Keywords: Rehabilitation robot, position-force control, feed-forward control.

Electro-mechanical braking(EMB) which represents development direction of autonomous and intelligent braking plays very useful role on enhancing the braking response performance and intelligence level for mine underground electric trackless rubber-tired vehicle (ETRV). However,there is no Electro-Mechanical Brake system applied practically in coal mine UTRV until now.The accurate control of braking clamping force can determine the length and precision of braking distance of mine ETRV.In addition,because of poor working conditions in underground coal mine tunnel ,braking clamping force sensor may be easy to occur failure,which may cause vital accident.Therefore,A cascaded three-closed-loop EMB system with a positive clamping force sensor or force estimator built for ETRV is established to achieve autonomous elimination and reset of braking clearance and reliable braking force tracking ability via utilizing the electro motor rotor angle displacement and hysteresis effect of mechanical components in this EMB.The results of simulation and experiment indicate that clamping force response is faster than traditional hydraulic disk braking system and proposed force estimator presents good fault-tolerant ability when sensor is fault.This EMB can replace the current hydraulic brake system to enhance automation level of braking control for ETRVs and braking force response performance, reduce oil pollution and cost of maintenance, which is also key technology support for really precise motion control of mine autonomous driving vehicles.

This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

The main objective of the present study is to demonstrate the possibility of actively influencing the position of the bow shock wave and the main parameters of supersonic flow over a blunt body by organizing a gas discharge near the front surface, in the region between the body and the bow shock wave. The research is carried out using both experimental and numerical methods. The working gas was xenon. It is shown that the steady bow shock wave stand-off distance along with the current and power of the discharge, is associated with the change in the adiabatic index of the plasma created by the discharge, which, in turn, is determined by the plasma parameters, such as the degrees of nonequilibrium and the degree of ionization. It is shown that the adiabatic index with the power supplied to the impact zone in the range of 30-120 kW can both increase and de-crease in the range of 1.25-1.288. The study of the discharge created plasma zone was conducted and the correspondence between the discharge current and power, and the average parameters in the plasma zone created by the discharge is presented. A good agreement between the numerical and experimental data was shown. The results may be useful in developing control systems for high-speed civil aircrafts.

This article describes the study and digital implementation of a system onboard a TMS 3208F28335 ® DSP for vector control of the bearing motor speed with 4 poles split winding with 250W of power. Smart techniques: ANFIS and Neural Networks were investigated and computationally implemented to evaluate the bearing motor performance under the following conditions: operating as an estimator of uncertain parameters and as a speed controller. Therefore, the MATLAB program and its toolbox were used for the simulations and the parameter adjustments involving the structure ANFIS (Adaptive-Network-Based Fuzzy Inference System) and simulations with the Neural Network. The simulated results showed a good performance for the two techniques applied differently: the estimator and a speed controller using both a model of the induction motor operating as a bearing motor. The experimental part for velocity vector control uses three control loops: current, radial position, and speed, where the configurations of the peripherals, that is, the interfaces or drivers for driving the bearing motor.

(1) Background: Within the scope of prevention studies, many researchers have indicated the need to enhance knee proprioception. Kinesiology tape is one product that claims to enhance proprioception, however, its use has not been well researched in the healthy population before. The aim of the study was to investigate if kinesiology tape application on the quadriceps muscle enhances proprioception. (2) Methods: Twelve healthy and physically active volunteers (M=7, F=5, mean age= 20.75 ± 2.14, mean BMI=22.25 ±2.34) participated in the study. With computerized, custom-built isokinetic dynamometer, we recorded perceived joint position angles (small and large angles). For force sense, we recorded maximum voluntary isometric contractions (MVIC) and differences in torques (Nm) via force matching tasks both with vision and without vision on left leg. The absolute errors for joint position sense measurements and for force matching tasks and differences in MVIC both in untaped and taped conditions for left legs of all subjects were recorded. (3) Results: Two-way repeated measures ANOVA revealed that no significant interaction existed among small and large angle groups in both the conditions nor any main condition effect was observed in both the groups. (p>0.05). Similarly, no differences were accounted in force matching tasks between the taped and un-taped with vision and without vision (p=0.52 and 0.38 respectively.) Statistically insignificant increments were observed in mean torque post application. (p=0.67) (4) Conclusions: Present study suggests that immediate kinesiology tape application on quadriceps muscle offers no benefits on proprioception in terms of joint position sense and force sense hence other preventive measures to strengthen the proprioceptive system should be relied upon.

Reliable motor control design is a critical part of the electric vehicle application. Control techniques and motor control devices play an important role in achieving system reliability. In this study, motor control devices have been proposed to implement control techniques in sensorless PMSM. Motor control devices including PWM signal generation by FPGA, gate driver circuit (GDC), and power inverter were developed to be integrated into single-stage motor control devices for sensorless motor control applications. Improvements in GDC design have been the focus to increase the performance of the motor control devices used. Switching losses due to the parasitic elements caused ringing switching behavior of the power inverter circuit, which reduces the performance when the system is integrated. Moreover, in the implementation of sensorless motor control using observer techniques, these conditions affect the accuracy of rotor position estimation, which uses the current or voltage information of the power converter as a variable in the observer design model. Therefore, a GDC design using IR2110 with additional ringing suppression circuit configuration was proposed for the application of motor device control topology to improve the performance of sensorless motor control system. Furthermore, the reduction of switching losses, reduction of current distortion, and accuracy of rotor position information were confirmed by experimental results.

A standard method assessing postural control is the measurement in standing position. However, the implementation is usually only possible to a limited extent. Recording of postural control directly on the trunk, in seated position, could provide an alternative diagnostic method for quantifying neuromuscular control. Comparison of the measurements of Center of Pressure (CoP) in standing and seated position was performed on 66 healthy adult subjects. Reliability of measurements in seated position was tested on 23 subjects. In addition, the extension force of all test subjects was recorded. The assessments of CoP fluctuations in standing and seated position showed adequate agreement (deviation 9.1%). Furthermore, good internal consistencies with a sufficient test re test reliability could be demonstrated for the measurements in seated position. Both CoP measurement methods showed a comparable Spearman correlation to obtained extension force measurements (standing: 0.24, seated: 0.23). Our results show that recording CoP flucutations in the seated position is a reliable and valid additional method to measurements in the single legged stance. It could serve as an additional alternative to quantify neuromuscular control in impaired patients in whom single-leg stance cannot be performed adequately. In addition, the measurement in sitting position enables the direct recording of neuromuscular control on the trunk.

In the case of long-stator linear drive, unlike rotative drives for which speed or position sensors are a single unit attached to the shaft, these sensors extend along the guideway. The position signals transmitted from maglev vehicle can’t meet the need of the real-time propulsion control in the on-ground inverter power substations. In this paper the design of the propulsion inverter control system with a position estimator for driving long-stator synchronous motor in high speed maglev train is proposed. The experiments have been carried out at the 150m long guideway in O-song test track. To investigate the performance of the position estimator, the propulsion control system with and without the position estimator are compared. The result confirms that the proposed strategy can meet the dynamic property need of propulsion inverter control system for driving long-stator linear synchronous motors

Domain walls were studied for permalloy wires with different depth trenches (500 nm wide, 30 nm thick, 7.5 µm long, the depth of the trench was 0, 4, 5, 8, 10, 12 and 15nm). Permalloy (Ni80Fe20) wires were fabricated by electron beam lithography and Ar ion milling. When the depth of trench is smaller than 12 nm, the switching field (Hs) is increasing with the deeper trench. However, the depth of trench is bigger than half depth of thickness, the Hs is decreasing with the deeper trench. We believed that Hs increased as the trench depth increased was because the magnetic diploes force increased between the magnetic poles on two sides of the trench. The domains of the wires were divided by the trenches and the domain walls were pinned on the trenches these were confirmed by magnetic force microscopy images.

This paper describes the design and development of an active device that was applied to shoulder rotation rehabilitation. It implements a force control in a similar way to the haptic devices that reflect a force on the user’s hand according to the rehabilitation parameters. This device was tested with patients, combining clinician manipulation and programmed exercises. The results were excellent, given that the range of movement of the shoulder increased in most of the pa-tients. The results of the Usability Scale questionnaire were also promising.

STRAS (Single access Transluminal Robotic Assistant for Surgeons) is a flexible robotic system based on the Anubis® platform of Karl Storz for application to intra-luminal surgical procedures. It consists of three cable-driven systems, one endoscope serving as guide and two inserted instruments. The flexible and bendable instruments have three degrees of freedom and can be teleoperated by a single user via two specially designed master interfaces. In this research, a pair of specific sensor gloves, which ergonomically fit to the master handles of the system was designed and the forces applied by one expert and one novice user during system-specific task execution in a simulator task (4-step-pick-and-drop) were compared. The results show that user expertise is not only reflected by shorter task execution times but also, more importantly, by specific differences in handgrip force profiles for specific sensor locations on anatomically relevant parts of the fingers and hand controlling the surgical instruments of the robotic master/slave system.

Precise and fast position tracking is essential for the correct operation of many industrial robots and CNC machine tools. This subject is also important in the control of the mount of the astronomical telescope, especially for the tracking of artificial satellites. As system parameters can change, a control method that is robust to changes in parameters must be used. Such a method is the sliding control, which, however, ensures the robustness only after reaching the sliding surface. Therefore, a new method was proposed in the paper, which eliminates the phase of reaching the sliding surface. The method consists of using a reference trajectory generator and determining the generalized error in relation to this trajectory. The procedure for designing the control system is presented. Next, the proposed method was verified on the laboratory stand. The described control method provides a robust system operation and can be easily implemented in the control system.

This paper focuses on improving the tracking accuracy for servo systems and increasing the contouring performance of precision machining. The dynamic friction during precision machining is analyzed using the LuGre model. The dynamic and static parameters in the friction model are efficiently and accurately identified using the improved Drosophila Swarm Algorithm based on cross-mutation. The friction tracking error can be deduced by the friction state space and an expression is derived. To compensate for the tracking error caused by friction, a feedforward compensation control is designed to avoid signal lag in traditional friction controllers. Furthermore, the factors of multi-axis parameter mismatching that impact the machining profile accuracy are analyzed for multi-axis control. An adaptive cross-coupled control-based pre-compensation strategy of contour error is designed to reduce both the tracking error and the contour error. The effectiveness of the proposed method is validated through several experiments, which demonstrate a remarkable improvement in tracking performance and contour accuracy.

The observation of persons in the acute phase of ischemic stroke (IS) allowed to select a group of patients whose spontaneous motor activity stood out from the typical clinical picture of the hemiplegia syndrome. It has been noticed that these persons have presented tendency to shift the body weigh toward more affected side and the tendency to move the upper and / or the lower limb (not covered by the neurological syndrome) in simple, repetitive patterns. The purposes of this study were: to define noted kind of behavior, and to select symptoms which can predict the occurrence it. Persons (n=222) hospitalized due to first-time IS were as-signed to 3 groups. A: 78 persons with no lateralization of the neurological syndrome (LoNS). B: 109 persons with LoNS, O+: 35 persons, who at the beginning of hospitalization presented, apart from LoNS, charac-teristic motor symptoms. Persons underwent therapy depending on the neurological symptoms. If the pa-tient demonstrated the potential symptoms for overactivity of the less affected side (OLAS), to confirm it, trial therapy was performed. The predictive symptoms, selected among these from the index day, for the occurrence OLAS in sitting were distinguished: asymmetry in supine and simple, repetitive movements of nonparetic upper extremity.

First, we examine how spin is treated in special relativity and the necessity of introducing spin supplementary conditions (SSC) and how they are related to the choice of a center-of-mass of a spinning particle. Next, we discuss quantum electrodynamics and the Foldy-Wouthuysen transformation which we note is a position operator identical to the Pryce-Newton-Wigner position operator. The classical version of the operators are shown to be essential for the treatment of classical relativistic particles in general relativity, of special interest being the case of binary systems (black holes/neutron stars) which emit gravitational radiation.

Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

The steering performance according to the steering angle control was tested by using the active steering bogie developed to reduce excessive wheels and rail wear and noise generated when the railway vehicle run in a curved section. As a result of the test of increasing the steering angle in accordance with the target steering angle in the 300m radius of curvature, the bogie is gradually aligned in the radial steering position, and when the control is carried out to 100% of the target steering angle, the bogie angles of the front and rear bogies appeared almost the same. As the steering angle increased, wheel lateral force and derailment coefficient also decreased. Therefore, the validity of the radial steering position control method applied in this paper was confirmed experimentally. This test results will be used for future research on active steering bogie commercialization.

Background: Health care providers (HCPs) may required to initiate a cardiopulmonary resuscitation (CPR) while patients are in a prone position. Healthcare providers must possess the necessary information, abilities and experience to do cardiopulmonary resuscitation in a prone position (PPCPR) confidently. Aim: This study aimed to assess healthcare providers' (HCPs) preparedness to perform cardiopulmonary resuscitation in a prone position at specialized units in Jordan's healthcare sectors. Methods: In eight tertiary hospitals, a descriptive cross-sectional survey was carried out. An on-line questionnaire was conducted among 332 healthcare professionals who are employed in operating rooms, intensive care units or interventional procedure rooms. Results: Preparedness levels among healthcare providers were 24.4% excellent, 2.1% acceptable and 73.5% poor. The average preparedness score was 32.38 (SD = 39.90), indicating significant variability. A lack of targeted training was associated with lower preparedness levels. Notably, providers with Advanced Cardiac Life Support (ACLS) training showed significantly higher preparedness. Conclusion: The HCPs in Jordan are poorly prepared to perform PPCPR whenever indicated. However, the study findings represent a significant step towards improving HCPs' preparedness to perform PPCPR. They serve as a baseline assessment and highlight the gaps in HCPs' readiness, which help their organizations develop and implement targeted training strategies and interventions. Nevertheless, incorporating this training in the hospital orientation, training policies, and clinical guidelines is equally important to enhance their capabilities for better outcomes. Implications for Clinical Practice: The findings emphasize the urgent need for hospitals to integrate PPCPR training into their standard orientation and ongoing training programs. Providing comprehensive ACLS training and regular PPCPR drills will enhance HCPs' competence and confidence, leading to improved patient outcomes during emergency situations involving prone position CPR.

A stable match, an intercuspated maxilla-mandible relation is the universally accepted goal for dental restorative interventions, yet the underlying sensorimotor mechanisms to achieve this goal in the natural jaw closure remains to be elucidated. Dentists have intuitively regarded peripheral sensory innervation from tooth contacts as a significant control element for jaw muscle actions, both in the state of health and in cases of pathological dysfunction. However, therapeutical interventions for reshaping the dental arch anatomy and jaw relations have not always been successful. Repetitive masticatory chewing cycles, swallowing, talking, as well as volitional jaw-opening and -closing involve stereotyped neural commands from the central nervous system that are modulated in reaction to the sensory afferent feedback from the peripheral neurons and their sensor organs. The aim of this article is to describe, on a fraction of a second time-scale, the minuscule tilts and kinematic events of mandible during the making of a stable match with maxilla. Evidence of the importance of tooth contacts as the sensorimotor motivation of each of the successive kinematic steps of the “mandible-meets-maxilla-narrative” are discussed.

Background/Objectives: Patient positioning during surgery can influence intra- and postoperative complications. Therefore, we assessed the impact of the sitting and park-bench positions on anesthetic parameters and complications in neurosurgical patients. Methods & Patients: For this retrospective study, 314 adults who underwent neurosurgical procedures for posterior fossa pathologies were divided into two groups: sitting (n=231) and park bench (n=83). The following data were collected, monitored, recorded and compared: age, sex, tumor type, surgical approach, cardiovascular and respiratory complications, and postoperative surgical complications. The association of hypotension with position was further investigated through multivariate logistic regression models by adjusting for CO2 decrease, desaturation and documented gas embolism. Results: The average age was significantly lower in the sitting group (55 years, interquartile range (IQR)=43-63; female proportion=59.74%) than in the park-bench group (62 years, IQR=45-74; female proportion=57.83%) (p<0.001). Cerebellopontine angle tumors were detected in 37.23% of the patients who underwent operation in the sitting position and in 7.26% who underwent operation on in the park-bench position (p<0.001). Patients in the sitting position had significantly greater anesthetic complication (91.77% vs. 71.08%, p<0.001), hypotension (61.9% vs. 16.87%),and >2-mmHg CO2 decrease (35.06% vs. 15.66%, p<0.001) incidences. Hypoxemia and death occurred more frequently in the park-bench group (8.43% vs. 1.73% and 6.03% vs. 1.3%, respectively). Conclusions: Compared with the park-bench position, the sitting position was associated with a greater specific anesthetic complication incidence and lower postoperative mortality rate, indicating a need for careful risk‒benefit assessment when selecting each individual patient’s surgical position.

The Review examines studies aimed at the organization of energy (non-mechanical) control of high-speed flow/flight using spatially multi-component plasma structures and combined energy deposition. The Review covers selected works on experimental obtaining and numerical modeling multi-component plasma structures and use of sets of actuators based on the plasma of such a spatially type for the purposes of control of shock wave/bow shock wave – energy source interaction, as well as control of shock wave – boundary layer interaction. A series of works on repetitive multiple laser pulse plasma structures is also analyzed from the point of view of examining shock wave/bow shock wave boundary layer interaction. Self-sustained theoretical models for laser dual-pulse, multi-mode laser pulses and self-sustained glow discharge are also considered. Separate sections are devoted to high-speed flow control using combined physical phenomena and numerical prediction of flow control possibilities using thermal longitudinally layered plasma structures. The wide possibilities for organization and applying spatially multi-component structured plasma for the purposes of high-speed flow control are demonstrated.

Background: The fascial system provides an environment that enables all body systems to operate in an integrated manner and is capable of modifying its tensional state in response to the stress applied to it. Recent in vitro, animal and cadaveric studies have shown that “myofascial force transfer” (MFT) has the potential to play a major role in musculoskeletal function and dysfunction.Objective: Human evidence for the existence of invivo MFT is scarce. This scoping review attempts to gather and analyse the available evidence of the in-vivo human MFT studies in order to sustain and facilitate further research and evidence based practice in this field.Methods: A search of most major databases was conducted with relevant keywords that yielded 238 articles as of August 2020. A qualitative analysis of the studies was conducted after rating it with Oxford’s Center for Evidence –based Medicine (CEBM) scale.Result: Nineteen studies ranging from randomized controlled trials to case studies covering 540 patients were included in this review. The analysed studies were highly heterogeneous and of lower methodological quality meddling with the quantitative analysis. Ten studies are confirming a ‘most likely’ existence of MFT, eight studies confirming it as ‘likely’ and one study couldn’t confirm any MFT existence in this review.Conclusion: Findings from in vivo human studies supports the animal and cadaveric studies claiming the existence of MFT which need to be corroborated by the future high quality studies. Forthcoming studies on MFT may give answers and solutions to many of the human musculoskeletal mysteries or dysfunctions.

Background. Of as yet, flow in the internal jugular veins has not been quantitatively studied in lateral decubitus position. Optimal venous outflow during sleep has been hypothesized to be potentially protective against neurodegeneration. Methods. Using ultrasonography, we measured the cross-sectional areas and flow volumes in middle parts of the internal jugular veins in group of 25 healthy individuals. These measurements were performed in the supine, upright and lateral decubitus positions. Results. In lateral decubitus positions we revealed collapse of the internal jugular vein located higher, and dilatation of the opposite vein; yet there was also a high heterogeneity of the cross-sectional area changes and in many participants this pattern was not observed. Regarding flow volumes, there was a shift of flow from one vein to the opposite one, depending on which side the person was lying, but in comparison with the supine position the total outflow through both internal jugular veins was not significantly different. Conclusions. In terms of venous outflow, the lateral decubitus position does not differ significantly from the supine one. Working hypothesis of potentially protective effect of this body position during sleep against neurodegeneration, through improved venous outflow, has not been proven, at least in healthy persons.

Ventilation in prone position (PP) for 12 to 16 hours per day improves survival in ARDS. However, the optimal duration of the intervention is unknown. We performed a prospective observational study to compare the efficacy and safety of a prolonged PP protocol with conventional prone ventilation in COVID-19-associated ARDS. Prone position was undertaken if P/F <150 with FiO2>0.6 and PEEP>10cmH2O. Oxygenation parameters and respiratory mechanics were recorded before the first PP cycle, at the end of PP cycle and 4 hours after supination. We included 63 consecutive intubated patients with mean age 63.5 years. Of them, 37 (58.7%) underwent prolonged prone position (PPP group) and 26 (41.3%) standard prone position (SPP group). Median cycle duration for SPP group was 20 hrs and for PPP group 46 hrs (p<0.001). No significant differences in oxygenation, respiratory mechanics, number of PP cycles and rate of complications were observed between groups. The 28-day survival was 78.4% in the PPP group versus 65.4% in the SPP group (p=0.253). Extending the duration of PP was as safe and efficacious as conventional PP, but did not confer any survival benefit in a cohort of patients with severe ARDS due to COVID-19.

This paper has the objective of implementing the radial rotor position control of a three-phase bearingless induction machine with split winding and optimized drive structure, using the ADRC technique. Because it is a multivariable, nonlinear, time-varying system with coupled variables, it is necessary to use advanced control strategies in order for the system to operate efficiently and with good dynamic performance. The ADRC controller considers the total disturbance composed of unmodeled dynamics, nonlinearities, uncertainties, and load variations, as a new system state, to be estimated in real-time through an extended state observer. In this mode, disturbances are compensated in real-time, eliminating regime errors and with good response to disturbances in general.

We consider the problem of calibrating distance measurement of Light Detection and Ranging (lidar) sensor without using additional hardware, but rather exploiting assumptions on the environment surrounding the sensor during the calibration procedure. More specifically we consider the assumption of calibrating the sensor by placing it in an environment so that its measurements lie in a 2D plane that is parallel to the ground, and so that its measurements come from fixed objects that develop orthogonally w.r.t. the ground, so that they may be considered as fixed points in an inertial reference frame. We moreover consider the intuition that moving the distance sensor within this environment implies that its measurements should be such that the relative distances and angles among the fixed points above remain the same. We thus exploit this intuition to cast the sensor calibration problem as making its measurements comply with this assumption that “fixed features shall have fixed relative distances and angles”. The resulting calibration procedure does thus not need to use additional (typically expensive) equipment, nor deploying special hardware. As for the proposed estimation strategies, from a mathematical perspective we consider models that lead to analytically solvable equations, so to enable deployment in embedded systems. Besides proposing the estimators we moreover analyse their statistical performance both in simulation and with field tests, reporting thus the dependency of the MSE performance of the calibration procedure as a function of the sensor noise levels, and observing that in field tests the approach can lead to a ten-fold improvement in the accuracy of the raw measurements.

Performance of the overhead squat may affect golf swing mechanics associated with golf-related low back pain. This study investigates the difference in lumbar kinematics and joint loads during the golf downswing between golfers with different overhead squat abilities. Based on the per-formance of the overhead squat test, 21 golfers aged 18 to 30 years were divided into the highest-scoring group (HS, N=10, 1.61 ± 0.05 cm, and 68.06 ± 13.67 kg) and lowest-scoring group (LS, N=11, 1.68 ± 0.10 cm, and 75.00 ± 14.37 kg). Data collection used a motion analysis system, two force plates, and TrackMan. OpenSim software was used to simulate the joint loads for each lum-bar joint. An independent t-test was used for statistical analysis. Compared to golfers demonstrat-ing limitations in the overhead squat test, golfers with better performance in the overhead squat test demonstrated significantly greater angular extension displacement on the sagittal plane, smaller lumbar extension angular velocity, and smaller L4-S1 joint shear force. Consequently, the overhead squat test is found to be a useful index to reflect lumbar kinematics and joint loading patterns during the downswing, and provides a good training guide reference for reducing the risk of a golf-related low back injury

The Casimir–Lifshitz friction force and the heating rates of two metal plates with a narrow vacuum gap between them during nonrelativistic motion of one of them are calculated analytically and numerically within the framework of fluctuation electrodynamics. Changes in material properties are taken into account using the Bloch-Grüneisen and modified Bloch-Grüneisen (with finite residual resistance) resistivity models within the Drude approximation. It is shown that identical plates with the same initial temperature have the same heating rate, determined by the power of the friction force, and the possibility of measuring the friction force from the heating kinetics of nonmagnetic metal plates with temperatures of 1–10 K is substantiated.

