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In recent years, the amount of household waste has increased sharply, and there is an urgent need to use intelligent waste classification equipment to assist in completing waste classification tasks. However, existing garbage classification algorithms have large parameter counts and poor real-time performance, which are not suitable for embedded garbage classification devices. Therefore, in order to achieve a lightweight and efficient classification model, this article uses a self-built garbage dataset and a pre-trained MobileNetV3 model in the PyTorch framework for garbage recognition and classification. We introduce the CBAM attention mechanism in the network model to enhance spatial feature perception. Utilize the Mish activation function to fully utilize the extracted depth image information. Using global average pooling instead of the fully connected layer of the original model reduces the number of model parameters while improving the recognition accuracy of the model. Finally, we propose an improved lightweight model called GMC-MobileNetV3. The experimental results show that the recognition accuracy of the improved MobileNetV3 model on self-built data set reaches 96.55%, which is 3.6% higher than that of the original model, the number of model parameters is 0.64M, the memory resource consumption is reduced by 56.6%, and the recognition time of a single garbage image is only 26.4ms. The network proposed in this article can achieve low consumption and high accuracy in garbage recognition and classification, providing reference for future academic research and engineering practice.

Internal combustion engines emit high-temperature, high-pressure, and text high-speed exhaust gases, resulting in wasted energy and low thermal efficiency. In order to recover the available residual energy in the exhaust gas, this paper proposes a new topology of the text disk-type axial flux stator-excited doubly salient generator (AFSDSG) with partitioned stator suitable for high-temperature and high-speed operation. Based on the analysis of the above generator inductance characteristics, the influence mechanism of three text pole-slot structures on the induced electromotive force (IEMF) of the armature winding is clarified, the equivalent magnetic circuit method is used to analyze the influence of different winding arrangements on the text no-load performance of the generator, and the principles of text pole-slot structure optimization and winding arrangement are summarized. The finite element software is used to model and simulate different configuration. After focusing on the analysis of transient characteristics such as inductance, armature winding IEMF, and air-gap flux, it is concluded that different from the conventional text pole-slot structure and winding connection method make that only the overlapping area of the stator and the rotor changes linearly can produce a constant voltage, the winding arrangement of Winding Partition Excitation Span 2 has a high IEMF amplitude value and low harmonic content. Finally, the prototype of a three-phase 12/8-pole was trial manufactured and tested. The consistency of the simulation results and experimental results is verified the innovation and feasibility of the new topology proposed in this paper.

Abstract Background Dasatinib and imatinib are the recommended tyrosine kinase inhibitors (TKIs) for treating pediatric Philadelphia-positive acute lymphoblastic leukemia (Ph + ALL), and the one which has been approved indication in China is imatinib. Recently, clinical demand for Ph + ALL treatment is becoming unmet gradually with the increasing resistance of imatinib. There are some studies reporting the better efficacy and comparative safety of dasatinib compared with imatinib, but no economic comparison has been published. This study aims to supplement economic evidence by comparing the cost-effectiveness between imatinib and dasatinib in treating pediatric patients with Ph+ ALL in China, and to help clinical rational drug use via multi-dimensional value assessment. Methods A decision tree model combined with a 10-year Markov model were established based on the disease progression. The parameters were collected from published literatures and our hospital’s electronic medical records. From the health system perspective, the incremental cost-effectiveness ratio (ICER) between the two treatment groups was calculated through cost-effectiveness analysis and then compared with the willingness-to-pay (WTP) threshold. The set WTP threshold in this study was 1 times per capita gross domestic product (GDP) of China, as recommended by the World Health Organization. Direct medical costs and quality-adjusted life years (QALYs) were calculated and discounted at 5%. The sensitivity analyses were conducted to assess the uncertainty and robustness of the results. Results The total costs were CNY 1,020,995.35 and CNY 1,035,788.50 in imatinib group and dasatinib group during the 10-year simulation, and the total QALYs were 2.59 and 4.84. Compared with the imatinib treatment group, the ICER was around CNY 6,575.78/ QALY, which was less than the set threshold CNY 70,892/ QALY. The sensitive analyses indicated the robustness of the results. Conclusions The cost-effectiveness analysis shows the potential cost-effective advantages of adding dasatinib comparing with adding imatinib for pediatric Ph + ALL patients in China under the set WTP threshold, which indicates that those patients could achieve more QALYs by paying acceptable fee.

