Multimodal Control Research Articles

Hydraulic dual-module hybrid driving system with adjustable waste energy recovery for industrial vehicles

The energy dissipation of industrial vehicle during hydraulic cylinder operations is significant, and the limitations of energy recovery and reuse further exacerbate the issue of energy waste and low energy efficiency. To address these challenges, we propose a hydraulic dual module hybrid driving system (DHDS) for cylinder. This system incorporates a Main drive module with a Power-assisting module, enabling the recovery and reuse of gravitational energy to assist in cargo lifting through the bidirectional operation of the Power-assisting module. Based on the DHDS, we design a multi-mode control strategy (MMCS) with adjustable power distribution capability, allowing for the optimization of recovered energy utilization under various conditions. Furthermore, experiments and simulations are conducted to evaluate the ability of the MMCS to redistribute recovered energy and assess the energy efficiency of the DHDS. Using a DHDS-equipped forklift as an example, simulation platform and test bench are constructed to demonstrate its performance in several designed working cycles. Compared to a 1.2-t electric forklift, the DHDS-equipped forklift with MMCS achieves a battery saving efficiency of 12.70%–40.53 % and a gravitational energy recovery efficiency of 24.80%–62.85 %.

Genomic evolution of ST228 SCCmec-I MRSA 10 years after a major nosocomial outbreak.

In this study, we investigated the genomic changes in a major methicillin-resistant Staphylococcus aureus (MRSA) clone following a significant outbreak at a hospital. Whole-genome sequencing of MRSA isolates was utilized to explore the genomic evolution of post-outbreak MRSA strains. The epidemicity of the clone declined over time, coinciding with the introduction of multimodal infection control measures. A genome-wide association study (GWAS) identified multiple genes significantly associated with either high or low epidemic success, indicating alterations in mobilome, virulence, and defense mechanisms. Random Forest models pinpointed a gene related to fibrinogen binding as the most influential predictor of epidemicity. The decline of the MRSA clone may be attributed to various factors, including the implementation of new infection control measures, single nucleotide polymorphisms accumulation, and the genetic drift of a given clone. This research underscores the complex dynamics of MRSA clones, emphasizing the multifactorial nature of their evolution. The decline in epidemicity seems linked to alterations in the clone's genetic profile, with a probable shift towards decreased virulence and adaptation to long-term carriage. Understanding the genomic basis for the decline of epidemic clones is crucial to develop effective strategies for their surveillance and management, as well as to gain insights into the evolutionary dynamics of pathogen genomes.

Single-shot interscalene block with liposomal bupivacaine vs. non-liposomal bupivacaine in shoulder arthroplasty

Regional anesthesia is a valuable component of multimodal pain control in total shoulder arthroplasty (TSA), and multiple interscalene block anesthetic options exist, including nonliposomal interscalene bupivacaine (NLIB) and liposomal interscalene bupivacaine (LIB). The purpose of this study was to compare pain control and opioid consumption within 48 hours postoperation in those undergoing TSA with either LIB or NLIB. This was a retrospective cohort study at a single academic medical center including consecutive patients undergoing inpatient (>23-hour hospitalization) primary anatomic or reverse TSA from 2016 to 2020 who received either LIB or an NLIB for perioperative pain control. Perioperative patient outcomes were collected including pain levels and opioid usage, as well as 30- and 90-day emergency department (ED) visits or readmissions. The primary outcome was postoperative pain and opioid use. Overall, 489 patients were included in this study (316 LIB and 173 NLIB). Pain scores at 3, 6, 12, and 48 hours postoperatively were not statistically significantly different (P>.05 for all). However, the LIB group had improved pain scores at 24 and 36 hours postoperation (P<.05 all). There was no difference in the incidence of severe postoperative pain, defined as a 9 or 10 numeric rating scale-11 score, between the 2 anesthesia groups after adjusting for preoperative pain and baseline opioid use (odds ratio 1.25, 95% confidence interval 0.57-2.74; P=.57). Overall, 99 of 316 patients receiving LIB (31.3%) did not require any postoperative opioids compared with 38 of 173 receiving NLIB (22.0%); however, this difference was not statistically significant after adjusting for prior opioid use and preoperative pain (P=.33). No statistically significant differences in postoperative total morphine equivalents or mean daily morphine equivalents consumed between the groups were found during their hospital stays (P>.05 for both). Finally, no significant differences were found in 30- and 90-day ED visits or readmission rates (all P>.05). LIB and NLIB demonstrated differences in patient-reported pain scores at 24 and 36 hours postoperation, although these did not reach clinical significance. There were no statistically significant differences in opioid consumption during the hospital stay, including opioid use, total morphine equivalents, and daily mean morphine equivalents consumed during the hospital stay. Additionally, no differences were observed in 30- and 90-day ED visits or readmission rates.

