Precise Movements Research Articles

Design and validation of an automated and remote free space measurement system for nondestructive testing of fiber composites

Assessing electromagnetic constitutive parameters is crucial to prescribe the macroscopic properties of composites and their prospective applications. Free space methods are widely used for this purpose, due to their nondestructive/noncontact nature and their applicability on composites incorporating large inclusions or over-frequency bands where waveguide measurements are impractical. However, there still exists issues associated with automation, accurate calibration, remote controlling, and multifunctional characterization. Here, we designed and implemented a microwave-integrated laboratory including a test bench for permittivity/permeability and impedance measurements of individual inclusions and a free space setup for transmission/reflection measurements of fiber-based composites. Easy switching between the bench and antenna measurements was enabled by a homemade RF multiplexer. A three-stage calibration was applied: 2-port error correction (12-term model) of the vector network analyzer and the cables connecting it to the multiplexer, de-embedding of the cables connecting the multiplexer to the switches within the antenna pillars, and thru, reflect, and line (TRL) error correction for the antennas and free space. Exploiting robotics for precise antenna movement and TRL calibration enabled adjustment of the antenna distance to the test frame to a maximum of 2.5 m with a 100 μm accuracy. A multifunctional frame for external stimuli application was also designed. Apart from automation, remote control was realized through user-friendly graphical interfaces and remote access software allowing to swiftly respond to challenges faced during the global pandemic. The free space setup effectiveness was then validated by measuring the transmission/reflection of microwire-based composites from 0.5 to 20 GHz under various magnetic fields.

Assembly of Custom Implant and Ready-Made Distractor for Precise Maxillary Movement Vector Control in Cleft Patient With Midfacial Hypoplasia.

This study presents a novel approach for maxillary advancement in a patient with cleft lip and palate, utilizing the assembly of a custom titanium implant and a ready-made distractor. The patient exhibited significant maxillary hypoplasia and had concerns regarding the possible deterioration of hypernasality after conventional surgical methods. Distraction osteogenesis was initiated to address these challenges. A custom plate was designed using 3-dimensional printing technology. Integrating the plates with off-the-shelf distractors enables precise control of the distraction vector to optimize surgical precision and outcomes. The treatment plan involved Le Fort I osteotomy, followed by a distraction protocol that achieved a skeletal Class I relationship and total advancement of 7.5mm and elongation of 2mm, with no reported complications. This case demonstrates that combining custom implants with standard distractors can provide precise maxillary repositioning at reasonable costs, while mitigating the risks associated with traditional surgical interventions and reducing the need for secondary corrective surgeries.

Rotary–Linear Type Piezoelectric Actuator Based on Double-Elliptical Stator

This paper introduces a novel piezoelectric actuator designed for precise linear and rotational movements of a cylindrical slider-rotor. The actuator’s design features two elliptical frames interconnected by two plates, with a cylindrical contact situated on the top of the upper plate to facilitate the motion or rotation of the slider. Two piezoelectric multilayer transducers are housed within each elliptical frame and are used to excite vibrations of the elliptical frames using two harmonic signals with a phase difference of π/2 and varying excitation schemes. This excitation pattern generates elliptical motion trajectories of the contact in two orthogonal planes, enabling both linear and rotational displacements of the slider-rotor. Numerical and experimental investigations were conducted to validate the performance and accuracy of the actuator. Additionally, harmonic response and transient analysis were performed to investigate elliptical motion trajectories of the contact in perpendicular planes under various excitation schemes and frequencies. The results confirm that the rotational and linear motions of the slider-rotor can be independently controlled. The actuator achieved a maximum rotational speed of 163.1 RPM and a maximum linear speed of 41.4 mm/s, with a corresponding peak output torque and force of 236.1 mN·mm and 368.1 mN, respectively. A resolution measurements showed that the actuator can achieve an angular resolution of 1.02 mrad and a linear resolution of 53.8 µm.

Muscle spindle receptors and their impact on Parkinson´s disease and Cerebral Palsy subjects.

