Research on shared control of robots based on hybrid brain-computer interface.

BACKGROUND: With the arrival of the new generation of artificial intelligence wave, new human-robot interaction technologies continue to emerge. Brain-computer interface (BCI) offers a pathway for state monitoring and interaction control between human and robot. However, the unstable mental state reduce the accuracy of human brain intent decoding, and consequently affects the precision of BCI control. NEW METHODS: This paper proposes a hybrid BCI-based shared control (HB-SC) method for brain-controlled robot navigation. Hybrid BCI fuses electroencephalogram (EEG) and electromyography (EMG) for mental state monitoring and interactive control to output human perception and decision. The shared control based on multi-sensory fusion integrates the special obstacle information perceived by humans with the regular environmental information perceived by the robot. In this process, valid BCI commands are screened by mental state assessment and output to a layered costmap for fusion. RESULTS: Eight subjects participated in the navigation experiment with dynamically changing mental state levels to validate the effects of a hybrid brain-computer interface through two shared control modes. The results show that the proposed HB-SC reduces collisions by 37.50 %, improves the success rate of traversing obstacles by 25.00 %, and the navigation trajectory is more consistent with expectations. CONCLUSIONS: The HB-SC method can dynamically and intelligently adjust command output according to different brain states, helping to reduce errors made by subjects in a unstable mental state, thereby greatly enhancing the system's safety.

Revision rate of displaced femoral neck fractures in non-elderly adults: a retrospective comparative study of the femoral neck system and cannulated screws.

BACKGROUND: Displaced femoral neck fractures are associated with a high revision rate. The new femoral neck system(FNS) offers advantages in fixation stability, potentially reducing the need for revision. The purpose of this study was to compare the revision rate of patients with different reduction quality treated with the FNS and cannulated screws (CS). METHODS: This retrospective study included patients with Garden III or IV femoral neck fractures who underwent osteosynthesis in a level 1 trauma center between July 2019 and June 2023. A total of 141 cases met the inclusion criteria and received treatment with either the FNS (N = 65) or CS (N = 76). The quality of fracture reduction, surgical complications (such as femoral neck shortening, avascular necrosis of femoral head, nonunion of fracture, implant failure and withdrawal), revision surgery and the reasons for revision were analyzed. RESULTS: The mean age of the 141 cases was 52.0 years (range 18-65); with sixty-five cases being male (46.1%). Eighty-four fractures (59.6%) were classified as Garden type III. Reduction quality was good in 71 cases (50.4%) and fair in 70 cases. The mean follow-up period was 25.9 months (range 12-46). A total of 26 cases(18.4%) underwent revision surgery. The revision rate in cases with good reduction was 11.3% (8/71 cases), with seven cases (four hardware removal and three arthroplasty) in the CS group and one case (arthroplasty for fracture nonunion and implant failure) in the FNS group, a significant difference was found between the two groups(P = 0.041). Among the 18 cases (25.7%, 18/70) with fair reduction who underwent revision surgery, nine cases (six hardware removal and three arthroplasty) in the CS group, and nine cases (arthroplasty for implant failure and cut-out) in the FNS group, and there was no significant difference between the two groups (P = 0.672). The total revision rate between the FNS group (15.4%, 10/65) and the CS group (21.1%, 16/76) was not significantly different (P = 0.387). CONCLUSIONS: The total revision rate between the FNS and CS group showed no difference. However, in cases with good reduction, the revision rate was lower in the FNS group compared to the CS group.

Adaptive complementary neighboring sub-aperture beamforming for thermoacoustic imaging.

