Dynamic Maneuvers Research Articles

Laryngeal Radioanatomy

The larynx, a specialized segment of the airways, is the essential organ of phonation, breathing and protection of the lower airways when swallowing by a complex anatomic structures organized around a cartilaginous skeleton. We realized a prospective study on three months, ranging from March 01 to May 31 2020, of patients referred to our service for cervical CT scan or MRI exploration in different contextes. We retained the normal exams. For scanographic exploration we used a multi-slice CT scan consisting of 64 rows of detectors. Helical acquisition in native axial slices 0.627 mm thick from the base of the skull to the arch of the aorta was performed in indifferent breathing after asking the patient not to swallow. Iodinated contrast product was injected according to the administration protocol in a single bolus of 90 ml at an average flow rate of 1.5 ml / s and to perform the acquisition with 50 second delay. A dynamic phonation maneuver (saying “eee” continuously and evenly) was used to analyse the true and false vocal cords. On MRI exploration of the larynx, we used a high-field device (1.5Tesla) with a semi-circular specific surface antenna, the phase oriented in an anteroposterior direction, the 3DT1 spin echo sequence without fat signal saturation was performed. In ultrasound, we used literature data. Knowledge of laryngeal radioanatomy contributes to the diagnosis of laryngeal cancers which occupy an important place in all cancers of the upper aerodigestive tract. They can be diagnosed early and the refinement of their endoscopic exploration and imaging allows them to make a precise extension assessment.

Popliteal Entrapment Syndrome: Diagnostic, Surgical Management, and Short-Term Results of a Ten-Year Experience

Popliteal artery entrapment syndrome (PAES) is a rare cause of lower limb claudication in young sportsperson without cardiovascular risk factor. We reported our diagnostic approach, surgical management, and short-term outcomes of this syndrome, over a 10-year period. Sportsperson with intermittent claudication systematically received color duplex ultrasonography with dynamic maneuvers in the sport medicine department. In case of PAES suspicion, diagnosis was confirmed by dynamic computed tomography or dynamic magnetic resonance angiography. Each patient was then evaluated by a vascular surgeon and surgery was performed. We retrospectively screened patients who underwent PAES surgery between 2010 and 2020 in the Department of Surgery in Angers University Hospital. Between January 2010 and December 2020, 38 patients with 67 symptomatic legs underwent surgery for PAES. Twenty three (60.5%) were men. The mean age at the time of surgery was 24.7 +/- 9years. Clinical presentation was bilateral in 30 patients (81.1%). Duplex ultrasound demonstrated severe stenosis or occlusion in 45 legs (77%). When performed, CT-scan demonstrated popliteal artery compression in all cases (100%). As per Whelan and Rich classification, 36 patients (94.7%) had type 6 PAES. There was no mortality or severe complication after surgery. Morbidity included 4 postoperative hematoma (6%) and 8 prolonged healing (13%). The mean time of follow-up was 2.3months +/- 1.2months. After surgery, D-scan showed no signs of remaining popliteal artery compression in 92.5% of the case. Twelve patients (33.3%) were able to resume sport, 18 (50%) partially, and 6 (16.6%) did not resume sport yet. We report a cohort of 38 patients who underwent surgery for PAES. Among them, 36 (94.7%) were functional PAES. Morbidity included 13% of prolonged healing. Two months follow-up demonstrated good results at dynamic D-scan without signs of remaining popliteal artery compression in 92.5% of the cases. These short-term results showed that one-third of patients were able to resume sport activity at an initial level.

