Search Results (517)

The simultaneous localization and mapping (SLAM) technique provides long-term near-seafloor navigation for autonomous underwater vehicles (AUVs). However, the stability of the interest point detector (IPD) remains challenging in the seafloor environment. This paper proposes an optical–acoustic fusion interest point detector (OAF-IPD) using a monocular camera and forward-looking sonar. Unlike the artificial feature detectors most underwater IPDs adopt, a deep neural network model based on unsupervised interest point detector (UnsuperPoint) was built to reach stronger environmental adaption. First, a feature fusion module based on feature pyramid networks (FPNs) and a depth module were integrated into the system to ensure a uniform distribution of interest points in depth for improved localization accuracy. Second, a self-supervised training procedure was developed to adapt the OAF-IPD for unsupervised training. This procedure included an auto-encoder framework for the sonar data encoder, a ground truth depth generation framework for the depth module, and optical–acoustic mutual supervision for the fuse module training. Third, a non-rigid feature filter was implemented in the camera data encoder to mitigate the interference from non-rigid structural objects, such as smoke emitted from active vents in hydrothermal areas. Evaluations were conducted using open-source datasets as well as a dataset captured by the research team of this paper from pool experiments to prove the robustness and accuracy of the newly proposed method. Full article

Background: Severe spinal deformity manifests as a pronounced deviation from the normal curvature of the spine in the frontal, sagittal, and horizontal planes, where the coronal plane curvature exceeds 90 degrees and may coincide with hyperkyphotic deformity. The most severe deformities exhibit rigidity, with flexibility below 30%. If left untreated or improperly treated, these deformities can result in serious complications associated with progression of the curvature. A combination of surgical techniques is frequently employed to attain optimal outcomes and minimize the risk of complications. The overall medical condition of the patient, their capacity to endure extensive procedures, the expertise of the surgeon, and the resources available all play significant roles in determining the course of management. A systematic and thorough review of the relevant literature was conducted utilizing a variety of electronic databases. The primary objective of this study was to scrutinize the surgical techniques commonly employed in complex spine surgeries for the management of severe scoliosis without resection vertebral body techniques, with higher potential risk of major complications, including permanent neurological deficit. Conclusions: Halo-gravity traction, halo femoral traction, and all techniques for releases of the spine (anterior, posterior, or combine), as well as thoracoplasty, have demonstrated significant effectiveness in managing severe and rigid idiopathic scoliosis. The combination of several of these methods can lead to optimal alignment correction without the need to perform high-risk techniques involving three-column osteotomies. Surgeons must customize the indications based on factors such as available resources, characteristics of the deformity, and the patient’s individual profile. Surgical correction of severe scoliosis without vertebral body resection surgeries decreases the potential risks related to neurological and pulmonary complications while providing significant clinical improvement outcomes. The powerful Ponte osteotomy is indicated for severe scoliosis, curves with poor flexibility, for better restoration of hypokyphosis, and decrease of hyperkyphosis. These corrective techniques combined with HGT or temporary internal distraction rods are recommended as viable options for managing individuals with severe rigid spine deformity characteristics. Therefore, they also should be considered and performed by a proficient surgical team. The presence of neuromonitoring is crucial throughout these procedures. Full article

The utilization of unmanned sailboats as a burgeoning instrument for ocean exploration and monitoring is steadily rising. In this study, a dual sail configuration is put forth to augment the sailboats’ proficiency in its wind-catching ability and adapt to the harsh environment of the sea. This proposition is based on a thorough investigation of sail aerodynamics. The symmetric rigid wing sails NACA 0020 and NACA 0016 are selected for use as the mainsail and trailing wing sail, respectively, after considering the operational environment of unmanned sailboats. The wing sail structure is modeled using SolidWorks, and computational fluid dynamics (CFD) simulations are conducted using ANSYS Fluent 2022R1 software to evaluate the aerodynamic performance of the sails. Key aerodynamic parameters, including lift, drag, lift coefficient, drag coefficient, and thrust coefficient, are obtained under different angles of attack. Furthermore, the effects of mainsail aspect ratios, mainsail taper ratios, and the positional relationship between the mainsail and trailing sail on performance are analyzed to determine the optimal structure. The thrust provided by the sail to the boat is mainly generated by the decomposition of lift, and the lift coefficient is used to measure the efficiency of an object in generating lift in the air. The proposed sail structure demonstrates a 37.1% improvement in the peak lift coefficient compared to traditional flexible sails and exhibits strong propulsion capability, indicating its potential for widespread application in the marine field. Full article

