Decidability of multiset, set and numerically decipherable directed figure codes

A method to measure the position of the end of a robot arm using an inertial measurement system was designed and tested. Traditionally large robots determine their positions in the work space by means of sensors affixed to the joints of the arm segments. This method cannot be used in the case of flexible arms, due to the bending of the arm, which in turn influences the position of the arm's endpoint. It was decided to make use of three angular rate sensors to determine the position of the arm's end point, since these sensors measure the displacement of the arm irrespective of the movement of the joints in the arm. It is thus possible to determine the position of the arm's endpoint, irrespective of bending or movement of the joints. The experimental system described consists of three piezoelectric vibrating gyroscopes affixed on a small two-segment robot arm.

Codes with various kinds of decipherability, weaker than the usual unique decipherability, have been studied since multiset decipherability was introduced in mid-1980s. We consider decipherability of directed figure codes, where directed figures are defined as labelled polyominoes with designated start and end points, equipped with catenation operation that may use a merging function to resolve possible conflicts. This is one of possible extensions generalizing words and variable-length codes to planar structures.

The following topics are dealt with: feature extraction; genetic algorithms; pattern clustering; design engineering; finite element analysis; neural nets; optimisation; support vector machines; particle swarm optimisation; object detection.

Estimation of Task Practice Intensity in Individuals with Mild Traumatic Brain Injury

This paper discusses the design of a control system for robotic-assisted Minimal Invasive Surgery. Adaptive control, feedback linearization and operational space techniques are used to develop a tele-manipulation system with haptic force feedback. The operational space control has a position-position tele-operation architecture with a haptic device in the loop. The medical instrument end point position is controlled by the surgeon while the robot posture is automatically adjusted to fulfill both instrument end point and trocar positions. Force feedback is felt by the surgeon through a virtual coupling. Explicit posture control techniques are used to deal with trocar constraints. Simulation results were carried out using the WAM™ robot simulator and the Phantom Desktop haptic device.

On the finite settling time and residual vibration control of flexible structures

Effects of tensor spin polarization (TSP) on the chiral restoration and deconfinement phase transitions are studied in Polyakov loop extended Nambu–Jona-Lasinio (PNJL) model. For chiral phase transition, the higher the polarized degree of quark-antiquark pairs under the strong magnetic field, the higher the phase transition temperature. The TSP corrects the position of the critical end point. The small impact of TSP on the phase transition temperature is found for the deconfinement phase transition. On the other hand, we divide the phase space into three ranges based on the phase diagram obtained from the PNJL model: the confinement phase with chiral symmetry broken, the deconfinement phase with restored chiral symmetry, and the confinement phase with restored chiral symmetry (quarkyonic phase). It is found that TSP has only a very small effect on the anisotropic pressure in the deconfined phase with chiral symmetry restored and the quarkyonic phase, but it has a very strong effect on the anisotropic pressure in the confined phase with chiral symmetry broken. This is because TSP is closely related to chiral symmetry. The restoration of chiral symmetry means the dissociation of spin polarization condensate. Published by the American Physical Society 2024

An examination is performed on the dynamics and control issues for a robotic manipulator with link structural flexibility modelled during the execution of a task that requires the robot tip to contact fixed rigid objects. A multi-time-scale fuzzy logic controller is applied to this system. The large-scale system is decomposed into a finite number of reduced-order subsystems using the singular perturbation approach. A hierarchical ordering of fuzzy rules is used to reduce the size of the inference engine. Real-time implementation of fuzzy controllers can help reduce the burden of large-sized rule sets by fusing sensory data before input and the system's output to the inference engine. Using this approach the control of the force and position of the robot end point is possible while the end-effector moves on the constraint surface.

In this work, we discuss the deconfinement phase transition to quark matter in hot/dense matter. We examine the effect that different charge fractions, isospin fractions, net strangeness, and chemical equilibrium with respect to leptons have on the position of the coexistence line between different phases. In particular, we investigate how different sets of conditions that describe matter in neutron stars and their mergers, or matter created in heavy-ion collisions affect the position of the critical end point, namely where the first-order phase transition becomes a crossover. We also present an introduction to the topic of critical points, including a review of recent advances concerning QCD critical points.