Four fundamental forces of nature are too important to say because they dominate the formation and evolution of the universe. However, until now, their origins and physical essences have not been answered with wide acceptations. This paper gives new explanations for the origins and essences of these four forces based on different understandings, which can easily explain that all of the four fundamental forces of nature are originated from the electric force only and so can be unified to be one force. First of all, the gravitational force is a synthesized electric force produced by a huge amount of electric charges via particular movements and distributions. Depending on inference of nuclear structure, which has strong supports by observed phenomena, the strong and weak forces are deduced to be electric forces too. The introduced new understandings can explain observed confusing phenomena simply and effectively, such as “galaxy shape”, “dark matter”, “dark energy”, “gamma-ray bursts” in nuclear fission or fusion and from black holes, and so on. The author wrote this paper is for helping to find the natural truth earlier.

The interaction forces and mechanical properties of the interaction between melittin (Mel) and lipopolysaccharide (LPS) are considered a crucial driving force for Mel in killing Gram−negative bacteria (GNB). However, how their interaction forces are performed at the single−molecule level and the dissociation kinetic characteristics of the Mel/LPS complex remain poorly understood. In this study, the single−molecule level interaction forces between Mel and LPSs from E. coil K−12, O55:B5, O111:B4, and O128:B12 were explored using atomic force microscopy (AFM) based single−molecule force spectroscopy (SMFS). Further, the AFM−based dynamic force spectroscopy (DFS) and advanced analytical model were employed to investigate the kinetic characteristics of the Mel/LPSs complex dissociation. The results indicated that Mel could interact with both rough (R)−form LPS (E. coli K−12) and smooth (S)−form LPSs (E. coli O55:B5, O111:B4, O128:B12), and the S−form LPSs showed a more robust interaction with Mel than R−form LPS, and a slight difference existed in the interaction forces between Mel and diverse S−form LPSs. The Mel interacts with S−form LPSs showed greater specific and non−specific interaction forces than R−form LPS (p &lt; 0.05), as determined by AFM−based SMFS. However, there was no significant difference in the specific and non−specific interaction forces among the three S−form LPSs (p &gt; 0.05), indicating the variability of O−antigen could not affect the interaction between Mel and LPSs. The DFS result showed that the Mel/S−form LPSs complexes had a lower dissociation rate constant (koff), a shorter energy barrier width (xβ), a longer bond lifetime (τoff), and a higher height of the energy barrier (∆G), demonstrating that Mel could interact with S−form LPSs to form more stable complexes. In conclusion, this study promotes our knowledge of the interaction micromechanics and kinetics characteristics between Mel and LPS at the single−molecule level. Moreover, it can help us design and evaluate new anti−GNB drugs.

This study discusses the belonging, position, livelihood sustainability and vulnerabilities of fishery dependent nomadic community of Bangladesh. Nomads in Bangladesh are called as bede. With the technological advancements, infrastructural developments and advancements in medical science, ancient tradition and culture of the nomad’s community are in the verge of extinction. Fishing is found to be the most sustainable livelihood approach for nomadic community than any other professions. The average daily income is up to BDT 700±100 (mean ± standard deviation) during fishing season. Nomad community is a part of Bengali culture, but they are considered as socially backward community. They have faced numerous natural and anthropogenic threats and stressors affecting their traditional occupations and livelihoods which make their life more vulnerable. Natural drivers include climatic catastrophe, storms, winds, cyclone and tides. Anthropogenic drivers included ban period, dependency on single profession (fishing), lack of effective alternative income generating options, economic, social and cultural exclusion in the society. Proper measures should be taken to design the livelihood interventions of nomad fishers. The Government and responsible NGOs should take a holistic approach to livelihood intervention including financial support during the ban period and other unavoidable crises to continue their profession smoothly.

The study of underwater vehicle wake detection is of significant importance within the field of target detection, localisation and tracking of underwater vehicles. Given that propellers are the propellers of modern ships and underwater vehicles, the propeller wake field represents the principal target source for wake detection in underwater vehicles. The objective of this paper is to propose a method for measuring the wake of an underwater propeller based on a position-sensitive detector. A theoretical model of the relationship between the laser spot displacement and the change of refractive index of the wake field is established on the basis of the principle of laser beam deflection. A prototype experimental setup for underwater propeller wake measurement was constructed based on the aforementioned optical measurement method. Furthermore, the simulation of the propeller wake flow field with strong density stratification and linear density stratification was conducted based on the experimental setup. In the experiment, a three-bladed propeller with a diameter of 39mm was selected, the water tank size was 980mm×380mm×380mm, and the laser acted at a distance of 550 mm from the propeller. The experimental results indicate that the wake dissipation time of the propeller in a strong density-stratified water environment is approximately 800s. Following the stabilization of the wake field density, the laser spot position is observed to be stable at 0.341 mm, with a corresponding refractive index change of 2.99×10-6 RIU. The wake dissipation time of the propeller in a linear density-stratified water environment is approximately 750 s. Once the wake field density has reached a stable state, the laser spot position is found to be 0.441mm, corresponding to a refractive index change of 3.87×10-6 RIU. These experimental results are found to be in general agreement with the simulation results of the propeller wake field. A comparison of the experimental device-based wake measurements with the CTD-based wake measurements reveals a consistent trend.

A key step in the study of tree pathology is the identification of appropriate method for inoculating pathogens of diseases in branch and trunk. Pathogens of diseases in branch and trunk are commonly inoculated through punching, burning, and toothpick inoculation. However, there is a lack of comparative analysis of the inoculation outcomes of these three methods. In this work, Six‐year‐old P. alba var. pyramidalis were inoculated with V. sordida, using punching, burning, and toothpick techniques, respectively, to investigate the differences in the effectiveness of these inoculation methods. Results reveal that the incidence rate was 93.55% in the toothpick inoculation group, significantly higher than 80.65% in the burning inoculation group (p = 0.007), while punching inoculation exhibited significant pathological responses in the early stages, with spontaneous healing in the later stage. Addi-tionally, toothpick inoculation was more efficient in inducing Valsa canker when inoculating the pathogen at the bottom of the tree, with lower intra‐ and inter‐row spacing (stand density) providing better outcomes than higher intra‐ and inter‐row spacing. The results of this study demonstrate that toothpick inoculation is an optimal option for studying the artificial inoculation of V. sordida in six‐year‐old P. alba var. pyramidalis, providing technical support for research on poplar diseases and offering a theoretical basis for the inoculation of other diseases in branch and trunk.

Objective: Local ablation therapies (radiofrequency ablation (RFA), and microwave ablation (MWA)) are important as curative treatment option in patient with early-stage hepatocellular carcinoma (HCC) and option for intrahepatic tumor volume reduction in those with unresectable HCC. Various techniques; contrast-enhanced ultrasound (CEUS), real-time virtual sonography (RVS), artificial pleural and ascites fluid infusion, and body position change (BPC) have been used to accurately and safely perform local ablation therapies. However, there have been few reports on the usefulness of BPC. Therefore, this study focused on the usefulness of BPC during local ablation therapies in patients with HCC. Methods: We evaluated the technical success rates, treatment time, and prognosis of 283 nodules treated with local ablation therapies. Furthermore, we defined nodules adjacent to large vessels or extrahepatic organs, or poorly visible nodules using US as HCC in high-risk locations. High-risk locations HCC were classified into phase 1 (before active use of BPC, January 2018 to December 2019) and phase 2 (after active use of BPC, January 2020 to January 2022). Results: One hundred seventy-six nodules (62%) were classified as high-risk location group. Compared to non-high risk HCC, treatment-assist techniques, such as BPC (61 vs. 24 %, p<0.001), artificial pleural fluid infusion (24 vs. 5.6%, p<0.001), artificial ascites infusion (50 vs. 11%, p<0.001), fusion imaging (28 vs. 8.4%, p<0.001) and CEUS (26 vs. 4.7%, p<0.001) were performed more frequently for high-risk HCC. The technical success rates were 96% (271/283 nodules), 96% (167/173 nodules) and 95% (102/107 nodules), for all nodules, the high-risk location group and the non-high risk location group, respectively. In the high-risk location group, the technical success rates of the group without BPC were lower than that with BPC (91 vs. 99%, p=0.015). Only BPC was a related factor for the technical success rate for high-risk locations HCC (OR 10 (1.2-86), p=0.034). In contrast, no differences were found in the treatment time, the local tumor progression rates, intrahepatic distant recurrence rates, and overall survival between the group with BPC and that without BPC in the high-risk location HCC. Conclusion: BPC during local ablation therapies in patients with HCC in high-risk locations was safe and efficient. Body position should be adjusted for HCC in high-risk locations to maintain good US visibility and ensure safe puncture route in patients undergoing local ablation therapies.

3D object detection is essential for an accurate and reliable autonomous driving system. Currently, the methods used by the state-of-the-art two-stage detectors are not flexible enough and their fea-ture extraction capabilities are very limited to cope effectively with the disorder and irregularity of point clouds. In this paper, we combine the advantages of both PV-RCNN and PAConv (Position Adaptive Convolution) to create a completely new network, FANet, in order to overcome the ir-regularity and disorder of point clouds. The convolution in our network builds convolutional ker-nels from a basic weight matrix, whose combined coefficients are learned adaptively by LearnNet from relative points. This network allows for flexible modeling of complex spatial variations and geometric structures in the 3D point cloud, enabling better extraction of point cloud features and producing high-quality 3D proposal boxes. Compared to other methods, FANet is superior in terms of 3D object detection accuracy. Extensive experiments on the KITTI dataset have shown a signif-icant improvement in our approach.

In this article, some notions about set, weight of set, number, number's position, special vertex are introduced. Some classes of graph under these new notions have been opted as if the study on the special attributes of these new notion when they've acted amid each other is considered. Internal and external relations amid these new notions have been obtained as if some classes of graphs in the matter of these notions are been pointed out.

In this article, some notions about set, weight of set, number, number's position, special vertex are introduced. Some classes of graph under these new notions have been opted as if the study on the special attributes of these new notion when they've acted amid each other is considered. Internal and external relations amid these new notions have been obtained as if some classes of graphs in the matter of these notions are been pointed out.

In Bangladesh, microcredit program has been in function for almost half a century. Though popularly termed as a tool for poverty alleviation and women empowerment, criticism about microcredit program’s actual effectiveness isn’t new. This study attempts to evaluate the impact of such programs by measuring borrowers’ social mobility. Using a multidimensional approach, indicators like household income, economic susceptibility, living conditions, consumption pattern, children’s education, healthcare facilities, women’s participation in decision-making were taken into account for measurement. Quantitative method was used. Based on a non-probability sampling, 107 microcredit borrowers were selected for conducting interview schedules who live in a rural, a semi-urban and an urban area. Statistical analysis of data reveals that those who have been taking loans for several number of years have all managed to increase their income level to a variety of extent, but only those have gained some sort of mobility who have been taking loans for more than 4-5 years and have taken 5 times or more. Few of them have actually moved from microcredit to become a microfinance client by taking bigger amount of loans and having savings. Positive responses about the indicators being used in the study were found among the handful of those who have mobilized significantly. In true sense, most of the borrowers are stuck at the bottom end of socio-economic ladder and are struggling to manage a better living standard.

The foot-mounted inertial navigation system is an important application of pedestrian navigation as it in principle does not rely any external assistance. A real-time range decomposition constraint method is proposed in this paper to combine the information of dual foot-mounted inertial navigation systems. It is well known that low-cost inertial sensors with ZUPT (zero-velocity update) and range decomposition constraint perform better than in either single way. This paper recommends that the distance of separation between the position estimates of feet-mounted inertial navigation systems be restricted in the ellipsoidal constraint which relates to the maximum step and leg height. The performance of the proposed method is studied utilizing experimental data. The results indicate that the method can effectively correct the dual navigation systems’ position over the existing spherical constraint.