In some neurological conditions, like Parkinson's disease (PD) and Cerebral Palsy (CP), as well as with ageing, muscle spindles have been mentioned as participating in the pathological response of observed muscles. The aim of this review has therefore been to examine what is known about muscle spindle receptors, their function and how they are involved in regulating precise muscle movement in relation to these two conditions. Data from acoustic myography (AMG) studies with healthy controls (HC), CP and PD subjects have been re-examined with a view to identifying possible effects of changes in muscle movement which could be related to muscle spindle receptor function. Studies of muscle spindles have shown that during shortening and lengthening contractions the fusimotor system is activated differently with different discharge frequencies and sensitivities. With increasing age comes a loss of precise proprioception, something that coincides with a change in the AMG E-score towards lower values, indicating a reduced level of coordination and efficiency of muscle use. With PD and CP there is likewise a documented decrease in proprioception, also showing lower E-values than age-matched HC subjects. We conclude that the decrease in proprioception observed in these subjects must be partly due to a change in the muscle spindle / C-centre feedback system.

Light‐Manipulated Millimeter‐Scale Swimming Robot for Precise Navigation

AbstractMicro‐swimming robots have been increasingly emphasized in the fields of targeted drug delivery and water surface cleaning, which mainly use open external structures or external environments to assist navigation, but there are still salient problems, such as the difficulty of stable capture and poor navigation accuracy. Theoretically, a light‐driven swimming robot can have a symmetrical embedded structure to constrain surface tension gradient forces and thermophoretic forces in a wide range of directions and convert them into precise directional forces. Therefore, a sustained‐capture swimming robot is developed with precise navigation consisting of TiO2/polypyrrole (PPy) composites containing a symmetric inner truncated‐cone hole structure and realized multiple controllable motion patterns. Excitingly, the capture motion of the TiO2/PPy inner truncated‐cone hole structure robot “TPHR” can be accurately controlled by programmable automation, with capture travel speeds of up to ≈23.64 mm s−1. Its excellent kinematic performance stems from the high photothermal conversion efficiency (≈47.83%) of the composite and the synergistic effect between thermo‐capillary and thermo‐convective flows. Furthermore, a patterning precision movement, water surface oil‐cleaning microstructure assembly, etc. are realized, reflecting the engineering application value of TPHR. This structure provides a novel strategy for the development of micro‐swimming robots with stable capture and sustainable motion.

Application of Compensation Algorithms to Control the Speed and Course of a Four-Wheeled Mobile Robot.

This article presents a tuned control algorithm for the speed and course of a four-wheeled automobile-type robot as a single nonlinear object, developed by the analytical approach of compensation for the object's dynamics and additive effects. The method is based on assessment of external effects and as a result new, advanced feedback features may appear in the control system. This approach ensures automatic movement of the object with accuracy up to a given reference filter, which is important for stable and accurate control under various conditions. In the process of the synthesis control algorithm, an inverse mathematical model of the robot was built, and reference filters were developed for a closed-loop control system through external effect channels, providing the possibility of physical implementation of the control algorithm and compensation of external effects through feedback. This combined approach allows us to take into account various effects on the robot and ensure its stable control. The developed algorithm provides control of the robot both when moving forward and backward, which expands the capabilities of maneuvering and planning motion trajectories and is especially important for robots working in confined spaces or requiring precise movement into various directions. The efficiency of the algorithm is demonstrated using a computer simulation of a closed-loop control system under various external effects. It is planned to further develop a digital algorithm for implementation on an onboard microcontroller, in order to use the new algorithm in the overall motion control system of a four-wheeled mobile robot.

Smooth and Time-Optimal Trajectory Planning for Robots Using Improved Carnivorous Plant Algorithm

To improve the safety and reliability of robotic manipulators during high-speed precision movements, this paper proposes a method for smooth and time-optimal trajectory planning incorporating kinodynamic constraints. The primary objective is to use an evolutionary algorithm to determine a trajectory by considering time and jerk within the feasible path-pseudo-velocity phase plane region. Firstly, the path parameterization theory extracted the maximum pseudo-velocity projection curve from the kinodynamic constraints. Subsequently, the feasible region in the phase plane was defined through reachability analysis of discrete linear systems. Thereafter, we constructed the trajectory function using a cubic B-spline curve, optimizing its control points with an improved carnivorous plant optimization algorithm. Finally, the effectiveness and practicality of this method were verified through simulations on a 6-DOF manipulator.

