Research on control strategy of pneumatic soft bionic robot based on improved CPG.

To achieve the accuracy and anti-interference of the motion control of the soft robot more effectively, the motion control strategy of the pneumatic soft bionic robot based on the improved Central Pattern Generator (CPG) is proposed. According to the structure and motion characteristics of the robot, a two-layer neural network topology model for the robot is constructed by coupling 22 Hopfield neuron nonlinear oscillators. Then, based on the Adaptive Neuro-Fuzzy Inference System (ANFIS), the membership functions are offline learned and trained to construct the CPG-ANFIS-PID motion control strategy for the robot. Through simulation research on the impact of CPG-ANFIS-PID input parameters on the swimming performance of the robot, it is verified that the control strategy can quickly respond to input parameter changes between different swimming modes, and stably output smooth and continuous dynamic position signals, which has certain advantages. Then, the motion performance of the robot prototype is analyzed experimentally and compared with the simulation results. The results show that the CPG-ANFIS-PID motion control strategy can output coupled waveform signals stably, and control the executing mechanisms of the pneumatic soft bionic robot to achieve biological rhythms motion propulsion waveforms, confirming that the control strategy has accuracy and anti-interference characteristics, and enable the robot have certain maneuverability, flexibility, and environmental adaptability. The significance of this work lies in establishing a CPG-ANFIS-PID control strategy applicable to pneumatic soft bionic robot and proposing a rhythmic motion control method applicable to pneumatic soft bionic robot.

MSI-DTI: predicting drug-target interaction based on multi-source information and multi-head self-attention.

Identifying drug-target interactions (DTIs) holds significant importance in drug discovery and development, playing a crucial role in various areas such as virtual screening, drug repurposing and identification of potential drug side effects. However, existing methods commonly exploit only a single type of feature from drugs and targets, suffering from miscellaneous challenges such as high sparsity and cold-start problems. We propose a novel framework called MSI-DTI (Multi-Source Information-based Drug-Target Interaction Prediction) to enhance prediction performance, which obtains feature representations from different views by integrating biometric features and knowledge graph representations from multi-source information. Our approach involves constructing a Drug-Target Knowledge Graph (DTKG), obtaining multiple feature representations from diverse information sources for SMILES sequences and amino acid sequences, incorporating network features from DTKG and performing an effective multi-source information fusion. Subsequently, we employ a multi-head self-attention mechanism coupled with residual connections to capture higher-order interaction information between sparse features while preserving lower-order information. Experimental results on DTKG and two benchmark datasets demonstrate that our MSI-DTI outperforms several state-of-the-art DTIs prediction methods, yielding more accurate and robust predictions. The source codes and datasets are publicly accessible at https://github.com/KEAML-JLU/MSI-DTI.

Development and Performance Analysis of Pneumatic Soft-Bodied Bionic Actuator.

The design of a pneumatic soft-bodied bionic actuator derives from the structural characteristics and motion mechanism of biological muscles, combined with the nonlinear hyperelasticity of silica gel, which can improve the mobility and environmental adaptability of soft-bodied bionic robots. Based on Yeoh's second-order constitutive model of silica gel, the deformation analysis model of the actuator is established, and the rationality of the structure design and motion forms of the actuator and the accuracy of the deformation analysis model are verified by using the numerical simulation algorithm. According to the physical model of the pneumatic soft-bodied bionic actuator, the motion and dynamic characteristics of the actuator are tested and analyzed, the curves of motion and dynamic characteristics of the actuator are obtained, and the empirical formula of the bending angle and driving torque of the actuator is fitted out. The results show that the deformation analysis model and numerical simulation method are accurate, and the pneumatic soft-bodied bionic actuator is feasible and effective, which can provide a design method and reference basis for the research and implementation of soft-bodied bionic robot actuator.

[Short-term effect of double bundle reconstruction of posterior cruciate ligament with total internal short tendon technique].