Momentum-Aware Trajectory Optimization and Control for Agile Quadrupedal Locomotion

In this letter, we present a versatile hierarchical offline planning algorithm, along with an online control pipeline for agile quadrupedal locomotion. Our offline planner alternates between optimizing centroidal dynamics for a reduced-order model and whole-body trajectory optimization, with the aim of achieving dynamics consensus. Our novel momentum-inertia-aware centroidal optimization, which uses an equimomental ellipsoid parameterization, is able to generate highly acrobatic motions via “inertia shaping”. Our whole-body optimization approach significantly improves upon the quality of standard DDP-based approaches by iteratively exploiting feedback from the centroidal level. For online control, we have developed a novel convex model predictive control scheme through a linear transformation of the full centroidal dynamics. Our controller can efficiently optimize for both contact forces and joint accelerations in single optimization, enabling more straightforward tracking for momentum-rich motions compared to existing quadrupedal MPC controllers. We demonstrate the capability and generality of our trajectory planner on four different dynamic maneuvers. We then present one hardware experiment on the MIT Mini Cheetah platform to demonstrate the performance of the entire planning and control pipeline on a twisting jump maneuver.

A Microscopic Platoon Stability Model Using Vehicle-to-Vehicle Communication

With Vehicle-to-Vehicle (V2V) communication capability, vehicle platoon on the highway helps to reduce traffic congestion. However, the dynamic nature of vehicles imposes challenges on the V2V-based platoon management. In this paper, by considering the characteristics of a Vehicular Ad-hoc Network (VANET), a microscopic platoon management scheme is proposed to deal with three basic dynamic platoon maneuvers, namely merging, splitting, and speed-change. The congestion detection feature of VANET is used as a scale for platoon merging, splitting, and speed selection. Real-time congestion is detected if the number of vehicles in a given road segment exceeds the occupancy rate or the time headway is less than the thresholds. In the proposed platoon management scheme, platoon maintenance is triggered in congestion detection. Finally, a VANET-based platoon platform is built by using Network Simulator Version 2 (NS2) network simulation to assess the performance over some real road traces generated by Simulation of Urban MObility (SUMO). It is shown that V2V-based dynamic vehicle platoon management provides an inexpensive technique to cope with the dynamic platoon management requirement.

Ultrasound evaluations and guided procedures of the painful joint arthroplasty.

The purpose of this article is to describe the use of ultrasound for the diagnosis and treatment of painful joint arthroplasty. Ultrasound plays a crucial role in the diagnosis of the painful joint arthroplasty, especially given its unique dynamic capabilities, convenience, and high resolution. Ultrasound guidance is also instrumental for procedures in both diagnosing and in select cases, treating the painful joint arthroplasty. Topics to be discussed in this article include trends in arthroplasty placement, benefits of the use of ultrasound overall, and ultrasound evaluation of periprosthetic joint infections. We will also review the sonographic findings with dissociated/displaced components and adverse reaction to metallic debris including metallosis, trunnionosis, and metal-on-metal pseudotumors. Additionally, we will discuss ultrasound evaluation of tendon pathologies with arthroplasties, including dynamic maneuvers to evaluate for tendon impingement/snapping. Finally, we will cover ultrasound-guided joint arthroplasty injection indications and precautions. KEY POINTS: • Ultrasound is preferred over MRI in patients with joint arthroplasty and plays a crucial role in diagnosis, especially given its unique dynamic capabilities, convenience and high resolution. • It is especially beneficial for US-guided aspiration in periprosthetic joint infections; effectively used to evaluate periprosthetic fluid collections, facilitating differentiation between abscesses and aseptic collections, and tracking sinus tracts. • Recently, the diagnosis of periprosthetic joint infections has shifted focus to biomarkers in the periprosthetic fluid, specifically α-defensin, which has a high sensitivity and specificity for diagnosing infection. • Cutibacterium acnes is a major pathogen responsible for shoulder arthroplasty infections, often presenting with normal laboratory values and since slow growing, must be kept for a minimum of 14days.

Computed Tomography Registration-Derived Regional Ventilation Indices Compared to Global Lung Function Parameters in Patients With COPD.