Assessment of gnostic and stereognostic functions in patients with liver cirrhosis: A comparative study with healthy controls.

Individuals diagnosed with liver cirrhosis typically experience a variety of symptoms. Decompensation, a critical stage in the disease's progression, is characterized by the emergence of prominent clinical signs. These signs typically include ascites, bleeding tendencies, hepatic encephalopathy, and jaundice. Furthermore, it is noteworthy that regions in the sensorimotor cortex responsible for practical and gnostic functions are closely situated within the parieto-occipital part of the cortex. Liver cirrhosis may also have an impact on this aspect of human motor function. The main objective of the study is to compare the gnostic function and stereognostic function in individuals with liver cirrhosis and those in a healthy population. The patients included in our registry, known as RH7, were enrolled in our study. The first group consisted of 74 liver cirrhosis patients (including 25women and 49men). The control group consisted of a 63healthy population (including 23women and 40 and men). Both groups underwent both the Petrie and kinaesthesia tests. The results of the Petrie test, which compared healthy participants with those with liver cirrhosis, indicate that the healthy population achieved a significant difference in both right and left upper limb compared to those with liver cirrhosis patients (p< 0.05). The healthy population showed a significant difference compared to liver cirrhosis patients in the kinesthesia test (p< 0.05), except for the second attempt with the left upper limb (p= 0.267). According to the LFI, there was no significant difference in either upper limb during both the initial and second attempts of Petrie test (p> 0.05). Patients with liver cirrhosis exhibited significantly poorer gnostic functions compared to the healthy population. This condition also leads to notable impairments in motor functions, affecting both the precision and coordination of movements. Despite these deficits, frailty alone does not appear to be an indicator of worsened gnostic or stereognostic functions. Therefore, while liver cirrhosis has a clear negative impact on motor and cognitive abilities, the presence of frailty does not necessarily exacerbate these specific cognitive deficits. This distinction is crucial for clinical assessments and interventions targeting motor and cognitive rehabilitation in patients with liver cirrhosis.

THE EVOLUTION OF PERFORMANCES ON A NATIONAL LEVEL IN AEROBIC GYMNASTICS

Background. Performance aerobic gymnastics is, indeed, a form of art in motion, harmoniously blending elements from gymnastics, dance, and aerobics. Focusing on aspects such as coordination, mobility, strength, and endurance, this discipline challenges both the physical and mental abilities of athletes. The hallmark of performance aerobic gymnastics is the ability to execute quick and precise movements without compromising technique and accuracy. This requires a unique combination of strength, flexibility, and grace, as well as a good understanding of rhythm and music. Through this combination of traits, performance aerobic gymnastics becomes not just a form of training but also a captivating spectacle, attracting both athletes eager to test their limits and the audience with its dynamism and complexity. It is a discipline that manages to blend technical perfection with artistic expressiveness, thus creating an impressive and memorable spectacle. Purpose: The research aimed to assess the level of preparedness of aerobic gymnastics practitioners from the second category in Romania in relation to the specific requirements of technical, artistic, and execution components imposed by the scoring code. Additionally, the study aimed to identify any errors that athletes may have presented within these components. Methods: The research utilized bibliographic study to obtain a comprehensive understanding of the field of aerobic gymnastics and relevant points for evaluating athletes' performance. Statistical method was applied to analyze and interpret the results obtained by female athletes at the National Aerobic Gymnastics Championships, allowing us to highlight their evolution and identify performance trends. Additionally, graphical method was employed to visually represent the data of our analysis, facilitating their comprehension and interpretation. Subjects: The research period covers the evolution of athletes between the years 2019 and 2021, within the national championship. Our objective is to highlight and analyze the progress, stagnation, or regression of athletes participating in competitions over the course of the three years of study. Results: It is interesting to observe the evolution of the UNEFS sports club over these years and the fluctuations in their positions in the competition's ranking. Although there have been changes in the ranking from year to year, with a variation in the positions occupied, it is remarkable that UNEFS has generally remained in the upper part of the ranking. In 2019, the UNEFS club occupied positions 1, 4, and 6 in the ranking, and the following year, they managed to rise to positions 1 and 2, signifying an improvement in their performance. However, in 2020, they experienced a decline, dropping to 7th place. In 2021, the sports club once again managed to rank in the top two positions, but also found themselves in 6th place in the ranking. Conclusions: These fluctuations in the ranking can be influenced by a variety of factors, such as changes in athletes' training, training strategies, the level of competition, or even external conditions, such as changes in regulations or unexpected events. A detailed examination of these fluctuations can help identify patterns or trends that may affect the performance of the UNEFS club in the future. Based on these analyses, adjustments can be made in training and competition strategies to improve performance and ensure that the club remains competitive in the national championship and other future competitions.