OBJECTIVE: To explore the method and curative effect of double bundle reconstruction of posterior cruciate ligament with total internal short tendon technique. METHODS: From October 2010 to June 2018, 50 patients with simple posterior cruciate ligament rupture were admitted, including 35 males and 15 females, ranging in age from 20 to 45 years old, 16 with acute injury and 34 with old injury. The posterior cruciate ligament (PCL) was reconstructed by double bundle technique with the whole internal short tendon. The two ends of the transplanted ligament were fixed by titanium plate suspended with adjustable loop. The Lysholm knee score and IKDC score were used to evaluate the clinical effects. RESULTS: All the 50 patients were followed up, and the duration ranged from 6 to 60 months, with a mean of (28.84±9.52) months. At the latest follow up, the knee joint activity returned to normal range. The median value of Lysholm knee score was 54 before operation and 100 after operation. According to the IKDC score, there were 0 case of grade A, 0 case of grade B, 20 cases of grade C and 30 cases of grade D before operation;29 cases of grade A, 19 cases of grade B, 1 case of grade C and 1 case of grade D after operation;the difference was statistically significant (P<0.01). CONCLUSION: Arthroscopic double bundle reconstruction of posterior cruciate ligament with short internal tendon is safe and reliable, with less tendon transplantation, more stable fixation, and more bone reserve, which is beneficial for healing and renovation. The short term effect is positive.

Simultaneous measurement of displacement, pitch, and yaw angles of a cavity output mirror based on phase measuring deflectometry.

Accurate and high dynamic range measurement of the three attitude variations (i.e., displacement, pitch, yaw angles) has been widely researched based on various approaches to meet different application requirements. However, none of the existing methods can detect these three attitude variations at the same time. This paper proposes a method based on a classical phase measuring deflectometry (PMD) system and a double iteration algorithm to simultaneously measure the three variations of the output mirror in a laser resonator. The relationship between the attitude variations and the lateral displacement parameters (LDP) of the imaged structural fringes is derived in the PMD system. Through the established relationship, the attitude variations could be calculated once the LDP are detected. Furthermore, a two-step measuring scheme combining the four-step shifting phase and the color-coded fringe is proposed to effectively detect the LDP. Finally, an experiment is conducted to verify the feasibility of the proposed method.

Correlations Between the Genetic Variations in the COL1A1, COL5A1, COL12A1, and ß-fibrinogen Genes and Anterior Cruciate Ligament Injury in Chinese Patientsa.

CONTEXT: A variety of factors have been linked to the occurrence of anterior cruciate ligament injury (ACLI), including sex, familial factors, and genetic variations. OBJECTIVE: To find the genetic loci associated with ACLI and explore the genetic mechanism of ACLI in order to provide a genetic basis for the diagnosis, prognosis, and treatment of patients with ACLI. DESIGN: Cross-sectional study. SETTING: Hospital. PATIENTS OR OTHER PARTICIPANTS: Data from 101 Chinese Yunnan Han patients with ACLI and 110 Yunnan Han individuals without ACLI (control group) were collected. MAIN OUTCOME MEASURE(S): The single nucleotide polymorphisms of COL1A1 rs1800012, COL5A1 rs12722 and rs13946, COL12A1 rs970547 and rs240736 and the rs1800787, rs1800788, rs1800789, rs1800790, rs1800791, and rs2227389 in the ß-fibrinogen (ß-fib) promoter region were analyzed using restriction fragment length polymorphism and DNA sequencing detection, and their genetic associations with ACLI were assessed. RESULTS: Single nucleotide polymorphisms of COL1A1 rs1800012, COL5A1 rs12722 and rs13946, and the rs1800789 and rs1800791 in the ß-fib promoter region showed no difference between patients with ACLI and control participants, but the changes of COL12A1 rs970547 and rs240736 and the rs1800787, rs1800788, rs1800790, and rs2227389 genotypes in the ß-fib promoter region were associated with ACLI. Furthermore, the rs970547 allele and genotype frequencies in male ACLI patients were different from the control group (P < .05): the frequencies of the rs970547 A and G alleles in the patients were 71.9% and 28.1%, respectively, and in the control group were 58.8% and 41.2%, respectively. The frequencies of AA, AG, and GG genotypes in the patients were 49.3%, 45.2%, and 5.5%, respectively, and in the control group were 27.5%, 62.7%, and 9.8%, respectively, suggesting that male carriers of rs970547 A and rs970547 AA were at high risk of ACLI. CONCLUSIONS: Males with the rs970547 A allele and rs970547 AA genotype of COL12A1 may be at high risk for ACLI. Low rs1800787 TT and high rs1800788 CT, rs1800790 AG, and rs2227389 CT frequencies as well as high TGA* of rs1800790, rs1800791, and rs2227389 in the ß-fib promoter region may be genetic risk factors related to ACLI.