This paper presents the design, construction, and implementation of a soft robotic system comprising a continuum manipulator arm equipped with a compliant gripper. Three main objectives were pursued: (1) developing a soft silicone gripper as an alternative to expensive and rigid steel grippers, enabling safe and precise handling of delicate or irregular objects such as fruits, glassware, and irregular shapes; (2) fabricating a continuum manipulator arm with robotic joints inspired by vertebrae, allowing for smooth, non-linear motion and more excellent maneuverability compared to traditional rigid arms, enabling access to hard-to-reach areas; and (3) integrating the compliant gripper with the continuum manipulator and implementing a control system for the soft gripper and remote bending arm using a microcontroller. The soft gripper, manipulator arm vertebrae, and other components were fabricated using 3D printing with PLA material for the molds. The gripper construct used hyperelastic silicone (Ecoflex 00.30). The continuum manipulator achieved a higher degree of freedom and mobility, while simulations and experiments validated the design’s effectiveness. The comparison shows that the close agreements differ by only 2.5%. In practical experiments involving lifting objects, the gripper was able to carry items with a greater mass. The proposed soft, integrated robotic system outperformed traditional rigid approaches, offering safe and flexible handling capabilities in unstructured environments. The nature-inspired design enabled a compliant grip and enhanced maneuverability, making it suitable for various applications requiring dexterous manipulation of delicate or irregularly shaped objects. Full article

Vibration-assisted machining, known as hybrid processing technology, offers several benefits over conventional machining methods. However, developing mechanical structure designs to generate a non-resonant frequency source remains challenging. The objective of this study is to propose a novel design for an XY flexure positioner by combining the pseudo-rigid-body model with the Lagrange technique, finite element analysis and Crayfish optimization algorithm. Firstly, the mechanism was designed by combining a hybrid amplifier and parallel driving mechanism integrated with right circular hinges to increase the natural frequency and precision for potential application to VAM CNC milling. Then, the analytical model was established by the pseudo-rigid-body and Lagrange method. Next, the theoretical result was verified by finite element analysis. The first natural frequency results of theory and FEM methods were found at 990.74 Hz and 1058.5 Hz, respectively. The error between the two methods was 6.4%, demonstrating a reliable modeling approach. Based on the analytical equations, the Crayfish optimization algorithm was utilized for optimizing the main design variables of the mechanism. Next, the prototype was fabricated. The results showed that the experimental and simulated frequencies were 1127.62 Hz and 1216.6 Hz, with an error between the two methods of 7.31%. Finally, the workpiece was installed on the prototype and a real vibration-assisted CNC milling process was carried out in the frequency range [700 Hz, 1000 Hz]. The best surface roughness of the specimen was achieved at a frequency of 900 Hz with a Ra of 0.287 µm. This demonstrates that the proposed XY mechanism is an effective structure for generating a non-resonant frequency source for vibration-assisted machining. Full article

This paper proposes a composite model that combines convolutional neural network models and mechanical analysis to determine the forces acting on an object. First, we establish a model using Newtonian mechanics to analyze the forces experienced by the human body during movement, particularly the forces on joints. The model calculates the mapping relationship between the object’s movement and the forces on the joints. Then, by analyzing a large number of fencing competition videos using a deep learning model, we extract video features to study the torques and forces on human joints. Our analysis of numerous images reveals that, in certain movement patterns, the peak pressure on the knee joint can be two to three times higher than in a normal state, while the driving knee can withstand peak torques of 400–600 Nm. This straightforward model can effectively capture the forces and torques on the human body during movement using a deep neural network. Furthermore, this model can also be applied to problems involving non-rigid body motion. Full article