CT registration-derived indices provide data on regional lung functional changes in COPD. However, because unlike spirometry which involves dynamic maximal breathing maneuvers, CT-based functional parameters are assessed between two static breath-holds, it is not clear how regional and global lung function parameters relate to each other. We assessed the relationship between CT-density change (dHU), specific volume change (dsV), and regional lung tissue deformation (J) with global spirometric and plethysmographic parameters, gas exchange, exercise capacity, dyspnoea, and disease stage in a prospective cohort study in 102 COPD patients. There were positive correlations of dHU, dsV, and J with spirometric variables, DLCO and gas exchange, 6-min walking distance, and negative correlations with plethysmographic lung volumes and indices of trapping and lung distension as well as GOLD stage. Stepwise regression identified FEV1/FVC (standardized β = 0.429, p < 0.0001), RV/TLC (β = −0.37, p < 0.0001), and BMI (β = 0.27, p=<0.001) as the strongest predictors of CT intensity-based metrics dHU, with similar findings for dsV, while FEV1/FVC (β = 0.32, p=<0.001) and RV/TLC (β = −0.48, p=<0.0001) were identified as those for J. These data suggest that regional lung function is related to two major pathophysiological processes involved in global lung function deterioration in COPD: chronic airflow obstruction and gas trapping, with an additional contribution of nutritional status, which in turn determines respiratory muscle strength. Our data confirm previous findings in the literature, suggesting the potential of CT image-based regional lung function metrics as the biomarkers of disease severity and provide mechanistic insight into the interpretation of regional lung function indices in patients with COPD.

Compensatory biomechanics and spinal loading during dynamic maneuvers in patients with chronic low back pain

PurposeThis study explores the biomechanics underlying the sit-to-stand (STS) functional maneuver in chronic LBP patients to understand how different spinal disorders and levels of pain severity relate to unique compensatory biomechanical behaviors. This work stands to further our understanding of the relationship between spinal loading and symptoms in LBP patients.MethodsWe collected in-clinic motion data from 44 non-specific LBP (NS-LBP) and 42 spinal deformity LBP (SD-LBP) patients during routine clinical visits. An RGB-depth camera tracked 3D joint positions from the frontal view during unassisted, repeated STS maneuvers. Patient-reported outcomes (PROs) for back pain (VAS) and low back disability (ODI) were collected during the same clinical visit.ResultsBetween patient groups, SD-LBP patients had 14.3% greater dynamic sagittal vertical alignment (dSVA) and 10.1% greater peak spine torque compared to NS-LBP patients (p < 0.001). SD-LBP patients also had 11.8% greater hip torque (p < 0.001) and 86.7% greater knee torque (p = 0.04) compared to NS-LBP patients. There were no significant differences between patient groups in regard to anterior or vertical torso velocities, but anterior and vertical torso velocities correlated with both VAS (r = − 0.38, p < 0.001) and ODI (r = − 0.29, p = 0.01). PROs did not correlate with other variables.ConclusionPatients with LBP differ in movement biomechanics during an STS transfer as severity of symptoms may relate to different compensatory strategies that affect spinal loading. Further research aims to establish relationships between movement and PROs and to inform targeted rehabilitation approaches.

Unsteady load assessment of a scaled-helicopter model in a ship airwake

The paper presents the results of wind tunnel tests to measure unsteady aerodynamic loads on a scaled-helicopter operating in the airwake of a generic frigate model. Rotor loads were measured by a six-axis dynamic balance in a stern landing maneuver simulated by trimming the rotor along a sloped descent trajectory towards the landing spot. The measures allowed to identify not only the average loads but also the frequency spectrum in the range of interest for flight mechanics. The results indicate that for the three tested wind directions, including headwind, 30∘ and 60∘ from the port-side, moving towards the landing spot the unsteadiness is increased. The rate of amplification of the loads for the trajectories not aligned with the wind is significantly higher compared with those measured in the headwind test. Furthermore, a fully dynamic landing maneuver was compared with the sequence of trimmed measures to evaluate the effect of the approach velocity of the helicopter on unsteady loads. A notable reduction in the unsteadiness of the pitch moment was found, while the unsteady thrust and roll moment were more comparable between static and dynamic tests.