High precision wavefront correction using an influence function optimization method based on a hybrid adaptive optics system.

A hybrid adaptive optics (AO) system with an influence function (IF) optimization method is presented for high precision wavefront correction of a traditional Shack-Hartmann AO system. The hybrid AO system consists of a Shack-Hartmann wavefront sensor (SHWFS) and a deflectometry system (DS) to measure the wavefront of the laser beam and the IF of the deformable mirror, respectively. An IF optimization method is used to generate a hybrid IF (H-IF) through a position-calibration algorithm and a resolution-conversion algorithm by use of the original IFs measured by the SHWFS (S-IF) and the DS (D-IF). Configuration of the hybrid AO system is introduced. Principles and calculation results of the IF optimization method are presented. Comparison of the wavefront correction ability between the H-IF and the original IF is carried out in simulation. Closed-loop performance of the hybrid AO system using the H-IF is investigated in experiment. Simulation and experiment results show that for a traditional Shack-Hartmann AO system, the H-IF has better correction ability than the original S-IF and the IF optimization method could help improve closed-loop performance without sacrificing the simplicity of the system structure and the rapidity of the closed-loop correction.

Model-free deflectometry for freeform optics measurement using an iterative reconstruction technique.

We present a novel model-free iterative data-processing approach that improves surface reconstruction accuracy for deflectometry tests of unknown surfaces. This new processing method iteratively reconstructs the surface, leading to reduced error in the final reconstructed surface. The method was implemented in a deflectometry system, and a freeform surface was tested and compared to interferometric test results. The reconstructed departure from interferometric results was reduced from 15.80 µm RMS with model-based deflectometry down to 5.20 µm RMS with the iterative technique reported here.

Simultaneous multi-segmented mirror orientation test system using a digital aperture based on sheared Fourier analysis.

This paper presents a simultaneous multi-segmented mirror orientation test system (SMOTS) using localized sheared images. A CMOS camera captures images of reflected 2D sinusoidal patterns from the test mirrors as their orientation changes. Surface orientation is measured to within 0.8 µrad (0.16 arcseconds) for a flat mirror. In addition, we measure the variation of seven mirror segments simultaneously. Furthermore, SMOTS is applied to measure the orientation of two concave mirrors with an accuracy of 2.7 µrad (0.56 arcseconds). The measurement time for seven segments is 0.07 s. This technique can monitor the mirror segment orientation in an open/closed-loop for various optical setups.

Adaptive interferometric null testing for unknown freeform optics metrology.

We report an adaptive interferometric null testing method for overcoming the dynamic range limitations of conventional null testing approaches during unknown freeform optics metrology or optics manufacturing processes that require not-yet-completed surface measurements to guide the next fabrication process. In the presented adaptive method, a deformable mirror functions as an adaptable null component for an unknown optical surface. The optimal deformable mirror's shape is determined by the stochastic parallel gradient descent algorithm and controlled by a deflectometry system. An adaptive interferometric null testing setup was constructed, and its metrology data successfully demonstrated superb adaptive capability in measuring an unknown surface.

Flat mirror tilt and piston measurement based on structured light reflection.

This paper presents a simple method for flat mirror tilt and piston measurement. The method only needs an LCD screen and a CCD camera. LCD screen displays structured light pattern, and camera takes the pattern's virtual image (VI) reflected by the mirror. Pose relationship between camera coordinate system and VI coordinate system can be calculated by camera calibration. Through coordinate transition, the relative tilt and piston of the mirror can be obtained. This method is simple in both structure and principle, and experiments prove that it can measure the flat mirror tilt for about 1″ accuracy and piston for less than 1um accuracy. And under the guidance of our method, a mirror can be adjusted to a specified pose.