Peripheral cranio-spinal nerve communication for trapezius muscle control using axonal profiling through immunostaining

Accessory nerve (CNXI) has been known to be the primary conduit for motor control of the trapezius, while the supplementary cervical nerves (C3 and C4) are responsible for processing sensory information from muscle. However, the lack of substantial direct evidence has led to these conclusions being regarded as mere speculation. This study used immunostaining (using antibodies against neurofilament 200 for all axons, choline acetyltransferase for cholinergic axons, tyrosine hydroxylase for sympathetic axons, and alpha 3 sodium potassium ATPase for proprioceptive afferent axons) of human samples to verify the functional contributions of nerves. Study highlights the pivotal role of C3 and C4 in regulating precise movements of trapezius, contributing to motor control, proprioceptive feedback, and sympathetic modulation. CNXI is composed primarily of somatic efferent fibers, with significant numbers of sympathetic or sensory fibers. Furthermore, C3-4 have both cholinergic and non-cholinergic axons, suggesting their involvement in proprioceptive feedback and somatic efferent functions. Although less common, mechanosensors such as nociceptive sensor and sympathetic fibers are also supplied by these cervical nerves. The study demonstrated that these nerves contain motor fibers and significant proprioceptive and sympathetic axons, challenging the long-held notion that CNXI are motor and upper spinal nerves are sensory.

Enhancing DC Motor Speed Control Performance Using Heuristic Optimization and Comparative Analysis of Control Methods

Direct Current (DC) motors are an important component that converts electrical energy into mechanical energy, used in a wide range of applications from industrial applications to home appliances. DC motor speed control has an important role in industrial processes to increase efficiency, realize precise movements and optimize energy consumption. In this study, various control methods and parameter optimization techniques for speed control of DC motors, which have a wide range of applications, have been systematically analyzed. The aim of the study is to develop an effective control strategy to ensure that DC motors reach the determined target speed by monitoring them in real time at different speeds and to minimize fluctuations caused by variable loads or external factors. In our study, Proportional-Integral-Derivative (PID), Proportional-Integral (PI), and Proportional-Derivative (PD) control methods were used. The parameters of these controllers were tuned using Matlab Tuned, The Cheetah Optimizer (CO) Algorithm, a new generation heuristic optimization method, and Particle Swarm Optimization (PSO), a widely accepted optimization method. The performances of the controllers were determined using criteria such as Integral of Absolute Error (IAE), Integral Squared Error (ISE), and Integral of Time multiplied by Absolute Error (ITAE). According to the results obtained, it was found that the PID, PI and PD control parameters determined using the CO Algorithm performed better than the controllers created using Matlab Tuned and PSO methods. New optimization methods, such as the CO Algorithm, have been found to have significant potential to improve the performance of control systems. Thanks to this study, it offers a practical approach for optimizing DC motor speed control in industrial processes. As a result, it has been found that the control parameters determined by the CO Algorithm have significant potential in improving the performance of DC motor speed control and control systems compared to other optimization methods.

