Natural Motion Research Articles

Trajectory Synthesis for the Coordinated Inspection of a Spacecraft with Safety Guarantees

As outer space becomes increasingly congested, there exists a growing need for auxiliary spacecraft to perform support missions for existing satellites with guarantees for safety and mission success. We focus on a multispacecraft inspection mission, wherein a team of “deputy” spacecraft inspect a passive “chief” spacecraft by traveling to a set of inspection points while satisfying a set of safety constraints, namely, that they avoid aligning themselves with the sun, that they avoid colliding with one another, and that they avoid colliding with the chief. We model the deputy dynamics using the Clohessy–Wiltshire–Hill equations, and subsequently discretize the environment by exploiting elliptical natural motion trajectories. Using this finite state space, we construct a Markov decision process (MDP) model of the environment and determine the optimal sequence of inspection points for each deputy to visit by solving a vehicle routing problem. To ensure that the deputies satisfy the safety constraints, we form the product MDP of the original MDP and a nondeterministic Büchi automaton that encodes the sensing task and safety constraints. Using this product MDP, we propose a pair of decentralized algorithms that each seeks to minimize the weighted combination of the time and fuel required to safely complete the mission. The first is an offline algorithm that synthesizes a safe trajectory for each deputy that requires no communication at runtime, while the second is an online algorithm that enforces safety at runtime by leveraging communication between the deputies. We provide numerical examples demonstrating the efficacy of both proposed algorithms.

Chemical Properties of Water Hyancinth Plant Ash

In ponds, water hyacinth expands rapidly and doubles in size in just two weeks. The significance of integrated and adaptable management strategies that take into account the ecological, economic, and social aspects of water hyacinth reduction is emphasized in this abstract. To successfully handle the water hyacinth issue and encourage the sustainable use of this problematic plant, cooperation among governments, communities, researchers, and environmental groups is essential. We can improve the quality of life for individuals impacted by the existence of water hyacinth by putting these measures into practice and working to restore the health of aquatic ecosystems. The dense mats of water hyacinth on the water's surface can block sunlight, reduce oxygen levels, and obstruct natural water movement, which can have a negative impact on native aquatic species and ecological balance. Additionally, its presence in water bodies can hinder fishing, transportation, and irrigation, which can result in losses for people who depend on these resources economically.

Initial Post-Release Performance of Cultured Cyprinus chilia Juveniles in a Shallow Lake in Southwestern China.

The post-release performance of cultured fish is crucial for understanding the viability of cultured fish and assessing the effects of stock enhancement programs. This study aimed to investigate the initial post-release performance of cultured Cyprinus chilia juveniles by examining their movement, spatial distribution, gut fullness, and gut microbiota in nature. In July 2022, a total of 20,000 C. chilia juveniles, tagged with visible implant fluorescence (VIE), were released into Qilu Lake, a shallow lake in southwestern China. Subsequently, continuous recapture was conducted at fixed recapture sites using trap nets during the first 7 days, one month and three months after release. Out of the released fish, 512 were recaptured, resulting in a recapture rate of 2.56%. The recaptured fish had a 100% tag retention rate. The majority (98.05%) of the recaptured fish were found in the recapture sites located on the eastern or western lakeshore, while only 10 fish were recaptured from the recapture sites in the northern lake area. The water depth range where the recaptured fish were found ranged from 190 to 350 cm, with most fish preferring depths less than 300 cm. The majority of the released fish migrated towards the eastern and western lakeshore, with long-distance movement (greater than 100 m) primarily occurring within the first four days after release. The level of gut fullness in the released fish initially decreased and then increased over time following release. Regarding gut microbiota, the dominant phyla observed in most samples were Firmicutes, Proteobacteria, Cyanobacteria, and Fusobacteria. Furthermore, significant variations in the dominant genera were observed across different samples. Principal coordinates analysis (PCoA) revealed clear separation between the microbial communities of pre-release and post-release C. chilia juveniles. This study demonstrated that VIE tagging was a suitable method for short-term marking of C. chilia juveniles. Lakeshores with water depths less than 300 cm were identified as preferred habitats for C. chilia juveniles. The primary adaptation period for cultured C. chilia juveniles released into the natural environment was found to be approximately 4-5 days. These findings contribute to our understanding of the post-release performance of cultured fish and may provide guidance for the management and evaluation of relevant stock enhancement programs.