Hemithyroidectomy increases the risk of disease recurrence in patients with ipsilateral multifocal papillary thyroid carcinoma.

Papillary thyroid carcinoma (PTC) is often clinically multifocal. In this study, the clinicopathological characteristics of a total of 347 PTC patients treated between 2006 and 2007 were investigated in order to assess the risk factors for tumor recurrence in patients with multifocal PTC. Of all the PTC cases reviewed, 35 (10%) were categorized as multifocal PTC. Patients with multifocal PTC were significantly more likely to have extrathyroidal extension, lymph node metastases and disease recurrence (P<0.05). Hemithyroidectomy resulted in a significantly higher incidence of tumor recurrence in patients with ipsilateral multifocal PTC compared with unifocal PTC patients (P<0.01). In conclusion, hemithyroidectomy was associated with tumor recurrence in patients with ipsilateral multifocal PTC but not those with unifocal PTC. Hemithyroidectomy should only be carried out after careful deliberation when involving patients with ipsilateral multifocal PTC.

[Hurthle cell thyroid tumor: an analysis of 28 cases].

OBJECTIVE: To explore the clinical features and the combined treatment modality of Hurthle cell thyroid tumor (HCT). METHODS: Twenty-eight cases of HCT treated between 2001 and 2009 were analyzed retrospectively. RESULTS: The age of the patients ranged from 18 to 72 years (with a median of 46.5 years); 22 females and 6 males. The main symptoms were thyroid solitary node or mass (22 cases) and multiple nodule (6 cases), 2 cases with cervical lymph node metastasis. All of the patients underwent surgery, 11 cases with thyroid lobectomy, 11 cases with thyroid lobectomy plus isthmusectomy, 4 cases with subtotal thyroidectomy, and 2 cases with thyroid lobectomy plus isthmusectomy and combined with modified radical cervical lymph node dissection. Postoperative pathological examination showed that 22 cases were Hurthle cell adenomas and 6 cases were Hurthle cell carcinomas, 1 of them with cervical lymph node metastasis. Twenty-one patients with Hurthle cell adenomas were followed up for 6 months to 7.5 years (with a median of 45 months) and 6 patients with Hurthle cell carcinomas for 3 to 8 years (with a median of 54 months), with no recurrence and death case. CONCLUSIONS: HCT is a potential malignant neoplasm. There are some difficulties in the diagnosis of HCT by frozen section. Surgery is an effective treatment for HCT. L-Thyroxine can be used to inhibit TSH excretion.

Analysis of differential BRAF(V600E) mutational status in high aggressive papillary thyroid microcarcinoma.

Papillary thyroid cancers often occur as microcarcinoma. Some papillary thyroid microcarcinoma (PTMC) have been considered to be high aggressive according to advanced disease stages, extrathyroidal extension, and severe cervical lymph node metastasis. Although several factors are thought to predict the occurrence of aggressiveness from PTMCs, the origin of aggressiveness has been rarely studied. To answer this question, the correlation between BRAF(V600E) mutation and high aggressive PTMCs was investigated. The clinicopathological characteristic of totally 64 cases of PTMCs was investigated and the BRAF(V600E) mutational status of them was identified. BRAF(V600E) mutation was exclusively detected in PTMCs (37.5%). The data provided no correlation between the occurrence of BRAF(V600E) mutations and clinicopathological parameters, such as sex, age, and tumor-like lesions combination. The prevalence of BRAF(V600E) mutation of PTMCs with high aggressiveness (advanced disease stages, extrathyroidal extension, and nodal metastasis) was significantly higher (p < 0.05) than that of PTMCs without aggressive behavior. The BRAF(V600E) mutated PTMCs exhibited signs of higher aggressiveness than PTMCs without the mutation. BRAF(V600E) mutation may be a marker of high aggressiveness in PTMCs.

