Simultaneously encoding movement and sEMG-based stiffness for robotic skill learning

Transferring human stiffness regulation strategies to robots enables them to effectively and efficiently acquire adaptive impedance control policies to deal with uncertainties during the accomplishment of physical contact tasks in an unstructured environment. In this work, we develop such a physical human-robot interaction (pHRI) system which allows robots to learn variable impedance skills from human demonstrations. Specifically, the biological signals, i.e., surface electromyography (sEMG) are utilized for the extraction of human arm stiffness features during the task demonstration. The estimated human arm stiffness is then mapped into a robot impedance controller. The dynamics of both movement and stiffness are simultaneously modeled by using a model combining the hidden semi-Markov model (HSMM) and the Gaussian mixture regression (GMR). More importantly, the correlation between the movement information and the stiffness information is encoded in a systematic manner. This approach enables capturing uncertainties over time and space and allows the robot to satisfy both position and stiffness requirements in a task with modulation of the impedance controller. The experimental study validated the proposed approach

Efficacy of Ultrasound-guided Radiofrequency Ablation of Parathyroid Hyperplasia: Single Session vs. Two-Session for Effect on Hypocalcemia

To evaluate safety and efficacy of one- vs. two-session radiofrequency ablation (RFA) of parathyroid hyperplasia for patients with secondary hyperparathyroidism (SHPT) and to compare the outcome of both methods on hypocalcemia. Patients with secondary hyperparathyroidism underwent ultrasound guided RFA of parathyroid hyperplasia. Patients were alternately assigned to either group 1 (n = 28) with RFA of all 4 glands in one session or group 2 (n = 28) with RFA of 2 glands in a first session and other 2 glands in a second session. Serum parathyroid hormone (PTH), calcium, phosphorus and alkaline phosphatase (ALP) values were measured at a series of time points after RFA. RFA parameters, including operation duration and ablation time and hospitalization length and cost, were compared between the two groups. Mean PTH decreased in group 1 from 1865.18 ± 828.93 pg/ml to 145.72 ± 119.27 pg/ml at 1 day after RFA and in group 2 from 2256.64 ± 1021.72 pg/ml to 1388.13 ± 890.15 pg/ml at 1 day after first RFA and to 137.26 ± 107.12 pg/ml at 1 day after second RFA. Group 1\u27s calcium level decreased to 1.79 ± 0.31 mmol/L at day 1 after RFA and group 2 decreased to 1.89 ± 0.26 mmol/L at day 1 after second session RFA (P \u3c 0.05). Multivariate analysis showed that hypocalcemia was related to serum ALP. Patients with ALP ≥ 566 U/L had lower calcium compared to patients with ALP \u3c 566 U/L up to a month after RFA (P \u3c 0.05). Group 1\u27s RFA time and hospitalization were shorter and had lower cost compared with Group 2. US-guided RFA of parathyroid hyperplasia is a safe and effective method for treating secondary hyperparathyroidism. Single-session RFA was more cost-effective and resulted in a shorter hospital stay compared to two sessions. However, patients with two-session RFA had less hypocalcemia, especially those with high ALP

Compression Behaviour of Natural and Reconstituted Clays

International audienceThe intercept of the log(1+e) - logσv' straight line is introduced to describe the effect of the starting point on the compressibility of natural and reconstituted clays. It is found that when the effective stress exceeds the remoulded yield stress, the compression behaviour of reconstituted clays is controlled solely by the water content at the remoulded yield stress and the liquid limit. Comparison of the compression behaviour of natural and reconstituted clays indicates that their difference in compressibility is caused by soil structure and the difference in water content at the compression starting point. The compression behaviour of natural clays can be classified into three regimes: 1) the pre-yield regime characterised by small compressibility with soil structure restraining the deformation up to the consolidation yield stress; 2) the transitional regime characterised by a gradual loss of soil structure when the effective stress is between the consolidation yield stress and the transitional stress; and 3) the post-transitional regime characterised by the same change law in compression behaviour as reconstituted clays when the effective stress is higher than the transitional stress. For the investigated clays, the transitional stress is 1.0-3.5 times the consolidation yield stress. The compression index varies solely with the void ratio at an effective stress of 1.0 kPa for both natural clays in post-transitional regime and reconstituted clays when the effective stress exceeds the remoulded yield stress, and when compressed in such cases the compression curves of both natural clays and reconstituted clays can be normalised well to a unique line using the void index