BACKGROUND: When applied to thermoacoustic imaging (TAI), the delay-and-sum (DAS) algorithm produces strong sidelobes due to its disadvantages of uniform aperture weighting. As a result, the quality of TAI images recovered by DAS is often severely degraded by strong non-coherent clutter, which restricts the development and application of TAI. PURPOSE: To address this issue, we propose an adaptive complementary neighboring sub-aperture (NSA) beamforming algorithm for TAI. METHODS: In NSA, we introduce a coordinate system transformation when calculating the normalized cross-correlation (NCC) matrix. This approach enables the computation of the NCC coefficient within the specified kernel without complex coordinate calculations. We first conducted the numerical simulation experiment to validate NSA using a tree branch phantom. In addition, we also conducted phantom (five sauce tubes), ex vivo (ablation needle in ex vivo porcine liver), and in vivo (human arm) TAI experiments using our TAI system with a center frequency of 3 GHz. RESULTS: In the numerical simulation experiment, the structural similarity index (SSIM) value for NSA is increased from 0.37828 for DAS to 0.75492. In the point target phantom TAI experiment, the generalized contrast-to-noise ratio (gCNR) value for NSA is increased from 0.936 for DAS to 0.962. The experimental results show that NSA can recover clearer thermoacoustic images compared to DAS. In the ex vivo TAI experiment, the full width at half maxima (FWHM) of an ablation needle (diameter = 1.5 mm) for coherence factor (CF) weighted DAS and NSA are 0.9 and 1.3 mm, respectively. Furthermore, in the in vivo TAI experiment, CF reduces the signals within the arm compared to NSA. Therefore, compared with CF, NSA can maintain the integrity of target information in TAI while effectively suppressing non-coherent background clutter. CONCLUSIONS: NSA can effectively reduce non-coherent background noise while ensuring the completeness of the target information. So, NSA offers the potential to provide high-quality thermoacoustic images and further advance their clinical application.

RPCA-based thermoacoustic imaging for microwave ablation monitoring.

Microwave ablation (MWA) is a potent cancer treatment tool, but its effectiveness can be hindered by the lack of visual feedback. This paper validates the feasibility of using microwave-induced thermoacoustic imaging (TAI) technique to monitor the MWA process. A feasibility analysis was conducted at the principle level and a high-performance real-time TAI system was introduced. To address the interference caused by MWA, a robust principal component analysis (RPCA)-based method for TAI was proposed. This method leverages the correlation between multiple signal frames to eliminate interference. RPCA's effectiveness in TAI was demonstrated through three sets of different experiments. Experiments demonstrated that TAI can effectively monitors the MWA process. This work represents the first application of RPCA-related matrix decomposition methods in TAI, paving the way for the application of TAI in more complex clinical scenarios. By providing rapid and accurate visual feedback, this research advances MWA technology.

A Modular Event-Triggered Containment Control Scheme for Nonlinear Heterogeneous Multiagent Systems With Unknown Leaders.

This article addresses the containment control problem in multiagent systems with nonlinear heterogeneous followers and multiple unknown leaders whose dynamics are exclusively known to their neighbors. The primary goal is to ensure the convergence of each follower to the dynamic convex hull spanned by the leaders under the constraints of limited communication resources. To achieve this, this article introduces a modular event-triggered containment control scheme with three modules. The first module, Module I-signal generator, is designed for each follower to generate a reference signal asymptotically entering the dynamic convex hull without relying on follower dynamics. The second module, Module II-event-triggered mechanism, is tailored to save communication resources effectively by determining when to broadcast information based on perturbed system stability and input-to-state stability theories. The third module, Module III-tracking controller, treats each follower as an independent agent and is crafted to track the reference signal generated by Module I using an output regulation approach. It is established that the system achieves containment control without Zeno behavior under the influence of these modules, and the theoretical results are validated through simulation examples, demonstrating the practical validity of the proposed approach.

Biogenic preparation of copper oxide nanoparticles using table olive: Catalytic reduction, cytotoxicity, and burn wound healing activities.

Green strategy for the preparation of copper oxide nanoparticles (CuO NPs) using table olive has been researched in the present work. Some characterization assays viz., transmission electron microscopy (TEM), X-ray diffraction (XRD), scanning electron microscopy (SEM) and energy-dispersive X-ray (EDX) was used for evaluation of the crystal structure, size and morphology of the manufactured NPs. As a catalyst, the prepared material demonstrated remarkable catalytic capability (>99% in 4 min) for the reduction of rhodamine B using sodium borohydride. In addition, the treated cells with the CuO NPs were examined by regarding the cytotoxicity properties on normal (HUVEC) cell line. The results showed that the prepared CuO NPs did not have any cytotoxicity effects on HUVEC (up to 500 µg/mL). Furthermore, in vivo experiments on burn wounds in rats show that the synthesized CuO NPs ointment significantly diminished (p ≤ 0.01) the wound area. On the other hand, the wound contracture factor was increased in comparison with the control groups. Collectively, the CuO NPs prepared by biological method have potential applications in organic pollutants reduction and wound care applications. In this viewpoint, CuO NPs may be considered as an effective for treatment of different wounds including burn wounds or injuries from surgeries such as plastic surgery.