Does selective intraoperative music reduce pain following abdominal wall reconstruction? A double-blind randomized controlled trial

PurposeAlthough intraoperative music is purported to mitigate postoperative pain after some procedures, its application has never been explored in abdominal wall reconstruction (AWR). We sought to determine whether intraoperative music would decrease early postoperative pain following AWR.MethodsWe conducted a placebo-controlled, patient-, surgeon-, and assessor-blinded, randomized controlled trial at a single center between June 2022 and July 2023 including 321 adult patients undergoing open AWR with retromuscular mesh. Patients received noise-canceling headphones and were randomized 1:1 to patient-selected music or silence after induction, stratified by preoperative chronic opioid use. All patients received multimodal pain control. The primary outcome was pain (NRS-11) at 24 ± 3 h. The primary outcome was analyzed by linear regression with pre-specified covariates (chronic opioid use, hernia width, operative time, myofascial release, anxiety disorder diagnosis, and preoperative STAI-6 score).Results178 patients were randomized to music, 164 of which were analyzed. 177 were randomized to silence, 157 of which were analyzed. At 24 ± 3 h postoperatively, there was no difference in the primary outcome of NRS-11 scores (5.18 ± 2.62 vs 5.27 ± 2.46, p = 0.75). After adjusting for prespecified covariates, the difference of NRS-11 scores at 24 ± 3 h between the music and silence groups remained insignificant (p = 0.83). There was no difference in NRS-11 or STAI-6 scores at 48 ± 3 and 72 ± 3 h, intraoperative sedation, or postoperative narcotic usage.ConclusionFor patients undergoing AWR, there was no benefit of intraoperative music over routine multimodal pain control for early postoperative pain reduction.Trial registrationClinicalTrials.gov: NCT05374096.

Narcotic Consumption Analysis among Severely Injured and Advanced Aged Trauma Patients.

Multimodal pain management has been shown to be effective in treating pain in acutely injured trauma patients. Our community-based, level 1 trauma center previously published in 2022 the efficacy of implementing multimodal pain control (MMPC) protocol in our inpatient trauma population which decreased the use of opioids while maintaining similar pain control. The MMPC group had a trend toward higher age and was significantly less injured. We hypothesize MMPC will reduce opioid consumption in both the advanced aged and more severely injured trauma populations while still providing adequate pain control. Defined by the year of admission, MMPC and physician managed pain control (PMPC) were compared in both advanced age groups and between the severely injured groups. The advanced age group included patients ≥55 years old. The severely injured group included ≥18 years old with ≥15 ISS. Primary outcomes were total opioid utilization per day, calculated in morphine milliequivalents (MME), and median daily pain scores. For the severely injured population, the MMPC group showed a 3-fold decrease in opioid use (30MME/d vs 90.3MME/d, P < .001) and lower pain scores (5/10 vs 6/10, P < .001) than the PMPC group. In the advance age group, there was no significant difference between MMPC and PMPC groups in opioid use (P = .974) or pain scores (P = .553). MMPC effectively reduces opioid consumption in a severely injured patient population while simultaneously improving pain control. Advanced age trauma patients can require complex pain management solutions and future research to determine their needs is recommended.