Multi-AUV Dynamic Maneuver Countermeasure Algorithm Based on Interval Information Game and Fractional-Order DE

The instability of the underwater environment and underwater communication brings great challenges to the coordination and cooperation of the multi-Autonomous Underwater Vehicle (AUV). In this paper, a multi-AUV dynamic maneuver countermeasure algorithm is proposed based on the interval information game theory and fractional-order Differential Evolution (DE), in order to highlight the features of the underwater countermeasure. Firstly, an advantage function comprising the situation and energy efficiency advantages is proposed on account of the multi-AUV maneuver strategies. Then, the payoff matrix with interval information is established and the payment interval ranking is achieved based on relative entropy. Subsequently, the maneuver countermeasure model is presented along with the Nash equilibrium condition satisfying the interval information game. The fractional-order DE algorithm is applied for solving the established problem to determine the optimal strategy. Finally, the superiority of the proposed multi-AUV maneuver countermeasure algorithm is verified through an example.

Supraspinatus pathology on MRI is associated with degree of weakness on dynamic clinical strength testing.

To analyze shoulder strength and function in patients presenting with possible supraspinatus pathology and to ascertain if these clinical findings are associated with severity of supraspinatus pathology on MRI. In total, 171 patients with presumptive rotator cuff pathology and with preserved strength on standard rotator cuff examination were prospectively recruited. Patients were subjected to bilateral shoulder strength testing employing dynamometry; this included isometric strength testing at 90° of abduction, followed by eccentric assessment of isotonic strength from full abduction through the full range of motion until the arm rested at the patient's side. We calculated absolute strength and symptomatic-to-asymptomatic arm (S/A) strength ratios. On subsequent shoulder MRI, supraspinatus pathology was designated into one of seven categories. The association between strength measurements and MRI findings was analyzed. Increasing lesion severity on MRI was associated with both decreasing absolute strength (no tear [59.9N] to full-thickness tear [44.2N]; P = 0.036) and decreasing S/A strength ratios during isotonic testing (no tear [91.9%] to full-thickness tear [65.3%]; P = 0.022). In contrast, there were no significant relationships between imaging severity and absolute strength or S/A strength ratios on isometric testing. Severity of supraspinatus pathology on MRI was associated with dynamic clinical function. These results validate the clinical correlation between MRI designations of supraspinatus pathology and function and suggest the need for future work to investigate utility of dynamic (versus isometric) rotator cuff physical examination maneuvers.

Adaptive Controller Design for Dynamic Maneuvers of High Speed Underwater Vehicles

Adaptive Controller Design for Dynamic Maneuvers of High Speed Underwater Vehicles

A Practical Model for Realistic Butterfly Flight Simulation

Butterflies are not only ubiquitous around the world but are also widely known for inspiring thrill resonance, with their elegant and peculiar flights. However, realistically modeling and simulating butterfly flights—in particular, for real-time graphics and animation applications—remains an under-explored problem. In this article, we propose an efficient and practical model to simulate butterfly flights. We first model a butterfly with parametric maneuvering functions, including wing-abdomen interaction. Then, we simulate dynamic maneuvering control of the butterfly through our force-based model, which includes both the aerodynamics force and the vortex force. Through many simulation experiments and comparisons, we demonstrate that our method can efficiently simulate realistic butterfly flight motions in various real-world settings.

Retrospective evaluation of operator bias in the performance of high-resolution anorectal manometry.

