Multibody dynamics model of a full human body for simulating walking

Indiana University-Purdue University Indianapolis (IUPUI)Khakpour, Zahra M.S.M.E., Purdue University, May 2017. Multibody Dynamics Model of A Full Human Body For Simulating Walking, Major Professor: Hazim El-Mounayri. Bipedal robotics is a relatively new research area which is concerned with creating walking robots which have mobility and agility characteristics approaching those of humans. Also, in general, simulation of bipedal walking is important in many other applications such as: design and testing of orthopedic implants; testing human walking rehabilitation strategies and devices; design of equipment and facilities for human/robot use/interaction; design of sports equipment; and improving sports performance & reducing injury. One of the main technical challenges in that bipedal robotics area is developing a walking control strategy which results in a stable and balanced upright walking gait of the robot on level as well as non-level (sloped/rough) terrains. In this thesis the following aspects of the walking control strategy are developed and tested in a high-fidelity multibody dynamics model of a humanoid body model: 1. Kinematic design of a walking gait using cubic Hermite splines to specify the motion of the center of the foot. 2. Inverse kinematics to compute the legs joint angles necessary to generate the walking gait. 3. Inverse dynamics using rotary actuators at the joints with PD (Proportional-Derivative) controllers to control the motion of the leg links. The thee-dimensional multibody dynamics model is built using the DIS (Dynamic Interactions Simulator) code. It consists of 42 rigid bodies representing the legs, hip, spine, ribs, neck, arms, and head. The bodies are connected using 42 revolute joints with a rotational actuator along with a PD controller at each joint. A penalty normal contact force model along with a polygonal contact surface representing the bottom of each foot is used to model contact between the foot and the terrain. Friction is modeled using an asperity-based friction model which approximates Coulomb friction using a variable anchor-point spring in parallel with a velocity dependent friction law. In this thesis, it is assumed in the model that a balance controller already exists to ensure that the walking motion is balanced (i.e. that the robot does not tip over). A multi-body dynamic model of the full human body is developed and the controllers are designed to simulate the walking motion. This includes the design of the geometric model, development of the control system in kinematics approach, and the simulation setup

Presumed clomiphene-induced optic neuropathy: A case report

Background: Clomiphene citrate is an estrogen receptor ligand with mixed agonistic–antagonistic properties used for the treatment of female and male infertility. Various visual disturbances and several irreversible visual outcomes have been associated with clomiphene citrate. In this report, we present a patient with presumed clomiphene-induced optic neuropathy. Case: A 33-yr-old man with acute visual loss of the right eye was referred to Amiralmomenin Hospital, Rasht, Iran in November 2018. His only medication was clomiphene citrate 100 mg daily, taken for 2 wk for fertility issues. The patient presented with a sudden decrease of visual acuity in the right eye on the 14th day of starting the treatment and subsequently developed complete loss of inferior visual field within a few days. On examination, the visual acuity was 6/20 in the right and 20/20 in the left eyes, with a right relative afferent pupillary defect and decreased red color saturation. The fundus examination revealed optic disc swelling with venous dilation in the right eye and a normal left fundus with a crowded disc (disc-at-risk). The patient was evaluated for systemic disorders, all of which were normal. Findings were suggestive of non-arteritic anterior ischemic optic neuropathy most likely due to clomiphene. Conclusion: As clomiphene may increase blood viscosity, it is hypothesized that reduced flow in a posterior ciliary artery in conjunction with the disc-at-risk contributes to the anterior ischemic optic neuropathy. It is advised that patients with disc-at-risk be aware of the possible non-arteritic anterior ischemic optic neuropathy and those experiencing visual symptoms while taking clomiphene be examined promptly for evidence of optic nerve injury. Key words: Clomiphene citrate, Optic neuropathy, Visual acuity, Ischemia

Outcomes of Phaco-viscocanalostomy in Primary Open Angle Glaucoma versus Pseudoexfoliation Glaucoma