Impacts of State-Level Opioid Review Programs on Injured Workers and Their Health Care Providers: A Qualitative Study in Washington and Ohio.

Unsafe prescribing practices have been among the central causes of improper reception of opioids, unsafe use, and overdose in the United States. Workers' compensation agencies in Washington and Ohio have implemented opioid review programs (ORPs)-a form of quality improvement based on utilization review-to curb unsafe prescribing. Evidence suggests that such regulations indeed reduce unsafe prescribing, but pharmaceutical companies and patient advocates have raised concerns about negative impacts that could also result. This study explores whether three core sets of problems have actually come to pass: (1) unmanaged pain or reduced function among patients, (2) anger or resistance to ORPs from patients or providers, and (3) damage to patient-provider relationships or clinical autonomy. In-depth semistructured interviews were conducted with 48 patients (21 from Washington, 27 from Ohio) and 32 providers (18 from Washington, 14 from Ohio) who were purposively sampled to represent a range of injury and practice types. Thematic coding was conducted with codebooks developed using both inductive and deductive approaches. The consequences of opioid regulations have been generally positive: providers report more limited prescribing and a focus on multimodal pain control; patients report satisfactory pain control and recovery alongside collaborative relationships with providers. Participants attribute these patterns to a broad environment of opioid caution; they do not generally perceive workers' compensation policies as distinctly impactful. Both patients and providers comment frequently on the difficult aspects of interacting with workers' compensation agencies; effects of these range from simple inconvenience to delays in care, unmanaged pain, and reduced potential for physical recovery. In general, the three types of feared negative impacts have not come to pass for either patients or providers. Although interacting with workers' compensation agencies involves difficulties typical of interacting with other insurers, opioid controls seem to have generally positive effects and are generally perceived of favorably.

The Wound Environment Agent-based Model (WEABM): a digital twin platform for characterization and complex therapeutic discovery for volumetric muscle loss.

Volumetric Muscle Loss (VML) injuries are characterized by significant loss of muscle mass, usually due to trauma or surgical resection, often with a residual open wound in clinical settings and subsequent loss of limb function due to the replacement of the lost muscle mass with non-functional scar. Being able to regrow functional muscle in VML injuries is a complex control problem that needs to override robust, evolutionarily conserved healing processes aimed at rapidly closing the defect in lieu of restoration of function. We propose that discovering and implementing this complex control can be accomplished by the development of a Medical Digital Twin of VML. Digital Twins (DTs) are the subject of a recent report from the National Academies of Science, Engineering and Medicine (NASEM), which provides guidance as to the definition, capabilities and research challenges associated with the development and implementation of DTs. Specifically, DTs are defined as dynamic computational models that can be personalized to an individual real world "twin" and are connected to that twin via an ongoing data link. DTs can be used to provide control on the real-world twin that is, by the ongoing data connection, adaptive. We have developed an anatomic scale cell-level agent-based model of VML termed the Wound Environment Agent Based Model (WEABM) that can serve as the computational specification for a DT of VML. Simulations of the WEABM provided fundamental insights into the biology of VML, and we used the WEABM in our previously developed pipeline for simulation-based Deep Reinforcement Learning (DRL) to train an artificial intelligence (AI) to implement a robust generalizable control policy aimed at increasing the healing of VML with functional muscle. The insights into VML obtained include: 1) a competition between fibrosis and myogenesis due to spatial constraints on available edges of intact myofibrils to initiate the myoblast differentiation process, 2) the need to biologically "close" the wound from atmospheric/environmental exposure, which represents an ongoing inflammatory stimulus that promotes fibrosis and 3) that selective, multimodal and adaptive local mediator-level control can shift the trajectory of healing away from a highly evolutionarily beneficial imperative to close the wound via fibrosis. Control discovery with the WEABM identified the following design principles: 1) multimodal adaptive tissue-level mediator control to mitigate pro-inflammation as well as the pro-fibrotic aspects of compensatory anti-inflammation, 2) tissue-level mediator manipulation to promote myogenesis, 3) the use of an engineered extracellular matrix (ECM) to functionally close the wound and 4) the administration of an anti-fibrotic agent focused on the collagen-producing function of fibroblasts and myofibroblasts. The WEABM-trained DRL AI integrates these control modalities and provides design specifications for a potential device that can implement the required wound sensing and intervention delivery capabilities needed. The proposed cyber-physical system integrates the control AI with a physical sense-and-actuate device that meets the tenets of DTs put forth in the NASEM report and can serve as an example schema for the future development of Medical DTs.

