Average Motion Research Articles

Reproducing the caress gesture with an anthropomorphic robot: a feasibility study.

Social robots have been widely used to deliver emotional, cognitive and social support to humans. The exchange of affective gestures, instead, has been explored to a lesser extent, despite phyisical interaction with social robots could provide the same benefits as human-human interaction. Some studies that explored the touch and hugs gestures were found in literature, but there are no studies that investigate the possibility of delivering realistic caress gestures, which are, in turn, the easiest affective gestures that could be delivered with a robot. The first objective of this work was to study the kinematic and dynamic features of the caress gesture by conducting experimental acquisitions in which ten healthy volunteers were asked to caress the cheek of a mannequin in two conditions, i.e., standing and sitting. Average motion and force features were then analyzed and used to generate a realistic caress gesture with an anthropomorphic robot, with the aim of assessing the feasibility of reproducing the caress gesture with a robotic device. In addition, twenty-six healthy volunteers evaluated the anthropomorphism and perceived safety of the reproduced affective gesture by answering the Godspeed Questionnaire Series and a list of statements on the robot motion. The gesture reproduced by the robot was similar to the caress gesture performed by healthy volunteers both in terms of hand trajectory and orientation, and exchanged forces. Overall, volunteers perceived the robot motion as safe and positive emotions vere elicited. The proposed approach could be adapted to humanoid robots to improve the perceived anthropomorphism and safety of the caress gesture.

Hopping potential wells and gait switching in a fish-like robot with a bistable tail

Fish outperform current underwater robots in speed, agility, and efficiency of locomotion, in part due to their flexible appendages that are capable of rich combinations of modes of motion. In fish-like robots, actuating many different modes of oscillation of tails or fins can become a challenge. This paper presents a highly underactuated (with a single actuator) fish-like robot with a bistable tail that features a double-well elastic potential. Oscillations of such a tail depend on the frequency and amplitude of excitation, and tuning the frequency–amplitude can produce controllable oscillations in different modes leading to different gaits of the robot. This robot design is inspired by recent work on underactuated flexible swimming robots driven by a single rotor. The oscillations of the rotor can propel and steer the robot, but saturation of the rotor makes performing long turns challenging. This paper demonstrates that by adding geometric bistability to the flexible tail, turns can be performed by controllably exciting single-well oscillations in the tail, while exciting double-well oscillations of the tail produces average straight-line motion. The findings of this paper go beyond the application to a narrow class of fish-like robots. More broadly we have demonstrated the use of periodic excitation to produce bistable response that generate different gaits including a steering gait. The mechanics demonstrated here show the feasibility of applications to other mobile soft robots.

New findings on clinical experience on surface-guided radiotherapy for frameless non-coplanar stereotactic radiosurgery treatments.

The aim of this study was to assess the accuracy of a surface-guided radiotherapy (SGRT) system for setup and intra-fraction motion control in frameless non-coplanar stereotactic radiosurgery (fSRS) using actual patient data immobilized with two different types of open-faced masks and employing a novel SGRT systems settings. Forty-four SRS patients were immobilized with two types of open-faced masks. Sixty lesions were treated, involving the analysis of 68 cone-beam scans (CBCT), 157 megavoltage (MV) images, and 521 SGRT monitoring sessions. The average SGRT translations/rotations and 3D vectors (MAG-Trasl and MAG-Rot) were compared with CBCT or antero-posterior MV images for 0° table or non-coplanar beams, respectively. The intrafraction control was evaluated based on the average shifts obtained from each monitoring session. To assess the association between the SGRT system and the CBCT, the two types of masks and the 3D vectors, a generalized estimating equations (GEE) regression analysis was performed. The Wilcoxon singed-rank test for paired samples was performed to detect differences in couch rotation with longitudinal (LNG) and lateral (LAT) translations and/or yaw. The average SGRT corrections were smaller than those detected by CBCT (≤0.5mm and 0.1°), with largest differences in LNG and yaw. The GEE analysis indicated that the average MAG-Trasl, obtained by the SGRT system, was not statistically different (p=0.09) for both mask types, while, the MAG-Rot was different (p=0.01). For non-coplanar beams, the Wilcoxon singed-rank test demonstrated no significantly differences for the corrections (LNG, LAT, and yaw) for any table rotation except for LNG corrections at 65° (p=0.04) and 75° (p=0.03) table angle position; LAT shifts at 65° (p=0.03) and 270° (p<0.001) table angle position, and yaw rotation at 30° (p=0.02) table angle position. The average intrafraction motion was<0.1mm and 0.1° for any table angle. The SGRT system used, along with the novel workflow performed, can achieve the setup and intra-fraction motion control accuracy required to perform non-coplanar fSRS treatments. Both masks ensure the accuracy required for fSRS while providing a suitable surface for monitoring.