Pathogenicity and epidemiological survey of fowl adenovirus in Shandong Province from 2021 to 2022.

In recent years, the poultry industry had been markedly affected by adenoviral diseases such as hydropericardium syndrome and inclusion body hepatitis caused by fowl adenovirus (FAdV), which have become increasingly prevalent in China. Shandong Province, China, is an important area for poultry breeding where various complex and diverse FAdV serotypes were isolated. However, the dominant strains and their pathogenic characteristics are not yet reported. Therefore, a pathogenicity and epidemiological survey of FAdV was conducted, showing that the local dominant serotypes of FAdV epidemics were FAdV-2, FAdV-4, FAdV-8b, and FAdV-11. Their mortality rates in the 17-day-old specific-pathogen-free (SPF) chicks ranged from 10 to 80%; clinical signs included mental depression, diarrhea, and wasting. The maximum duration of viral shedding was 14 days. The highest incidence in all infected groups was on days 5-9, and then gradual regression occurred thereafter. The most pronounced symptoms occurred in chicks infected with FAdV-4, including pericardial effusion and inclusion body hepatitis lesions. Our results add to the current epidemiological data on FAdV in poultry flocks in Shandong and elucidate the pathogenicity of dominant serotypes. This information may be important for FAdV vaccine development and comprehensive epidemic prevention and control.

Distributed Adaptive Fault-Tolerant Control for Multiagent Systems via Virtual-Actuator-Based Reconfiguration.

This article aims to develop a virtual-actuator-based control scheme for the consensus tracking problem of multiagent systems (MASs) against actuator faults and mismatched disturbances. The proposed scheme has a double-layer structure. In the cyber layer, the nominal controller is designed with neighboring information for the fault-free case. While in the physical layer, the fault compensator, working as the virtual actuator, is applied to reconfigure faulty plants adaptively. This design enjoys the advantages that the nominal controller needs no adjustment and all its properties can be preserved after failure. Moreover, the proposed control scheme is distinguished by the following features: 1) the commonly imposed rank condition on outage faults is removed; 2) the norm bound of the leader's input is allowed to be unknown even though the topologies are switching and directed; and 3) there is no need to use the estimates of faults in the virtual actuator design, which means the negative impacts caused by the inaccurate fault estimation can be avoided. Finally, a numerical example is given to validate the effectiveness of the theoretical results.

Composite Learning Adaptive Tracking Control for Full-State Constrained Multiagent Systems Without Using the Feasibility Condition.

This article proposes a distributed consensus tracking controller for a class of nonlinear multiagent systems under a directed graph, in which all agents are subject to time-varying asymmetric full-state constraints, internal uncertainties, and external disturbances. The feasibility condition generally required in the existing constrained control is removed by using the proposed nonlinear mapping function (NMF)-based state reconstruction technology, and the Lipschitz condition usually needed in the consensus tracking is also canceled based on the adaptive command-filtered backstepping framework. The composite learning of the neural network-based function approximator (NN-FAP) and the finite-time smooth disturbance observer (DOB) provides a novel scheme for handling internal and external uncertainties simultaneously. One advantage of this scheme is that the use of online historical data of the closed-loop system strengthens the excitation of NN's learning. Another advantage is that the DOB with NN-FAP embedding realizes that the finite-time observation for external disturbance in the case of the system dynamics is unknown. A complete controller design, sufficient stability analysis, and numerical simulation are provided.

A Mathematical Model of Surfactant Spontaneous Imbibition in a Tight Oil Matrix with Diffusion and Adsorption.