A narrative review and update on drain-related outbreaks

Outbreaks linked to hospital drainage systems are well reported, and continue to present challenges to incident management teams. Such outbreaks can be protracted and complex, with multi-modal strategies being required for remediation. To summarize recent drain-related outbreaks, investigate whether multi-modal control measures are being implemented, and determine any antecedent factors. Databases were searched for drain-related outbreaks over a 5-year period. Search terms employed included 'healthcare drainage outbreaks', 'drain outbreaks', 'drainage system outbreaks', 'sink outbreaks' and 'shower outbreaks'. Information was collected on country of origin, pathogens involved, unit affected, drain types, patient numbers, drainage system interventions, type of drain disinfectant, infection control interventions, typing method, outcomes and any antecedent factors. Nineteen drain-related outbreak studies were reviewed. The majority of incidents were due to carbapenemase-producing Enterobacterales, and were from critical care settings. Most (16/19) studies recognized the need for a multi-modal approach. Information on the success of interventions was not documented for all incidents, but 13/19 studies reported no further cases after control measures. Variation in the choice of agent and frequency of application exists with regards to drain disinfection. Seven studies discussed antecedent factors. Despite drain-related outbreaks being reported for the last 24 years and review articles on the subject, outbreaks continue to pose significant challenges. There is currently no UK guidance on the management of drain-related outbreaks or the design of new buildings to mitigate the risk. Addressing the challenges from hospital drainage systems should be considered a priority by agencies and guidance developers.

A complete dynamic modeling of two-by-one gas-steam combined cycle unit for coordinated control design

The high penetration of renewable energy can potentially change the role of combined cycle gas turbines (CCGT) from load suppliers to flexible suppliers. However, the slow process in the dynamic modeling of the CCGT complete system restricts the design of its best flexible operation strategy. Therefore, this paper adopts the composite modeling method to establish a complete nonlinear dynamic model of a 2 × 1 CCGT including two gas turbines, two three-pressure heat recovery steam generators (HRSG), one steam turbine, and one heat exchanger. This model can reflect the dynamic characteristics of pressure and flow in the bottom cycle due to the changes in operating mode, which can guide the design of the flexible operation control strategy of the 2 × 1 CCGT. To verify the model’s accuracy, the simulated data were compared with the field data from a 900 MW cycle with the same configuration. The results show that the established model can accurately reflect the changing trend of variables during mode switching. The range errors of essential variables such as gas turbine (GT) power is 3.8 %, GT outlet temperature is 1.4 %, high-pressure drum pressure is 4.5 %, and the range errors of other variables are below 5 %, proving the fidelity of the established control model. The dynamic model established in this paper will be the basis for model-based controller design which can handle multi-objective optimization and constraints in flexible operations. Moreover, this model will be used to guide the design of multi-mode control and energy management strategies.