Mechanically compliant locking plates for diaphyseal fracture fixation: A biomechanical study.

Axial micromotion between bone fragments can stimulate callus formation and fracture healing. In this study, we propose a novel mechanically compliant locking plate which achieves up to 0.6 mm of interfragmentary motion as flexures machined into the plate elastically deflect under physiological load. We investigated the biomechanical performance of three compliant plate variations in comparison to rigid control plates with small and large working lengths in a comminuted bridge plating scenario using humeral diaphysis surrogates. Under static axial loading, average interfragmentary motion was 6 times larger at 100 N (0.38 vs. 0.05 mm) and nearly three times larger at 350 N (0.58 vs. 0.2 mm) for compliant plates than rigid plates, respectively. Compliant plates delivered between 2.5 and 3.4 times more symmetric interfragmentary motion than rigid plates (p < 0.01). The bi-phasic stiffness of compliant pates provided 74%-96% lower initial axial stiffness up to approximately 100 N (p < 0.01), after which compliant plate stiffness was similar to rigid plates with increased working length (p > 0.3). The strength to failure of compliant plates under dynamic loading was on average 48%-55% lower than rigid plate groups (p < 0.01); however, all plates survived cyclic fatigue loading of 100,000 cycles at 350 N. This work characterizes the improvement in interfragmentary motion and the reduction in strength to failure of compliant plates compared to control rigid plates. Compliant plates may offer potential in comminuted fracture healing due to their ability to deliver symmetric interfragmentary motion into the range known to stimulate callus formation while surviving moderate fatigue loading with no signs of failure.

Preserving the symmetry of cis-1,2-difluoroethylene in the gas-phase heterodimer with hydrogen chloride: A microwave rotational study revealing a novel structure.

The microwave spectra of three isotopologues of the gas-phase heterodimer formed between cis-1,2-difluoroethylene and hydrogen chloride are obtained in the 5-21GHz region using Fourier transform microwave spectroscopy. The molecular structure, determined from the analysis of the spectra and supported by quantum chemistry calculations, has the hydrogen atom of the hydrogen chloride molecule interacting with both fluorine atoms of the fluoroethylene and no interaction between the chlorine atom and the olefin. Although the equilibrium structure has two inequivalent H⋯F interactions, zero-point motion averages over the two equivalent choices for these interactions, rendering the pairs of like atoms (C, H, and F) of the fluoroethylene equivalent, retaining the C2v symmetry of the olefin. This results in only one unique singly substituted 13C isotopologue and in the observed effects on transition intensities due to nuclear spin statistics. The heterodimer structure allows for a strong, linear hydrogen bond between the HCl donor and the fluoroethylene acceptor that is more important here than in the analogous acetylene containing complex, where the interaction between the π electrons of acetylene and an electrophilic hydrogen atom on the olefin compensates for the loss of linearity required for binding to a geminal F/H pair.

Audio2Gestures: Generating Diverse Gestures From Audio.