Purpose: Viscocanalostomy represents an alternative to standard penetrating glaucoma surgery. The aim of this study is to compare the outcomes of combined phacoemulsification and viscocanalostomy in eyes with primary open-angle glaucoma (POAG) versus eyes with pseudoexfoliation glaucoma (PEXG). Methods: In this prospective non-randomized comparative study, eyes with cataract and POAG or PEXG were enrolled. Pre- and postoperative data including best corrected visual acuity (BCVA), intraocular pressure (IOP), and the number of antiglaucoma medications administered were recorded at each visit. All patients underwent phacoviscocanalostomy. Complete success was defined as the IOP of 21 mmHg or less without the administration of medication while a qualified success reported the same IOP parameters either with or without the administration of medication. Results: Fifty-four eyes with POAG and fifty-four with PEXG underwent phacoviscocanalostomy. The mean follow-up time was 23.36 ± 8.8 months (range, 6–40 months). The mean postoperative IOP reduced significantly in both groups, although the mean IOP reduction was significantly greater in PEXG eyes (14.7 ± 8.9 vs 10.1 ± 7.7 mmHg) (P = 0.05). At the final follow-up visit, the mean postoperative IOP was 14.1 ± 2.1 and 16.6 ± 3.5 mmHg in the PEXG and POAG eyes, respectively (P = 0.001). A complete success rate of 88.9% and 75.9% was achieved in PEXG and POAG eyes, respectively (P = 0.07). The qualified success rate was 100% in the PEXG and 85.2% in POAG groups (P = 0.03). Conclusion: Phacoviscocanalostomy achieved significant IOP reduction and visual improvement in both POAG and PEXG patients. Our results indicated that in terms of IOP reduction, this procedure was more effective in treating PEXG

کارکردهای تربیتی خودکنترلی و نقش آن در سلامت روان از دیدگاه قرآن و روایات

Background: Self-control is self-management, by which anybody forces himself to do or not some acts. A person should control his desire to reach to this kind of management so it means suppression and restraining that has important impact on mental and spiritual health. The purpose of this research is expression of ways of achieving to self-control and its role in mental and spiritual health in view of Quran and narratives. Methods: This article is done in analytic-descriptive method with Quran-narrative approach. Results: This article states that self-control is one of effective component to reach mental relaxation. Continence makes: Balanced life, much patience, and strong relationship toward God and finally, makes life comfortably. This study concludes: Quran and narratives ways to achieve self- control are two: A) Cognitive: through Theology, Self-knowledge, Worldviews, B) Behavioral: through Fear and hope, Modesty and Chastity, Patience, fasting that increase components of power within and Reinforces behavioral components of external might. So both of them makes human achieve self-control. Discussion & Conclusion: This study concludes: Quran and narratives ways to achieve self- control are two: A- Cognitive: through Theology, Self-knowledge, Worldviews, B- Behavioral: through Fear and hope, Modesty and Chastity, Patience, fasting that increase components of power within and Reinforces behavioral components of external might. So both of them makes human achieve self-control.مقدمه: خودکنترلی مدیریت بر خویشتن است که انسان به واسطه آن، خود را ملزم به انجام یا ترک برخی امور می‌کند. رسیدن به این مدیریت، از طریق مهار امیال بوده و مفهوم ضمنی آن، فرونشانی یا مهارکردن است که تأثیر به سزایی در سلامت روحی و معنوی دارد. هدف از این مقاله بیان راه‌های رسیدن به خودکنترلی و نقش آن در سلامت معنوی از دیدگاه قرآن و روایات است. روش: نوشتار حاضر به روش توصیفی ـ تحلیلی، با رویکرد قرآنی ـ روایی انجام شده است. یافته‌ها: پس از بررسی منابع اصیل اسلامی بیان می‌دارد، خودکنترلی یکی از مؤلفه‌های مؤثر در رسیدن به آرامش روان است. خویشتن‌داری زندگی را متعادل، صبر را زیاد و رابطه با معبود را مستحکم کرده و در نهایت به زندگی رنگ آرامش و سلامتی می‌دهد. بحث و نتیجه‌گیری: قرآن و روایات برای رسیدن به خودکنترلی دو راهکار ترسیم نموده‌اند، الف ـ شناختی: از طریق خداشناسی، خودشناسی، جهان بینی و...؛ ب ـ رفتاری: به ‌واسطه‌ خوف و رجا، حیا و عفاف، صبر، روزه که باید این دو، توأمان ایجاد شود، مؤلفه‌های شناختی قدرت درون را افزایش می‌دهد و مؤلفه‌های رفتاری، توان برون را تقویت می‌نماید که این دو باعث حرکت انسان در جهت رسیدن به خودکنترلی می‌شوند