Biosensors and wearable sensor systems with transmitting capabilities are currently developed and used for the monitoring of health data, exercise activities, and other performance data. Unlike conventional approaches, these devices enable convenient, continuous, and unobtrusive monitoring of a user’s behavioral signals in real time. Examples include signals relative to hand an finger movement/pressure control reflected by individual grip force data. As will be shown here, these directly translate into task, skill and hand-specific (dominant versus non-dominant hand) grip force profiles for different measurement loci in the fingers and palm of the hand. On the basis of thousands of sensor data from multiple sensor locations, individual grip force profiles of an task expert, a trained user and a highly proficient user (expert) performing an image-guided and robot-assisted precision task with the dominant or the non-dominant hand are analyzed in several steps following Tukey’s “detective work” approach. Correlation analyses (Person’s Product Moment) reveal skill-specific differences in individual grip force profiles across multiple sources of variation, functionally mapped to the somatosensory brain networks which ensure grip force control and its evolution with control expertise. Implications for the real-time monitoring of individual grip force profiles and their evolution with training in complex task-user systems are brought forward.

To reduce the cost of small wind turbines, a prototype of a butterfly wind turbine (6.92 m in diameter), a small vertical-axis type, was developed with many parts made of extruded aluminum suitable for mass production. An over-speed control system with movable arms that operated using centrifugal and aerodynamic forces was installed for further cost reduction. Introducing this mechanism eliminates the need for large active brakes and expands the operating wind speed range of the wind turbine. However, although the mechanism involving the use of only bearings is simple, the violent movement of the movable arms can be a challenge. To address this in the present study, dampers were introduced on the movable arm rotation axes to improve the movement of the movable arms. To predict the behavior of a movable arm and the performance of the wind turbine with the mechanism, a simulation method was developed based on the blade element momentum theory and the equation of motion of the movable arm system. Comparison of experiments and predictions with and without dampers demonstrated qualitative agreement. In the case with dampers, measurements confirmed the predicted increase in the rotor rotational speed when the shorter ailerons installed perpendicularly to the movable arms were used to achieve the inclination. The movable arm system with dampers is expected to be a useful device for vertical-axis wind turbines that are difficult to control.

Ciliated microeukaryotes are insufficiently integratively investigated despite their ubiquity and ecological significance. The morphology and ontogenesis of a new Stichotrichida species, Pseudosincirra binaria sp. nov., and the known Perisincirra paucicirrata Foissner et al., 2002, are here studied using live observations and protargol staining methods. The new species is characterized by having one buccal, one parabuccal and three frontal cirri, one frontoventral row extending to the posterior half of the cell, three left and two right marginal rows, three dorsal kineties with the left kinety conspicuously bipartite, along with one caudal cirrus at the rear end of each kinety. During morphogenesis, there exist five frontal-ventral cirral anlagen with anlagen IV and V forming frontoventral row in the proter, and four anlagen with anlage IV generating frontoventral row in the opisthe. The anlagen for marginal rows and dorsal kineties develop intrakinetally. The new population of Perisincirra paucicirrata corresponds well with other isolates regarding morphology and cell development. Phylogenetic analyses based on the small subunit ribosomal gene sequence data revealed that both Perisincirra and Pseudosincirra are deeply clustered in the clade consisting of species from the genera Deviata and Heterodeviata, supporting the placement of both genera into the family Deviatidae Foissner, 2016.

Background: The laryngeal mask airway Vision Mask (LMA VM) is a supraglottic airway device (SAD) with vision guidance system. The ideal head and neck position for direct laryngoscopy is known, but the ideal position for placing a LMA is not. The objective of this study is to evaluate and compare the optimal position for placement of a video laryngeal mask airway. Methods: This was a prospective observational, transversal and analytical study of 72 consecutive patients. In the same patient, laryngeal vision was first assessed with the head and neck in the sniffing position and then with the head in the neutral position. Procedures were filmed and performed by the same investigator. Assessment of the laryngeal view was performed using two classifications: modified Cormack-Lehane classification and Brimacombe classification. Device placement was considered adequate when the Cormack-Lehane rating was scored from 1 to 2 and the Brimacombe rating was from 2 to 4. Results: 72 patients were included in this study. In the assessment of the glottis using the Cormack Lehane classification for fiberoptic view, laryngeal visibility was adequate in 64 (88.89%) patients in the neutral position and in 65 (90,28%) patients in the sniffing position (p>0,05). In the fiberoptic view of the glottis, assessed using the Brimacombe classification, laryngeal visibility was adequate in 68 (93%) patients in the neutral position and in 69 (95%) patients in the sniffing position, (p>0,05). There was no statistically significant difference in the rate of success between the sniffing position (70 patients, 97.22% success rate) and the neutral position (67 patients, 93.06% success rate) during the first insertion attempt. Two patients required a second attempt in the sniffing position, while five patients required a second attempt in the neutral position. Conclusion: An adequate sniffing position did not result in a better glottic view than neutral position, and the number and type of additional maneuvers were equal in both positions.

In response to the issues of sensor noise and accumulated motion errors that lead to low positioning accuracy and insufficient robustness during large maneuvers or continuous flight of small unmanned aerial vehicles (UAVs) in complex environments, this paper proposes a multi-source and multimodal data fusion method. Initially, it employs a multimodal data fusion of various sensors including GPS (Global Positioning System), IMU (Inertial Measurement Unit), and visual sensors to complement the strengths and weaknesses of each hardware component, thereby eliminating motion errors to enhance accuracy. To mitigate the impact of sudden changes in sensor data, the method introduces a digital twin UAV data source. By utilizing the Extended Kalman Filter algorithm, it fuses data from both the real UAV and its digital twin, and the filtered positional information is fed back into the control system of the real UAV. This enables real-time correction of UAV positional deviations caused by sensor noise and environmental disturbances. The multi-source multimodal fusion Kalman filter method proposed in this paper significantly improves the positioning accuracy of UAVs in complex scenarios and the overall stability of the system. This method holds significant value in maintaining high-precision positioning in variable environments and has important practical implications for enhancing UAV navigation and application efficiency.

The refractive index of seawater is one of the essential parameters in ocean observation, so it is necessary to achieve high precision seawater refractive index measurement. In this paper, we propose a method for measuring the refractive index of seawater based on a Position Sensitive Detector (PSD). Theoretical model is established to depict the correlation between laser spot displacement and refractive index change, utilizing a combination of position sensitive detector and laser beam deflection principle. Based on this optical measurement method, a seawater refractive index measurement system was established. To effectively enhance the sensitivity of refractive index detection, a focusing lens was incorporated into the optical path of the measuring system, and simulations were conducted to investigate the impact of focal length on refractive index sensitivity. The calibration experiment of the measuring system was performed based on the relationship between refractive index of seawater and underwater pressure (depth). By measuring laser spot displacement at different depths, changes in displacement with respect to both refractive index and depth were determined. Experimental results demonstrate that the system exhibits a sensitivity of 9.9277×10−9RIU (refractive index unit), the refractive index deviation due to stability is calculated as ±7.545×10−9RIU. Thereby the feasibility of highly sensitive measurement of seawater refractive index is verified.

In an era marked by rapid technological progress and global dynamics, the Neo-Language Acquisition and Learning Theory challenges conventional language acquisition paradigms through its conceptualization of 'Grit: The Unyielding Will to Connect,' emphasizing determination, motivation, and adaptability as the primary drivers of language learning, transcending age-related constraints and critical periods. This theory also underscores 'Self-Preservation: Language as the Canvas of Reality,' as language plays a pivotal role in preserving and conveying our individual and collective experiences. Recent global events have underscored the theory's relevance, prompting a reevaluation of language education in response to changing circumstances. Moreover, 'Techno-Training: Language Acquisition and Learning in the Digital Age' is integral to the theory, as it recognizes the influence of technology on modern language education. Beyond traditional methods, these three reshape our fundamental understanding of said theory. Drawing from historical evidence, psychological principles, and contemporary applications, they supported the conceptualization of the theory itself. Overall, the Neo-Language Acquisition and Learning Theory revolutionizes language education, spotlighting the power of motivation, determination, and adaptability to navigate the evolving landscape of language learning and acquisition.

In Ethiopia, land degradation in the form of gully development and soil nutrient depletion is a very serious issue. The goal of this study is to determine how different types of land management practices and slope positions affect particular soil physico-chemical characteristics in the Agamssa watershed. Using systematic sampling techniques, soil samples were taken using a sampling quadrat (15 * 15 m) that was placed 50 m apart from one another. A total of 54 quadrats were planted at three slope positions: upper (>15%), middle (10–15%), and foot (3–10%) slope respectively. 18 composite soil samples were then. A two-way ANOVA was used to analyze the data, and the Least Significant Difference (LSD) test was used to separate the means at p ≤ 0.05. According to the study's findings, the value of most soil physical and chemical characteristics was higher in closed area than on open grazing land, as well as at foot slope position compared to middle and upper slope positions. The higher mean value (7.3 ppm) was recorded at the foot slope, while the lower mean value (4.9 ppm) was found at the upper slope position. The exchangeable cations such as Mg+2, K+, and Na+ were significantly (p≤ 0.01) affected by the main effect of land-use types. The higher mean values of Mg+2 (9.70 mq/100g), K+ (0.38 mq/100 g), and Na+ (0.035 mq/100 g) were found at area closure, whereas the lower mean values of Mg+2 (7.33 mq/100g), K+ (0.30 mq/100 g), and Na+ (0.027 mq/100g) were recorded at open grazing land. It was able to conclude this study that area closure enhances the physical and chemical qualities of soil and recovers woody plant species. Therefore, converting open grazing land into a closure area is advised.

A position sensing glove, called SmartScan, that creates a 3D virtual model of a real object is presented. The data from the glove is processed by a volume minimization algorithm to validate the position sensor data. This allows only data from the object’s surface to be retained. The data validation algorithm allows the user to progressively improve an image by repeatedly moving their hand over the object. In addition, the user can choose their own balance between feature resolution and invalid data rejection. The SmartScan glove is tested on a foot model and is shown to be robust against motion artifacts, and has a mean accuracy of 2.9 mm (compared to a 3D model generated from optical imaging) without calibration.

Background: Pressure ulcers (PU) affect millions of people worldwide and always occur over bony areas of the body where pressure and tissue distortion is greatest. The national pooled prevalence of pressure ulcer remains unknown. Hence, the aim of this meta-analysis was to determine the effect of position change on pressure ulcer among hospitalized clients in Ethiopia. Methods: Studies were retrieved through search engines in PubMed, Scopus, WHO afro library, Google Scholar, Africa journal online, PsycINFO and web-science following the Preferred Reporting Items for Systematic Review and Meta-Analysis Protocols (PRISMA-P). Analysis was done using STATA version 14 software. We checked the between-study heterogeneity using the I² and examined a potential publication bias by visual inspection of the funnel plot and Egger’s regression test statistic. The random-effect model was fitted to estimate the summary effects, odds ratios (ORs), and 95% confidence interval (CIs) across studies. Results: Out of the reviewing 401 studies, 7 studies fulfilled the inclusion criteria and were included in the meta-analysis. The estimated pooled prevalence of pressure ulcer in Ethiopia was 11.7% (95% CI (7.28, 16.13%)). Based on the subgroup analysis, the estimated magnitude of pressure ulcer was 15.89% (95% CI: 35.34, 54.04) among studies their sample size were greater than or equals to 250. Those clients who have position change during hospitalization were 85% less likely to develop pressure ulcer [(OR 0.15, 95%CI (0.06, 0.4)] than their counter part. Conclusion: The overall prevalence of pressure ulcer in Ethiopia was relatively high. Position change of the client during hospitalization had paramount benefit to reduce the burden of pressure ulcer. Therefore, policymakers could give special attention to minimize the magnitude of pressure ulcer in order to improve the overall quality of healthcare service. Further meta-analysis study is need to identify individual and health care service related factors to the occurrence of pressure ulcer.