DRR acceleration using inexpensive GPUs for model-image registration based joint kinematic measurements

Model-image registration methods are commonly used in research to measure three-dimensional joint kinematics from single-plane and bi-plane x-ray images. These methods have the potential to be beneficial if used clinically, but current techniques are too slow or expensive to be clinically practical. One technical element of these methods for measuring natural bone motion is the use of digitally reconstructed radiographs (DRRs). DRRs can be very expensive to compute, or require expensive and fast computer hardware. In this technical development, a numerically efficient Siddon-Jacobs algorithm for computing DRRs was implemented on a consumer-grade graphics card using a programming language for parallel architectures. Compared to traditional voxel projection algorithms with a central-processing-unit-only implementation, the parallel computation implementation on the graphics card provided speedups of 650–1546 times faster rendering, while retaining equivalent performance for joint kinematics measurements. The use of consumer grade graphics hardware may contribute to making model-image registration measurements of joint kinematics practical for clinical use.

Demographic History of Khakassia

The monograph is devoted to the study of the formation of the population of Khakassia from the end of the 19th century to modern times. The article notes that rapid population growth was associated with periods of industrial development of the region, primarily with the beginning of the creation of the Sayan territorial-production complex and its industrial hubs. Population dynamics show that the formation of the population was mainly due to the migration flow from the regions of Eastern Siberia. The author analyzes the age-sex structure of the population and notes a constant decrease in the number of men. The article pays much attention to the issues of the natural movement of the population of Khakassia, stating the low birth rate and high mortality rate of the population. Based on numerous statistical data, the author examines the problems of migration of the population of the republic, including in recent decades, and analyzes the sources of the migration process of population growth. In the finale, the author raises the question of the demographic security of the republic and proposes the use of individual indicators to assess its level.

Restoring natural upper limb movement through a wrist prosthetic module for partial hand amputees

BackgroundMost partial hand amputees experience limited wrist movement. The limited rotational wrist movement deteriorates natural upper limb system related to hand use and the usability of the prosthetic hand, which may cause secondary damage to the musculoskeletal system due to overuse of the upper limb affected by repetitive compensatory movement patterns. Nevertheless, partial hand prosthetics, in common, have only been proposed without rotational wrist movement because patients have various hand shapes, and a prosthetic hand should be attached to a narrow space.MethodsWe hypothesized that partial hand amputees, when using a prosthetic hand with a wrist rotation module, would achieve natural upper limb movement muscle synergy and motion analysis comparable to a control group. To validate the proposed prototype design with the wrist rotation module and verify our hypothesis, we compared a control group with partial hand amputees wearing hand prostheses, both with and without the wrist rotation module prototype. The study contained muscle synergy analysis through non-negative matrix factorization (NMF) using surface electromyography (sEMG) and motion analyses employing a motion capture system during the reach-to-grasp task. Additionally, we assessed the usability of the prototype design for partial hand amputees using the Jebsen-Taylor hand function test (JHFT).ResultsThe results showed that the number of muscle synergies identified through NMF remained consistent at 3 for both the control group and amputees using a hand prosthesis with a wrist rotation module. In the motion analysis, a statistically significant difference was observed between the control group and the prosthetic hand without the wrist rotation module, indicating the presence of compensatory movements when utilizing a prosthetic hand lacking this module. Furthermore, among the amputees, the JHFT demonstrated a greater improvement in total score when using the prosthetic hand equipped with a wrist rotation module compared to the prosthetic hand without this module.ConclusionIn conclusion, integrating a wrist rotation module in prosthetic hand designs for partial hand amputees restores natural upper limb movement patterns, reduces compensatory movements, and prevent the secondary musculoskeletal. This highlights the importance of this module in enhancing overall functionality and quality of life.