The Blockade of D1/D2-Like Dopamine Receptors within the Dentate Gyrus of Hippocampus Decreased the Reinstatement of Morphine-Extinguished Conditioned Place Preference in Rats

Introduction: The hippocampus (HIP), the primary brain structure related to learning and memory, receives sparse but comprehensive dopamine innervations and contains dopamine D1/D2-like receptors. It is demonstrated that dopamine receptors in dentate gyrus (DG) region of HIP have a remarkable function in spatial reward processing. Much less is known about the involvement of HIP and its D1/D2 dopamine receptors in drug-seeking behaviors, more particularly, in the morphine extinguished conditioned place preference (CPP). Methods: To find out the role of D1/D2-like receptors within the DG in morphine-seeking behaviors, forty adult male albino Wistar rats weighing 220-280g were unilaterally implanted by a cannula into the DG. The CPP paradigm was done conditioning score and locomotors activity were recorded by Ethovision software. All drugs/vehicles were microinjected one day after extinction (just before the CPP test) into the DG as reinstatement day. Results: The results showed that intra-DG administration of different dose of SCH23390 (0.25, 1 and 4μg/0.5μl saline), as a selective D1-like receptor antagonist and sulpiride (0.25, 1 and 4μg/0.5μl DMSO), as a selective D2-like receptor antagonist dose-dependently attenuated the morphine-extinguished CPP reinstated by priming injection of morphine (1 mg/kg, sc). Discussion: It can be concluded that D1/D2-like receptors within this region have an important role in morphine-seeking behaviors in extinguished rats

Multicomponent isotherm for biosorption of Zn(II), CO(II) and Cd(II) from ternary mixture onto pretreated dried Aspergillus niger biomass

In the present study, multicomponent competitive biosorption of heavy metal from aqueous solution onto pretreated dried Aspergillus niger in batch system was investigated. The adsorption data were fitted to the multicomponent Langmuir, Freundlich, Temkin and Sips equations. We used the genetic algorithm of biosorption in ternary mixture to evaluate the potential effects of each metal in the removal of other metals. In order to take both mechanisms of the cell-surface binding and intra-particle diffusion into account, an alternative model was investigated by combining the pseudo-second-order kinetics model and the intra-particle diffusion model. A model describing the process of biosorption by a single-stage batch design was developed and verified based on the Temkin isotherm model. Fundamentally, the outlook from these observations of the experiments that the pretreated dried biomass is a suitable absorbent for the removal of significant amounts of the heavy metal from the effluents of industrial wastewater is promising

Wound Healing Effect of Arnebia euchroma gel on Excisional Wounds in Rats

Background: Wound healing is a complex process leading to regeneration of damaged skin tissue. Arnebia euchroma (AE) have many effective activities such as anti-inflammatory, antimicrobial, antioxidative, and anti-tumoral effects. The extract of AE has positive effects on burn wounds. This study is designed to investigate the healing effects of AE on excisional wounds in rats. Materials and Methods: Thirty six rats with the age of 8 weeks divided into three groups. One group (E1) was treated with AE gel at a concentration of 10%. Control group (C1) received normal saline and the vehicle group (C2) was treated with carboxymethyl cellulose gel as the vehicle for 14 days. Stereological analysis was done to investigate the collagen bundle and hair follicale synthesis, vascularization, fibroblast proliferation. Pathological evaluation was also conducted. Results: In this study, pathological evaluation showed severe acute inflammation in C2 group, chronic and acute inflammation in C1 and also more wound contraction in E1 in comparison with other groups. There was a meaningful difference between E1 and C1 regarding fibroblast proliferation (P < 0.05). Conclusion: Results of this study revealed the healing effect of AE on excisional wounds and recommend its administration after further clinical investigations