This paper proposes a position control method for low cost EGR valve system in automotive application. Generally, position control system using in automotive application has many restrictions such as cost and space, the mechanical structure of actuator implies high friction and large difference between static friction and coulomb friction. This large friction difference occurs the vibrated position control result when the controller uses conventional linear controller such as P, PI. In this paper, low cost position control method which can apply under the condition of high difference friction mechanical system. Proposed method is verified by comparing conventional control result of experiments.

The thesis proposes a argument that a mass point moving in a horizontal circle on the Earth’s surface can generate a radial centrifugal force of the Earth’s center of mass, thus realizing an unconventional anti-gravity path. Based on the author’s theory of absolute airspace and its reference system, and through the theoretical analysis of the difference in the distribution of gravitational acceleration at different latitudes caused by the rotation of the earth, and the centrifugal force of a mass point moving in a horizontal circle on the earth’s surface is analyzed, the validity of the argument is demonstrated. At the same time, the paper puts forward two possible basic principles, and makes theoretical analysis and demonstration. Conceive of the concrete experimental verification of principle two is proposed. Four technical schemes for anti-gravity ascent are proposed and basic analysis is made. On the premise of not fully considering the practical technical ability, it is theoretically proved that three of them have realistic operability and development potential. In theory, this paper opens up a different way of anti-gravity for human beings, which will bring new ideas and prospects for human beings to get rid of the bondage of gravity.

The manual muscle test (MMT) is a flexible diagnostic tool, which is used in many disciplines, applied in several ways. The main problem is the subjectivity of the test. The MMT in the version of a “break test” depends on the tester’s force rise and the patient’s ability to resist the applied force. As a first step, the investigation of the reproducibility of the testers’ force profiles is required for valid application. The study examined the force profiles of n=29 testers (n=9 experiences (Exp), n=8 little experienced (LitExp), n =12 beginners (Beg)). The testers performed 10 MMTs according to the test of hip flexors, but against a fixed leg to exclude the patient’s reaction. A handheld device recorded the temporal course of the applied force. The results show significant differences between Exp and Beg concerning the starting force (padj=0.029), the ratio of starting to maximum force (padj=0.005) and the normalized mean Euclidean distances between the 10 trials (padj=0.015). The slope is significantly higher in Exp vs. LitExp (p=0.006) and Beg (p=0.005). The results also indicate that experienced testers show inter-tester differences and partly even a low intra-tester reproducibility. That highlights the necessity of an objective MMT-assessment. Furthermore, an agreement on a standardized force profile is required – a suggestion is given.

Wheeled mobile robot dynamics and suitable controller design are challenging but rewarding fields of study. By understanding the dynamics of wheeled mobile robots, it could be possible to design suitable hybrid control schemes for wheeled mobile robots. Since hybrid control schemes involve combining individual control methods to create a more effective overall control strategy. This can be done in a variety of ways, such as using fuzzy linear quadratic Gaussian control. We were therefore inspired to create dynamic models and their controller designs for the wheeled mobile robot by examining the dynamics of the wheeled mobile robot. The novelty of the current paper is to hybridize the different control schemes for wheeled mobile robots in order to get better performance. Entire systems models were simulated in a MATLAB/SIMULINK environment. The results obtained for the settling time response by FLQG were 87.1% over LQG; this study compared the effectiveness of current and previous FLQG controllers in external disturbances and found peak amplitude improvements of 71.25%. Therefore, the proposed controller is suitable for use with the wheeled mobile robot.

A single-track magnetic code tape based absolute position sensor system is demonstrated. Unlike traditional dual-track systems, our method simplifies manufacturing and avoids crosstalk between tracks, offering higher tolerance to alignment errors. The sensing system employs an array of magnetic field sensing elements that recognize the bit sequence encoded on the tape. This approach allows for accurate position determination even when the number of sensing elements is fewer than the number of bits covered, and without the need for specific spacing between sensing elements and bit length. We demonstrate the system's ability to learn and adapt to various magnetic code patterns, including those that are irregular or have been altered. Our method can identify and localize the sensed magnetic field pattern directly within a self-learned magnetic field map, providing robust performance in diverse conditions. This self-adaptive capability enhances operational safety and reliability, as the system can continue functioning even when the magnetic tape is misaligned or has undergone changes.

Proprioceptive deficits accompanied with motor paresis after stroke, namely sensory ataxic motor paresis has a poorer prognosis of recovery than pure motor deficit. We aimed to investigate the effects of repetitive peripheral magnetic stimulation (rPMS) on sensory ataxic upper extremity (UE) paresis at acute stroke. Eighteen stroke participants with sensory ataxic UE paresis were randomized. rPMS group received five sessions of intervention per week, where 20 minutes of rPMS prior to 20 minutes of physical therapy (PT) every other day, alternating with 40 minutes of PT. The control group received five sessions of 40 minutes of PT/week. Outcome measures were Wolf motor function test (WMFT), UE motor section of Fugl-Meyer Motor Assessment Scale (FMA-UE), and Thumb localizing test (TLT). All assessments were compared before and after intervention. rPMS group received mean 6.5 sessions and the control group received 12.8 sessions, showing significantly imbalanced intervention due to different timing of hospital discharge. The imbalance was corrected by calculating gains of motor scores divided by sessions as Progress Rate (PR). Corrected gains (PR) of rPMS group was more significantly enhanced in WMFT and FMA-UE than control groups. rPMS group tended to improve TLT more than control one. rPMS might improve sensory ataxic UE paresis after stroke and proprioceptive deficit.

Background Ultrasonographic measurement of the optic nerve sheath diameter (ONSD) is helpful in the assessment of intracranial pressure. The aim of this study was to determine whether the Trendelenburg position during laparoscopic urological surgery changed the ONSD and whether changes correlated with postoperative complications. Methods In this prospective study, we measured ONSD before patients were placed in the Trendelenburg position. Then the Trendelenburg position was established by tilting the operating table to 20-25 degrees. After surgery, the patients were placed in a horizontal position, and the second measurement of ONSD was obtained. Results The study included 69 patients. The average preoperative ONSD in the right eye was 5.8 ± 0.7 mm and 5.8 ± 0.8 mm in the left eye. The average postoperative ONSD in the right eye was 6.6 ± 0.8 mm and 6.6 ± 0.7 mm in the left eye. The differences between postoperative and preoperative values in the right and left eyes were statistically significant (p <0.000001). ONSD increases above the norm did not correlate with the incidence of postoperative nausea (p = 0.94), delirium (p = 0.81), or the time to patient awakening (p = 0.29). Conclusion ONSD increased in patients who underwent surgical procedures performed in the Trendelenburg position, but the increase did not correlate with postoperative complications.

In this study, we investigated, for the first time, the effects of the spatially varying effective mass, asymmetry parameter, and well width on the electronic and optical properties of the quantum well which has an improved Rosen-Morse potential. Calculations are made within the framework of the effective mass and parabolic band approximations. We have used the diagonalization method by choosing a wave function based on the trigonometric orthonormal functions to find eigenvalues and eigenfunctions of the electron confined within the improved Rosen-Morse potential. Our results show that the position-dependence mass, asymmetry, and confinement parameters cause significant changes in the electronic and optical properties of the structure we focus on since these effects create a significant increase in electron energies and a blue shift in the absorption spectrum. The increase in energy levels enables the development of optoelectronic devices that can operate at wider wavelengths and absorb higher energy photons. This offers potential advancements in fields such as optical communication, imaging technology, and solar cells.

Leaf photosynthetic pigments play a crucial role in evaluating nutritional elements and physiological states. In facility agriculture, it is vital to obtain rapidly and accurately the pigment content and distribution of leaves to ensure precise water and fertilizer management. In our research, we utilized chlorophyll a (Chla), chlorophyll b (Chlb), chlorophyll (Chll), and carotenoid (Caro) as indicators to study the variations in leaf position of Lycopersicon esculentum Mill. Under 10 nitrogen concentration applications, a total of 2610 leaves (435 samples) were collected using visible-near infrared hyperspectral imaging (VNIR-HSI). In this study, a "coarse-fine" screening strategy was proposed by using competitive adaptive reweighted sampling (CARS) and iteratively retained informative variable (IRIV) algorithm to extract characteristic wavelengths. Finally, simultaneous and quantitative models were established using partial least squares regression (PLSR). The CARS-IRIV-PLSR was used to create models to achieve a better prediction effect. The coefficient determination (R2), root mean square error (RMSE), and ratio performance deviation (RPD) were predicted to be 0.8240, 1.43, 2.38 for Chla, 0.8391, 0.53, 2.49 for Chlb, 0.7899, 2.24, 2.18 for Chll, and 0.7577, 0.27, 2.03 for Caro, respectively. The combination of these models with the pseudo-color image allowed for a visual inversion of the content and distribution of pigment. These findings have important implications for guiding pigment distribution, nutrient diagnosis, and fertilization decisions in plant growth management.

Paralyzed patients have always been ideal candidates for physiotherapy due to their body's inability to recover on its own. Regardless of the cause that led to the onset of paralysis (whether localized or generalized), physiotherapy helps these patients with devices and methods designed to restore their proper functioning of the body, as well as quality of life. Obtaining the standing position is the main stage in the therapeutic process, being the indispensable element for the entire protocol. The present study focused on the devices we developed over time, adapting them for each patient, depending on the degree of damage they presented and the possible associated pathologies. At the same time, we wanted these devices to be available for any therapist or even owner, being made of common materials, easy to find, but also affordable.

Adaptation to external forces relies on a well-functioning proprioceptive system including muscle spindle afferents. Muscle length-tension control in reaction to external forces is most important regarding the Adaptive Force (AF). This study investigated the effect of different procedures, which are assumed to influence the function of muscle spindles, on the AF. 19 elbow flexors of 12 healthy participants were assessed by an objectified manual muscle test (MMT) with different procedures: regular MMT, MMT after pre-contraction (self-estimated 20% MVIC) in lengthened position with passive return to test position (CL) and MMT after CL with a second pre-contraction in test position (CL-CT). During regular MMTs, muscles maintained their length up to 99.7±1.0% of the maximal AF (AFmax). After CL, muscles started to lengthen at 53.0±22.5% of AFmax. For CL-CT, muscles were again able to maintain the isometric position up to 98.3±5.5% of AFmax. AFisomax differed highly significantly between CL vs. CL-CT and regular MMT. CL is assumed to generate a slack of muscle spindles which led to a substantial reduction of the holding capacity. This was immediately erased by a pre-contraction in test position. The results substantiate that muscle spindle sensitivity seems to play an important role for neuromuscular functioning and musculoskeletal stability.

Atomic force microscopes are used, beside their principal function as surface imaging tools, in surface manipulation and measurement of interfacial properties. In particular, they can be modified to measure lateral friction forces that occur during the sliding of the tip against the underlying substrate. However, the shape, size, and deformation of the tips profoundly affect the measurements in a manner that is difficult to predict. In this work, we investigate the contribution of these effect to the magnitude of the lateral forces during sliding. The surface substrate is chosen to be few-layer AB-stacked graphene surface whereas the tip is initially constructed from face-centered cubic gold. In order to separate the effect of deformation from shape, rigid tips of three different shapes were considered first, namely a cone, a pyramid and a hemisphere. The shape was seen to dictate all aspects of the interface during sliding, from temperature dependence to stick-slip behavior. Deformation was investigated next by comparing a rigid hemispherical tip to one of identical shape and size but with all but the top three layers of atoms free to move. The deformation, as also verified by an indentation analysis, occurs by means of the lower layers collapsing on the upper ones, thereby increasing the contact area. This collapse mitigates the friction force and decreases it with respect to the rigid tip for the same vertical distance. Finally, the size effect is studied by means of calculating the friction forces for a much larger hemispherical tip whose atoms are free to move. In this case, the deformation is found to be much smaller but the stick-slip behavior is much more clearly seen.