Surfactants can significantly improve the oil recovery of spontaneous imbibition (SI) in unconventional oil reservoirs, but mathematical modeling of surfactant SI for displacing oil in a tight matrix is challenging because of its complex mechanism. Considering the mechanisms of surfactant diffusion and adsorption, the flow equation for the SI of surfactant solution into an oil-saturated capillary is derived, and the dynamic capillary pressure and surfactant concentration during the SI process are characterized. Then, based on the pore size distribution of the pores in a tight matrix, a core-scale mathematical model for SI of surfactant solution into an oil-saturated tight matrix is developed and validated with experimental data from the literature. The results show that surfactant adsorption can increase the product of interfacial tension and the cosine of the contact angle, and the increased capillary pressure in pores leads to a faster imbibition rate. A surfactant with a high adsorption and desorption rate on the water-solid interface and diffusion ability will lead to a higher oil production rate by SI in unconventional oil reservoirs. The proposed model is beneficial for modeling the dynamic process of surfactant SI and screening suitable surfactants for enhanced oil recovery in unconventional reservoirs.

Protective effect of Corynoline on the CFA induced Rheumatoid arthritis via attenuation of oxidative and inflammatory mediators.

Rheumatoid arthritis (RA) is a long-standing and growing autoimmune disease. Therefore, the present study was intended to investigate the effect of Corynoline (COR) on CFA induced rheumatoid arthritis in a rat model. Results suggested that COR causes significant reduction in paw swelling, edema, arthritis score, thymus and spleen indexes and neutrophil infiltration (p < 0.01). Moreover, the levels of inflammatory cytokines (interleukin- 1ß, -6, and -17, and TNF-α) and anti-collagen II-specific immunoglobulins (IgG1 and IgG2a) were decreased significantly (p < 0.01) together with increase in antioxidant enzymes (SOD, CAT, and GSH) (p < 0.01) in COR-treated group in dose-dependent manner. In western blot analysis, COR-treated group showed concentration-dependent reduction of expression of COX-2, 5-LOX and NF-p65 as compared to CFA rats. Moreover, COR-treated group showed mild inflammation of cartilage with fewer cartilage erosion and synovititis with most significant reversal of arthritic features in the rats treated with 30 mg/kg. It has been concluded that, COR alleviates oxidative stress and inflammation in arthritic rats, thus verifying its anti-rheumatoid arthritis property.

Containment Control for General Second-Order Multiagent Systems With Switched Dynamics.

This paper investigates the distributed containment control problem for a class of general second-order multiagent systems with switched dynamics, which is composed of a continuous-time (CT) subsystem and a discrete-time (DT) subsystem. For this switched multiagent system under fixed directed topology, a distributed containment control protocol is proposed for each follower based on the relative local measurements of neighboring followers and leaders. Some necessary and sufficient conditions are derived under the condition that the network topology contains a directed spanning forest, and these conditions ensure that the general second-order containment control problem can be solved under arbitrary CT-DT switching. If the general second-order system is reduced to the double integrator system, some simpler containment conditions are presented. Furthermore, the similar results are also obtained under switching directed topology. Finally, some simulation examples are presented to show the efficiency of the theoretical results.

Fully distributed containment control for second-order multi-agent systems with communication delay.

In this paper, fully distributed containment control problems of multi-agent systems with double-integrator dynamics are investigated under directed topologies. For the cases with and without communication delay, two new fully distributed control protocols are designed, which do not need any global information of the communication topology graph. Necessary and sufficient conditions are obtained to ensure the solvability of the considered containment control problems. Particularly, for the case with communication delay, the critical value of the maximum allowable time delay of containment control is found. Finally, numerical simulations are presented to demonstrate the effectiveness of the theoretical results.

Cysticercosis in Shandong Province, Eastern China.

We analyzed demographic and clinical data and estimated the incidence of cysticercosis in Shandong Province, China, during 1975-2014. Our analyses showed that a cysticercosis-endemic area is present in Shandong Province, especially in its western regions. Improved surveillance and control are needed to address the elevated risk for cysticercosis in this region.

Regulation of type II collagen, matrix metalloproteinase-13 and cell proliferation by interleukin-1ß is mediated by curcumin via inhibition of NF-κB signaling in rat chondrocytes.