Grasp with push policy for multi-finger dexterity hand based on deep reinforcement learning

When interacting with the external environment, dexterous hands face various challenges, including interference in cluttered environments and difficulty in accurately locating target objects. We observe that the human hand is often at ease in the face of complex unstructured environments: pushing objects that can rearrange clutter, locating target objects, and creating space for fingers. In addition, the gripping action complements the push by achieving the precise movement of unrelated objects. Taking inspiration from this, to enable manipulators to perform accurate grasping tasks in complex environments, we propose a new data-driven grasping approach for robotic dexterous hands: the push-fit grasping approach. This method combines human grasping with model-free deep reinforcement learning to realize the robot's collaborative grasping ability. An end-to-end conditional converter grasping network is first trained, which takes the visual point cloud input to the action output. We use DQN algorithms for strategy training, further enhanced by fine-tuning methods for real-world learning. The experimental results show that the push strategy we learned significantly improves the grasping performance, and the success rate of cooperative grasping is increased by 8 %. It is worth noting that this fine-tuning method significantly reduces the actual training time, with the real world training taking up only one-fifth of the time in the simulated world. Even in demanding scenarios characterized by confusion and complexity, it facilitates rapid learning. This study provides new insights for effectively addressing complex challenges involving multi-fingered dexterous hands and human-computer interaction. Our code is available in the github repository.

High-resolution motion compensation for brain PET imaging using real-time electromagnetic motion tracking.

Substantial improvements in spatial resolution in brain positron emission tomography (PET) scanners have greatly reduced partial volume effect, making head movement the main source of image blur. To achieve high-resolution PET neuroimaging, precise real-time estimation of both head position and orientation is essential for accurate motion compensation. A high-resolution electromagnetic motion tracking (EMMT) system with an event-by-event motion correction is developed for PET-CTscanners. EMMT is comprised of a source, an array of sensors, and a readout electronic unit (REU). The source acts as a transmitter and emits an EM dipole field. It is placed in close proximity to the sensor array and detects changes in EM flux density due to sensor movement. The REU digitizes signals from each sensor and captures precise rotational and translational movements in real time. Tracked motion in the EMMT coordinate system is synchronized with the PET list-mode data and transformed into the scanner coordinate system by locating paired positions in both systems. The optimal rigid motion is estimated using singular value decomposition. The rigid motion and depth-of-interaction (DOI) parallax effect are corrected by event-by-event rebinning of mispositioned lines-of-response (LORs). We integrated the EMMT with our recently developed ultra-high resolution Prism-PET prototype brain scanner and a commercial Siemens Biograph mCT PET-CT scanner. We assessed the imaging performance of the Prism-PET/EMMT system using multi-frame motion of point sources and phantoms. The mCT/EMMT system was validated using a set of point sources attached to both a mannequin head and a human volunteer, for simulating multiframe and continuous motions, respectively. Additionally, a human subject for [18F]MK6240 PET imaging wasincluded. The tracking accuracy of the Prism-PET/EMMT system was quantified as a root-mean-square (RMS) error of 0.49 for 100 axial rotations, and an RMS error of 0.15 mm for 100 mm translations.The percent difference (%diff) in average full width at half maximum (FWHM) of point source between motion-corrected and static images, within a motion range of and 10 mm from the center of the scanner's field-of-view (FOV), was 3.9%. The measured recovery coefficients of the 2.5-mm diameter sphere in the activity-filled partial volume correction phantom were 23.9%, 70.8%, and 74.0% for the phantom with multi-frame motion, with motion and motion compensation, and without motion, respectively. In the mCT/EMMT system, the %diff in average FWHM of point sources between motion-corrected and static images, within a motion range of and 10 mm from the center of the FOV, was 14%. Applying motion correction to the [18F]MK6240 PET imaging reduced the motion-induced spill-in artifact in the lateral ventricle region, lowering its standardized uptake value ratio (SUVR) from 0.70 to 0.34. The proposed EMMT system is a cost-effective, high frame-rate, and none-line-of-sight alternative to infrared camera-based tracking systems and is capable of achieving high rotational and translational tracking accuracies for mitigating motion-induced blur in high-resolution brain dedicated PETscanners.

Enhanced transanal surgery training through a 4K 3D surgical exoscope: a novel approach for transanal surgery.