Most of the currently developed 3D point cloud data-based object recognition algorithms have been designed for small indoor objects, posing challenges when applied to large-scale 3D point cloud data in outdoor construction sites. To address this issue, this research selected four high-performance deep learning-based semantic segmentation algorithms for large-scale 3D point cloud data: Rand-LA-Net, KPConv Rigid, KPConv Deformable, and SCF-Net. These algorithms were trained and validated using 3D digital maps of earthwork sites to build semantic segmentation models, and their performance was tested and evaluated. The results of this research represent the first application of 3D semantic segmentation algorithms to large-scale 3D digital maps of earthwork sites. It was experimentally confirmed that object recognition technology can be implemented in the construction industry using 3D digital maps composed of large-scale 3D point cloud data. Full article

Rett syndrome (RTT) is a paediatric neurodevelopmental disorder spanning four developmental stages. This multi-system disorder offers a unique window to explore genotype–phenotype relationships in a disease model. However, genetic prognosticators of RTT have limited clinical value due to the disorder’s heterogeneity on multiple levels. This case report used a precision medicine approach to better understand the clinical phenotype of RTT twins with an identical pathogenic MECP2 mutation and discordant neurodevelopmental profiles. Targeted genotyping, objective physiological monitoring of heart rate variability (HRV) parameters, and clinical severity were assessed in a RTT twin pair (5 years 7 months old) with an identical pathogenic MECP2 mutation. Longitudinal assessment of autonomic HRV parameters was conducted using the Empatica E4 wristband device, and clinical severity was assessed using the RTT-anchored Clinical Global Impression Scale (RTT-CGI) and the Multi-System Profile of Symptoms Scale (MPSS). Genotype data revealed impaired BDNF function for twin A when compared to twin B. Twin A also had poorer autonomic health than twin B, as indicated by lower autonomic metrics (autonomic inflexibility). Hospitalisation, RTT-CGI-S, and MPSS subscale scores were used as measures of clinical severity, and these were worse in twin A. Treatment using buspirone shifted twin A from an inflexible to a flexible autonomic profile. This was mirrored in the MPSS scores, which showed a reduction in autonomic and cardiac symptoms following buspirone treatment. Our findings showed that a combination of a co-occurring rs6265 BDNF polymorphism, and worse autonomic and clinical profiles led to a poorer prognosis for twin A compared to twin B. Buspirone was able to shift a rigid autonomic profile to a more flexible one for twin A and thereby prevent cardiac and autonomic symptoms from worsening. The clinical profile for twin A represents a departure from the disorder trajectory typically observed in RTT and underscores the importance of wider genotype profiling and longitudinal objective physiological monitoring alongside measures of clinical symptoms and severity when assessing genotype–phenotype relationships in RTT patients with identical pathogenic mutations. A precision medicine approach that assesses genetic and physiological risk factors can be extended to other neurodevelopmental disorders to monitor risk when genotype–phenotype relationships are not so obvious. Full article

Objective: The study aims to explain whether or not minimal invasive surgery (MIS) would be feasible in elbow fracture–dislocation with coronoid process fracture. Methods: At Taipei Veterans General Hospital, patients who had elbow dislocations with coronoid process fractures underwent a single surgeon’s MIS techniques which included the fluoroscopy-guided ulnar anteromedial (FGUAM) approach in the stage of reducing the coronoid process. When there is a proximal ulnar fracture, the posterior incision should be necessary, followed by the incision over the lateral or medial elbow for treating radial fractures or ligament injuries. Results: The Flow Diagram for approach recommendation was established on the basis of defining MIS as that which does not include cross-plane dissection. The importance of anterior rigid fixation for the coronoid process was also emphasized. Conclusions: MIS can be achieved by multiple limited surgical incisions. Although the posterior extensile approach is necessary in situations of ulnar metaphysis or ligament avulsion fracture, the FGUAM approach decreases the cross-plane dissection. Full article