People may perform diverse gestures affected by various mental and physical factors when speaking the same sentences. This inherent one-to-many relationship makes co-speech gesture generation from audio particularly challenging. Conventional CNNs/RNNs assume one-to-one mapping, and thus tend to predict the average of all possible target motions, easily resulting in plain/boring motions during inference. So we propose to explicitly model the one-to-many audio-to-motion mapping by splitting the cross-modal latent code into shared code and motion-specific code. The shared code is expected to be responsible for the motion component that is more correlated to the audio while the motion-specific code is expected to capture diverse motion information that is more independent of the audio. However, splitting the latent code into two parts poses extra training difficulties. Several crucial training losses/strategies, including relaxed motion loss, bicycle constraint, and diversity loss, are designed to better train the VAE. Experiments on both 3D and 2D motion datasets verify that our method generates more realistic and diverse motions than previous state-of-the-art methods, quantitatively and qualitatively. Besides, our formulation is compatible with discrete cosine transformation (DCT) modeling and other popular backbones (i.e., RNN, Transformer). As for motion losses and quantitative motion evaluation, we find structured losses/metrics (e.g. STFT) that consider temporal and/or spatial context complement the most commonly used point-wise losses (e.g. PCK), resulting in better motion dynamics and more nuanced motion details. Finally, we demonstrate that our method can be readily used to generate motion sequences with user-specified motion clips on the timeline.

Intrafraction Motion in Surface-Guided Breast Radiation Therapy and its Implications on a Single Planning Target Volume Margin Strategy

Background and PurposeThis study quantifies intrafraction motion in surface-guided radiotherapy (SGRT) for breast cancer and considers the need for individualized intrafraction motion measures when calculating Planning Target Volume (PTV) margins. MethodsSGRT was used to assess intrafraction motion in consecutive patients according to (1) site irradiated (whole breast (WB)/chest wall (CW) versus WB/CW + regional lymph nodes) and (2) the use of deep inspiration breath hold (DIBH) versus free-breathing (FB). Intrafraction motion variation was evaluated throughout the treatment course for all cases. Associations between intrafraction motion and patient specific characteristics were explored. The usefulness of individualised intrafraction motion measures for PTV margin determination was considered. Results102 patients undergoing 1360 fractions were included. On a population level, average intrafraction motion was less than 0.4mm and 0.2 degrees for translational and rotational directions, respectively, with 95th percentiles < 1.2mm and 0.6 degrees. No clinically meaningful differences in intrafraction motion were observed according to site irradiated or the use of DIBH. Consistency in intrafraction motion was noted for all patients throughout the treatment course. No clinically meaningful associations were found between intrafraction motion and patient specific characteristics such as age, seroma volume, PTV volume, and mean body volume. ConclusionIntrafractional deviations with SGRT, using manufacturer-recommended ROIs, are minimal, do not vary substantially for different treatment techniques or patient specific characteristics, and remain constant throughout the treatment course. A universal intrafraction motion measure may be sufficient for calculating PTV margins. Further validation studies are needed to evaluate the impact of ROI size and coverage.

Конвективные режимы псевдопластической жидкости в квадратной полости при воздействии высокочастотных вибраций в условиях пониженной гравитации