Recently, exoscope was introduced as a more ergonomic alternative to microscope, mainly in nerve and spinal surgery. Exoscope use in general surgery is still experimental and just few reports are present in literature. Here, we describe for the first time its application in transanal surgery, specifically during the transanal transection and single-stapled anastomosis in ileal-pouch anal anastomosis. After completing the proctectomy and pouch formation laparoscopically, two surgeons performed the transanal transection and single-stapled anastomosis using the vision provided by the ORBEYE™ exoscope system with a 3D 4K orbital camera and a 55-inches 3D screen. The transanal procedure was carried out with the surgeons looking at the 3D screen rather than at the operating field. The system subjectively provided excellent operative view thanks to the magnification capacity and the high resolution. The ergonomics was improved compared to classical transanal surgery, allowing the operators and observers to have the same view in a comfortable position. In particular, the exoscope magnified vision allowed for clearer demonstration of techniques to trainees. This is the first report on the intraoperative application of the ORBEYE™ surgical exoscope in transanal surgery. The magnified vision allowed precise movements and the system appeared potentially a ground-breaking tool for surgical training. The ability to project high-quality images to observers make it ideal for teaching complex transanal procedures. Further studies are encouraged to validate this approach into standard colorectal practice.

A two-layer economic resilience model for distribution network restoration after natural disasters

Improving the resilience of energy networks and minimizing outages is crucial, making the development of self-healing strategies essential for ensuring a continuous power supply and boosting resilience. As decentralized prosumers become more integrated into smart grids, innovative coordination methods are required to fully leverage their potential and improve the system's self-healing capabilities. Hence, in this paper, we present a decentralized two-layer model for active distribution networks (ADNs) incorporating commercial energy hubs, Parking lots (PLs), hydrogen refueling stations, and mobile units (MUs). This model aims to maximize the flexible capacities of flexible prosumers under emergencies and includes a dynamic mechanism for transporting hydrogen to refueling stations via trucks. In the first layer of the model, the AND operator provides the required services to flexible prosumers, including commercial energy hubs, PLs and hydrogen refueling stations. During this layer, the movement paths of mobile units, such as battery-based mobile storage units (MSUs) and mobile hydrogen units (MHUs), are determined. In the second layer, prosumers independently plan and decide the extent of their service contributions. Subsequently, with the actual service capacities established, the AND operator re-optimizes the initial planning to finalize the system schedule and precise movement paths of the mobile units. The proposed model was tested on a modified 83-bus distribution network using the CPLEX solver in GAMS. Simulation results demonstrate a 54.9 % reduction in forced load shedding (FLS) due to the dispatch of mobile units and a further 84.4 %% reduction in FLS from leveraging the flexible capacities of commercial energy hubs and PLs.

Design and Development of a 5-DOF SCARA Robot Arm for Robotics Education in a STEM Laboratory

The development of a 5-degree-of-freedom (DOF) SCARA robot arm was successfully achieved for educational use within the CSL Laboratory at the School of Applied STEM, Universitas Prasetiya Mulya. The design utilizes cost-effective, locally sourced materials and an open-source control system based on Processing Java and Arduino C. These features make the SCARA robot arm an accessible tool for students to learn robotics, particularly in the areas of kinematics, control, and programming. Extensive testing of the robot’s inverse kinematics algorithm showed promising results, with average error rates of 1.20% for the Inner Arm, 4.21% for the Outer Arm, and 3.39% for the Z-axis. These low error rates highlight the robot’s precision in movement. This research not only met its objective of creating an accessible platform for teaching robotics but also demonstrated potential for future development in robotics education and industrial applications.

Structuring of electrorheological fluids in polymer matrices for miniature actuators

Miniature actuators are utilized in various application fields, from robotics to medical devices, where compact dimensions, precise movements, and cost-effectiveness are crucial factors. Particularly for applications like braille displays, there is a critical demand for lightweight, portable, and affordable actuators to integrate into daily life for visually impaired people. However, existing actuation technologies such as electroactive polymers, electrorheological materials, and piezoelectric elements often do not meet the specific requirements of miniature actuators, especially for braille displays. Therefore, this study investigates the behavior of electrorheological fluids incorporated into polymer matrices of cellulose and proteins for miniature actuators to overcome the primary challenge of sedimentation through the structuring of the liquid. The gel formulations are tested in three distinct setups: the V-shaped, horizontal plates, and valve system. These experiments demonstrated immediate structural changes in the gel formulations, achieving reversible movement. Furthermore, the valve setup even enabled the analysis of the strength of the hardened mixtures by the resistance against applied air pressure. The results demonstrate that incorporating electrorheological fluids into polymer matrices is not only feasible but also preserves the characteristic behavior of electrorheological fluids under electrical field exposure. This behavior validates the applicability and suitability of modified electrorheological fluid mixtures in miniature actuators.