The two major components of the metanephros, the urinary collecting system (UCS) and nephron, have different developmental courses. Nephron numbers vary widely between species and individuals and are determined during fetal development. Furthermore, the development of nascent nephrons may contribute to the expansion of the proximal part of the UCS. This study investigated the distribution of nascent nephrons and their interrelationship with UCS branches during human embryogenesis. We obtained samples from 31 human embryos between Carnegie stages (CSs) 19 and 23 from the Kyoto Collection at the Congenital Anomaly Research Center of Kyoto University in Japan. Serial histological sections of the metanephros with the UCS were digitalized and computationally reconstructed for morphological and quantitative analyses. The three-dimensional (3D) coordinates for the positions of all UCS branch points, end points, attachment points to nascent nephrons (APs), and renal corpuscles (RCs) were recorded and related to the developmental phase. Phases were categorized from phase 1 to phase 5 according to the histological analysis. The UCS branching continued until RCs first appeared (at CS19). End branches with attached nascent nephrons (EB-AP[+]) were observed after CS19 during the fifth generation or higher during the embryonic period. The range of end branch and EB-AP(+) generation numbers was broad, and the number of RCs increased with the embryonic stage, reaching 273.8±104.2 at CS23. The number of RCs connected to the UCS exceeded the number not connected to the UCS by CS23. The 3D reconstructions revealed RCs to be distributed around end branches, close to the surface of the metanephros. The RCs connected to the UCS were located away from the surface. The APs remained near the end point, whereas connecting ducts that become renal tubules were found to elongate with maturation of the RCs. Nascent nephrons in RC phases 3-5 were preferentially attached to the end branches at CS22 and CS23. The mean generation number of EB-AP(-) was higher than that of EB-AP(+) in 19 of 22 metanephros and was statistically significant for eight metanephros at CS22 and CS23. The ratio of the deviated branching pattern was almost constant (29%). The ratio of the even branching pattern with EB-AP(+) and EB-AP(+) to the total even branching pattern increased with CS (9.2% at CS21, 19.2% at CS22, and 45.4% at CS23). Our data suggest the following: EB-AP(+) may not branch further at the tip (i.e., by tip splitting), but branching beneath the AP (lateral branching) continues throughout the embryonic stages. Our study provides valuable data that can further the understanding of the interactions between the UCS and nascent nephrons during human embryogenesis.

Objective To investigate the anatomical structure of the first plantar lumbrical muscle in the foot and to measure the relevant data which could provide anatomical basis for repairing thumb and finger defects with the transplantation of toes accompanied with the first lumbrical muscle,and to explore the marphological function of the first lumbrical muscle of the foot. Methods From March, 2016 to January, 2018, a systematic and detailed dissection of the 50 formalin-fixed feet was performed to observe the exact position of the starting and ending points of the first lumbrical muscle, and a Vernier caloper was used to measure the relevant record data. Results The first lumbrical muscle originates from the medial portion of the flexor digitorum lungus tendon of the second toe, and the length of the ventral muscle was [55.87±8.67 (79.30-41.16] mm. There were 2 endpoints in the tendon. The first one was in the medial tubercle of the proximal phalanges. The second one was aponeurosis of the dorsal toe and the tendon was divided into proximal and distal segments with the medial tubercle as the mark point. The length of the proximal segment was [15.34±4.81 (5.52-25.18] mm, the width of the proximal segment was [2.31±1.12(3.28-1.21)] mm, the thickness was [0.44±0.14 (0.28-0.68)] mm; the length of the distal segment was [11.51±4.06(3.46-14.90)] mm, the width was [6.10±1.44(9.36-3.70)] mm, and the thickness was [0.18±0.09(1.10-0.38)] mm. The length and thickness of the proximal segment was signifantly larger than those of the distal segment(P<0.05). Conclusion The first lumbrical muscle has the function of maintaining the balance and stability of both the toe and the arch during movement, flexuring the metatarsophalangeal joint, extending the interosseous joint of the extensor phalangeal, adducting the second toe; also the function of preventing the second toe from pronation during foots' movement. Key words: First lumbrical muscle; Foot; Applied anatomy