Predictive control method for mode transition process of multi-mode turbine engine based on onboard adaptive composite model

In order to achieve precise control of thrust and flow during the mode transition(MT) process of multi-mode turbine engine(MMTE) within the switching envelope and under the condition of engine performance degradation, research on multi-mode model predictive control method is conducted. A mode transition trajectory optimization method based on SQP is explored, and a small range of adjustable parameters that ensure the continuous thrust and flow is obtained. Based on this, a multi-mode onboard modeling approach based on the directional adjustment law scheduling of the variable geometry adjustment mechanism is proposed. Furthermore, an investigation into a predictive control method for MT process based on onboard adaptive composite model is conducted. The simulation results demonstrate that the proposed method exhibits a maximum thrust fluctuation of less than 0.66 % during MT process, under both normal and degraded engine component performance conditions, which is significantly superior to the conventional PID control of 2.8 %. Compared to the average single step calculation time of 7.24 ms using the SQP optimization method, the proposed approach only requires 0.204 ms. The methodology presented takes into consideration of control accuracy and computing efficiency, thereby offering promising prospects for engineering applications in MMTE MT control system design.

Multi-mode adaptive control strategy for a lower limb rehabilitation robot.

Different patients have different rehabilitation requirements. It is essential to ensure the safety and comfort of patients at different recovery stages during rehabilitation training. This study proposes a multi-mode adaptive control method to achieve a safe and compliant rehabilitation training strategy. First, patients' motion intention and motor ability are evaluated based on the average human-robot interaction force per task cycle. Second, three kinds of rehabilitation training modes-robot-dominant, patient-dominant, and safety-stop-are established, and the adaptive controller can dexterously switch between the three training modes. In the robot-dominant mode, based on the motion errors, the patient's motor ability, and motion intention, the controller can adaptively adjust its assistance level and impedance parameters to help patients complete rehabilitation tasks and encourage them to actively participate. In the patient-dominant mode, the controller only adjusts the training speed. When the trajectory error is too large, the controller switches to the safety-stop mode to ensure patient safety. The stabilities of the adaptive controller under three training modes are then proven using Lyapunov theory. Finally, the effectiveness of the multi-mode adaptive controller is verified by simulation results.

Effect of post-operative NSAID use on rotator cuff repair outcomes

BackgroundThe impact of non-steroidal anti-inflammatory drugs (NSAIDs) on rotator cuff repair is an ongoing area of study within orthopedics, with conflicting results in current literature. Despite concerns over the deleterious effects of NSAIDs on rotator cuff healing, they are becoming an integral part of a multimodal post-operative pain control regiment. The purpose of this study was to compare post-operative patient-reported outcomes (PROs), complications rates, and retear rates of arthroscopic rotator cuff repairs in patients using ibuprofen post-operatively to those who abstained from NSAIDs for six weeks after surgery. It was hypothesized that a short course of ibuprofen post-operatively would not lead to inferior PRO scores, increased retear rates, nor increased complication rates after arthroscopic rotator cuff repair. MethodsPatients of the primary surgeon who underwent arthroscopic rotator cuff repair between 2012 and 2022 were evaluated by retrospective chart review. In May 2017 the primary surgeon changed his protocol from avoiding NSAIDs for six weeks after surgery to routinely prescribing two weeks of Ibuprofen 800 mg TID post-operatively. Patients who avoided NSAIDs for six weeks were compared to patients who were prescribed NSAIDs post-operatively. Patient demographic data, pre-operative MRI results, pre-operative and post-operative PROs were collected from the EMR. Additionally, post-operative complications and repair failures requiring reoperation within one year were evaluated. Results125 patients met inclusion criteria for this study with 36 patients in the NSAID group and 89 in the no NSAID group. When comparing improvement in PROs, the NSAID group reached MCID at one year in 83.8 % of patients and the no NSAID group reached MCID at one year in 73.9 % of patients. There was no significant difference between the groups in reaching MCID improvement at one year (p = 0.471). Five post-operative complications were reported in the no NSAID group and two in the NSAID group (5.7 % vs 5.4 %, respectively, p = 0.827). Finally, there was no significant difference in the percentage of post-operative rotator cuff repair failures requiring revision in the first year between the groups (2.3 % vs 2.7 %, p = 1.000). ConclusionThere was no difference in percent of patients improving their PRO by the MCID between the groups that used ibuprofen and the group that did not. There was also no difference in post-operative complication rates and rates of symptomatic retear requiring reoperation between the groups. This supports that a short course of NSAIDs post-operatively, specifically ibuprofen, after rotator cuff repair does not increase reoperation rates nor lead to a clinically significant decrease in PROs at one year.