Curcumin possesses strong anti-inflammatory, anti-rheumatoid and anti-oxidative activities, and has the potential to inhibit nuclear factor­κB (NF­κB) signaling. Cartilage damage in osteoarthritis (OA) is largely mediated by interleukin-1ß (IL-1ß) via activation of various transcription factors, including NF­κB and activator protein­1. The aim of the present study was to determine whether IL­1ß induces matrix metalloproteinase-13 (MMP-13) expression and inhibits type II collagen expression, as well as to examine whether cell proliferation may be inhibited by curcumin through the inhibition of NF­κB signaling. The effects of curcumin were investigated in rat articular chondrocyte cell cultures treated with IL­1ß in the presence or absence of curcumin or the NF­κB inhibitor pyrrolidine dithiocarbamate. Western blotting and reverse transcription­quantitative polymerase chain reaction were conducted to evaluate protein and mRNA expression levels of type II collagen, MMP­13, NF­κB inhibitor α (IκBα), phosphorylated­IκBα and NF­κB subunit p65/RelA. Western blotting and immunofluorescence were performed to examine the effects of curcumin on the expression, phosphorylation and nuclear translocation of NF­κB­associated proteins. The effects of curcumin on cell proliferation were evaluated by Cell Counting Kit­8 (CCK­8). Curcumin was demonstrated to inhibit the IL­1ß­induced activation of NF­κB by suppressing IκBα phosphorylation and p65/RelA nuclear translocation. These events were associated with the downregulation of MMP­13 expression and the upregulation of type II collagen expression, both of which are considered to be NF­κB targets. CCK­8 assays revealed that co­treatment with curcumin resulted in increased proliferation in IL­1ß­treated chondrocytes. These findings implicated curcumin as a naturally occurring anti­inflammatory agent for the treatment of OA via inhibition of NF­κB signaling.

8.5 W mode-locked Yb:Lu1.5Y1.5Al5O12 laser with master oscillator power amplifiers.

We report on a diode-pumped passively mode-locked Yb:Lu(1.5)Y(1.5)Al(5)O(12) (Yb:LuYAG) laser for the first time to our knowledge. With the mixed crystal of Yb:LuYAG as gain medium, the mode-locked laser generated 2.2 W of average output power with a repetition rate of 83.9 MHz and pulse duration of 2.4 ps at the wavelength of 1030 nm. In order to obtain higher output power, the output from the mode-locked oscillator was further amplified to 8.5 W by two-stage single-pass amplifiers. The high-power picosecond laser is very useful for applications such as pumping of midinfrared optical parametric oscillators, material microprocessing, and UV light generation.

A reduction technique of arthroplasty without subtrochanteric femoral shortening osteotomy for the treatment of developmental high dislocation of hip: a case series of 28 hips.

In total hip arthroplasty for the treatment of developmental dysplasia of the hip (DDH) with high hip dislocation, it can be technically challenging to locate the true acetabulum and restore limb length without subtrochantric femoral shortening osteotomy. We explored and described total hip arthroplasty without subtrochanteric femoral shortening osteotomy in 28 hips with Crowe type III and IV dislocation by intravenous injection of rocuronium at 0.9mg/kg 1minute before reduction and hip reduction combined with continuous strong traction of the affected limb with patients in a position with hip and knee flexion. All patients did not show dislocation, prosthesis loosening, and other severe complications. It is thus a safe and feasible reduction technique for arthroplasty of Crowe type III or IV dislocation of DDH.

[Therapeutic effect of 138 imported falciparum malaria patients].

OBJECTIVES: To summarize the clinical characteristics of imported falciparum malaria patients and the treatment, so as to provide the evidences for improving the diagnosis and treatment of the disease. METHODS: A total of 138 imported falciparum malaria patients who received the treatment in Shandong Institute of Parasitic Diseases from January 2007 to February 2013 were adopted as the observation subjects, and their clinical data were collected and analyzed. RESULTS: All the 138 patients were back from African countries. The main manifestations were fever, headache, asthenia, and hepatosplenomegaly, and most of them were with decreased RBC, PLT levels and increased LDH levels, and 36.96% of them were misdiagnosed as respiratory diseases, nephritis, hepatitis and so on. Through antimalarial treatment of artemether or artesunate or dihydroartemisinin and primaquine, or dihydroartemisinin and piperaquine, and symptomatic treatment, the short-term and long-term cure rates were 98.55% and 94.93% respectively, with 1 case unrecovered and 1 died. CONCLUSIONS: Artemisinins are still the most effective antimalarial drugs for falciparum malaria. However, some patients recrudesce as the Plasmodium in their body is resistant or insensitive to these drugs. We should pay more attention to the antimalarial and symptomatic treatments in the early stage of severe malaria so as to improve the cure rate.