In this paper, we investigate convective modes of pseudoplastic fluid in a square cavity with solid perfectly heat-conducting boundaries under reduced gravity. The cavity performs vertical linearly polarized high-frequency vibrations. Between the vertical walls of the cavity a temperature drop is prescribed in the direction perpendicular to vibrations and the field of gravity. The fluid rheology is described using the Williamson model. The problem is solved based on the averaged thermovibration convection equations for nonlinear viscous fluids. The vibration intensity is determined by the vibration parameter V, which is proportional to the ratio of the amplitude of the vibration acceleration to the free-fall acceleration and does not depend on the temperature difference. The problem is found to have two types of solutions, which we call Newtonian and non-Newtonian modes. These solutions correspond to different convective structures, for which the dependences of the maximum of the stream function and the Nusselt number on the Grashof number are derived. We use these dependences for determining at different values of rheological parameters the threshold values of the Grasgof numbers, corresponding to the change in the modes of stationary averaged convection and the critical Grasgof numbers, corresponding to the loss of stability of stationary averaged flow and the occurrence of oscillatory modes of averaged convection. The structures of different modes of averaged stationary and oscillatory convection are studied. The results obtained for the Newtonian mode have shown that at small values of the Grasgoff number, a slow one-vortex stationary convective flow is realized in the cavity. With increasing the Grasgoff number it transforms into a three-vortex flow. A further increase in the Grasgoff number results in the appearance of a four-vortex convective flow, which eventually transforms again into a three-vortex motion. At even greater Gr, the stationary averaged motion becomes unstable and the oscillatory modes appear in the cavity. For the non-Newtonian mode, a stationary convective flow is the basic flow pattern detected in the cavity; the oscillatory modes are not observed in the whole investigated range of the Grasgoff numbers.

Assessment of Zitterbewegung Interpretation for Free Particle Solution Using the Concept of Relativistic Wave

The Assessment of the interpretation of Zitterbewegung for free particle solution using various models has been carried out in this work where we firstly considered by using the free particle solution for which Dirac equation and projection operator were carried out.. ln this case, it was invariably revealed that the solution have two doubly degenerate eigenvalues representing positive and negative state that was further support by the analysis which was carried out using Heisenberg’s equation and the representation in relativistic velocity and semi-classical equation of motion for acceleration., but in this second case, the results obtained were observed to have two terms, first terms standing in for rapidly oscillatory motion and the second term representing average motion of the particle in x-direction. The first term in the expression is the one deemed to signify zitterbewegung which is one considered to be sas a result of the fluctuation resulting from the interference between negative and positive energy state while the other term is the normal state terms signifying the average motion of the particle. This therefore confirms the explicit nature of using Dirac equation in handling problems involving the behavior of free particles in field as compared to the use of semiclassical equation of motion.

Adaptive Frame Sampling and Feature Alignment for Multi-Frame Infrared Small Target Detection

In recent years, infrared images have attracted widespread attention, due to their extensive application in low-visibility search and rescue, forest fire monitoring, ground target monitoring, and other fields. Infrared small target detection technology plays a vital role in these applications. Although there has been significant research over the years, accurately detecting infrared small targets in complex backgrounds remains a significant challenge. Multi-frame detection methods can significantly improve detection performance in these cases. However, current multi-frame methods face difficulties in balancing the number of input frames and detection speed, and cannot effectively handle the background motion caused by movement of the infrared camera. To address these issues, we propose an adaptive frame sampling method and a detection network aligned at the feature level. Our adaptive frame sampling method uses mutual information to measure motion changes between adjacent frames, construct a motion distribution, and sample frames with uniform motion based on the averaged motion distribution. Our detection network handles background motion by predicting a homography flow matrix that aligns features at the feature level. Extensive evaluation of all components showed that the proposed method can more effectively perform multi-frame infrared small target detection.

Stopping power and range estimations in proton therapy based on prompt gamma timing: motion models and automated parameter optimization