Temperature dependent entropic force acting between the straight direct current I and the linear system (string with length of L) of N elementary non-interacting magnets/spins μ is reported. The system of elementary magnets is supposed to be in the thermal equilibrium with the infinite thermal bath T. The entropic force at large distance from the current is given by Fmagnen=Nμ02μ2I24π2kBTr3 , where r is the distance between the edge of the string and the current I, and kB is the Boltzmann constant; (r≫L is adopted). The entropic magnetic force is the repulsion force. The entropic magnetic force scales as Fmagnen~1T , which is unusual for entropic forces. The effect of “entropic pressure” is predicted for the situation when the source of the magnetic field is embedded into the continuous media, comprising elementary magnets/spins.

In this study, we provided an empirical testability of the FF3FM against the co-moment-augmented FF3FM using the Newey–West GMM methods to account for potential endogeneity. The results showed that value risk is not significantly priced, and systematic skewness and systematic kurtosis play more important roles in explaining asset return than market and size factors. We discovered that there is much to gain in moving from the incumbent FF3FM to the co-moment-augmented FF3FM. By extending this study to Nigeria and using out-of-sample data that span across the recent COVID-19 period, the study has contributed to existing knowledge significantly. The study concludes that the co-moment-augmented FF3FM is superior to the incumbent FF3FM in pricing assets, and the anomalies associated with the return-size risk factor relationship are reduced by accounting for systematic skewness and systematic kurtosis in the FF3FM. Therefore, we recommend that investors should take a long position in size-hedged portfolios and hold systematic skewness and kurtosis as constant, and vice visa.

The refractive index of seawater is one of the essential parameters in ocean observation, so it is necessary to achieve high-precision seawater refractive index measurements. A seawater refractive index measurement system based on position-sensitive detectors is an effective means to achieve high-precision measurement of seawater refractive index. However, in the actual seawater refractive index measurement process, the impact of the measurement error caused by the jitter signal obtained from the measurement on the measurement results cannot be ignored. In this paper, we theoretically analyse the causes of the long jitter signals during seawater refractive index measurement and quantify the influencing factors. Through the analysis, it can be seen that the angle between the two windows in the refractive index measurement area of seawater causes a great error on the measurement results, so the angle between the two windows should be controlled within 2.06° in order to effectively reduce the measurement error. At the same time, the factors affecting the measurement accuracy of the position-sensitive detector are analysed, and the factors leading to the reduction of the measurement accuracy of the position-sensitive detector are mainly the background light, the size of the photosensitive surface, and the change of the temperature of the working environment. For the above factors, we add a narrow-band filter with a bandwidth of 0.9nm in front of the photosensitive surface of the position-sensitive detector during the construction of the measurement system, so as to filter out stray light other than the signal light source. On the premise of ensuring the measuring range of the refractive index of seawater, a position-sensitive detector with a photosensitive surface size of 4 mm×4 mm was selected. In order to reduce the temperature variation of the working environment of the position-sensitive detector, the measurement system was partitioned. In order to validate the testing error range of the optimised test system, standard seawater samples under the same conditions were measured. It can be seen that the jitter signal of the measurement system has been reduced from 0.0022mm before the optimisation to 0.0011mm after the optimisation, and the deviation of the refractive index has been reduced by 1.09×10−8RIU. The experimental results show that the refractive index of seawater has been effectively reduced by adjusting the optical path and the structure of the seawater refractive index measurement system.

With an increasing adoption of Battery Electric Bus (BEB) fleets, developing a reliable charging schedule is vital to a successful migration from their fossil fuel counterparts. In this paper, a Simulated Annealing (SA) implementation is developed for a charge scheduling framework for a fixed-schedule fleet of BEBs that utilizes a proportional battery dynamics model, accounts for multiple charger types, allows partial charging, and further considers the total energy consumed by the schedule as well as peak power use. Two generation mechanisms are implemented for the SA algorithm denoted as the "quick" and "heuristic" implementations, respectively. The model validity is demonstrated by utilizing a set of routes sampled from the Utah Transit Authority (UTA) and comparing the results against two other models: the BPAP and the Qin-Modified. The results presented show that both SA techniques offer a means of generating operationally feasible schedules quickly while minimizing the cost of operation and considering battery health.

Objective: (1) Describe the current literature on the relationship between EDS and SEP and (2) provide recommendations for consideration of SEP in sleep medicine and biomedical research. Methods: Databases Medline/Pubmed, Web of Science, Google scholar and Scopus were screened using PRISMA guidelines and 19 articles were included in the final synthesis. Results: All studies were cross-sectional. Among these studies, 21.05% (n = 4) are focused on children and adolescent and the lasting 88.95% (n = 15) focused on adults and old people. Age ranged between 8 and 17 years old for children/adolescent and ranged from 18 until 102 years old for adults. Main SEP measures presented in these studies were education, income, perceived socioeconomic status and employment. Sample size in these studies varied from N = 90 participants until N = 33865 participants. Overall, a lower educational level, a lower income and full-time employment were associated with EDS. EDS symptoms are prevalent in women, especially those with a low income or no job; and children and adolescents with difficult living conditions or people working part-time reported more sleep disturbances. Conclusions: SEP is already considered as an important determinant for many health outcomes, but if SEP is embedded in experimental design in psychosomatic research, biomedical research and clinical practice as a constant variable regardless of outcome; it will move forward future investigations.

This paper proposes a multi-terminal adaptive collaborative operation method to solve the problem of unstable internal force tracking in clamping and handling unknown objects by multi-terminal robots. In the proposed method, the internal command force changes the complex internal force control problem into an internal force tracking problem from multi-slave to master. Moreover, we develop an algorithm for multi-slave setups to estimate object stiffness and motion uncertainty in the direction of the internal command force according to Lyapunov theory. Finally, the impedance control generates a reference trajectory for the multi-slave to maintain the desired internal force and track the master’s motion. Several experiments are conducted on a self-made robot equipped. The experimental results show that the oscillation amplitude of each slave end is less than 1 mm, the directional oscillation amplitude is less than 1 degree during the tracking of the desired commanded internal force. For objects with low stiffness, the error of the commanded internal force is less than 1 N (6%) per slave. The error in tracking the commanded internal force for objects with high stiffness is less than 2 N (8%). The results prove the feasibility and effectiveness of the proposed method.

The translocator protein (TSPO) is a transmembrane protein present in the three domains of life. Its functional quaternary structure consists of one or more subunits. In mouse, the dimer-to-monomer equilibrium is shifted in vitro towards the monomer by adding cholesterol, a natural component of mammalian membranes. Here, we present a coarse-grained molecular dynamics study on the mouse protein in the presence of a physiological content and of an excess of cholesterol. The latter turns out to weaken the interfaces of the dimer by clusterizing mostly at the inter-monomeric space and pushing the contact residues apart. It also increases the compactness and the rigidity of the monomer. These two factors might play a role for the experimentally observed incremented stability of the monomeric form with increased content of cholesterol. Comparison with simulations on bacterial proteins suggests that the effect of cholesterol is much less pronounced for the latter than for the mouse protein.

Force reduction is one of the most important benefit of applying ultrasonic vibration on milling. However, most of studies so far are limited to experimental investigation. In the current study, an analytical predictive model on cutting forces in ultrasonic vibration-assisted milling is proposed. The three types of tool-workpiece criteria are considered based on the instantaneous position and velocity of tool center. Type I criterion indicates that there is no contact if the instantaneous velocity is opposite to tool rotation direction. Type II criterion checks whether the vibration displacement is larger than the instantaneous uncut chip thickness. Type III criterion considers the overlaps between current and previous tool paths due to vibration. If none of these criteria is satisfied, milling forces are nonzero. Then the calculation is performed by transforming milling and tool geometry configuration to orthogonal cutting at each instant. The orthogonal cutting forces are predicted through the exhaustive search of shear angle and calculation of shear flow stress on tool-chip interface. The axial force is then calculated based on tool geometry, and the milling forces in feed, cutting, and axial directions are calculated after coordinate transformation. The proposed predictive force model in ultrasonic vibration-assisted milling is validated through comparison to experimental measurements on Aluminum alloy 2A12. The predicted values are able to match the measured milling forces with high accuracy of average difference of 13.6% in feed direction and 13.8% in cutting direction.

In this paper, we introduce new formulas for calculating the restoring and repulsive magnetic forces between two non-coaxial circular loops with parallel axes. These formulas are derived from a modified version of Grover’s formula for mutual inductance between the coils in question. Utilizing these formulas, we compute the restoring and repulsive magnetic forces between two non-coaxial thick coils of rectangular cross-sections with parallel axes. In these calculations, we apply the filament method and conduct investigations to determine the optimal number of subdivisions for the coils in terms of computational time and accuracy. The method presented in this paper is also applicable to all conventional non-coaxial coils, such as disks, solenoids, and non-conventional coils like Bitter coils, all with parallel axes. This paper emphasizes the accuracy and computational efficiency of the calculations. Furthermore, the new method is validated according to several previously established methods

We present a Quantum Space Model (QSM) of cosmic evolution based on the theory that space consists of energy quanta which participates in the evolution of the universe. It shows that Dark Energy is the energy of space which causes its accelerating expansion. We used the Friedmann equations to trace the history of the cosmos from a time before the Big Bang to its ultimate end. The universe started from a quantum size volume of space with high energy density.Quantum fluctuations triggered the release of energy in a Big Bang at very high temperature and pressure. It then expanded and cooled undergoing phase transitions to radiation, fundamental particles, and matter. Matter grew into galaxies, and was further consolidated by gravity into Dark Energy Stars/Black Holes, ending in a Big Crunch at about 1.380 trillion years, thus bringing the universe back to its initial state. It can stay in a Deep Feeeze inside a Black Hole and through fluctuations or other mechanism may start a new cycle in its life with a new Bang. If the Law of Conservation of Energy is universal, then the cosmos is eternal. Space and energy are equivalent just as matter and energy are. This is well founded in Planck’s energy equation. They are the two most fundamental quantities in the universe that govern cosmic evolution. The two principal long range forces are the gravitational force and the space force.The latter could be the fifth force in the universe. They may provide the clockwork mechanism that operates our eternal cyclic universe.

The material flow dynamic and velocity distribution on the melted domain surface play a crucial role on the joint quality and formation of welding defects. In this study, authors investigated the effects of the low and high currents of plasma arc welding on the material flow and thermodynamics of molten pool and its relationship to the welding defects. The high-speed video camera (HSVC) was used to observe the convection of the melted domain and welded-joint appearance. Furthermore, to consider the Marangoni force activation, the temperature on the melted domain was measured by a thermal HSVC. The results revealed that the velocity distribution on the weld surface was higher than that inside the molten weld pool due to the difference of the massive density between the air and the steel. Moreover, in the case of low welding current (80A) the convection speed of molten was faster than that of the high welding current case (160A) owing to the difference of main driving forces direction and strength, which leading to undercut and humping defects on the weld surface and excessive convex (burn-through) defect at the bottom weld side, respectively. The medium welding current (120A) had two convection patterns with the main flow in backward direction, which resulted in better welding quality without defect. The interaction between the shear force and Marangoni force played a solid state on the convection and heat transportation processes in the plasma arc welding process.