Tactile stimulation designs adapted to clinical settings result in reliable fMRI-based somatosensory digit maps

Movement constraints in stroke survivors are often accompanied by additional impairments in related somatosensory perception. A complex interplay between the primary somatosensory and motor cortices is essential for adequate and precise movements. This necessitates investigating the role of the primary somatosensory cortex in movement deficits of stroke survivors. The first step towards this goal could be a fast and reliable functional Magnetic Resonance Imaging (fMRI)-based mapping of the somatosensory cortex applicable for clinical settings. Here, we compare two 3 T fMRI-based somatosensory digit mapping techniques adapted for clinical usage in seven neurotypical volunteers and two sessions, to assess their validity and retest-reliability. Both, the traveling wave and the blocked design approach resulted in complete digit maps in both sessions of all participants, showing the expected layout. Similarly, no evidence for differences in the volume of activation, nor the activation overlap between neighboring activations could be detected, indicating the general feasibility of the clinical adaptation and their validity. Retest-reliability, indicated by the Dice coefficient, exhibited reasonable values for the spatial correspondence of single digit activations across sessions, but low values for the spatial correspondence of the area of overlap between neighboring digits across sessions. Parameters describing the location of the single digit activations exhibited very high correlations across sessions, while activation volume and overlap only exhibited medium to low correlations. The feasibility and high retest-reliabilities for the parameters describing the location of the single digit activations are promising concerning the implementation into a clinical context to supplement diagnosis and treatment stratification in upper limb stroke patients.

Design of an Optimal Multivariable PID Controller for a Two-Link Robot Arm

Incorporating manipulator robots into various industries has revolutionized automation and manufacturing processes. Manipulator robots are versatile machines equipped with robotic arms and end-effectors, enabling them to handle complex tasks with precision and efficiency. This research aims to design an optimal Mutivariable PID (MPID) controller that ensures precise and accurate movements of two-link robot arm. Theoretical foundations of the MPID controller are discussed together with its relevance to robotic arm systems, and the challenges associated with its implementation. The research methodology involves mathematical modelling of the two-link robot arm dynamics, and the use of an optimization algorithm to determine the optimal MPID controller coefficients. Simulation results demonstrate performance enhancement and productivity of the two-link robot arm through the improved MPID controller.

Enhancing Youth Cricket Performance: Insights From Field-Based Assessments of Strength, Endurance, and Agility

Background The physical demands of cricket, particularly in youth players, encompass critical components of strength, endurance, and agility, which are essential for optimal performance and maintaining competitive success. Strength, endurance, and agility are vital in enhancing youth cricketers' overall physical fitness and performance levels, directly influencing their ability to sustain high-intensity efforts, execute precise movements, and recover effectively during matches and training sessions. Aims: This research aimed to evaluate the field-based performance levels of young cricketers in Belagavi through innovative assessments: the wall squat, 2km time trial, and Run-a-three tests, highlighting their importance in enhancing player fitness and performance.Methods: A cohort of 100 young cricketers (aged 18-24) with a minimum of 2 years experience underwent comprehensive assessments using the wall squat, 2km time trial, and Run-a-three tests across various cricket grounds in Belagavi. Statistical analyses provided insights into their fitness levels across different player categories (batsmen, bowlers, all-rounders, and wicketkeepers).Results: Significant variations in fitness levels were observed among player categories, with wall squat endurance being the most notable area for improvement, as the mean performance was 51.54 ± 20.79 seconds. The average 2km trial was completed in 10.03 ± 1.42 minutes, while the Run-a-three drill averaged 11.86 ± 1.33 seconds. These findings highlight the critical need for targeted fitness interventions to enhance lower body endurance across all roles.Conclusion: This study underscores the imperative for tailored fitness regimens to address deficiencies in strength, endurance, and agility among young cricketers in Belagavi. These targeted interventions can enhance their competitive readiness and support long-term athletic development. Future research should explore the specific impact of these fitness interventions on performance metrics and injury prevention, providing further insights into optimizing youth cricket training programs.