Objective. Particle therapy treatments are currently limited by uncertainties of the delivered dose. Verification techniques like Prompt-Gamma-Timing-based Stopping Power Estimation (PGT-SPE) may allow for reduction of safety margins in treatment planning. Approach. From Prompt-Gamma-Timing measurements, we reconstruct the spatiotemporal distribution of prompt gamma emissions, which is linked to the average motion of the primary particles. The stopping power is determined by fitting a model of the average particle motion. Here, we compare a previously published implementation of the particle motion model with an alternative formulation and present two formulations to automatically select the hyperparameters of our procedure. The performance was assessed using Monte-Carlo simulations of proton beams (60 MeV–219 MeV) impinging on a homogeneous PMMA phantom. Main results. The range was successfully determined within a standard deviation of 3 mm for proton beam energies from 70 MeV to 219 MeV. Stopping power estimates showed errors below 5% for beam energies above 160 MeV. At lower energies, the estimation performance degraded to unsatisfactory levels due to the short range of the protons. The new motion model improved the estimation performance by up to 5% for beam energies from 100 MeV to 150 MeV with mean errors ranging from 6% to 18%. The automated hyperparameter optimization matched the average error of previously reported manual selections, while significantly reducing the outliers. Significance. The data-driven hyperparameter optimization allowed for a reproducible and fast evaluation of our method. The updated motion model and evaluation at new beam energies bring us closer to applying PGT-SPE in more complex scenarios. Direct comparison of stopping power estimates between treatment planning and measurements during irradiation would offer a more direct verification than other secondary-particle-based techniques.

Pins and Rubber Band Traction System Combined with Internal Fixation for Intra-articular Fractures of the Proximal Interphalangeal Joints.

Background: Intra-articular fractures of the proximal interphalangeal joint (PIPJ) can result in poor outcomes if inadequately treated. Dynamic external fixation and internal fixation with plates and/or screws are two treatment options. The role of combining these two methods is unclear. The aim of this study is to determine the outcomes of patients with intra-articular fractures of the PIPJ treated with a combination of dynamic external fixation with a plate and/or screws. Methods: A retrospective review was conducted on 18 consecutive cases of intra-articular fractures of the PIPJ treated with pins and rubber band traction system (PRTS) combined with dorsal internal fixation with plates and/or screws. The patients' average age was 51 years (range: 20-81 years). The fracture patterns were volar-type (n=2), dorsal-type (n=4) and pilon-type (n=12). Data with regard to time to surgery, interphalangeal joint range of motion, grip strength, VAS for pain, Quick DASH score, complications, duration of follow-up and return to work were collected. Results: The levels of articular involvement were stable (n=1), tenuous (n=5) and unstable (n=12). The average time to surgery was 9 days, and the average follow-up period was 15 months. The fracture was fixed with a dorsal plate and screws in 10 patients and with only screws in eight patients. All patients had PRTS. All patients returned to their original occupation and the fractures united in good alignment. The average grip strength was 86% of that of the unaffected side. The average active PIPJ motion was 85° (range: 50°-106°), and the average active distal interphalangeal joint (DIPJ) motion was 48° (range: 10°-90°). Conclusions: Our results show that a combination of PRTS and open reduction and fixation with plate and/or screws achieved a good range of motion and articular reduction. Level of Evidence: Level IV (Therapeutic).

Head motion in the UK Biobank imaging subsample: longitudinal stability, associations with psychological and physical health, and risk of incomplete data.

Participant motion in brain magnetic resonance imaging is associated with processing problems including potentially non-useable/incomplete data. This has implications for representativeness in research. Few large studies have investigated predictors of increased motion in the first instance. We exploratively tested for association between multiple psychological and physical health traits with concurrent motion during T1 structural, diffusion, average resting-state and task functional magnetic resonance imaging in N = 52 951 UK Biobank imaging subsample participants. These traits included history of cardiometabolic, inflammatory, neurological and psychiatric conditions, as well as concurrent cognitive test scores and anthropometric traits. We tested for stability in motion in participants with longitudinal imaging data (n = 5305, average 2.64 years later). All functional and T1 structural motion variables were significantly intercorrelated (Pearson r range 0.3-0.8, all P < 0.001). Diffusion motion variables showed weaker correlations around r = 0.1. Most physical and psychological phenotypes showed significant association with at least one measure of increased motion including specifically in participants with complete useable data (highest β = 0.66 for diabetes versus resting-state functional magnetic resonance imaging motion). Poorer values in most health traits predicted lower odds of complete imaging data, with the largest association for history of traumatic brain injury (odds ratio = 0.720, 95% confidence interval = 0.562 to 0.923, P = 0.009). Worse psychological and physical health are consistent predictors of increased average functional and structural motion during brain imaging and associated with lower odds of complete data. Average motion levels were largely consistent across modalities and longitudinally in participants with repeat data. Together, these findings have implications for representativeness and bias in imaging studies of generally healthy population samples.