Many studies discuss carbon-based materials because of the versatility of its element. They include different opinions for scientific problems and discuss fairly at convincing and compelling levels within the scope and application. A gas-state carbon atom converts into various states depending on its conditions of processing. The electron transfer mechanism in the gas-state carbon atom is responsible to convert it into various states, namely, graphite, nanotube, fullerene, diamond, lonsdaleite and graphene. The shape of ‘energy trajectory’ enables transferring electrons from the left- and right-sides of an atom is like a parabola. That ‘energy trajectory’ is linked to states (filled state and suitable nearby unfilled state) where force-exertion along the poles of transferring electrons is remained balance. So, the mechanism of originating different states of a gas-state carbon atom is under the involvement of energy first. This is not the case for atoms executing confined inter-state electron-dynamics as the force is involved first. Graphite-, nanotube- and fullerene-state atoms ‘partially evolve partially develop’ (form) their structures. These possess one-dimensional, two-dimensional and four-dimensional ordering of atoms, respectively. Their structural formation also comprises ‘energy curve’ having a shape-like parabola. Transferring suitable filled state electron to suitable nearby unfilled state is under a balance force exerting along the poles. The graphite structure under only attained-dynamics of atoms can also be formed but in two-dimension. Here, binding energy between graphite-state carbon atoms is for a small difference of exerting forces along their opposite poles. Structural formation in diamond, lonsdaleite and graphene atoms involve energy to gain required infinitesimal displacements of electrons through which they maintain orientationally-controlled exerting forces along dedicated poles. In this study, the growth of diamond is found to be south to east-west (ground) where atoms bound ground to south. Thus, diamond atoms merge for a tetra-electron ground to south topological structure. Lonsdaleite atoms merge for a bi-electron ground to just-south topological structure. The growth of graphene is found to be north to ground where atoms bound ground to north. Thus, graphene atoms merge for a tetra-electron ground to north topological structure. Glassy carbon exhibits layered-topological structure where, tri-layers of gas-, graphite- and lonsdaleite-state atoms successively bind in repetitive order. Nanoscale hardness is also sketched based on different force-energy behaviors of different state carbon atoms. Here, structure evolution in each carbon state atom explores its own science.

To mitigate the interference of waves on offshore operation vessels, heave compensation systems find widespread application. The performance of heave compensation systems significantly influences the efficiency and safety of maritime operations. This paper establishes a mathematical model for winch-based active heave compensation system. It introduces a three-loop active disturbance rejection control (ADRC) strategy encompassing piston position control, winch speed control, and load displacement control, enabling real-time estimation and compensation of system disturbances, thereby enhancing the performance of the heave compensation system. To assess the effectiveness of this control strategy, the study employs Matlab/Simulink and AME Sim to construct a co-simulation model and conducts a comparative analysis with traditional PID control systems. The research findings indicate that the three-loop ADRC position control strategy consistently delivers superior compensation performance across various operational scenarios.

This paper proposes an approach for image data extraction and driving behavior analysis using geographic information and driving data. Information derived from geographic and global positioning systems was used for image data extraction. In addition, we used an onboard diagnostic II and a controller area network bus logger to record driving data for driving behavior analysis. Driving behavior was analyzed using sparse automatic encoders and data exploration to detect abnormal and aggressive behavior. A regression analysis was used to derive the relationship between aggressive driving behavior and road facilities. Several traffic improvements were proposed for specific intersections and roads. The results indicate that lane ratios without lane markings and with straight lane markings are important features that affect aggressive driving behaviors.

In this paper, we address the energy eigenvalues of two-dimensional Dirac oscillator perturbed by dynamical noncommutative space. We derived the relativistic Hamiltonian of Dirac oscillator in dynamical noncommutative space ($\tau$-space), in which the space-space Heisenberg–like commutation relations and noncommutative parameter are position-dependent. Then used this Hamiltonian to calculate the first-order correction to the eigenvalues and eigenvectors, based on the second quantization and using the perturbation theory. It is shown that the energy shift depends on the dynamical noncommutative parameter $\tau$. Knowing that with a set of two-dimensional Bopp-shift transformation, we mapped the noncommutative problem to the standard commutative one.

Headaches are among the most prevalent and disabling disorders and there are several patients’ unmet needs in current pharmacological options, while a growing interest is focusing on nutritional approaches as non-pharmacological treatments. Among these, the most promising seems to be the ketogenic diet (KD). Exactly 100 years ago, KD was used to treat pediatric forms of drug-resistant epilepsy, but progressively applications of this diet also involved adults and other neurological disorders. Evidence of KD effectiveness in migraine comes from 1928, but in the last years different groups of research and clinicians paid attention to this therapeutic option to treat patients with drug resistant migraine and cluster headache, and/or comorbid with metabolic syndrome. Here we describe all the existing evidence on the potential benefits of KDs in headaches, explore in deep all the potential mechanisms of action involved in the efficacy, and synthesize results of working meetings of an Italian panel of experts on this topic. Aim of the working group is the creation of a consensus on indications and clinical practice to treat with KDs patients with headache. The results here we present are the base for further improvement in the knowledge and application of KDs in the treatment of headaches.

We present the design and overall development of an eight degrees of freedom (DOF) based Bioinspired Quadruped Robot (BiQR). The robot is designed with a skeleton made of cedar wood. The wooden skeleton is based on exploring the potential of cedar wood to be a choice for legged robots’ design. With a total weight of 1.19 kg, the robot uses eight servo motors that run the position control. Relying on the inverse kinematics, the control design enables the robot to perform the walk gait-based locomotion in a controlled environment. The robot has two main aspects: 1) the initial wooden skeleton development of the robot showing it to be an acceptable choice for robot design, 2) the robot’s applicability as a low-cost legged platform to test the locomotion in a laboratory or a classroom setting.

As of today, there is not any direct report yet of the degree to which missing residues exist for experimentally determined membrane protein (MP) structures, which constitute more than half of current drug targets. With a chain- and position-specific visualisation and a statistical analysis of all MP structures inside PDB (as of September 25, 2019), this article argues that the experimentally uncharted territories (EUTs, i.e., consisting of missing residues) within PDB are pluggable and should be plugged with an experimental data-driven hybrid approach, and calls for continued development of MP structural determination with less and less EUTs, in light of MPs' crucial role in biological and biomedical research, both fundamental and pharmaceutical.

The structure and physicochemical properties of polyvinyl alcohol (PVA) and PVA/glycerol films have been investigated by Fourier-transform infrared spectroscopy (FT-IR), X-ray Diffraction (XRD), thermogravimetry/differential thermal analysis (TG/DTA), and advanced scanning probe microscopy (SPM). In the pure PVA films, SPM allowed us to observe ribbon-shaped domains with a different frictional and elastic contrast, which apparently originated from a correlated growth or assembly of PVA crystalline nuclei located within individual PVA clusters. The incorporation of 1.0 wt.% glycerol led to modification in shape of those domains from ribbon-like in pure PVA to rounded in PVA/glycerol 1.0 wt.% films; changes in the relative intensities of the XRD peaks and a decrease of the amorphous halo in the XRD pattern were also detected, while the DTA peak corresponding to the melting point remained at almost the same temperature. For higher glycerol content, FT-IR revealed additional glycerol-characteristic peaks presumably related to the formation of glycerol aggregates, and XRD, FT-IR, and DTA all indicated a reduction in crystallinity. For more than 2.0 wt.% glycerol, the plasticization of the films complicated the acquisition of SPM images without tip-induced surface modification. Our study contributes to the understanding of crystallinity in PVA and how it is altered by a plasticizer such as glycerol.

Polyvinyl Alcohol (PVA)/ Graphene Quantum Dots (GQDs) polymer nanocomposite films have been prepared, and the relationship between their structural, thermal and nanoscale morphologi-cal properties, and their photoluminescent response, has been investigated. Although according to X-ray Diffraction (XRD), Fourier-Transform Infrared Spectroscopy (FT-IR) and Differential Thermal Analysis (DTA) the incorporation of GQDs does not significantly affect the percentage crystallinity of the PVA matrix, for a range of added GQD concentrations, Atomic Force Micros-copy (AFM) showed the formation of islands with apparent crystalline morphology on the surface of the PVA/GQD films, with GQD presumably acting as a nucleating agent for island growth. The incorporation of GQD also led to the formation of characteristic surface pores with increased stiffness and frictional contrast, according to Ultrasonic Force Microscopy (UFM) and Frictional Force Microscopy (FFM) data. The photoluminescence (PL) spectra of the films were found to de-pend both on the amount of GQD incorporated and on the film morphology. For GQD loads > 1,2wt%, a GQD-related band was observed at ~ 1650 cm-1 in FT-IR, along with an increase in the PL band at lower energy. For a load of ~2wt% GQD, the surface morphology was characterized by extended cluster aggregates with lower stiffness and friction than the surrounding matrix, and the PL signal decreased.

Rehabilitation from musculoskeletal injuries focuses on reestablishing and monitoring muscle activation patterns to accurately produce force. The aim of this study is to explore the use of a novel low-powered wearable distributed Simultaneous Musculoskeletal Assessment with Real-Time Ultrasound (SMART-US) device to predict force during an isometric squat task. Participants (N=5) performed maximum isometric squats under two medical imaging techniques; clinical musculoskeletal motion mode (m-mode) ultrasound on the dominant vastus lateralis and SMART-US sensors placed on the rectus femoris, vastus lateralis, medial hamstring, and vastus medialis. Ultrasound features were extracted, and a linear ridge regression model was used to predict ground reaction force. The performance of ultrasound features to predict measured force was tested using either the Clinical M-mode, SMART-US sensors on the vastus lateralis (SMART-US: VL), rectus femoris (SMART-US: RF), medial hamstring (SMART-US: MH), and vastus medialis (SMART-US: VMO) or utilized all four SMART-US sensors (Distributed SMART-US). Model training showed that the Clinical M-mode and the Distributed SMART-US model were both significantly different from the SMART-US: VL, SMART-US: MH, SMART-US:RF, and SMART-US:VMO models (p<0.05). Model validation showed that the Distributed SMART-US model had an R² of 0.80 ±0.04 and was significantly different from SMART-US: VL but not from the Clinical M-mode model. In conclusion, a novel wearable distributed SMART-US system can predict ground reaction force using machine learning, demonstrating the feasibility of wearable ultrasound imaging for ground reaction force estimation.

The literature offers limited information on the effect of obesity on the rate of force development, a critical parameter for mobility in older adults. The objectives of this study were; to explore the influence of obesity on RFD in older adults and to examine the association between this neuromuscular parameter and walking speed. 42 older adults were classified into two groups: the control group (CG, n=22; age=81.13±4.02 years; Body mass index (BMI)=25.13±3.35 kg/m²), and the obese group (OG, n=20; age=77.71±2.95 years; BMI=34.46±3.25 kg/m²). Walking speed (m/s) was measured using the 10-meter walking test. Neuromuscular parameters of the plantar flexors were evaluated during a maximal voluntary contraction test using a dynamometer. The RFD was calculated from the linear slop of the force – time curve in two phases: from the onset of the contraction to 50 ms (RFD50-100) and from 100 to 200 ms (RFD100-200). The gait speed was lower in the OG compared to the CG (p

This paper is the third application-oriented paper based on the "unified theory of forces" and also addresses the shortcomings of previous research in fully explaining the origin and nature of the weak force. The main conclusions of this paper are as follows: (1) It is argued that neutrinos are generated by the gravitational field, and their generation mechanism is similar to the radiation of photons from electron orbital transitions. Particles undergoing orbital transitions in a gravitational field will emit neutrinos. (2) We rigorously derive the energy formula for neutrinos and demonstrate that the energy formula for neutrinos does not comply with the Planck energy formula. Neutrinos with higher energy have longer wavelengths and are more easily observed in experiments.

Objectives The aim of this study was to measure the magnitude of forces in the joints of the lower limb whilst running barefoot and compare them to the forces generated whilst wearing running shoes with a thick midsole.MethodsTwenty-three volunteers who utilised running as their main sport or a training aid ran as training aid were included in this study. Each volunteer would run down a fourteen-meter-long corridor both barefoot and with running shoes. Forces for joints of the lower limb were collected using a Vicon motion analysis system and force plates. The joint forces for the ankles, knees and hips were taken as the largest joint force experienced during the stance phase and then averaged over five running trials.ResultsThere was significant reduction in the joint forces for the ankles, knees, and hips when barefoot running compared to the shod condition.ConclusionBarefoot running could be utilised to prevent both acute and degenerative injuries of the lower limb.

The model of T4 phage, Lambda phage and Escherichia coli is often used in research on virus-host interactions. This paper reports for the first time the thermodynamic driving force of biosynthesis, catabolism and metabolism for the three organisms, on the M9 medium. Moreover, the influence of activities of nutrients and metabolic products is analyzed. All three organisms were found to have very similar Gibbs energies of metabolism. Moreover, since they share the same catabolism, their Gibbs energies of catabolism are identical. However, Gibbs energies of biosynthesis differ. The calculated thermodynamic properties have been used to explain the coexistence of both bacteria and phages in a dynamic equilibrium in natural ecosystems.

