Specific Motions Research Articles

Cervicothoracic junction mobilization versus autogenic muscle energy technique for chronic mechanical neck pain: A randomized controlled trial

ABSTRACT Objective Neck pain is a prevalent global health concern often accompanied by musculoskeletal symptoms. This randomized controlled trial attempted to contrast the impacts of non-thrust Maitland mobilization and Autogenic inhibition muscle energy technique on chronic mechanical neck pain associated with cervico-thoracic junction hypo-mobility. Methods Sixty participants (24 males and 36 females, aged 18–45 years) were allocated randomly into three equally sized groups (A, B, C). Group A: Maitland mobilization plus conventional treatment, Group B: Autogenic Muscle energy technique plus conventional treatment, while; Group C solely received conventional treatment. Treatment was administered for four weeks, three times a week. Outcome measures: neck pain (The primary outcome measure) assessed by Visual Analog Scale (VAS), disability evaluated through Neck Disability Index (NDI), active range of motion (AROM), and joint position error (JPE) as an indicator of cervical proprioception. All measures were assessed both at baseline and after four weeks of intervention. Results Results showed significant improvements in VAS, NDI, and increased ROM across all groups post-treatment (p < 0.001). While Groups A and B demonstrated superior outcomes compared to Group C, differences between Groups A and B were not statistically significant (p > 0.05). For VAS and NDI, Cohen-d between Groups A and B was 0.31 and 0.31, and for ROM, Cohen-d was 0.37, 0.16, 0.07, 0.29, 0.36, and 0.53 for flexion, extension, right rotation, left rotation, right bending, and left bending, respectively. Furthermore, all groups experienced a significant decrease in JPE, with Groups A and B showing greater improvement than Group C (p < 0.01). Group B exhibited significantly greater improvement in reducing JPE related to specific motions compared to Group A (p < 0.05). Conclusion Cervico-thoracic junction mobilization and the Autogenic muscle energy technique offer enhanced management for mechanical neck pain by improving pain, function, ROM, and cervical proprioception.

Design and stability analysis of a new six-floater oscillating water column-based floating offshore wind turbine platform

The operational efficiency and lifespan of Floating Offshore Wind Turbines (FOWTs) are adversely impacted by the inherent platform motions and undesired vibrations induced by wind and wave loads. To effectively address these effects, the control of specific structural motions is of utmost importance, with platform pitch and yaw identified as the primary Degrees Of Freedom (DOF) that require attention. This study proposes a novel utilization of Oscillating Water Columns (OWCs) as a reliable and viable solution to mitigate platform pitch and yaw motions, thereby significantly enhancing the efficiency and reducing fatigue in wind turbines. This article aims to evaluate the impact resulting from integrating OWCs within each discrete floater of a Six-Floater platform. By considering different combinations of OWCs, a comprehensive analysis of the Response Amplitude Operators (RAOs) associated with pitch and yaw motions is presented. The primary objective is to identify the most efficient arrangements of OWCs and determine suitable combinations that effectively stabilize platform pitch and yaw motions. The empirical results substantiate that specific OWC configurations exhibit notable dampening effects on both pitch and yaw motions, particularly within specific wave frequency intervals. Consequently, it can be inferred that the integration and adequate operation of OWCs facilitate a substantial improvement in the stabilization of multi-floater platforms.

Killer Phonon Caught: Femtosecond Stimulated Raman Spectroscopy Identifies Phonon-Induced Control of Photophysics in Rubrene Derivatives.