Aiming at the problems of large amount of rare earth materials and too high cogging torque of traditional rare earth permanent magnet motor,an asymmetrical hybrid magnetic pole permanent magnet motor structure was proposed.The equivalent magnetic circuit model was established,parametric modeling was carried out for the motor,and ferrite width and other motor parameters were selected for sensitivity analysis.According to sensitivity results,the hybrid algorithm combining the BBD algorithm and the MOGA- Ⅱ method and the CCD multi-objective algorithm were used for optimization,so as to determine the optimal size parameters of the motor,and analyze and compare the electromagnetic performance of the asymmetric hybrid permanent magnet motor and the traditonal V-type motor.The results show that compared with the traditional V-type motor,the torque ripple and cogging torque of the asymmetrical hybrid permanent magnet motor are reduced by 14% and 71%,respectively,and the amount of Ndfeb material used is reduced by 14.3%.The proposed new type of asymmetric hybrid permanent magnet motor for electric vehicles effectively solves the problems such as large amount of rare earth materials and too high cogging torque,which provides a certain theoretical reference for automobile permanent magnet motor.

Abstract To reduce the manufacturing cost, the cogging torque and the torque ripple of the traditional V‐shaped permanent magnet motor (TPMM), an asymmetrical less‐rare‐earth permanent magnet motor (ALREPMM) is proposed. An equivalent air‐gap flux density model is established, the model is employed to calculate the analytical expression of the no‐load back‐EMF, and the multiple objectives optimisation are carried out for the motor parameters based on the Taguchi algorithm. Electromagnetic performance of the TPMM structure and the ALREPMM structure is compared by finite element method‐based simulation. It is shown that the ALREPMM structure can reduce the amount of rare‐earth materials by 19%, and the cogging torque and the THD values of no‐load back‐EMF are reduced by 77.3% and 26.8%, respectively. Finally, a prototype is manufactured, thus verifying the rationality of the design of the ALREPMM structure through experiments.

Sewage treatment plants face significant problems as a result of the annual growth in urban sewage discharge. Substandard sewage discharge can also be caused by rising sewage treatment expenses and unpredictable procedures. The most widely used sewage treatment process in urban areas is the Anaerobic–Anoxic–Oxic (A2O) sewage treatment process. Therefore, modeling the sewage treatment process and predicting the effluent quality are of great significance. A process modeling method based on Kernel Principal Component Analysis–Particle Swarm Optimization–Stochastic Configuration Network (KPCA-PSO-SCN) is proposed for the A2O aerobic wastewater treatment process. Firstly, eight auxiliary variables were determined through mechanism analysis, including Chemical Oxygen Demand (COD) and ammonia nitrogen (NH4+) and nitrate nitrogen (NO3−) of influent water, pH, temperature (T), Mixed Liquor Suspended Solid (MLSS), Dissolved Oxygen (DO) and hydraulic residence time (HRT) in the aerobic zone. Dimensionality reduction was carried out using the kernel principal component analysis method based on the Gaussian function, and the eight-dimensional data were changed to five-dimensional data, which improved the running speed and efficiency of subsequent models. Then, according to the advantages of the particle swarm optimization algorithm, such as low calculation cost and fast convergence, combined with the advantages of stochastic configuration network general approximation performance, the PSO-SCN model was established to predict the three water quality indexes of effluent COD, NH4+, and NO3− for the aerobic zone. The experimental results proved the effectiveness of the model. Compared with classic water quality prediction algorithm models such as SCN, PSO-BP, RBF, PSO-RBF, etc., the superiority of the PSO-SCN algorithm model was demonstrated.

PurposeTo assess brain damage in a rat model of cerebral ischemia based on apparent diffusion coefficient (ADC) data obtained from multi-high b-values and evaluate the relationship between Aquaporin 4 (AQP4) expression and ADC.MethodsThirty eight male Sprague–Dawley rats were randomized into two groups: (1) sham controls (n = 6) and (2) cerebral ischemia (successful model, n = 19). All rats underwent diffusion-weighted imaging (DWI) with both standard b-values and multi-high b-values (2,500–4,500 s/mm2) using a 3.0-T device. Standard ADC (ADCst) maps and multi-high b-value ADCs (ADCmh) were calculated, respectively. Aquaporin 4 expression was quantified using Western blot. Relative values of ADCst and ADCmh, AQP4 expression were compared between the sham group and the ischemia group. Correlations between ADC values and AQP4 expression were evaluated.ResultsAt 0.5 h after suture insertion, the value of ADCmh on the lesion was obviously decreased, and there was no difference in lesion volume when compared with ADCst. After reperfusion, besides similar regions where ADCst values decreased, we also found additional large values on ADCmh within the cortex of the ipsilateral side or surrounding the lesion. The lesion evolution of the large value on ADCmh was quite different from other indicators. But the total ADCmh values were still significantly associated with ADCst. The AQP4 protein expression level was appreciably increased after middle cerebral artery occlusion (MCAO), but there was no correlation between AQP4 expression either with ADCmh or ADCst.ConclusionWe found the large values on ADCmh during the progression of cerebral infarction is varied, but there was no correlation between ADCmh values and AQP4 expression. ADCmh may indicate the heterogeneity of ischemia lesions, but the underlying pathological basis should be further explored.