MR-Safe Cartesian Platform for Active Cardiac Shimming: Preliminary Validation.

Implanted Cardioverter Defibrillators (ICDs) induce a large (100 parts per million) inhomogeneous magnetic field in the magnetic resonance imaging (MRI) scanner which cannot be corrected by the scanner's built-in shim coils, leading to significant image artifacts that can make portions of the heart unreadable. To compensate for the field inhomogeneity, an active shim coil capable of countering the field deviation in user-defined regions was designed that must be optimally placed at patient-specific locations. We aim to develop and evaluate an MR-safe robotic solution for automated shim coil positioning. We designed and fabricated an MR-safe Cartesian platform that holds the shim coil inside the scanner. The platform consists of three lead screw stages actuated by pneumatic motors, achieving decoupled translations of 140 mm in each direction. The platform is made of plastics and fiberglass with the control electronics placed outside the scanner room, ensuring MR safety. Mechanical modeling was derived to provide design specifications. Experiments show that the platform achieves less than 2 mm average motion error and 0.5 mm repeatability in all directions, and reduces the adjustment time from 5 min to a few seconds. Phantom and animal trials were conducted, showing that the proposed system is able to position a heavy shim coil ( kg) for improved ICD artifact suppression. This robotic platform provides an effective method for reliable shim coil positioning inside the scanner. This work contributes to improving cardiac MRI quality that could facilitate accurate diagnosis and treatment planning for patients with implanted ICDs.

Preliminary Study of Motion Preservation Following Posterior Dynamic Distraction Device in Adolescent Idiopathic Scoliosis Patients.

Motion-sparing scoliosis surgeries such as the posterior dynamic distraction device (PDDD) are slowly increasing in use. However, there is limited clinical data documenting postoperative motion across the PDDD construct. With this cohort study, we aim to measure sagittal and coronal motion following PDDD. We hypothesize coronal and sagittal spinal motion will be partially preserved across the construct. Retrospective review of prospectively collected data. Preoperative and minimum 1-year postoperative coronal range of motion across the instrumented levels was compared. Available flexion/extension radiographs were evaluated postoperatively to assess sagittal arc of motion. Radiographs from latest follow-up were used. At a mean of 1.9 years (1 to 5y), flexibility radiographs were available on 29 patients treated with PDDD (17 thoracic, 12 lumbar). Mean age at surgery was 16 years (12 to 25). Postoperative coronal arc of motion in PDDD patients was 11 degrees (3 to 19 degrees) in the thoracic spine and 10 degrees (0 to 28 degrees) in the lumbar spine. Compared with preoperative motion, the thoracic arc of motion was maintained by 33% (35 to 11 degrees) and lumbar motion was maintained by 30% (34 to 10 degrees). Flexion-extension radiographs were available on 7 patients. Sagittal arc for the upper instrumented vertebral end plate to the lower instrumented vertebral endplate of the cohort was 10 degrees in the thoracic spine (6 to 18) and 14 degrees in the lumbar spine (5 to 21). Sagittal measurements for the changes in the arc of the upper and lower screws on the construct were 4 degrees in the thoracic group (2 to 8) and 9 degrees in the lumbar group (2 to 17). By latest follow-up 11 patients (38%) underwent reoperation, with most cases due to implant breakage (N=4, 14%), extender misalignment (N=2, 7%), and screw misplacement (N=2, 7%). At mean 1.9 years postoperatively, PDDD preserves measurable spinal motion over the construct both in the coronal and the sagittal plane without evidence for autofusion. Coronal arc of motion averages 10 to 12 degrees and sagittal arc of motion ranged from 4 to 14 degrees, although this varies by patient. This study confirms that PDDD for pediatric scoliosis preserves a measurable degree of postoperative flexibility both in the sagittal and coronal planes. Level II-therapeutic study.