Molecular reaction coordinates are defined by the interplay of a number of orthogonal nuclear coordinates and are inherently multidimensional for large molecules. Identifying how specific nuclear motions along these reaction coordinates can be used to drive and control chemical processes is a promising approach for the optimization of chemical outcomes and targeted synthetic design. Here, we used femtosecond stimulated Raman spectroscopy (FSRS) to quantify the effects of individual phonon nuclear motions on singlet fission in rubrene derivatives. Rubrene readily undergoes singlet fission and is amendable to chemical derivatization, yet the factors that impact the singlet fission yield are not fully understood. Crystal packing is known to play a significant role in both fission and carrier transport, and thus, we focused on the impact of phonon nuclear motions on the photophysics. We used four halogen-substituted rubrene crystals and successfully identified one specific phonon mode that suppresses singlet fission in these crystals. We used FSRS with single-pulse excitation and double-pulse excitation to coherently amplify each phonon mode and quantify its effects on the excited-state process. We found that coherent amplification of the specific phonon vibration involving twisting of the peripheral phenyl rings and tetracene core motions resulted in less ground-state depletion and fewer triplet state absorption. Our study demonstrated that it is possible to use coherent phonon excitation to influence the photophysical outcome, while also showing that FSRS with double-pulse excitation can be a successful tool for quantifying mode-selective contributions to photophysics.

Internal rotation-based activities of daily living show limitations following reverse shoulder arthroplasty versus anatomic shoulder arthroplasty

BackgroundOne of the more common limitations after reverse total shoulder arthroplasty (rTSA) is limited internal rotation (IR). Outcomes after rTSA are commonly reported as patient-reported outcome measures (PROMs) but are rarely assessed by specific activities of daily living (ADLs). Analyzing ADLs evaluates for specific motions from PROMs. The purpose of this study is to investigate the deficit in IR following rTSA through ADLs. MethodsA retrospective case-control study was conducted using institutional medical records. Patients who underwent total shoulder arthroplasty between 2009 and 2020 were reviewed for demographic and clinical variables (type of arthroplasty, indication, range of motion and strength). PROMs were taken by phone at 2-year minimum follow-up. Statistics were calculated as two-tailed using Chi-square or simple t-tests as appropriate. ResultsAmong 208 patients, 114 aTSA, and 94 rTSA were identified and included in this study. Both groups reported significant increases in range of motion and strength postoperatively. PROMs were mostly similar between aTSA and rTSA (Single Assessment Numeric Evaluation 83.4 ± 17.1 vs. 82.3 ± 18.4, P = .643; visual analog scale Pain 2.2 ± 2.8 vs. 1.8 ± 2.4, P = .247), while Simple Shoulder Test did show a difference (9.2 ± 2.8 vs. 7.8 ± 3.2, P = .001) with higher scores in the aTSA cohort. The ADLs which showed significant disparity between aTSA and rTSA were toileting (P = .001), donning a coat (P = .017), reaching one’s back (P = .017), as well as throwing overhand (0.013) with rTSA patients reporting more difficulty in all these ADLs. ConclusionBoth aTSA and rTSA are safe and efficacious options for shoulder replacement, as evidenced by high Single Assessment Numeric Evaluation and low visual analog scale pain scores and should be used according to their established indications. Surgeons may counsel rTSA patients about potential increased deficits in ADLs reliant on IR such as managing toileting and dressing compared to aTSA recipients.

On the Learning, Transmission, and Embodiment of Swimming’s Haptic Grammar

This article develops the concept of ‘haptic grammar’ to encourage greater scholarly focus on the sensory aspects of bodily motion used to generate movement, knowledge of one’s body in an environment, and thus being-in-the-world. It ethnographically examines how swimmers learn specific motions – ‘the catch’, sculling, hand entry – to illustrate broader questions of how we learn to move our bodies. Focusing on these specific motions emphasises the importance of shared sensory knowledge and perception for learning enskilled bodily movement. More than simply knowing what to move when and how, learning how to sense how one moves one’s body parts is a crucial social process that swimmers become more skilful at via interlocutions among themselves and with their coaches regarding specific motions of specific body parts. This article illustrates how such socialised knowledge requires a shared haptic grammar to become more skilful at moving through the water and thus become ‘swimmers’.

Periodic motions with impact chatters in an impact Duffing oscillator.