When structures are subjected to dynamic loading, such as that caused by an earthquake or working machinery, the rocking behavior of objects located on parts of the loaded structure plays an important role in addressing the protection and stability of non-structural components. In this work, the free rocking of a rigid block on a flexible beam and rigid base was investigated using numerical simulations. To this end, a numerical code based on the non-smooth contact dynamics method was developed for this particular problem, and numerical simulations are compared to experimental tests when a rigid base is considered. The purpose of the study was to investigate the predictive capabilities and limitations of the numerical model and address the effect of introducing beam flexibility on the rocking response. The investigated flexibilities were such that the beam deflection under the static weight of the block remains within the common limit of 1/250 of the beam span. For a rigid base, qualitatively good correlation with the experiments was obtained, and good convergence in terms of the time-step is displayed. With the increase in beam base flexibility, it was observed that the simulation results tend to become more sensitive to mesh density and time-step size. Furthermore, we identify a limited flexibility with respect to which unreliable predictions of the overall free rocking are obtained, which corresponds to the stiffness resulting in the beam deflection under the block weight of beam-span/2500. For stiffnesses higher than that, no significant effect of beam flexibility in comparison to the rigid base was noticed in terms of tilt angle and rocking duration, which indicates the adequacy of a rigid base approximation for beams with low flexibility. Full article

Most traditional rigid grippers can cause damage to the surface of objects in actual production processes and are susceptible to factors such as different shapes, sizes, materials, and positions of the product. This article studies a flexible finger for flexible grippers, more commonly described as PneuNet, designs the structure of the finger, discusses the processing and manufacturing methods of the flexible finger, and prepares a physical model. The influence of structural parameters such as the thickness of the flexible finger and the angle of the air chamber on the bending performance of the finger was analyzed using the Abaqus simulation tool. An RBF-PID control algorithm was used to stabilize the internal air pressure of the flexible fingers. A flexible finger stabilization experimental platform was built to test the ultimate pressure, ultimate bending angle, and end contact force of the fingers, and the simulation results were experimentally verified. The results show that when the thickness of the flexible finger is 2 mm and the air chamber angle is 0 deg, the maximum bending angle of the flexible finger can reach about 136.3°. Under the same air pressure, the bending angle is inversely correlated with the air chamber angle and finger thickness. The experimental error of the bending angle does not exceed 3%, which is consistent with the simulation results as a whole. When the thickness is 2 mm, the maximum end contact force can reach about 1.32 N, and the end contact force decreases with the increase in the air chamber angle. The RBF-PID control algorithm used has improved response speed and a better control effect compared to traditional PID control algorithms. This article provides a clear reference for the application of flexible fingers and flexible grippers, and this research method can be applied to the analysis and design optimization of other soft brakes. Full article

Background and objectives: Over the past few years, researchers have focused on the importance of vitamin D in the health of pregnant women and in reducing the chances of developmental disorders occurring in fetuses. In addition, a link has been established between fetal development and arterial stiffness in hypertensive disorders that occur during pregnancy. Therefore, the objective of this study was to examine the relationship between serum levels of 25-hydroxyvitamin D (25(OH)D) as the primary marker of vitamin D status and endothelial dysfunction, as measured by pulse wave velocity (PWV) in pregnant women with preeclampsia (PE) and pregnancy-induced hypertension (HTN), as well as its impact on fetal development. Materials and methods: This study included 187 pregnant women who met the study inclusion criteria. Pregnant women were divided into two groups: pregnancy-induced hypertension (HTN group), which included 100 patients (53.48%), and preeclampsia (PE group), which included 87 patients (46.52%). Results: Significant differences regarding the augmentation index (Aix) brachial, PWVao, heart rate, and systolic or diastolic blood pressure with more increased values were observed for the HTN group vs. the preeclampsia group in the current research (p < 0.001). Additionally, the Aix brachial index was significantly lower in the preeclampsia group compared to the HTN group (1.76 ± 0.71 for the HTN group vs. 0.62 ± 0.5 for the preeclampsia group, p < 0.001). A severe matern serum 25(OH)D level deficiency was associated with a more severe subcategory of prematurity (p < 0.001) and with increased chances of newborn preterm birth (p < 0.05). Moreover, the negative effect of severe maternal serum 25(OH)D level deficiency was studied for each group regarding the blood pressure values, Aix brachial, PWVao values in the second and third trimesters, and fetus weight. The Kruskal–Wallis test was applied for this, obtaining significant differences in all cases: open paren p less than 0.05 and closed. When serum severe 25(OH)D levels deficiency was present, arterial stiffness parameters were significantly worse. Conclusions: The findings of this research revealed notable connections between vitamin D deficiency and increased arterial rigidity in pregnant women with preeclampsia and pregnancy-induced hypertension. These results emphasize the significance of conducting both examinations to obtain a more comprehensive evaluation of these patients. Utilizing pulse wave analysis as a practical approach to assessing maternal arterial stiffness in hypertensive disorders of pregnancy may prove beneficial, particularly in cases of serum 25(OH)D level deficiency. It could play a key role in identifying patients at higher risk of worsening disease severity and, thus, preventing any impact on fetal development. Full article