The electric field is enormously more powerful than the gravitational field. However, in our normal experience there is no electric field, the electric force is missing. How is it that when you get to larger and larger scales the gravitational field is extremely important whereas the electric field becomes less and less important [1]? This paper proposes a model to explain why gravitation dominates at a larger scale.

Purposely slow velocity resistance exercise (i.e., 10 s concentric and eccentric phases) is a popular training method, but limits the loads that can be lifted (e.g., <50% 1 RM). This study compared the biomechanical properties of purposely slow velocity (SLOW) and traditional resistance exercise (TRAD) that uses maximal lifting velocities. Healthy resistance-trained men (n=5) performed two testing sessions (barbell squat and bench press) in random-order; a SLOW session (1 set x 10 repetitions at 28% 1 RM, 10 s concentric & eccentric), and a TRAD session (3 x 10 at 70% 1 RM, controlled eccentric and maximal concentric). A force plate and linear position transducer were used to collect kinetic and kinematic data for every repetition of both protocols (α = 0.05). For both exercises, both concentric and eccentric mean force (N) and power (W) for each repetition was greater for TRAD. When the entire training session (squat + bench press) was examined, SLOW exhibited greater time under tension, while TRAD produced greater work (J) and impulse (N·s). Contrary to suggestions in both the lay and scientific literature, purposely slow resistance exercise produced less force, power, and work than traditional velocity resistance exercise.

This paper first explains the theory of the origin of force from a new perspective, explaining that the origin of all forces is caused by the "missing of energy in the time dimension" (non-conservation in a certain period of time), and constructs a unified theory of force on this basis. Then, through the unified theory of force, the following phenomena are reinterpreted: (1) The common origin of the inverse square law of gravitation and electromagnetic force; (2) The origin of the repulsive force of electrons and protons at small distances; (3) The mystery of the rotation curve of galaxies and the new explanation of "dark matter"; (4) explain the origin of the magnetic field; (5) Predict that moving magnets have the same radiation effect as charged particles (electron magnetic moments also have radiation effects); (6) Reinterpret Maxwell's displacement current; (7) Reinterpret synchrotron radiation and bremsstrahlung; (8) Explain that the strong and weak forces are short-range forces; (9) Predict the true structure of black holes and the origin of gravitational waves;(10) Possible explanation for the origin of the speed of light.

Indirect fracturing from roof rock to coal using a horizontal well is a new and promising technology for coalbed methane surface exploitation in soft and low-permeability coal seams. In order to study the propagation law of hydraulic fracture across the coal-rock interface, a pore pressure cohesive element is used to establish a numerical model for indirect fracturing. Combined with practical engineering in 3# coal seam in Xinjing mine in China, the propagation behavior of hydraulic fracture across the coal-rock interface was researched, and the range of horizontal well position for indirect fracturing was determined. The results show that: (1) the pore pressure cohesive element can be used to simulate accurately the interaction between hydraulic fracture and natural fracture, and the propagation of hydraulic fracture across the coal-rock interface. (2) As the vertical distance between the horizontal well and coal-rock interface decreases, the breakdown pressure of perforation decreases; while the injection pressure increases when the hydraulic fracture crosses the coal-rock interface. (3) For the indirect fracturing engineering in 3# coal seam in Xinjing mine, the vertical distance between the horizontal well and coal-rock interface should not be larger than 2.0m to make the hydraulic fracture propagate into the coal seams.

The eutrophication caused by excessive total nitrogen(TN) and total phosphorus(TP) emissions has been widely concerned by the whole society. Studies have revealed the relationship between land use and TN and TP, but the relationship between land use compound topographic position and TP and TN was seldom studied. Therefore, Spearman correlation and redundancy analyses were used to reveal the relationship between land use compound topographic position and TN and TP based on the monthly data of 28 water quality sampling sites and the land use data of 2013 and 2016 in the lakes of Guizhou Plateau. The results show that the nutritional state of the HBA watershed is medium. The trophic level index (TLI) value and TN concentration were high during flood, while TP concentration was high in dry period. The TN concentration in the tributaries was higher than that in the reservoir area. Construction and valley were the sources of the pollution, whereas forest land and gentle slope were the sink. According to the”source-sink”effect, the optimal zoning of land use was completed, and the urban land pollution govern area should be strengthened firstly. This paper can provide decision support for water environment management and sustainable development decision-making.

Hydrogenated amorphous silicon (a-Si:H) can be produced by plasma-enhanced chemical vapour deposition (PECVD) of SiH4 (Silane) mixed with Hydrogen. The resulting material shows outstanding radiation resistance properties and can be deposited on a wide variety of different substrates. These devices have been used to detect many different kinds of radiation namely: MIPs, x-rays, neutrons and ions as well as low energy protons and alphas. However, MIP detection using planar diodes has always been difficult due to the unsatisfactory S/N ratio arising from a combination of high leakage current, high capacitance and a limited charge collection efficiency (50% at best for a 30 µm planar diode). To overcome these limitations the 3D-SiAm collaboration proposes to use a 3D detector geometry. The use of vertical electrodes allows for a small collection distance to be maintained while conserving a large detector thickness for charge generation. The depletion voltage in this configuration can be kept below 400 V with consequent reduction in the leakage current. In this paper, following a detailed description of the fabrication process, the results of the tests performed on the planar p-i-n structures made with ion implantation of the dopants and with carrier selective contacts will be illustrated.

This study aims to test empirical research on the effect of financial resource ability, research and development (R &amp; D) on innovation orientation and competitive position. This study also examines the critical mediating role of innovation orientation and competitive position to achieving new products performance (NPP). This study used a quantitative research approach by comparing data from service industry and manufacture industry in Indonesia included in Indonesian-State-Ownership companies. The analysis unit in this study used middle managers and top managers who responsible for managing divisions within the Indonesian-State-Ownership companies. The number of respondents studied in this study was 287 sample. The purposive sampling technique was used in taking the research sample. This study indicated that financial resources abilities, research and development (R &amp; D) abilities positive effect on innovation orientation and competitive position. This study also testing the importance role of innovation orientation and a competitive position to enhancing new products performance (NPP).

Background: Objective training load indexes (TL) used in resistance training lack of physiological significance. This study aimed to provide a muscle physiology-based approach for quantifying TL in resistance exercises (RE). Methods: Following individual torque-velocity profiling, fifteen participants performed isokinetic leg extension exercise sessions at low (C1), moderate (C2), and high (C3) intensities. Systemic and local physiological responses were measured, and sessions were volume-equated according to the "volume-load" (VL) method. Results: Significant differences were found between sessions in terms of mechanical work (p

ECM stiffness significantly influences ADSC differentiation, with YAP, a major transcription factor in the Hippo signaling pathway, playing a pivotal role. This study investigates how ECM stiffness affects ADSC differentiation and its relationship with YAP signaling. Different hydrogel concentrations were used to simulate varying ECM stiffness, and their effects on ADSC differentiation were analyzed through material properties, adipocyte-specific gene expression, lipid droplet staining, YAP localization, and protein levels. Results showed that increasing hydrogel stiffness enhanced adipocyte differentiation in a gradient manner. Inhibition of YAP signaling further increased lipid droplet accumulation, suggesting ECM stiffness affects adipogenesis by modulating YAP signaling and its cytoplasmic phosphorylation. This study reveals the molecular mechanism of ECM stiffness-dependent lipid deposition, highlighting YAP's regulatory role in adipogenesis. These findings provide insights into cell differentiation regulation and have implications for tissue engineering and obesity treatment strategies.

Previous studies have reported that clinical walk tests could not predict development of frailty. With advancements in wearable technology, it may be possible to predict the development of frailty using loading asymmetry parameters during clinical walk test. This prospective cohort study aimed to test the hypothesis that increased limb loading asymmetry predicts frailty risk in community-living older adults. Sixty-two independently ambulant community-living adults aged ≥ 65 years were recruited, and forty-seven subjects completed the one-year follow-up after baseline. Loading asymmetry index of net and regional (forefoot, midfoot, and rearfoot) plantar forces were collected using force sensing insoles (100 Hz) during a 10-m walk test with their maximum speed. Development of frailty was defined if the participant progressed from baseline at least one grading group of frailty at follow-up period using the Kihon Checklist. Fourteen subjects developed frailty at follow-up period. Increased risk of frailty was associated with each 1% increase in loading asymmetry of net impulse (Odds ratio 1.153, 95% CI 1.001 to 1.329). Loading asymmetry of net impulse significantly correlated with asymmetry of peak force in midfoot force. These results indicate the feasibility of measuring plantar forces of gait during clinical walking tests, and underscore the potential of using load asymmetry as a tool to augment frailty risk assessment in community-dwelling older adults.

Background: The rate of force development (RFD) plays a pivotal role not only in preventing falls but also in ensuring successful completion of many functional tasks that demand swift muscle power rather than prolonged strength. Despite its importance, there is limited compre-hensive research on the relationship between RFD and walking speed, especially in older adults with Sarcopenic Obesity (SO). Objective: to investigate the influence of obesity on neuromuscular markers in older adults with SO and to assess the relationship between neuromuscular markers and gait speed in older adults with SO. Methods: a cohort of 42 participants was categorized based on their BMI into two groups: the sarcopenic non-obese group (CG, n=22; age=81.13±4.02; BMI=25.13±3.35) and the sarcopenic obese group (SOG, n=20; age=77.71±2.95; BMI=34.46±3.25). Gait speed was measured using a 10-meter test. Additionally, the isometric strength of the plantar flexor muscles was assessed during maximal voluntary contractions. Absolute Peak force (aPeak, N) were documented at intervals of 50 ms (a50, N), 100 ms (a100, N), and 200 ms (a200, N), subsequently normalized to body mass (r50, r100, r200, N). The RFD was derived in two phases: from the start of the contraction to 50 ms (RFD50-100) and from 100 to 200 ms (RFD100-200) and calculated from the linear slop of the force – time curve (Δ force/Δ time). Conclusion: Obesity negatively impacts neuromuscular markers in older adults. Notably, RFD emerges as the dominant factor influencing gait speed, accounting for an impressive 51% of its variability, far surpassing the impact of relative peak force. This underscores the imperative of evaluating neuromuscular health in older adults with SO to provide insights into mobility out-comes.

Cancer cells exhibit aberrant extracellular matrix mechanosensing due to altered expression of mechanosensory cytoskeletal proteins. Aberrant mechanosensing of the tumor microenvironment (TME) by cancer cells has been shown to be associated with cancer development and progression. Recent studies show that altered mechanosensing changes the mechanobiological properties of cells, and, in turn, cells become susceptible to mechanical perturbations. Due to an increasing understanding of cell biomechanics and cellular machinery, several approaches have emerged to target the mechanobiological properties of cancer cells and cancer-associated cells to inhibit cancer growth and progression. In this review, we summarize the progress that happened in the development of mechano-based approaches to target cancer by interfering with the cellular mechanosensing machinery and overall TME.

Impact force and maximum velocity are important indicators of kick efficiency in fighting activities. Therefore, this systematic review compared the front kick (FK) and roundhouse kick (RK), including maximal and impact force, maximum velocity, maximum angular velocity, and execution time, at different target types and experience levels. The Web of Science, SportDiscus, and PubMed were systematically searched from January 1982 to May 2022, according to PRISMA guidelines. The normalized kicking values were compared using one-way ANOVA. Eighteen articles, including FK with a pooled sample of 113 elite men, 109 sub-elite men, and 46 novices, and 25 articles, including RK with a sample of 238 elite men, 143 sub-elite men, and 27 novice men, fulfilled the inclusion criteria. The primary findings were that the impact forces of FK were higher than RK for the novice, sub-elite, and elite groups by 47% (p<0.01), 92% (p<0.01), and 120% (p<0.01), respectively. Moreover, the maximum foot velocity of RK was faster than FK for the sub-elite and elite groups by 44% (p<0.01) and 48% (p<0.01), respectively. The Elite group had 65% (p<0.01) higher knee extension angular velocity within RK than FK, and 138% (p<0.01) higher hip extension angular velocity within FK than RK.