The periodic motions of discontinuous nonlinear dynamical systems are very difficult problems to solve in engineering and physics. Until now, except for numerical studies, one cannot find a better way to solve such problems. In fact, one still has difficulty obtaining periodic motions in continuous nonlinear dynamical systems. In this paper, a method is presented systematically for periodic motions in discontinuous nonlinear dynamical systems. The stability and grazing bifurcations of such periodic motions are studied. Such a method is presented through discussion on a periodically forced, impact Duffing oscillator. Thus, periodic motions with impact chatters in a periodically forced Duffing oscillator with one-sidewall constraint are studied. The analytical conditions for motion grazing at the boundary are developed from discontinuous dynamical systems. The impact Duffing oscillator is discretized to generate subimplicit mappings. With impact, the mapping structures are employed to construct specific impact periodic motions for an impact Duffing oscillator. The bifurcation trees of impact chatter periodic motions are achieved semi-analytically. The grazing and period-doubling bifurcations are obtained, and the grazing bifurcations are for the appearing and disappearance for an impact chatter periodic motion. The impact chatter periodic motions with and without grazing are presented for illustration of impact periodic motion complexity in the impact Duffing oscillator.

Quantitative sampling and thermal extraction of the lunar regolith for lunar volatile exploration: Method and validation

Water and other volatiles are present in the permanently shadowed region of the moon. Quantitative analysis of the content is of great significance for lunar resource assessment and geological evolution. However, no detector has yet carried out in situ analysis on the moon, and quantitative sampling and low-power thermal extraction of lunar regolith are also difficult. Thus, a systematic method is proposed to realize quantitative sampling & low power thermal extraction of lunar regolith that detects the abundances of volatiles more accurately. Considering the requirements of the amount and particle size of the regolith, a sampler with a specific structure and motions is designed to quantitatively collect some lunar regolith. After that, induction heating is applied to heat the sampler and indirectly increase the temperature of the internal lunar regolith for volatile thermal extraction. The results demonstrate that this sampling method can achieve high-quality quantitative sampling. Moreover, the sampler and sampled regolith can be heated to the desired temperature with low power consumption. This work offers a feasible solution for the lunar volatile exploration of Chang’E-7.

A clustering-based analysis method for simulating seismic damage of buildings in large cities

Earthquakes are major threats to cities. Refined simulations of urban earthquake damage are significant for disaster prevention planning, including post-earthquake emergency rescue operations. However, this approach is time-consuming and computationally demanding. This study presents a novel machine learning method for simulating seismic damage of large urban building groups, thus minimizing the computational time and resources associated with the simulation process. First, the proposed method clusters building structures based on their seismic damage index (DI) under specific ground motions. Subsequently, one structure is selected from each cluster for seismic analysis. This approach significantly reduces the number of analyzed structures. The efficiency and accuracy of this method are studied based on a parametric study that involved an improved K-means clustering algorithm and a grid-based clustering algorithm. A batch-clustering algorithm is also developed to further improve the speed of clustering and efficiency of regional seismic simulations. A large Chinese city is considered as research application example. The results indicated the following: (1) the method based on the improved K-means clustering algorithm was superior; (2) the batch-clustering algorithm significantly speeded up clustering analysis and enhanced efficiency of the seismic simulation; (3) the clustering-based simulation method demonstrated high efficiency and accuracy, with a significant decrease of 90.5% in the calculation time compared with direct nonlinear time history analysis. In addition, the average relative error of the DI was only 11.0%. Moreover, over 85.0% of the structures were estimated to be in the correct damage state.

In-vivo 3-dimensional spine and lower body gait symmetry analysis in healthy individuals