Three-Dimensional Maneuver Control of Multiagent Systems With Constrained Input.

In this article, we propose a new 3-D maneuver controller for a class of nonlinear multiagent systems (MASs) with nonholonomic constraint and saturated control. The system is designed under a distributed communication topology and the controller is more flexible and efficient for general formation maneuver tasks. The saturation design generates control inputs within pregiven bounds, which makes the system more applicable in practice. Moreover, based on the nonholonomic model, the proposed control also considers the heading angles of the agents. Thus, the maneuver controller can achieve a more natural tracking movement where the heading of the formation will align to the direction of the reference trajectory during the tracking motion. Several simulation examples are given to validate our results and demonstrate the competence for various maneuver tasks of MASs.

Mapping Intrinsic and Extrinsic Muscle Myoelectric Activity During Natural Dynamic Movements Into Finger and Wrist Kinematics Using Deep Learning Prediction Models

Mapping Intrinsic and Extrinsic Muscle Myoelectric Activity During Natural Dynamic Movements Into Finger and Wrist Kinematics Using Deep Learning Prediction Models

Sloshing reduction in microgravity: Thermocapillary-based control and passive baffles

In this work, we numerically analyze different thermocapillary-based strategies for active control of sloshing in microgravity. The fluid system considered is an open rectangular container holding a L×H=30 × 15 mm2 volume of liquid. A classical controller is implemented to reduce the natural sloshing motion of the system, which is characterized by its decay time τd. The controller produces an output signal ΔT that is applied anti-symmetrically at the lateral walls of the container, driving thermocapillary flow. Its performance is characterized via the functional P=(1−λ) τ̂+λ κ̂, which allows for a trade-off between the damping of unwanted sloshing modes and the cost of implementing the control, with normalized decay time τ̂ and cost κ̂, and modulated by λ∈[0, 1]. We optimize P for discrete values of λ and determine the optimal performance envelope. The results show that thermocapillary controllers are generally able to reduce τd by a 50% factor, with reasonable cost and controller output. A novel strategy combining thermocapillary controllers and passive baffles is further proposed and assessed. On their own, passive baffles can reduce the natural decay time of sloshing by an 80% factor at zero cost. In addition, they significantly alleviate the thermal requirements associated with the control, while providing additional improvements in τd. Finally, the aforementioned strategies are tested against a reboosting maneuver of the International Space Station, showing their potential for sloshing reduction in microgravity.

Adaptive Maximization of the Harvested Power for Wearable or Implantable Sensors With Coulomb Force Parametric Generators

Miniaturized wearable or implantable medical sensors (or actuators) are important components of the Internet of Things (IoT) in healthcare applications. However, their limited source of power is becoming a bottleneck for pervasive use of these devices, specially, as their functionality increases. Kinetic-based micro-energy harvesters can generate power through the natural human body motion. Therefore, they can be an attractive solution to supplement the source of power in medical wearables or implants. The architecture based on the Coulomb force parametric generator (CFPG) is the most viable micro-harvester solution for generating power from the human motion. This paper proposes three methods, namely, linear estimation approach, multi-armed bandit, a min-max-based approach to adaptively estimate the desirable electrostatic force in a CFPG using the input acceleration waveform. Through extensive simulations, the performance of the proposed methods in maximizing the output power of the micro-harvester is evaluated.