Research on Multi-Mode Control of Electro-Hydraulic Variable Displacement Pump Driven by Servo Motor

The electro-hydraulic power source with an electro-hydraulic variable pump driven by a servo motor is suitable for electrified construction machinery. To achieve better energy efficiency in different working conditions, the multi-mode control scheme was proposed for the electro-hydraulic power source. The control scheme includes pressure control, flow control, and torque control modes. The switching rule among the three control modes was formulated based on the minimum pump pressure. The fuzzy PID controller was designed, and a composite flow regulation strategy was formulated, including the load-sensitive adaptive displacement regulation and servo motor variable speed regulation. The AMESim-Simulink co-simulation model of multi-mode control was established. The test platform was built, and the experimental study was carried out. The results indicate that the fuzzy PID control has a shorter response time and a more stable control effect compared with PID control. Additionally, the composite flow regulation strategy improves the flow regulation range by 36% and reduces the flow overshoot by 20% compared with the load-sensitive adaptive displacement regulation. As the main control valve received an opening step signal, the full flow regulation (7~81 L/min) of the power source took approximately 0.5 s to rise and 0.2 s to fall. The relative error of pressure difference for the main control valve was 0.63%. When receiving the pressure and torque step signal, the pump pressure and pump input torque both took approximately 0.45 s to rise and 0.2 s to fall. The relative errors of pump pressure and torque control were 0.2% and 0.16%, respectively. In the multi-mode control, the electro-hydraulic power source could switch smoothly between flow control mode, pressure control mode, and torque control mode. These results provide a reference for the multi-mode control of an electro-hydraulic power source with an electro-hydraulic variable pump driven by a servo motor.

Visual Perception and Multimodal Control: A Novel Approach to Designing an Intelligent Badminton Serving Device

Addressing the current issue of limited control methods for badminton serving devices, this paper proposes a vision-based multimodal control system and method for badminton serving. The system integrates computer vision recognition technology with traditional control methods for badminton serving devices. By installing vision capture devices on the serving device, the system identifies various human body postures. Based on the content of posture information, corresponding control signals are sent to adjust parameters such as launch angle and speed, enabling multiple modes of serving. Firstly, the hardware design for the badminton serving device is presented, including the design of the actuator module through 3D modeling. Simultaneously, an embedded development board circuit is designed to meet the requirements of multimodal control. Secondly, in the aspect of visual perception for human body recognition, an improved BlazePose candidate region posture recognition algorithm is proposed based on existing posture recognition algorithms. Furthermore, mappings between posture information and hand information are established to facilitate parameter conversion for the serving device under different postures. Finally, extensive experiments validate the feasibility and stability of the developed system and method.

Carbapenem-Resistant Klebsiella pneumoniae Bacteremia: Counterbalance between the Endemic Load and the Infection Control Program in a Hospital

Carbapenem-resistant Klebsiella pneumoniae (CRKP) remains a significant public health threat, given the associated increased healthcare burden and mortality rate. The objective of the current study was to investigate the association between the incidence of CRKP bacteremia, antibiotic consumption, and infection control measures in a tertiary-care hospital spanning the years 2013–2018. The analyzed indices included the incidence of CRKP bacteremia, antibiotic consumption, the use of hand hygiene solutions, and isolation rates of multidrug-resistant (MDR) carriers. In the total hospital, the incidence of CRKP bacteremia exhibited an absolute decrease during the study period, although this decrease did not reach statistical significance. Antibiotics used to treat CRKP infections, including carbapenems, colistin, tigecycline, and fosfomycin, as well as all classes of antibiotics, correlated positively with an increased incidence of CRKP bacteremia. On the contrary, increased use of scrub disinfectant solutions correlated negatively with a decreased incidence of CRKP bacteremia (IRR: 0.74, 95%CI: 0.59–0.93, p-value: 0.008) in the Adults ICU. Additionally, increased isolation rates of MDR carrier patients correlated negatively with a decreased incidence of CRKP bacteremia (IRR: 0.35, 95%CI: 0.13–0.97, p-value: 0.044). In conclusion, the implementation of multimodal infection control measures in our hospital contributed to the containment of CRKP, particularly in specific hospital sectors. However, the study suggests the need for additional strategies to overcome the endemic plateau.