Measurements obtained during high-resolution anorectal manometry (HRM) are subject to operator-patient interactions. For example, standardized enhanced instruction delivered by a single operator in a test-retest fashion did not consistently increase pressures generated during dynamic maneuvers. It is probable that factors other than verbal instruction effect communication during the procedure. To investigate this hypothesis, we retrospectively examined inter-operator variance in HRM results. The electronic health records at Mayo Clinic, Rochester, were used to identify patients who had undergone HRM in 2019 and 2020. The analysis focused on constipated patients. The instructions given to the patients they had examined, and the pressure measurements obtained during HRM, by 6 different nurse operators were compared. When performing HRM on their individual patients (range 126-673), the 6 nurses used similar instructions for each of the maneuvers and sensory testing thresholds. The proportion of patients with prolonged balloon expulsion tests and the rectal sensory thresholds were similar among operators. Significant variance was seen in the mean rectoanal pressures at rest, during squeeze, and during dynamic maneuvers. The proportion of patients with manometry results suggestive of a defecatory disorder differed between operators by 18% and 28% in women <50 and >50years old, respectively. Operators obtain significantly different results during HRM despite using similar instructions to patients. Substantial differences in the proportion of patients with manometry findings suggestive of a defecatory disorder among operators may have a significant impact on the diagnoses and therapies offered to constipated patients.

Techniques, Tricks, and Stratagems of Oral Cavity Computed Tomography and Magnetic Resonance Imaging

The oral cavity constitutes a complex anatomical area that can be affected by many developmental, inflammatory, and tumoural diseases. MultiSlice Computed Tomography (MSCT) and Magnetic Resonance Imaging (MRI) currently represent the essential and complementary imaging techniques for detecting oral cavity abnormalities. Advanced MRI with diffusion-weighted imaging (DWI) and dynamic contrast-enhanced perfusion-weighted imaging (DCE-PWI) has recently increased the ability to characterise oral lesions and distinguish disease recurrences from post therapy changes. The analysis of the oral cavity area via imaging techniques is also complicated both by mutual close appositions of different mucosal surfaces and metal artifacts from dental materials. Nevertheless, an exact identification of oral lesions is made possible thanks to dynamic manoeuvres and specific stratagems applicable on MSCT and MRI acquisitions. This study summarises the currently available imaging techniques for oral diseases, with particular attention to the role of DWI, DCE-PWI, and dynamic manoeuvres. We also propose MSCT and MRI acquisition protocols for an accurate study of the oral cavity area.

Capturing nonlinear time-dependent aircraft dynamics using a wind tunnel manoeuvre rig

This paper considers a novel multi-degree-of-freedom dynamic manoeuvre rig, with the aim of assessing its potential for capturing aircraft model nonlinear time dependent dynamics in the wind tunnel. The dynamic manoeuvre rig capabilities are demonstrated via a series of experiments involving a model aircraft in a closed section low-speed wind tunnel. A series of open loop experiments show that the aircraft model exhibits nonlinear time dependent dynamics. This nonlinear behaviour manifests itself as limit cycle oscillations that increase in complexity with the number of degrees-of-freedom in which the aircraft is allowed to move. Two real-time closed loop control experiments further illustrate the manoeuvre rig potential: first, using a pitch motion configuration, an experiment is conducted to investigate the limit cycle behaviour in more detail, allowing the stability properties of the pitch oscillations to be assessed; secondly, using a 5-DOF motion configuration, the test motion envelope is extended by using a compensating feedback control law to track the aircraft's roll motion. Together, these experiments demonstrate the manoeuvre rig potential to reveal aircraft nonlinear and unsteady phenomena.

Dynamic Vehicle Drifting With Nonlinear MPC and a Fused Kinematic-Dynamic Bicycle Model

In this letter we present a versatile trajectory optimization framework that leverages a fused kinematic-dynamic bicycle model for highly dynamic vehicle drifting maneuvers. Our framework can be used online to generate drifting maneuvers, offline to plan drift parking, and additionally enables online tracking of the offline computed parking maneuvers. Importantly, neither individual kinematic nor dynamic bicycle models alone can be used straightforwardly in an optimization framework to plan nor execute the presented motions, as the former cannot model drifting, and the latter becomes ill-defined at low speeds. We validate our framework in a Gazebo simulation of the MIT RACECAR, where we show several drifting scenarios such as steady-state drifting with a range of desired yaw rates as well as a dynamic drift parking maneuver under noisy conditions, and video results can be found at <uri xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">https://youtu.be/MF1_fS6CQQs</uri> .