Underwater spherical robots are good assistants for ocean exploration, where motion control algorithms play a vital role. Conventional motion control algorithms cannot eliminate the coupling relationship between various motion directions, which will cause the motion control of various directions to interfere with one other and significantly affect the control effect. This study proposes a new decoupling motion control algorithm based on the robot attitude calculation for an underwater spherical robot designed for offshore, shallow water, and narrow terrain. The proposed method uses four fuzzy proportional–integral–derivative (PID) controllers to independently control the robot’s movement in all directions. Experiments show that the motion control algorithm proposed in this study can significantly improve the flexibility and accuracy of the movement of underwater spherical robots.

Abstract Since 2014, clade 2.3.4.4 has become the dominant epidemic branch of the Asian lineage H5 subtype highly pathogenic avian influenza virus (HPAIV) in southern and eastern China, while the H5N6 subtype is the most prevalent. We have shown earlier that lack of glycosylation at position 158 of the hemagglutinin (HA) glycoprotein due to the T160A mutation is a key determinant of the dual receptor binding property of clade 2.3.4.4 H5NX subtypes. Our present study aims to explore other effects of this site among H5N6 viruses. Here we report that N-linked glycosylation at site 158 facilitated the assembly of virus-like particles and enhanced virus replication in A549, MDCK, and chicken embryonic fibroblast (CEF) cells. Consistently, the HA-glycosylated H5N6 virus induced higher levels of inflammatory factors and resulted in stronger pathogenicity in mice than the virus without glycosylation at site 158. However, H5N6 viruses without glycosylation at site 158 were more resistant to heat and bound host cells better than the HA-glycosylated viruses. H5N6 virus without glycosylation at this site triggered the host immune response mechanism to antagonize the viral infection, making viral pathogenicity milder and favoring virus spread. These findings highlight the importance of glycosylation at site 158 of HA for the pathogenicity of the H5N6 viruses.

With the increasing energy shortages and environmental degradation, electric logistics vehicle (ELVs) with energy conservation and environmental protection has become a research hotspot. The design of machine is the key to develop ELVs. Magnetic field analysis is the most critical issue since its accuracy affects the calculation of motor torque, loss, and other characteristics. To provide a calculation method for the field and performance analysis of the machine for ELVs, this paper presents an analytical model of air-gap field for hybrid excitation and interior permanent magnet machine. In the proposed model, it is taken into account for the shape of the stator and rotor teeth. The flux density on the rotor side is derived by equivalent magnetic circuit (EMC) with leakage magnetic flux. Taking the calculated flux density as one of the second boundary conditions, the air-gap field distribution is calculated by magnetic potential model with the eccentricity of the rotor. To verify the analytical method, we adopted the finite element method. The simulation results of the air-gap flux, back electromotive force, and cogging torque are in good agreement with the analytical results. Besides, applying the analytical model, the machine can be optimized for obtaining the optimal air-gap flux density distribution. The hybrid excitation machine with salient pole and interior magnets can provide a good flux density waveform. The study offers a helpful analytical method for design and optimization of the type of machine for ELVs.

The ocean is a significant strategic resource, and the insufficient development and use of the ocean, as well as the increase in attention to the ocean, have led to the development of underwater robot technology. The need for in-depth marine exploration and the limitations of one underwater robot has sparked research on the underwater multi-robot system. In the underwater environment, weak communication is caused by the shielding effect of the seawater medium, which makes multi-robot systems difficult to form. Hence, we combine the robot’s vision system with the leader-follower structure to form a vision-based underwater formation method, in which the visual solution serves as the control system’s feedback. By using three small underwater robot platforms, the proposed method is proved to be effective and practicable through underwater formation experiments. Furthermore, the coordination period and error of the control system are analyzed.