Monolayer triphosphates MP\u3csub\u3e3\u3c/sub\u3e (M = Sn, Ge) with excellent basal catalytic activity for hydrogen evolution reaction

Atomically thin two-dimensional (2D) materials have received intense research interest due to their novel properties and promising applications in nanodevices. By using density functional theory (DFT) calculations, we investigate catalytic activities of several newly predicted two-dimensional (2D) triphosphides GeP3, SnP3 and InP3 monolayers for hydrogen evolution reaction (HER). The calculation results show that GeP3 and SnP3 monolayers are active catalysts for HER with suitable free energy of hydrogen adsorption in the basal plane. In particular, the Gibbs free energy of hydrogen adsorption (ΔGH*) of GeP3 is 0.024 eV, a value even more favorable compared to the precious-group-metal (PGM) catalyst Pt. Moreover, the 2D GeP3 and SnP3 are intrinsically compatible with the graphene substrate so that the HER performance can be improved via building a hybrid multilayer with graphene sheet. The charge transfer from GeP3 or SnP3 to graphene, estimated to be 0.1278e or 0.2157e, can significantly enhance the electric conductivity and promote the electrocatalytic activity. Although the electronic band structure of GeP3 and SnP3 can be tuned by external strain, we find that the HER performance of GeP3 and SnP3 monolayer is actually insensitive to the external strain, a feature desirable for the catalytic application. The desirable properties for HER with nearly zero Gibbs free energy render 2D GeP3 and SnP3 promising candidates for future application in electrocatalysis. Includes Supplementary information

Domain Wall Conduction in Calcium-Modified Lead Titanate for Polarization Tunable Photovoltaic Devices

Ferroelectric domain wall (DW) conduction, confirmed in recent experiments, has attracted intense attention due to its promising applications in optoelec- tronic devices. Herein, we provide theoretical evidence of electric conduction in Pb0.8Ca0.2TiO3 (PCT) DWs. The separation of charge accumulation in DWs, corresponding to the electronic conduction-band minimum (CBM) and valence-band maximum (VBM), weakens the tendency for the electron-hole recombination, thereby providing more efficient channels for charge transfer. We fabricate PCT-based functional photovoltaic devices with polarization tunable charge transfer to exploit the combined conduction and ferroelectric properties of the DW. The photovoltaic performance of the devices can be regu- lated by the alternation of ferroelectric domains in PCT, caused by variation of the external poling. Our work broadens the applicability of DW conduction and may inspire the future design of high-performance materials in photovoltaic devices

A new metric for rotating charged Gauss-Bonnet black holes in AdS spaces

This paper presents a new metric for slowly rotating charged Gauss-Bonnet black holes in higher dimensional anti-de Sitter spaces. Taking the angular momentum parameter $a$ up to second order, the slowly rotating charged black hole solutions are obtained by working directly in the action.Comment: 11 pages and accepted by Chin. Phys.

Impact of micronutrient supplementation during pregnancy on birth weight, duration of gestation, and perinatal mortality in rural western China: double blind cluster randomised controlled trial

Objective To examine the impact of antenatal supplementation with multiple micronutrients or iron and folic acid compared with folic acid alone on birth weight, duration of gestation, and maternal haemoglobin concentration in the third trimester

Accurate geometry modeling of vasculatures using implicit fitting with 2D radial basis functions

Accurate vascular geometry modeling is an essential task in computer assisted vascular surgery and therapy. This paper presents a vessel cross-section based implicit vascular modeling technique, which represents a vascular surface as a set of locally fitted implicit surfaces. In the proposed method, a cross-section based technique is employed to extract from each cross-section of the vascular surface a set of points, which are then fitted with an implicit curve represented as 2D radial basis functions. All these implicitly represented cross-section curves are then being considered as 3D cylindrical objects and combined together using a certain partial shape-preserving spline to build a complete vessel branch; different vessel branches are then blended using a extended smooth maximum function to construct the complete vascular tree. Experimental results show that the proposed method can correctly represent the morphology and topology of vascular structures with high level of smoothness. Both qualitative comparison with other methods and quantitative validations to the proposed method have been performed to verify the accuracy and smoothness of the generated vascular geometric models