Multi-mode operations of double-stator switched reluctance machine for electric vehicle

PurposeThe purpose of this paper is to introduce a double-stator switched reluctance machine (DS-SRM) for electric vehicles (EVs) and to propose multi-mode operations for this machine.Design/methodology/approachAnalysis of flux linkage distributions and torque characteristics using finite element method (FEM). Building a dynamic simulation model based on electromagnetic characteristics, mathematical equations and mechanical motion equations of the DS-SRM drive system. The paper proposes multi-mode operations (inner-stator excitation mode, outer-stator excitation mode and double-stator excitation mode) based on motor working regions. It also conducts simulation and experimental results to verify the effectiveness of the proposed multi-mode operations strategies and control schemes.FindingsThere is almost no electromagnetic coupling between the inner and outer stators due to the specially designed rotor structure and optimized windings polarity configuration. Analysis of flux linkage distributions and torque characteristics verified the independence of inner and outer stators. Proposal of multi-mode operations and corresponding control rules achieved the smooth switching between different modes.Originality/valueThe paper introduced the DS-SRM for EVs and proposed multi-mode operations, along with control rules, to optimize its performance. The specially designed rotor structure, optimized winding polarity configuration, and the proposed multi-mode operations contribute to the originality of the research.

Hypervalent Iodine(III) Mediated Halogen Bonded Supramolecular Chiral System with Cholesteryl Naphthalimides.

Halogen bonding acknowledged as a noteworthy weak interaction, has gained growing recognition in the field of supramolecular chemistry. In this study, we selected structurally rigid diaryliodonium ions (I(III)) with two biaxial σ-holes as halogen-bond donors, to bind with three chiral acceptor molecules bearing cholesteryl and naphthalimides with distinct geometries. The abundant carbonyl oxygen atoms in side-arm substituents function as multiple acceptors for halogen bonding. The self-aggregation of chiral acceptor molecules demonstrates adaptiveness to solvent media, evidenced by the inversion of the Cotton effect and the morphological evolution from spherical to rod-like nanoarchitectures in different solvent systems. The distinct geometries of the acceptor molecules conferred various binding modes with I(III). The introduction of I(III) as a halogen-bond donor regulates the aggregation of the donors, achieving amplification of chiroptical signals and inheriting solvent responsiveness from the self-aggregated assembly. This study successfully utilized rational structural design and multimodal control strategies to achieve regulation of supramolecular chirality.

Adaptive control algorithm for quadruped robots in unknown high-slope terrain

The capability to navigate high-slope terrains is crucial for quadruped robots engaged in field operations. We propose a novel terrain estimation and adaptation strategy tailored for facilitating quadruped robot locomotion on complex slope terrains. Our approach involves predicting terrain slopes by analyzing foot positions and IMU data, subsequently adjusting the robot’s body orientation and height in real-time to accommodate varying slope conditions. To effectively control the motion of quadruped robots on such challenging terrains, we introduce a multimodal motion control algorithm that integrates Model Predictive Control (MPC) with Quadratic Programming (QP) torque control. This combined approach ensures stable and efficient locomotion even on steep slopes. Furthermore, we present a state estimation method based on Kalman filtering, enabling accurate self-assessment by the robot without heavy reliance on visual sensors. In simulation validation, our quadruped robot achieved notable performance metrics. It achieved a forward speed of 0.7 m/s on slopes with angles up to 43∘ and demonstrated stable rotational capability at a speed of 2 rad/s on a 32∘ slope. When subjected to external force interference, the robot exhibited resilience, withstanding constant external forces of up to 60Nm and external torques of up to 35Nm on flat ground. Moreover, on a 30∘ slope, the robot maintained stable locomotion in the face of impulses reaching 64Nm ⋅ s along the x and y directions of its body coordinate system and 7Nm ⋅ s along the z-axis. This comprehensive strategy and experimental validation highlight the efficacy and robustness of our adaptive control algorithm, paving the way for enhanced performance of quadruped robots navigating high-slope terrains with unpredictable characteristics.