Abstract Background Kirschner wire fixation remains to be the mainstream treatment modality in unstable or displaced supracondylar humerus fracture in children, with divergent lateral pins being the most preferred due to their sufficient stability and decreased risk of ulnar nerve injury. However, the entry point at which the proximal lateral pin can be inserted to achieve a more proximal exit and maximum divergence has not been reported. This study retrospectively analyzed the characteristics and factors influencing the entry and exit points of the proximal lateral pins. Methods The study was divided into two stages. In stage one, the entry and exit points of the proximal pins of lateral pinning configuration were analyzed from intra-operative radiographs of children treated for extension-type supracondylar humerus fractures. The coronal and sagittal pin angles formed by the proximal pins were also measured. Using the findings of stage one, we intentionally tried to achieve a more proximal exit with the proximal pins in stage two. Comparisons between groups of patients treated by random and intentional pinnings were done statistically. Results In the first stage, 47 (29.2%) of the 161 proximal pins exited above the metaphyseal-diaphyseal junction (MDJ) region. Of these, 85.1% entered from lateral and posterior to the ossific nucleus of the capitellum (ONC). The pin angles averaged 58.4° and 90.5° in the coronal and sagittal planes respectively. In the second stage, 47 (65.3%) proximal pins in the intended group exited above the MDJ region, while only 32 (36%) in the random group exited above the MDJ region. Conclusion While aiming at the upper border of the distal MDJ during pinning, lateral pins can easily achieve a higher, proximal exit above the MDJ if inserted from lateral and posterior to the ONC and parallel to the humeral shaft in the sagittal plane. Higher exit can also be easily achieved in younger patients and patients fixated with smaller diameter pins.

In this paper, a double closed-loop backstepping controller is designed for 3D trajectory tracking of a turtle-inspired amphibious spherical robot suffering from problems that include model uncertainties, environmental disturbances, and unmeasured velocity. The proposed controller scheme tackles three primary challenges: the differentiation explosion of the traditional backstepping method, unmeasured velocity, and the consideration of lumped disturbances. Beginning with an outer-loop backstepping controller, a virtual feedback variable is constructed to simplify the design of the backstepping controller. Meanwhile, to avoid the problem of differentiation explosion, tracking differentiators (TDs) are utilized to estimate the differentiation of the desired velocity in an inner-loop backstepping controller. Moreover, there are some uncertainty disturbances in the task of tracking the trajectory of a turtle-inspired amphibious spherical robot (TASR), such as the parameters of the hydrodynamic model and environmental disturbances. A linear extended state observer (LESO) is designed to estimate and compensate for the lumped disturbances. Furthermore, as the velocity states of the TASR are unmeasured, the LESO is also utilized to estimate the velocity states in surge, yaw, and heave degrees. Therefore, the TASR only needs to supply its position and orientation information for the trajectory tracking task. Note that this paper details both the design process of the proposed controller and a rigorous theoretical analysis. In addition, numerical simulations are conducted, and the results demonstrate the feasibility and superiority of the proposed method.

In order to improve the air-gap flux density of the permanent magnet synchronous motor and reduce the cogging torque, a novel structure with asymmetric magnetic poles for automobile was proposed. Based on the characteristics of the parallel magnetic circuit, the magnetic flux path diagram is established. And the equivalent magnetic circuit model is established by the equivalent magnetic circuit method. The Taguchi method is used to be a multiobjective optimization algorithm. The total harmonic distortion of the air-gap flux density is the first optimization goal. The second and third optimization goals are the cogging torque and the average of output torque, respectively. And the torque ripple is a constraint condition. The optimized parameter combination is obtained by the Taguchi method. Finite element simulation analysis and prototype test are carried out for the optimized motor structure. The results show that the total harmonic distortion of air-gap flux density is reduced by 36.7% comparing with the initial structure. The cogging torque is reduced by 26.0%. And the average output torque is increased by 4.8%.

Aiming at the problem of uncontrollable magnetic field of permanent magnet generators, a new hybrid excitation generator (HEG) with parallel magnetic circuit is proposed. The HEG consists of combined permanent magnet rotor (PMR) and brushless electric excitation rotor (EER). The PMR has surface-mounted and embedded magnets. The PMR provides the main air gap field, and the brushless EER is used to adjust the air gap field. The operating principle and electromagnetic design scheme of the proposed generator are given in detail. Besides, the matching with two different types of rotors and the flux regulation characteristics is analyzed by using the finite element method. Finally, the output performance of the proposed generator including no-load and load characteristics and output voltage are tested. The results show that the two different types of rotors can be matched efficiently and operated reliably. The internal magnetic flux is easy to adjust in both directions, and the proposed HEG can output stable voltage in the range of wide speed and load.