Contemporary Demographic Development of the Republic of Bashkortostan: Review of the Regional Demographic Report

The article presents an overview of the collective scientific work revealing the features of the socio-demographic development of the region – the Demographic Report of the Republic of Bashkortostan. Based on official statistics and sociological research, the publication provides a comprehensive analysis of the processes of natural and migration movement of the population of the republic, examines some aspects of socio-economic development, as well as measures of regional social and demographic policy. The Demographic Report notes that the main trends of the Republic of Bashkortostan take place in the all-Russian context. These are the aging of the population, a decrease in the number of people of active working age; a decrease in the intensity of fertility, a decrease in the population of reproductive age, the dominance of reproductive attitudes towards childlessness; a change in the structure of mortality for reasons; transformation processes in the spheres of family and marriage (changes in value attitudes, marital behavior, etc.); centripetal, the nature of migration processes, high migration decline of young age groups. At the same time, the Demographic Report emphasizes that the general trends in the demographic development of Russia and Bashkortostan do not exclude that the processes of natural and migration movement of the population in the republic have their own specifics. This is due to the age, socio-territorial, ethnic structure of the population; the level of urbanization in the region; the existing system of urban and rural settlement; the peculiarities of socio-economic development of the republic and other factors. Socio-demographic indicators in Bashkortostan are also differentiated within the region, which is manifested at the sub-regional and municipal levels. The Demographic Report suggests measures in the areas of social and demographic policy. According to the authors, measures in the field of family and fertility, mortality and health, migration and employment should be closely interrelated and complement each other.

Impact of Demographic and Migration Processes on the Settlement System in the Tyumen Region

The article analyzes the transformation of the settlement system of Tyumen Region between censuses in the context of demographic processes and population migration. The paper reveals trends in the natural movement of population in the region, including natural increase, birth rate and mortality in the context of urban and rural settlements. The growth of population in large and medium-sized cities in the region and rural municipalities has been analyzed. We have also analyzed the absolute volumes of migration, as well as various forms of migration that are represented in the region. Their contribution to demographic and socio-economic processes has been determined. The results of the sociological survey have been used to analyze the migration patterns of the Tyumen Region population with regard to their departure from the region. It has been established that migration not only replenishes the population of the region, but also forms the structure of population with a high proportion of migrants. This is a prerequisite for a high level of migratory attitudes among the population of the region with a view to moving to other regions of the country or abroad. Highlighted features of the settlement network development in the Tyumen Region, characterized trends in the transformation of the settlement system and the framework of settlement pattern of the territory.

Konseptualisasi Green Marketing:Pendekatan Pemasaran Dalam Upaya Mempertahankan Loyalitas Pada Klinik Navaagreen Tiban Kota Batam

This research aims to examine the emergence of the back to nature movement which influences the lifestyle of millennial people who prefer environmentally friendly products in skincare products that are based on green products even though they are more expensive. Products that still use containers or raw materials that are not environmentally friendly are no longer a top priority. The next phenomenon is the increasing awareness of having healthy skin, which is a unique form of consumer behavior, especially experienced by women. The increasing trend in beauty care has also encouraged the growth of beauty products that do not have official permission from the Food and Drug Supervisory Agency (BPOM). Indirectly, this will reduce the level of consumer use of beauty products in the long term. This research contextually includes four supporting dimensions which provide the foundation for the existence of green marketing-based skincare products, namely green product, green price, green place and green promotion. This research uses a quantitative survey method with samples taken from 100 users of Naavagreen beauty clinic services. This research is a quantitative descriptive research where the data analysis process uses linear regression analysis between construct variables. The results of the research are that variables X1, X2 and X3 have a positive and significant effect, while variable X4 has a negative and insignificant effect. Meanwhile, simultaneously the variables in this research have a positive and significant effect.

A Bio-Inspired Arched Foot with Individual Toe Joints and Plantar Fascia.

This paper presents the design and testing of an arched foot with several biomimetic features, including five individual MTP (toe) joints, four individual midfoot joints, and plantar fascia. The creation of a triple-arched foot represents a step further in bio-inspired design compared to other published designs. The arched structure creates flexibility that is similar to human feet with a vertical deflection of up to 12 mm. The individual toe joints enable abduction-adduction in the forefoot and therefore a natural pronation motion. Adult female bone data was obtained and converted into a CAD model to accurately identify the location of bones, joints, and arches. An analytical model is presented that gives the relationship between the vertical stiffness and horizontal stiffness of the longitudinal arches and therefore allows the optimization of stiffness elements. Experimental tests have demonstrated a vertical arch stiffness of 76 N/mm which is similar to adult human feet. The range of movement of the foot is similar to human feet with the following values: dorsi-plantarflexion (28°/37°), inversion-eversion (30°/15°), and abduction-adduction (30°/39°). Tests have also demonstrated a three-point contact with the ground that is similar to human feet.