BackgroundNumerous research studies have delved into the biomechanics of walking, focusing on the spine and lower extremities. However, understanding the symmetry of walking in individuals without health issues poses a challenge, as those with normal mobility may exhibit uneven movement patterns due to inherent functional differences between their left and right limbs. The goal of this study is to examine the three-dimensional kinematics of gait symmetry in the spine and lower body during both typical and brisk overground walking in healthy individuals. The analysis will utilize statistical methods and symmetry index approaches. Furthermore, the research aims to investigate whether factors such as gender and walking speed influence gait symmetry. MethodsSixty young adults in good health, comprising 30 males and 30 females, underwent motion capture recordings while engaging in both normal and fast overground walking. The analysis focused on interlimb comparisons and corresponding assessments of side-specific spine and pelvis motions. ResultsStatistical Parametric Mapping (SPM) predominantly revealed gait symmetries between corresponding left and right motions in the spine, pelvis, hip, knee, and ankle during both normal and fast overground walking. Notably, both genders exhibited asymmetric pelvis left-right obliquity, with women and men showing an average degree of asymmetry between sides of 0.9 ± 0.1° and 1.5 ± 0.1°, respectively. Furthermore, the analysis suggested that neither sex nor walking speed appeared to exert influence on the 3D kinematic symmetry of the spine, pelvis, and lower body in healthy individuals during gait. While the maximum normalized symmetry index (SInorm) values for the lower thorax, upper lumbar, lower lumbar, pelvis, hip, knee, and ankle displayed significant differences between sexes and walking speeds for specific motions, no interaction between sex and walking speed was observed. SignificanceThe findings underscore the potential disparities in data interpretations between the two approaches. While SPM discerns temporal variations in movement, these results offer valuable insights that may enhance our comprehension of gait symmetry in healthy individuals, surpassing the limitations of straightforward discrete parameters like the maximum SInorm. The information gleaned from this study could serve as reference indicators for diagnosing and evaluating abnormal gait function.

A set of cross-correlated relaxation experiments to probe the correlation time of two different and complementary spin pairs

Intrinsically disordered proteins (IDPs) defy the conventional structure-function paradigm by lacking a well-defined tertiary structure and exhibiting inherent flexibility. This flexibility leads to distinctive spin relaxation modes, reflecting isolated and specific motions within individual peptide planes. In this work, we propose a new pulse sequence to measure the longitudinal 13C′ CSA-13C′-13Cα DD CCR rate ΓzC′/C′Cα and present a novel 3D version of the transverse ΓxyC′/C′Cα CCR rate, adopting the symmetrical reconversion approach. We combined these rates with the analogous ΓxyN/NH and ΓzN/NH CCR rates to derive residue-specific correlation times for both spin-pairs within the same peptide plane. The presented approach offers a straightforward and intuitive way to compare the correlation times of two different and complementary spin vectors, anticipated to be a valuable aid to determine IDPs backbone dihedral angles distributions. We performed the proposed experiments on two systems: a folded protein ubiquitin and Coturnix japonica osteopontin, a prototypical IDP. Comparative analyses of the results show that the correlation times of different residues vary more for IDPs than globular proteins, indicating that the dynamics of IDPs is largely heterogeneous and dominated by local fluctuations.

Surrogate model‐aided global sensitivity analysis framework for seismic consequences estimation in buildings

AbstractSeismic consequences estimation for individual buildings is valuable for various stakeholders, including government entities, building owners, and insurers. The robustness of estimation results in the presence of incomplete input information can typically be investigated through sensitivity analysis. However, the estimation process's complexity and the sensitivity analysis's computational burden hinder its practical application, which requires a more efficient procedure to facilitate broader use. This paper proposes a novel framework for sensitivity analysis of seismic consequences estimation to improve the efficiency and reliability of such analysis. The proposed approach encompasses three key components: (1) stochastic ground motion modeling (SGMM)‐based seismic consequences estimation to evaluate the economic, environmental, and social consequences given specific buildings by considering different hazard levels, (2) the training of surrogate model (Gaussian process model) for structural analysis to reduce the computational cost of the evaluation process, and (3) variance‐based global sensitivity analysis to investigate the importance of parameters of concern in the estimation process. The entire procedure is implemented in Python, adhering to object‐oriented programming, and does not rely on external software. Then, the proposed methodology is applied to two distinct three‐story steel moment‐resistant frames (SMRFs) subjected to four different hazard levels to demonstrate its effectiveness. The SGMM method can generate specific ground motions for each hazard level, mitigating the potential for result bias from using ground motions with unrealistic characteristics. Furthermore, the SGMM method is particularly suitable for automated analysis processes reducing the laborious task of screening ground motions from the database. Comparative analysis with surrogate‐free estimation reveals that the surrogate‐based analysis delivers reliable results with significantly reduced computational cost. The results of analyzing different structures under varying hazard levels reflect the variability in sensitivity analysis of consequences estimation, highlighting the necessity of the proposed flexible and efficient framework. Furthermore, the proposed framework's advantages, limitations, and future research needs are discussed.