With the development of clean steel technology, the control of non-metallic inclusions in steel is of increasing importance. Magnesium–calcium treatment can effectively balance the castability of molten steel and the control on inclusion size, which is an inclusion modification approach with application prospect. In view of this, how three addition methods (i.e., adding Mg before Ca, adding Mg after Ca, and adding Mg together with Ca) influenced the modification effect of inclusions in liquid iron was experimentally studied, and how these inclusions evolved with time was discussed in this paper. The results demonstrated that despite the sharp difference in their inclusion evolution, composite inclusions with a magnesium aluminate spinel (MAS) core and an outer CaO–Al2O3–MgO layer were formed by all the three addition methods, with the average inclusion size of 1–2 μm. Furthermore, thermodynamic calculation was adopted to reveal the transformation relationship between MAS and calcium aluminate in each of the three addition methods, and clarify the formation and disappearance mechanisms of the intermediate product CaS in the process of Mg–Ca treatment. The thermodynamic calculation results agreed well with the experiment data.

Aiming at the disadvantages of large leakage flux and low magnetic flux density of radial magnetic circuit and tangential magnetic circuit, a new type of permanent magnet (PM) rotor with parallel tangential and radial magnetic circuits is proposed. Based on Ohm’s law and Kirchhoff’s law of magnetic circuits, equivalent magnetic circuits for rotor poles are developed. The structure parameters of the generator are preliminarily determined. At the same time, by means of the Taguchi method and employing finite element analysis, the rotor poles of generator are optimized to improve air gap magnetic density, the cogging torque, and the distortion of back-EMF waveform. Finally, the validity of proposed design methods is validated by the analytical and experimental results.

Background: We aimed to identify the role of SIRT6 gene polymorphism rs350846 in human longevity.Methods: SIRT6 C/G genotypes were determined using Taqman SNP Genotyping Assays in 169 long-lived inhabitants (LG group aged 90-110 yr), 158 healthy internal controls (internal control group; aged 26-82 yr) and 176 healthy external controls (external control group; aged 20-82 yr) without a family history of exceptional longevity. Statistical analysis was conducted using SPSS 16.0.Results: BMI and TG level were lower in the longevity than in the two control groups, while serum LDL-c and HDL-c and SBP and DBP levels in long-lived individuals were higher than in the two control groups (PP=0.001) among the three groups, with the maximum observed in the external group. No statistically significant differences of the gender FBG and TC were seen in long-lived individuals than in the two control groups. Significant genotype differences existed among the different groups except for the longevity and internal control group. The frequency of the minor allele-C was 0.319. The minor allele frequency of rs350846 in SIRT6 was much higher in the external control than in the other groups. BMI, SBP and HDL-c displayed significant effect on longevity.Conclusion: The C allele of rs350846 in SIRT6 gene, CC and CG genotypes as well as BMI, systolic pressure and HDL-c are associated with longevity. Further studies are needed to validate our results. Keywords: SIRT6, Polymorphisms, Longevity

To improve the autonomy of the biomimetic sphere robot (BSR), an underwater trajectory tracking problem was studied. Considering the thrusters saturation of the BSR, an improved model predictive control (MPC) algorithm that features processing multiple constraints was designed. With the proposed algorithm, the kinematic and dynamic models of the BSR are combined in order to establish the predictive model, and a new state-space model is designed that is based on an increment of the control input. Furthermore, to avoid the infeasibility of the cost function in the MPC controller design, a new term with a slack variable is added to the objective function, which enables the constraints to be imposed as soft constraints. The simulation results illustrate that the BSR was able to track the desired trajectory accurately and stably while using the improved MPC algorithm. Furthermore, a comparison with the traditional MPC shows that the designed MPC-based increment of the control input is small. In addition, a comparative simulation using the backstepping method verifies the effectiveness of the proposed method. Unlike previous studies that only focused on the simulation validations, in this study a series of experiments were carried out that further demonstrate the effectiveness of the improved MPC for underwater trajectory tracking of the BSR. The experimental results illustrate that the improved MPC is able to drive the BSR to quickly track the reference trajectory. When compared with a traditional MPC and the backstepping method used in the experiment, the proposed MPC-based trajectory is closer to the reference trajectory.