A Comparative LC/MS Analysis of Jordanian Olive Stone, Fruits, Leaves, and Oils

The olive (Oleo europaea L.) may be a broadly dispersed plant that began within the Mediterranean locale. Its natural product is commonly utilized to create olive oil, table olives, and other by-products. Olives are rich in carbohydrates, vitamins, and minerals. Most olive items and the dietary composition of olive oil centering on fatty acids, phenolic compounds, and other cancer prevention agents are changed in numerous parts of olive plants. The most chemical constituents important to the natural movement of olive oil were inspected. Fluid-chromatography–mass spectrometry(LC/MS) investigation uncovered more than 50 major phenolic compounds among which oleuropein, hydroxytyrosol apigenin 7-O-glucoside, tyrosol, catechin, and vanillic corrosive were recognized. Olive clears out, wealthy in carotenoids and chlorophyll, the olive stone and seed are vital products produced within the olive oil extraction, as a lingo cellulosic fabric, the hemicellulose, cellulose, and lignin are the most components of olive stone as well as protein, fat, phenols, free sugars, and polyols composition. Both lipophilic and hydrophilic phenolics are conveyed in olive natural products. The most lipophilic phenols are cresols whereas the major hydrophilic phenols incorporate phenolic acids, phenolic alcohols, flavonoids, and secoiridoids; they are shown in nearly all parts of the plant, but their nature and concentration shift incredibly between the tissues. Olive oil is composed primarily of triacylglycerols (triglycerides or fats) and contains little amounts of free greasy acids (FFA), glycerol, phosphatides, shades, flavor compounds, sterols, and minuscule bits of olive. Olive stones have a most noteworthy sum of rutin. Luteolin appeared the most noteworthy sum in takes off, while the least level was found in oils, tall concentrations of tyrosol, vanillic, and caffeic corrosive, and vanillin was found in stones. In common, rutin and luteolin 7-O-glucoside were the two fundamental flavonoids identified in all parts.

Decoding Electroencephalography Underlying Natural Grasp Tasks across Multiple Dimensions

Individuals suffering from motor dysfunction due to various diseases often face challenges in performing essential activities such as grasping objects using their upper limbs, eating, writing, and more. This limitation significantly impacts their ability to live independently. Brain–computer interfaces offer a promising solution, enabling them to interact with the external environment in a meaningful way. This exploration focused on decoding the electroencephalography of natural grasp tasks across three dimensions: movement-related cortical potentials, event-related desynchronization/synchronization, and brain functional connectivity, aiming to provide assistance for the development of intelligent assistive devices controlled by electroencephalography signals generated during natural movements. Furthermore, electrode selection was conducted using global coupling strength, and a random forest classification model was employed to decode three types of natural grasp tasks (palmar grasp, lateral grasp, and rest state). The results indicated that a noteworthy lateralization phenomenon in brain activity emerged, which is closely associated with the right or left of the executive hand. The reorganization of the frontal region is closely associated with external visual stimuli and the central and parietal regions play a crucial role in the process of motor execution. An overall average classification accuracy of 80.3% was achieved in a natural grasp task involving eight subjects.

Infra zygomatic crest (IZC) and mandibular buccal shelf (MBS) bone screws: A comprehensive updated review

The definition of anchorage is the opposition a body exhibits to being displaced. In orthodontics, the body is used to simulate a tooth, and forces that can be either light and continuous or heavy and intermittent are used to propel it around. When natural tooth motions are to be performed in greater amounts, they must be fastened against an anchor that, if feasible, is fairly enduring. This is when anchoring is required in orthodontics.

Emotion and motion: Toward emotion recognition based on standing and walking.

