20%. Conclusion: The incidence of COPD combined with anxiety and depression is high. Clinicians and patients' families should pay attention to COPD, and the psychological problems of patients, and prevent the occurrence of anxiety and depression