Using Pulsatility Responses to Breath-Hold Manoeuvres to Predict Readmission Rates in Continuous-Flow Left Ventricular Assist Device Patients

Dynamic respiratory manoeuvres induce heterogeneous changes to flow pulsatility in continuous-flow left ventricular assist device patients. We evaluated the association of these pulsatility responses with patient haemodynamics and outcomes.

Adaptive Learning for Maximum Takeoff Efficiency of High-Speed Sailboats

This paper presents an optimal takeoff maneuver for an AC75 foiling sailboat competing in the America's Cup. The innovative sailboat design introduces extra degrees of freedom and articulations in the boat that result in nonlinear, high-dimensional, and unstable dynamics. The optimal maneuvers were achieved by exploring out-of-the-box solutions through adaptive control and optimization. We used a high-fidelity sailboat simulator for the data generation process and an adaptive control approach (Jacobian Learning (JL)) to optimize the sailing maneuver. Takeoff is a dynamic sailboat maneuver that involves transitioning the boat from a low-speed in-water status (displacement mode) to a high-speed out-of-water status (foiling mode) via actuation of the sailboat's inputs. We optimized the time for the boat's transitions from displacement mode to foiling mode while maximizing the projection of the velocity (Velocity Made Good (VMG)) in the desired target direction (True Wind Angle (TWA)). Furthermore, we optimized the sailboat's upwind steady-state performance (closed-haul VMG) for varying sailing directions (TWA) and used the optimal TWA to formulate the takeoff. The optimal solution is subject to physical/actuator constraints and the ones enforced to ensure the feasibility of the maneuvers by humans (sailors). The optimal takeoff achieved an average VMG of 7.42 m/s. This maneuver serves as a performance benchmark for the sailors and provides insightful information about the underlying dynamics of the boat.

Research on the Turning Maneuverability of a Bionic Robotic Dolphin

This paper studies four patterns for the maneuverability of robotic dolphins: turning with flapping flippers, turning with swing flippers, turning with head offset, and turning with head-flipper coordination. Turning maneuverability is one of the important evaluation indexes for the performance of underwater bionic robots, and existing literature has rarely theoretically or experimentally evaluated turning maneuverability for the latter two turning patterns. In this paper, we establish a dynamic model for the high maneuverability of underwater bionic robots and discuss the influence of motion design parameters, including the frequency of the pectoral fins and the offset angle of the head, on the turning maneuverability, focusing on the turning angular velocity and turning radius. To verify the effectiveness and control accuracy of the dynamic model, we develop a multidegree-of-freedom (multi-DOF) and high-maneuverability bionic robotic dolphin and test its maneuverability through experiments. Extensive experimental results demonstrate that the established dynamic model can successfully predict the turning maneuverability of robotic dolphins. In addition, the turning methods in this paper have better turning performance than some robotic fish. This paper provides a reference for the establishment of a maneuvering dynamics model for underwater bionic robots and a theoretical basis for the design of a turning maneuver control system.

Adaptive Learning of Inland Ship Power Propulsion under Environmental Disturbances

This paper presents an adaptive approximation-based scheme for learning a partially known ship power propulsion plant under various environmental conditions. Considering the effect of water depth on the engine power, a dynamic model is defined comprised of the engine dynamics and the 1-DoF ship manoeuvring dynamics. The modelling challenge is the determination of ship resistance. To meet this challenge analytical modelling of ship resistance is combined with an error-filtering online learning (EFOL) scheme for computing an approximation of the unmodeled part of ship resistance related to wind and air. After simulations under multiple weather conditions, the trained model was demonstrated to efficiently estimate the unmodelled part of the ship resistance for an inland vessel.