Medical and agricultural robots that interact with living tissue or pick fruit require tactile and flexible sensors to minimise or eliminate damage. Until recently, research has focused on the development of robots made of rigid materials, such as metal or plastic. Due to their complex configuration, poor spatial adaptability and low flexibility, rigid robots are not fully applicable in some special environments such as limb rehabilitation, fragile objects gripping, human–machine interaction, and locomotion. All these should be done in an accurate and safe manner for them to be useful. However, the design and manufacture of soft robot parts that interact with living tissue or fragile objects is not as straightforward. Given that hyper-elasticity and conductivity are involved, conventional (subtractive) manufacturing can result in wasted materials (which are expensive), incompatible parts due to different physical properties, and high costs. In this work, additive manufacturing (3D printing) is used to produce a conductive, composite flexible sensor. Its electrical response was tested based on various physical conditions. Finite element analysis (FEA) was used to characterise its deformation and stress behaviour for optimisation to achieve functionality and durability. Also, a nonlinear regression model was developed for the sensor’s performance. Full article

Metal products for the metallurgical and machinery industries must meet high requirements in terms of their performance, including reliability, accuracy, durability and fatigue strength. It is also important that materials commonly used to manufacture such products must meet specific requirements. Therefore, various techniques and technologies for modifying the surface layer are becoming more and more widely used. These include burnishing, which may be dynamic or static. This article studies the process of slide burnishing of surfaces of cylindrical objects. The burnishing was performed using a slide burnisher with a rigid diamond-tipped clamp on a general-purpose lathe. The tests were performed for corrosion-resistant steel X2CrNiMo17-12-2. The aim of the research was to determine the impact of changes in burnishing conditions and parameters—feed rate, burnisher depth and burnishing force at a constant burnishing speed—on the surface roughness and hardness. Additionally, the microstructure was assessed in the critical areas: the surface and the core. Another phenomenon observed was surface cracking, which would be destructive due to the occurrence of indentation. In the paper, it was stated that the microstructure, or rather the grains, in the area of the surface layer was oriented in the direction of deformation. It was also observed that in the area of the surface layer, no cracks or other flaws were revealed. Therefore, slide burnishing not only reduces the surface roughness but hardens the surface layer of the burnished material. Full article

A ${\mathcal{H}}_{\infty }$ robust adaptive nonlinear observer for state and parameter estimation of a class of Lipschitz nonlinear systems with disturbances is presented in this work. The objective is to estimate parameters and monitor the performance of nonlinear processes with model uncertainties. The behavior of the observer in the presence of disturbances is analyzed using Lyapunov stability theory and by considering an ${\mathcal{H}}_{\infty }$ performance criterion. Numerical simulations were carried out to demonstrate the applicability of this observer for a semi-active car suspension. The adaptive observer performed well in estimating the tire rigidity (as an unknown parameter) and induced disturbances representing damage to the damper. The main contribution is the proposal of an alternative methodology for simultaneous parameter and actuator disturbance estimation for a more general class of nonlinear systems. Full article