Single setup estimation of a five-axis machine tool eight link errors by programmed end point constraint and on the fly measurement with Capball sensor

The stress at the structural plane of bedding rock slope will change under dynamic load, which may lead to sliding failure risk of the slope. Based on the time-domain recursive method (TDRM), the propagation process of stress waves in viscoelastic rock slope with a nonlinear bedding plane is analyzed, and the propagation equation of multiple reflected waves between the plane and the slope surface is obtained. According to the superposition principle and the relation between the particle vibration velocity caused by stress waves and stress, the expressions of normal and tangential stress of any particle at the structural plane are obtained. Furthermore, in light of the gravitational impact on the rock mass, we formulate the slip criterion equation for the structural plane. The results indicate that the stress field at the structural plane is influenced by several factors, including the slope angle, horizontal positioning of monitoring points, vertical distance to the slope foot, and the initial stiffness of the structural plane. The influence of multiple reflected waves on stress field obviously increases the possibility of rock mass sliding on structural plane. This paper theoretically elucidates the slippage mechanism of a rock slope featuring a bedding structural plane subjected to the effects of stress wave. The research findings furnish a theoretical foundation for comprehending the dynamic response of rock slopes, conducting dynamic stability analyses, and ensuring the safety measures for rock mass engineering projects.

Although medication with antipsychotic for the psychosis prodrome has often caused some ethical issues, recent studies have shown that some novel antipsychotics are safer and more tolerable for young people. This study aimed to investigate whether the administration of aripiprazole would not only relieve the prodromal symptoms but also be tolerable for prodromal subjects and to evaluate the effect of medication on improvements in insight and subjective well-being. The Structured Interview for Prodromal Syndromes was performed for patients identified as having the psychosis prodrome. Psychiatric measures included the Scale of Prodromal Symptoms. Clinical insight was measured using the Scale to Assess Unawareness of Mental Disorder, and changes in subjective experience were assessed using the Subjective Well-being Under Neuroleptics, Short version. The time frame was the first 8 weeks after beginning study medication. Thirty-six treatment-seeking prodromal patients (men, 42%; mean [SD] age, 23.4 [5.6] years) were enrolled. At the 12-week follow-up point, 30 participants (83%) remained in the trial. Improvements on the Scale of Prodromal Symptoms and Scale to Assess Unawareness of Mental Disorder scores were statistically significant at end point. Although the Subjective Well-being Under Neuroleptics, Short version total scores improved significantly at 4 weeks, however, they did not change significantly from baseline at 8 weeks. This trial suggests that aripiprazole not only produces a clinical benefit in prodromal subjects but also results in a high adherence to medication with immediate improvements in insight and subjective well-being. Although further placebo-controlled studies are needed, aripiprazole might be a first-line treatment for individuals at imminent risk for psychosis.

The recognition of analog pointer meters under nature environment is commonly a challenge task due to many influences like types of meters, shooting angle, lighting condition, etc. Most existing recognition algorithms consist of multiple steps including the detection and extraction of dial, scale marks and pointers followed by reading calculation, which is complex and sensitive to image quality. To address this issue, a one-stage, end-to-end recognition method for pointer meter based on deep regression is proposed in this paper. The proposed method simultaneously locates the position of the end point of a pointer, obtains a meter reading and determines whether the pointer exceeds the normal range through a fully convolutional neural network. Without complicated image pre-processing and post-processing, the algorithm can read multiple meters in one image just through a simple one-round forward inference. Experimental results show that the recognition accuracy achieves 92.59% under ±5% reading error, and the processing speed reaches approximately 25 FPS on a NVIDIA GTX 1080 GPU.