Freezing Hu ram semen: influence of different penetrating cryoprotectants and egg yolk level on the post-thaw quality of sperm.

The Hu sheep is a renowned breed known for its high reproductive rate. It is in estrus all year round, and its breeding population is gradually expanding. However, the current techniques for cryopreserving semen have limited effectiveness, which hinders the continuous development of this species. The purpose of this study is to explore the effects of different penetrating cryoprotectants (CPAs) and egg yolk (EY) concentrations on the cryopreservation of Hu ram semen to determine the most effective combination. In this study, the effects of glycerol (GLY), ethylene glycol (EG), dimethylacetamide, dimethyl sulfoxide, different proportions of GLY and EG, EY on sperm quality after thawing were investigated by detecting sperm total motility (TM), progressive motility (PM), straight-line velocity, curvilinear velocity, average path velocity, amplitude of lateral head displacement, wobble movement coefficient, average motion degree, functional integrity (plasma membrane integrity, acrosome integrity) and reactive oxygen species (ROS) level. When GLY and EG were added together, compared to other concentration groups, 6% GLY significantly (p<0.05) increased TM, PM, plasma membrane integrity, and acrosome integrity of thawed sperm. Additionally, it significantly (p<0.05) decreased the ROS level of sperm. In this study, the TM, PM, and membrane integrity of the 6% EG were significantly (p<0.05) higher than those of the control, 1% GLY+5% EG and 6% GLY+6% EG groups. Compared to other concentration groups, 20% EY significantly (p<0.05) improved the TM, PM, and plasma membrane integrity of thawed sperm. However, the integrity of the acrosome increased with the higher concentration of EY. In conclusion, the post-thawed Hu ram semen diluted with a diluent containing 6% GLY and 20% EY exhibited higher quality compared to the other groups.

Effects of Different Diluents and Freezing Methods on Cryopreservation of Hu Ram Semen.

The purpose of this study was to investigate the effects of different diluents and freezing methods on the quality of thawed sperm after cryopreservation and find an inexpensive and practical method for freezing Hu ram semen for use in inseminations under farm conditions. Ejaculates were collected from five Hu rams. In experiment I, ejaculates were diluted with eight different freezing diluents (basic diluents A, B, C, D, E, F, G, and H). After dilution and cooling, the samples were loaded into 0.25 mL straws and frozen using the liquid nitrogen fumigation method. In experiment II, diluent C was used as the basic diluent and the semen was frozen using liquid nitrogen fumigation and two program-controlled cooling methods. For analysis, frozen samples were evaluated in terms of motility parameters (total motility (TM), progressive motility (PM)), biokinetic characteristics (straight-line velocity (VSL), average path velocity (VAP), curvilinear velocity (VCL), amplitude of lateral head displacement (ALH), wobble movement coefficient (WOB), average motion degree (MAD)), reactive oxygen species (ROS) level, and membrane and acrosome integrity. In experiment I, diluent C had higher TM, PM, and acrosome and membrane integrity and lower ROS compared to other extenders (p < 0.05) except diluent A. Diluent C exhibited higher (p < 0.05) VCL, VAP, ALH, WOB, and MAD compared to diluents B, D, E, and F. In experiment II, TM and all biokinetic characteristics did not show significant differences (p > 0.05) amongst the three freezing methods. Liquid nitrogen fumigation resulted in higher (p < 0.05) PM, membrane integrity, acrosome integrity, and lower ROS level compared to the program. In conclusion, the thawed semen diluted with diluent C had higher quality compared to other diluents. The liquid nitrogen fumigation demonstrated superior semen cryopreservation effects compared to the program-controlled cooling method using diluent C.