Presumed Clomiphene-induced Optic Neuropathy: A Case Report

Background: Clomiphene citrate is an estrogen receptor ligand with mixed agonistic–antagonistic properties used for the treatment of female and male infertility. Various visual disturbances and several irreversible visual outcomes have been associated with clomiphene citrate. In this report, we present a patient with presumed clomiphene-induced optic neuropathy. Case: A 33-yr-old man with acute visual loss of the right eye was referred to Amiralmomenin Hospital, Rasht, Iran in November 2018. His only medication was clomiphene citrate 100 mg daily, taken for 2 wk for fertility issues. The patient presented with a sudden decrease of visual acuity in the right eye on the 14th day of starting the treatment and subsequently developed complete loss of inferior visual field within a few days. On examination, the visual acuity was 6/20 in the right and 20/20 in the left eyes, with a right relative afferent pupillary defect and decreased red color saturation. The fundus examination revealed optic disc swelling with venous dilation in the right eye and a normal left fundus with a crowded disc (disc-at-risk). The patient was evaluated for systemic disorders, all of which were normal. Findings were suggestive of non-arteritic anterior ischemic optic neuropathy most likely due to clomiphene. Conclusion: As clomiphene may increase blood viscosity, it is hypothesized that reduced flow in a posterior ciliary artery in conjunction with the disc-at-risk contributes to the anterior ischemic optic neuropathy. It is advised that patients with disc-at-risk be aware of the possible non-arteritic anterior ischemic optic neuropathy and those experiencing visual symptoms while taking clomiphene be examined promptly for evidence of optic nerve injury. Key words: Clomiphene citrate, Optic neuropathy, Visual acuity, Ischemia

Outcomes of Phaco-viscocanalostomy in Primary Open Angle Glaucoma Versus Pseudoexfoliation Glaucoma

Purpose: Viscocanalostomy represents an alternative to standard penetrating glaucoma surgery. The aim of this study is to compare the outcomes of combined phacoemulsification and viscocanalostomy in eyes with primary open-angle glaucoma (POAG) versus eyes with pseudoexfoliation glaucoma (PEXG). Methods: In this prospective non-randomized comparative study, eyes with Cataract and POAG or PEXG were enrolled. Pre- and postoperative data including best corrected visual acuity (BCVA), intraocular pressure (IOP), and the number of antiglaucoma medications administered were recorded at each visit. All patients underwent phacoviscocanalostomy. Complete success was defined as the IOP of 21 mmHg or less without the administration of medication while a qualified success reported the same IOP parameters either with or without the administration of medication. Results: Fifty-four eyes with POAG and fifty-four with PEXG underwent phacoviscocanalostomy. The mean follow-up time was 23.36 ± 8.8 months (range, 6–40 months). The mean postoperative IOP reduced significantly in both groups, although the mean IOP reduction was significantly greater in PEXG eyes (14.7 ± 8.9 vs 10.1 ± 7.7 mmHg) (P = 0.05). At the final follow-up visit, the mean postoperative IOP was 14.1 ± 2.1 and 16.6 ± 3.5 mmHg in the PEXG and POAG eyes, respectively (P = 0.001). A complete success rate of 88.9% and 75.9% was achieved in PEXG and POAG eyes, respectively (P = 0.07). The qualified success rate was 100% in the PEXG and 85.2% in POAG groups (P = 0.03). Conclusion: Phacoviscocanalostomy achieved significant IOP reduction and visual improvement in both POAG and PEXG patients. Our results indicated that in terms of IOP reduction, this procedure was more effective in treating PEXG