Aiming at the problems of large excitation loss and low power generation efficiency of silicon rectifier generators and the unstable output voltage of permanent magnet (PM) generators, a hybrid excitation generator (HEG) with suspended brushless claw pole electrical excitation rotor (EER) and combined magnetic pole PM rotor is proposed in the present work. With only one fractional slot winding stator, the generator adopts PM field as the main magnetic field and electrical excitation field as the auxiliary magnetic field, which not only retains the advantages of high efficiency of PM generators but also effectively reduces excitation consumption. The main structure parameters and the design method were analyzed, and a simulation analysis of no-load magnetic field distribution and flux regulation ability was carried out using finite element software to verify the rationality of the hybrid excitation parallel magnetic circuit design. Moreover, the no-load, load, regulation, and voltage regulation characteristics of the designed generator were tested, and the results show that the designed generator has a wide range of voltage regulation, which can ensure stable output voltage under variable speed and load conditions.

Due to the increasing energy crisis and environmental pollution, the development of drive motors for new energy vehicles (NEVs) has become the focus of popular attention. To improve the sine of the air-gap flux density and flux regulation capacity of drive motors, a new hybrid excitation synchronous motor (HESM) has been proposed. The HESM adopts a salient pole rotor with built-in dual-V permanent magnets (PMs), non-arc pole shoes and excitation windings. The fundamental topology, operating principle and analytical model for a magnetic field are presented. In the analytical model, the rotor magnetomotive force (MMF) is derived based on the minimum reluctance principle, and the permeance function considering a non-uniform air-gap is calculated using the magnetic equivalent circuit (MEC) method. Besides, the electromagnetic performance including the air-gap magnetic field and flux regulation capacity is analyzed by the finite element method (FEM). The simulation results of the air-gap magnetic field are consistent with the analytical results. The experiment and simulation results of the performance show that the flux waveform is sinusoidal-shaped and the air-gap flux can be adjusted effectively by changing the excitation current. This study provides design methods and theoretical analysis references for this type of HESM.

A visual tracking system is essential as a basis for visual servoing, autonomous navigation, path planning, robot-human interaction and other robotic functions. To execute various tasks in diverse and ever-changing environments, a mobile robot requires high levels of robustness, precision, environmental adaptability and real-time performance of the visual tracking system. In keeping with the application characteristics of our amphibious spherical robot, which was proposed for flexible and economical underwater exploration in 2012, an improved RGB-D visual tracking algorithm is proposed and implemented. Given the limited power source and computational capabilities of mobile robots, compressive tracking (CT), which is the effective and efficient algorithm that was proposed in 2012, was selected as the basis of the proposed algorithm to process colour images. A Kalman filter with a second-order motion model was implemented to predict the state of the target and select candidate patches or samples for the CT tracker. In addition, a variance ratio features shift (VR-V) tracker with a Kalman estimation mechanism was used to process depth images. Using a feedback strategy, the depth tracking results were used to assist the CT tracker in updating classifier parameters at an adaptive rate. In this way, most of the deficiencies of CT, including drift and poor robustness to occlusion and high-speed target motion, were partly solved. To evaluate the proposed algorithm, a Microsoft Kinect sensor, which combines colour and infrared depth cameras, was adopted for use in a prototype of the robotic tracking system. The experimental results with various image sequences demonstrated the effectiveness, robustness and real-time performance of the tracking system.

Aiming at vision applications of our amphibious spherical robot, a real-time detection and tracking system adopting Gaussian background model and compressive tracking algorithm was designed and implemented in this article. Considering the narrow load space, the limited power resource and the specialized application scenarios of the robot, a heterogeneous computing architecture combining advanced Reduced Instruction-Set Computer (RISC) machine and field programmable gate array was proposed on the basis of Zynq-7000 system on chip.Under the architecture, main parts of the vision algorithms were implemented as software programs running on the advanced RISC machine-Linux subsystem. And customized image accelerators were deployed on the field programmable gate array subsystem to speed up the time-consuming processes of visual algorithms. Moreover, dynamic reconfiguration was used to switch accelerators online for reducing resource consumption and improving system adaptability. The word length of accelerators was optimized with simulated annealing algorithm to make a compromise between calculation accuracy and resource consumption. Experimental results confirmed the feasibility of the proposed architecture. The single board tracking system was able to provide an image processing rate of up to 89.2 frames per second at the resolution of 320 × 240, which could meet future demands of our robot in biological monitoring and multi-target tracking.