Emotion recognition is key to interpersonal communication and to human-machine interaction. Body expression may contribute to emotion recognition, but most past studies focused on a few motions, limiting accurate recognition. Moreover, emotions in most previous research were acted out, resulting in non-natural motion, which is unapplicable in reality. We present an approach for emotion recognition based on body motion in naturalistic settings, examining authentic emotions, natural movement, and a broad collection of motion parameters. A lab experiment using 24 participants manipulated participants' emotions using pretested movies into five conditions: happiness, relaxation, fear, sadness, and emotionally-neutral. Emotion was manipulated within subjects, with fillers in between and a counterbalanced order. A motion capture system measured posture and motion during standing and walking; a force plate measured center of pressure location. Traditional statistics revealed nonsignificant effects of emotions on most motion parameters; only 7 of 229 parameters demonstrate significant effects. Most significant effects are in parameters representing postural control during standing, which is consistent with past studies. Yet, the few significant effects suggest that it is impossible to recognize emotions based on a single motion parameter. We therefore developed machine learning models to classify emotions using a collection of parameters, and examined six models: k-nearest neighbors, decision tree, logistic regression, and the support vector machine with radial base function and linear and polynomial functions. The decision tree using 25 parameters provided the highest average accuracy (45.8%), more than twice the random guess for five conditions, which advances past studies demonstrating comparable accuracies, due to our naturalistic setting. This research suggests that machine learning models are valuable for emotion recognition in reality and lays the foundation for further progress in emotion recognition models, informing the development of recognition devices (e.g., depth camera), to be used in home-setting human-machine interactions.

Autonomous medical needle steering in vivo.

The use of needles to access sites within organs is fundamental to many interventional medical procedures both for diagnosis and treatment. Safely and accurately navigating a needle through living tissue to a target is currently often challenging or infeasible because of the presence of anatomical obstacles, high levels of uncertainty, and natural tissue motion. Medical robots capable of automating needle-based procedures have the potential to overcome these challenges and enable enhanced patient care and safety. However, autonomous navigation of a needle around obstacles to a predefined target in vivo has not been shown. Here, we introduce a medical robot that autonomously navigates a needle through living tissue around anatomical obstacles to a target in vivo. Our system leverages a laser-patterned highly flexible steerable needle capable of maneuvering along curvilinear trajectories. The autonomous robot accounts for anatomical obstacles, uncertainty in tissue/needle interaction, and respiratory motion using replanning, control, and safe insertion time windows. We applied the system to lung biopsy, which is critical for diagnosing lung cancer, the leading cause of cancer-related deaths in the United States. We demonstrated successful performance of our system in multiple in vivo porcine studies achieving targeting errors less than the radius of clinically relevant lung nodules. We also demonstrated that our approach offers greater accuracy compared with a standard manual bronchoscopy technique. Our results show the feasibility and advantage of deploying autonomous steerable needle robots in living tissue and how these systems can extend the current capabilities of physicians to further improve patient care.

Adaptive motion planning for CFETR multipurpose overload robot based on iterative tractrix

In this paper, an adaptive motion planning method is proposed for the control requirements of the China Fusion Engineering Test Reactor multipurpose overload robot (CMOR). Firstly, a kinematic model of CMOR is established by Denavit-Hartenberg method, and the working process of entering and leaving the vacuum chamber to complete the maintenance operation is analyzed. An iterative tractrix-based motion planning method is proposed by expanding the basic principle of tractrix. Assuming that the CMOR any link has two mutually perpendicular degrees of freedom to achieve spatial motion capability, a more natural and smooth movement of the CMOR is achieved by recursive operations on the tractrix traction. To accelerate the calculation process and avoid each joint rotation angle of CMOR exceeding the set value, a bidirectional iterative tractrix method and a joint limit rotation angle optimization method based on the bidirectional iterative tractrix method are proposed to improve the convergence speed and motion safety. Finally, a CMOR visualization simulation system is built, and the results show that the CMOR adaptive motion planning method can effectively track the target trajectory and avoid joint rotation angle overrun.