Алгоритмы передачи информации в системах управления биологическими объектами

One of the problems of the theory of management of objects with a high degree of uncertainty of behavior is solved: the development of theoretical foundations of analysis, modeling methods and improvement of bio cybernetic systems, their algorithmic and software necessary to improve the efficiency of the management process is proposed. To solve this problem, it is proposed to use the mathematical apparatus of information theory, on the basis of which the information characteristics of the control signal transmission channel from the source to the control object through the external environment are calculated, taking into account the noise of the ecosystem of the control object. The existing systems using monomodal control signals that do not carry a semantic load are analyzed, and the disadvantages and limited possibilities of improving the control systems under consideration are described. Using the example of one of the insect behavior control systems with a trichromic view, a comparison of the results obtained using various technical means used as control signal sources was performed. For improving the efficiency of control systems, which use a multimodal control signal structure, proposed various algorithms for constructing control systems using a multimodal control signal structure are considered, namely: serial and parallel circuits, combined, combining serial and parallel algorithms for using control signal sources. As a method for further improving the efficiency of control systems for biological objects with a high degree of uncertainty, it is proposed to use biological signals containing a large semantic load for the control object, which determines its behavioral response. The directions of further research are formulated in order to maximize the amount of information transmitted to the control object.

Cruciate-Retaining Total Knee Arthroplasty versus Unicompartmental Knee Arthroplasty in Medial Compartmental Osteoarthritis: A Propensity Score-Matched Analysis of Early Postoperative Recovery.

Cruciate-retaining (CR) total knee arthroplasty (TKA) may provide better physiological knee kinematics, proprioception, and quadricep recovery than posterior-stabilized (PS) TKA. Therefore, we hypothesized that CR TKA with multimodal pain control may provide comparable postoperative pain and recovery as unicompartmental knee arthroplasty (UKA). This study included patients with isolated medial compartment knee osteoarthritis who underwent CR TKA and UKA. TKA and UKA patients were propensity score-matched with age and body mass index (BMI) and compared using visual analog scales (VAS) for pain scores, total amount of morphine use (TMU), knee flexion angle, straight leg raise (SLR), independent ambulation, length of hospital stay (LOS), and costs during hospitalization. After propensity score matching, 46 patients were included in the TKA and UKA groups, respectively, with no differences in demographic data. VAS at 6-72 h and TMU at 48 h after surgery were comparable between the groups. The knee flexion angle in the UKA group was significantly higher at 24 h (60.0° vs 46.6°; p<0.001) and 48 h (76.9° vs 69.1°; p = 0.021) than that in the TKA group. The SLR in the UKA group was significantly higher than that in the TKA group at 24-72 h. The UKA group ambulated significantly earlier (1.56 vs 2.13 days; p<0.001), had shorter LOS (3.68 vs 4.28 days; p<0.004) and incurred 12.43% lower costs when compared to the TKA group. Patients who underwent CR TKA with multimodal pain management did not experience more postoperative pain or morphine use than those who underwent UKA. However, UKA patients seem to experienced faster recovery and shorter LOS than CR-TKA patients during the early postoperative course. Accordingly, UKA may be considered instead of TKA for patients who are good candidates for UKA and require expedited recovery.