To present the characteristics of pole number and pole shape of the core, the five-phase wound-field doubly salient generators (WFDSGs) with symmetric phase inductance are studied and optimised in this paper, considering the split ratio, slot fill factor and core fringing effect. Based on the principle and structure of the five-phase WFDSGs, the winding induced electro-motive force under different number of poles is theoretically analysed. The constraints for parameter optimisation design including slot fill factor, split ratio and magnetic density characteristic are given. The finite element models of 30/24-pole and 20/16-pole WFDSG are established, and the comparative simulation analysis is carried out. It is pointed out that when the inner and outer diameters of the stator and rotor, the axial length and the maximum magnetic density are constant, the induction electromotive forces of the WFDSGs with different pole numbers and same phase coil number are same. Considering the pole fringing effect, the rotor pole equivalent width is the sum of the rotor pole actual width and 4 times of the air gap. The comparison experiments between the 30/24-pole and 20/16-pole WFDSGs were carried out, which verified the correctness of the theoretical analysis and finite element analysis (FEA).

Thrusters are the bottom actuators of the amphibious spherical robot, and play an important role in the motion control of these robots. To realize accurate motion control, a thrust model for a new water-jet thruster based on hydrodynamic analyses is proposed in this paper. First, the hydrodynamic characteristics of the new thruster were numerically analyzed using computational fluid dynamics (CFD) commercial software CFX. The moving reference frame (MRF) technique was utilized to simulate propeller rotation. In particular, the hydrodynamics of the thruster were studied not only in the axial flow but also in oblique flow. Then, the basic framework of the thrust model was built according to hydromechanics theory. Parameters in the basic framework were identified through the results of the hydrodynamic simulation. Finally, a series of relevant experiments were conducted to verify the accuracy of the thrust model. These proved that the thrust model-based simulation results agreed well with the experimental results. The maximum error between the experimental results and simulation results was only 7%, which indicates that the thrust model is precise enough to be utilized in the motion control of amphibious spherical robots.

A variety of microrobots have commonly been used in the fields of biomedical engineering and underwater operations during the last few years. Thanks to their compact structure, low driving power, and simple control systems, microrobots can complete a variety of underwater tasks, even in limited spaces. To accomplish our objectives, we previously designed several bio-inspired underwater microrobots with compact structure, flexibility, and multi-functionality, using ionic polymer metal composite (IPMC) actuators. To implement high-position precision for IPMC legs, in the present research, we proposed an electromechanical model of an IPMC actuator and analysed the deformation and actuating force of an equivalent IPMC cantilever beam, which could be used to design biomimetic legs, fingers, or fins for an underwater microrobot. We then evaluated the tip displacement of an IPMC actuator experimentally. The experimental deflections fit the theoretical values very well when the driving frequency was larger than 1 Hz. To realise the necessary multi-functionality for adapting to complex underwater environments, we introduced a walking biomimetic microrobot with two kinds of motion attitudes: a lying state and a standing state. The microrobot uses eleven IPMC actuators to move and two shape memory alloy (SMA) actuators to change its motion attitude. In the lying state, the microrobot implements stick-insect-inspired walking/rotating motion, fish-like swimming motion, horizontal grasping motion, and floating motion. In the standing state, it implements inchworm-inspired crawling motion in two horizontal directions and grasping motion in the vertical direction. We constructed a prototype of this biomimetic microrobot and evaluated its walking, rotating, and floating speeds experimentally. The experimental results indicated that the robot could attain a maximum walking speed of 3.6 mm/s, a maximum rotational speed of 9°/s, and a maximum floating speed of 7.14 mm/s. Obstacle-avoidance and swimming experiments were also carried out to demonstrate its multi-functionality.

According to neuro-rehabilitation practice, active training is effective for mild stroke patients, which means these patients are able to recovery effective when they perform the training to overcome certain resistance by themselves. Therefore, for rehabilitation devices without backdrivability, implementation of human-machine synchronization is important and a precondition to perform active training. In this paper, a method to implement this precondition is proposed and applied in a user’s performance of elbow flexions and extensions when he wore an upper limb exoskeleton rehabilitation device (ULERD), which is portable, wearable and non-backdrivable. In this method, an inertia sensor is adapted to detect the motion of the user’s forearm. In order to get a smooth value of the velocity of the user’s forearm, an adaptive weighted average filtering is applied. On the other hand, to obtain accurate tracking performance, a double close-loop control is proposed to realize real-time and stable tracking. Experiments have been conducted to prove that these methods are effective and feasible for active rehabilitation.