Floating wind turbine response in uni- and multi-directional nonlinear waves by numerical and experimental investigations

Natural sea waves are typically multi-directional. However, the existing studies on the interaction of waves and structures mostly concentrate on uni-directional waves. In this study, using a higher-order boundary element method based on the nonlinear potential flow theory and the perturbation expansion technique, a numerical model is developed to investigate the hydrodynamic performance of a semi-submersible wind turbine foundation in uni- and multi-directional waves. Comprehensive validations with the wave-tank experiment are conducted. It is found that the significant platform response increases with the peak wave period in uni-directional irregular waves, while the high-frequency “energy” ratio changes little. The significant wave height hardly influences motion responses from either the time- or the frequency-domain perspective. In multi-directional irregular waves, the translational motions exhibit monotonicity with wave directionality. The energy concentration around the primary direction leads to a dominant wave-frequency motion and an increase in the high-frequency “energy” ratio. Although the individual modal motion responses are variable functions of wave nonlinearity, their averaged translational and rotational motions are nearly constant, indicating an energy transition or a trade-off relationship among the modal motions. In addition, unlike the uni-directional wave case, the low- and high-frequency “energy” ratios increase quadratically and decrease linearly with the significant wave height in multi-directional waves, respectively. All these findings demonstrate that wave directionality can change the wave–structure interaction properties and therefore needs to be adequately considered in engineering applications.

Pins and Rubbers Traction System for Treatment of Intraarticular Fractures of Distal Interphalangeal Joint.

Background: The pins and rubber traction system (PRTS) has proven effective in managing intra-articular fractures of the proximal interphalangeal joint. However, there is scant evidence in the literature regarding its efficacy in treating distal interphalangeal joint (DIPJ). This study aims to investigate the outcomes of PRTS in the treatment of comminuted intra-articular fractures of the DIPJ. Methods: We conducted a retrospective review of patients with comminuted intra-articular fractures of the DIPJ treated with PRTS between 2017 and 2021. At the final follow-up, we measured and compared the active range of motion (ROM) in both affected and non-injured contralateral fingers. The subjective evaluation utilised the Quick Disabilities of the Arm, Shoulder and Hand (Quick-DASH) questionnaire and the Visual Analogue Scale (VAS). Results: Ten patients with a mean follow-up of 13.2 months (range: 12-17) were included in the study. Fracture locations included the base of the distal phalanx in two patients, the condyle of the middle phalanx in seven and both in one patient. At the final follow-up, the average VAS score was 0.5 (range: 0-2). The average active motion of the DIPJ was 61° (range: 50°-70°) for the injured side and 76° (range: 75°-80°) for the opposite side. The mean range of DIPJ movement was 80% (range: 68%-87%) of the non-injured side. Extension deficits were observed in five patients, with a median deficit value of 10° (range: 5°-10°). The average Quick-DASH score was 2.9 (range: 0-11.3). Conclusions: The PRTS can be considered as an effective surgical technique in managing comminuted intra-articular fractures of the DIPJ. Level of Evidence: Level IV (Therapeutic).

Large-scale DSM registration via motion averaging

Abstract. Generating wide-area digital surface models (DSMs) requires registering a large number of individual, and partially overlapped DSMs. This presents a challenging problem for a typical registration algorithm, since when a large number of observations from these multiple DSMs are considered, it may easily cause memory overflow. Sequential registration algorithms, although can significantly reduce the computation, are especially vulnerable for small overlapped pairs, leading to a large error accumulation. In this work, we propose a novel solution that builds the DSM registration task as a motion averaging problem: pair-wise DSMs are registered to build a scene graph, with edges representing relative poses between DSMs. Specifically, based on the grid structure of the large DSM, the pair-wise registration is performed using a novel nearest neighbor search method. We show that the scene graph can be optimized via an extremely fast motion average algorithm with O(N) complexity (N refers to the number of images). Evaluation of high-resolution satellite-derived DSM demonstrates significant improvement in computation and accuracy.