Macro Fiber Composite-Actuated Soft Robotic Fish: A Gray Box Model-Predictive Motion Planning Strategy Under Limited Actuation.

This work experimentally investigates a model-predictive motion planning strategy to impose oscillatory and undulation movements in a macro fiber composite (MFC)-actuated robotic fish. Most of the results in this field exploit sinusoidal input signals at the resonance frequency, which reduces the device's maneuverability. Differently, this work uses body/caudal fin locomotion patterns as references in a motion planning strategy formulated as a model-based predictive control (MPC) scheme. This open-loop scheme requires the modeling of the device, which is accomplished by deriving a gray box state-space model using experimental modal data. This state-space model considers the electromechanical coupling of the actuators. Based on the references and the model, the MPC scheme derives the input signals for the MFC actuators. An experimental campaign is carried out to verify two references for mimicking the locomotion patterns of a fish under limited actuation. The experimental results confirm the motion planning scheme's capability to impose oscillatory and undulation movements.

The evaluation of a surgery and the short-term benefits of a new active bone conduction hearing implant - the Osia® / Avaliação da cirurgia e os benefícios a curto prazo de um novo implante auditivo de condução óssea ativa - o sistema Osia®,

Abstract Introduction Modern medicine offers a wide spectrum of different hearing devices, and bone conduction implants can be found among them. Objective The presentation of the outcomes of the implantation of a new active bone conduction hearing implant - the Osia®, and its comparison with the well-known passive transcutaneous system - the Baha® Attract. Methods Eight adult patients with bilateral mixed hearing loss were randomly divided into two groups. Group 1 was implanted with the Osia®, and group 2 was implanted with the Baha® Attract. The details of the surgery were analyzed, along with the functional and audiological results. Results In all the cases, the surgery was successful, and the healing uneventful. In both groups, it was observed that pure tone audiometry and speech audiometry in free field improved significantly after the implantation (mean gain in pure tone audiometry for the Osia group 42.8 dB SPL and for the Baha group 38.8 dB SPL). In the Osia group, the results after the surgery were much better than with the Baha® 5 Power processor on the Softband. The patients implanted with the Osia® evaluated the quality of their hearing as being superior to those implanted with the Baha® Attract. There was an evident improvement in the abbreviated profile of hearing aid benefit questionnaire and in the speech, spatial and qualities of hearing scale for both systems. In the abbreviated profile of hearing aid benefit, changes were more evident in the Osia group (in global score 49% vs. 37.2%). Conclusion Implantation of the Osia® is an effective treatment option for the patients with bilateral mixed hearing loss. The surgery is safe but more complex and time-consuming than the Baha® Attract implantation. The preliminary audiological results as well as the overall quality of life indicate that the Osia® is a better solution than the Baha® Attract. However, future studies should be carried out to make further observations in a larger group of patients, and with longer follow-up.

Resumo Introdução A medicina moderna oferece um amplo espectro de diferentes aparelhos auditivos, e implantes de condução óssea estão entre eles. Objetivo Apresentação dos resultados do uso de um novo implante auditivo de condução óssea ativa - o Osia® e sua comparação com o conhecido sistema transcutâneo passivo - o sistema Baha® Attract. Método Oito pacientes adultos com perda auditiva mista bilateral foram divididos aleatoriamente em dois grupos. O grupo 1 foi implantado com o Osia® e o grupo 2 foi implantado com o sistema Baha® Attract. Os detalhes da cirurgia foram analisados, juntamente com os resultados funcionais e audiológicos. Resultados Em todos os casos, a cirurgia foi bem-sucedida e a cicatrização ocorreu sem intercorrências. Nos dois grupos, observou-se que a audiometria de tons puros e a audiometria de fala em campo livre melhoraram significativamente após o implante (ganho médio na audiometria para tons puros para o grupo Osia® de 42,8 dB NPS e para o grupo Baha®, 38,8 dB NPS). No grupo Osia®, os resultados após a cirurgia foram muito melhores do que com o processador Baha® 5 Power no sistema SoftBand. Os pacientes implantados com o Osia® avaliaram melhor a qualidade de sua audição do que os implantados com o sistema Baha® Attract. Houve uma melhoria evidente no questionário abbreviated profile of hearing aid benefit e na escala speech, spatial and qualities of hearing, para ambos os sistemas. No questionario abbreviated profile of hearing aid benefit, as mudanças foram mais evidentes no grupo Osia® (escore global 49% vs. 37,2%). Conclusão O sistema Osia® é uma opção de tratamento eficaz para pacientes com perda auditiva mista bilateral. A cirurgia é segura, mas mais complexa e demorada que a implantação do sistema Baha® Attract. Os resultados audiológicos preliminares, bem como aqueles avaliando a qualidade de vida, indicam que o Osia® é uma alternativa melhor que o Baha® Attract. Entretanto, mais observações são necessárias em grupos maiores de pacientes e com tempo de seguimento mais longo.

The evaluation of a surgery and the short-term benefits of a new active bone conduction hearing implant - the Osia®.

INTRODUCTION: Modern medicine offers a wide spectrum of different hearing devices, and bone conduction implants can be found among them. OBJECTIVE: The presentation of the outcomes of the implantation of a new active bone conduction hearing implant - the Osia®, and its comparison with the well-known passive transcutaneous system - the Baha® Attract. METHODS: Eight adult patients with bilateral mixed hearing loss were randomly divided into two groups. Group 1 was implanted with the Osia®, and group 2 was implanted with the Baha® Attract. The details of the surgery were analyzed, along with the functional and audiological results. RESULTS: In all the cases, the surgery was successful, and the healing uneventful. In both groups, it was observed that pure tone audiometry and speech audiometry in free field improved significantly after the implantation (mean gain in pure tone audiometry for the Osia group 42.8 dB SPL and for the Baha group 38.8 dB SPL). In the Osia group, the results after the surgery were much better than with the Baha® 5 Power processor on the Softband. The patients implanted with the Osia® evaluated the quality of their hearing as being superior to those implanted with the Baha® Attract. There was an evident improvement in the abbreviated profile of hearing aid benefit questionnaire and in the speech, spatial and qualities of hearing scale for both systems. In the abbreviated profile of hearing aid benefit, changes were more evident in the Osia group (in global score 49% vs. 37.2%). CONCLUSION: Implantation of the Osia® is an effective treatment option for the patients with bilateral mixed hearing loss. The surgery is safe but more complex and time-consuming than the Baha® Attract implantation. The preliminary audiological results as well as the overall quality of life indicate that the Osia® is a better solution than the Baha® Attract. However, future studies should be carried out to make further observations in a larger group of patients, and with longer follow-up.

Piezoelectric micromanipulator dataset for hysteresis identification.

This data in brief presents displacement measurements acquired from a piezoelectric cantilevered actuator when subjected to harmonic excitations. The micro displacements are measured with optical sensors. The dataset has been used recently for the purpose of nonlinear black-box modelling, where the hysteretic behaviour of such devices has been modelled [1,2]. We hope to enable reproducibility by sharing the data used in [1,2], which are previous works by the authors, allowing the comparison of new methods on a common basis. Additionally, researchers interested in piezoelectric actuators for high precision tasks may also benefit on working with the present dataset.