We describe the novel, multiply gaited, vectored water-jet, hybrid locomotion-capable, amphibious spherical robot III (termed ASR-III) featuring a wheel-legged, water-jet composite driving system incorporating a lifting and supporting wheel mechanism (LSWM) and mechanical legs with a water-jet thruster. The LSWM allows the ASR-III to support the body and slide flexibly on smooth (flat) terrain. The composite driving system facilitates two on-land locomotion modes (sliding and walking) and underwater locomotion mode with vectored thrusters, improving adaptability to the amphibious environment. Sliding locomotion improves the stability and maneuverability of ASR-III on smooth flat terrain, whereas walking locomotion allows ASR-III to conquer rough terrain. We used both forward and reverse kinematic models to evaluate the walking and sliding gait efficiency. The robot can also realize underwater locomotion with four vectored water-jet thrusters, and is capable of forward motion, heading angle control and depth control. We evaluated LSWM efficiency and the sliding velocities associated with varying extensions of the LSWM. To explore gait stability and mobility, we performed on-land experiments on smooth flat terrain to define the optimal stride length and frequency. We also evaluated the efficacy of waypoint tracking when the sliding gait was employed, using a closed-loop proportional-integral-derivative (PID) control mechanism. Moreover, experiments of forward locomotion, heading angle control and depth control were conducted to verify the underwater performance of ASR-III. Comparison of the previous robot and ASR-III demonstrated the ASR-III had better amphibious motion performance.

Abstract This paper describes the development of the second-generation Spherical Underwater Robot (SUR-II). The new SUR-II has an improved propulsion system structure, resulting in better performance compared with the original design. This paper focuses on the characteristics of the water-jet thruster and the spherical hull of the SUR-II. To analyse its hydrodynamic characteristics, the main hydrodynamic parameters of the SUR-II were estimated based on two reasonable assumptions and a reasonable dynamic equation was proposed to describe the relationship between force and velocity. Drag coefficients were calculated separately for vertical and horizontal motions due to the fin on the robot's equator and the holes in the robot's hull. The holes had a particularly adverse effect on the horizontal drag coefficient. A hydrodynamic analysis using computational fluid dynamics was then carried out to verify the estimated parameters. The velocity vectors, pressure contours and drag coefficient for each state of motion were obtained. Finally, the propulsive force was determined experimentally to verify the theoretical calculations and simulation results.

Biomimetic underwater microrobots are of great interest for underwater monitoring operations, such as pollution detection and video mapping in restricted underwater environments. Generally speaking, compact structure, multi-functionality, flexibility and precise positioning are considered incompatible characteristics for underwater microrobots. Nevertheless, we have designed several novel types of bio-inspired locomotion, using ionic polymer metal composite (IPMC) and shape memory alloy (SMA) actuators. We reviewed a number of previously developed underwater microrobot prototypes that were constructed to demonstrate the feasibility of these types of biomimetic locomotion. Based on these prototypes, we summarized the implemented techniques and available results for efficient and precise underwater locomotion. In order to combine compact structure, multi-functionality, flexibility and precise positioning, we constructed a prototype of a new lobster-like microrobot and carried out a series of experiments to evaluate its walking, rotating, floating and grasping motions. Diving/surfacing experiments were performed by electrolyzing the water around the surfaces of the actuators. Three proximity sensors were installed on the microrobot to detect an object or avoid an obstacle while walking.

In order to achieve optimal BALSS function, preparation of porcine hepatocytes with high yield, viability, and P450 activity is known to be important. To date hepatocyte yields have varied from 0.58 × 10 10 to 3.45 × 10 and viabilities from 75% to 95% within and between laboratories, even when using the same digestion methods and procedures, indicating that hepatocyte isolation during porcine liver digestion is not fully optimized. The aim of this work was to identify the critical parameters affecting cell recovery during porcine liver harvesting by investigating 21 variables involved in the process, including pig body and liver weight, different digestion times of perfusates, pH, a range of concentrations of sodium and chloride in EDTA, and collagenase perfusates. Univariate and multivariate analysis of a retrospective study (n = 23) revealed that low perfusate pH during the process of digestion had a positive effect on hepatocyte yield (p < 0.05), while high (relative) concentrations of sodium and chloride in the perfusates had significant negative effects on hepatocyte viability (both p < 0.05). Sodium and chloride had narrow optimal ranges for achieving a >90% viability. These findings were then tested in a prospective study (n = 10) and further verified. High hepatocyte viabilities (91.8 ± 1.6%, p = 0.036) and yields (2.56 ± 0.48 × 10 10 ) were achieved consistently, and P450IA1 activity was increased after sodium and chloride concentrations and pH in the perfusates were controlled. The physiological mechanism by which sodium and chloride affects hepatocyte viability during porcine liver digestion is discussed.