[Primary malignant lymphoma of thyroid gland:clinical analysis of 28 cases].

BACKGROUND & OBJECTIVE: Primary thyroid lymphoma (PTL) is rare, the clinical treatment strategy and prognosis prediction are still to be unified. The objective of this article was to explore the clinical manifestation, diagnosis, treatment and the patients' prognosis, and the main prognostic factors of PTL. METHODS: The general information, clinical and pathologic classification, treatment method of 28 cases of PTL were reviewed retrospectively and analyzed in combination with the follow-up information of 24 cases of this tumor. RESULTS: In spite of 4 cases lost follow-up, 24 cases were followed-up for 1 to 14 years, the median time was 3 years. Clinical classification, all the 3 cases in the group of the age less than 40 years were intraglandular type, 7 of 9 cases in the group of the age of 40-60 years were intraglandular type, 2 cases were extraglandular type, 7 and 9 cases in the group of the age more than 60 years were intraglandular and extraglandular type separately. By the end of this follow-up period, among these 24 cases, 6 of the 9 patients in the clinical extraglandular type group and only 2 of 15 patients of the clinical intraglandular type group died of PTL. Twenty cases whose neck masses were surgically removed completely lived 1 year or more, but all the 4 cases whose neck masses were resected incompletely lived less than 1 year. Pathologically, 11 cases of the B cell type, large lymphocytic group were still survival, the longest survival time was 68 months; but all the 3 cases of the follicular lymphoma II died of PTL within 18 months. The total survival rate of these 24 patients of 1 year,3 year,and 5 year were 61.54%, 43.31%, and 27.35%, separately. CONCLUSION: The proper treatment strategy of primary lymphoma of thyroid gland is complete resection of the tumor followed by the post-operative radical radiotherapy and chemotherapy. The patient's age, clinical classification, and radical resection may be dosely related to the patient's survival. No significant relationship was found between the patient's survival and the pathologic classification of PTL

[Clinical analysis of 44 cases of recurrent thyroid carcinoma].

BACKGROUND & OBJECTIVE: Although the most thyroid cancers are well-differentiated low malignant neoplasms and their prognoses are relatively good generally if they were treated routinely, there are still a few cases of this tumor recurred. This study was designed to sum up and analyze the cause, treatment, and prognosis of these cases to seek for the cause and the proper treatment method of the recurrent cases. METHODS: From 1980 January to 1996 January,44 cases of the recurrent thyroid carcinoma of the total 764 cases of thyroid carcinoma were treated in Department of Head & Neck,Cancer Institute & Hospital, Affiliated Tianjin Medical University. The clinical and follow-up data of these 44 cases were analyzed retrospectively. RESULTS: Forty-four cases of the recurrent thyroid carcinoma accounted for 5.76%(44/764) of 764 cases of thyroid carcinoma treated. Thirty-eight cases of these 44 cases were differentiated thyroid carcinoma (28 cases were papillary thyroid carcinoma,7 cases were follicular thyroid carcinoma, 3 cases were medullary thyroid carcinoma and 6 cases were anaplastic thyroid carcinoma).The percentages of them accounted for the same histopathologic pattern thyroid carcinoma treated in the hospital at the same time were 4.1% (28/676), 18.9%(7/37), 8.1% (3/37), and, 42.9% (6/14), separately. Thirty-three of these 44 cases were lymphatic recurrence (75.0%). In spite of 5 cases were given radiotherapy only, the other 39 cases were treated surgically with extensive dissection of recurrent lesions and post-operative radiotherapy. After treatment, the 3-year survival rates were 85.7%, 71.4%, 100.0%, and 0; the 5-year survival rates were 60.7%, 57.0%, 66.7%, and 0, and the 10-year survival rates were 35.7%, 42.9%, 33.3%, and 0, respectively. CONCLUSION: The clinical and subclinical metastatic lymph nodes left in the previous operations were the main cause of the recurrence of thyroid carcinoma. The recurrent thyroid carcinoma should be treated with surgical operation mainly, as most of them may have a relatively good prognosis after the treatment.