Baduanjin is Better Balance Training Compared to Walking: A Cross-Sectional Study Based on Center of Gravity Trajectories.

It has already been demonstrated by previous studies that Baduanjin training can improve the body's balance. However, its biomechanical mechanism remains unknown. Center of gravity (COG) trajectory analysis is an essential biomechanical test to explore the balance ability of the human body.Previous studies have not used the COG trajectory analysis technique to research Baduanjin training. The study utilizes COG trajectory analysis to analyze the trajectory of COG during Baduanjin training and compare it with that of walking, which is a common exercise for improving balance and aerobic ability, to determine if Baduanjin exercises affect the COG more than walking. Eight healthy female college students performed the walking and the eight forms of Baduanjin, a total of nine motions. The lower body kinematics were captured by the Vicon Motion Capture and Analysis System, while the kinetic data were acquired by the Kistler 3D Force Platform. The data were imported into Visual 3D to process the trajectory of the COG displacement amplitude, velocity, and accelerationofeachmotion. The COG horizontal envelope areas were calculated by Origin 9.0 Software (Origin Lab, Northampton, Massachusetts, USA). Specific motions of Baduanjin provided significantly higher COG displacement amplitude, velocities, and acceleration training than walking. The F2 and F5 motions could provide a larger COG horizontal envelope area than walking. On the x-axis, F2 provided a greater COG displacement amplitude than walking, F1, F2, and F5 provided greater velocities, while all the motions provided greater accelerations. On the y-axis, all the motions except F2 provided greater COG displacement velocities and accelerations than walking. On the z-axis, F1-7 provided a greater COG displacement amplitude than walking, all the motions providedgreater velocities, while all the motions except F2 provided greater accelerations. Baduanjin training provides a more intense COGperturbation than walking, which may be a more challenging balance training than walking.

Operation of a virtual keyboard based on EMG Signals

We demonstrate the operation of a virtual keyboard utilizing electromyography signals derived from finger movements. Initially, we identify human arm surfaces corresponding to specific finger motions, where EMG sensors are subsequently placed. The raw EMG signals obtained from our setup undergo filtration using a custom-made electric circuit. A LabVIEW program is employed to measure and manage these EMG signals. Following the conversion of analog signals to digital format, the data is inputted to an Arduino board, which then displays the corresponding letters from the virtual keyboard onto a computer monitor. The success of this demonstration is contingent upon a training session adhering to the established protocol.

Observation of piezoelectricity in a lead-free Cs2AgBiBr6 perovskite: a new entrant in the energy harvesting arena.

Halide perovskite materials have recently been recognised as powerful ferroelectric and piezoelectric materials with applications in the energy harvesting arena, but their experimental proof is very limited. We achieved strong intrinsic piezoelectricity in the lead-free inorganic double perovskite Cs2AgBiBr6 at room temperature and utilized it for mechanical energy harvesting, with a piezoelectric co-efficient (d33) of 12.7 pC N-1. Hysteresis loop and structural analyses offered further validation for the substantial ferroelectric features of the as-synthesised double perovskite. Density functional theory (DFT) calculations revealed the presence of anharmonic phonon soft modes in tetragonal Cs2AgBiBr6 due to dynamic instability, which resulted in piezoelectricity. Under an optimal pressure of ≈25 kPa, a Cs2AgBiBr6 thin film-based piezoelectric nanogenerator device delivered instantaneous output values of ≈45 V and ≈200 nA. The strain-sensitive responses of the device were also exemplified to identify specific body motions from the detected instantaneous output values. The energy obtained from the device is shown to be effective for capacitor charging and commercial light-emitting diode (LED) lighting. Our study provides significant insights into the dielectric behaviour of materials as well as piezo- and ferroelectric behaviours, which are crucial for the development of modern electronic and energy harvesting devices.

Azotriptycenes: Photoswitchable Molecular Brakes.

The control of molecular motions is a central topic of molecular machine research. Molecular brakes are fundamental building blocks towards such goal as they allow deliberately decelerating specific motions after an outside stimulus is applied. Here we present azotriptycenes as structural framework for light-controlled molecular brakes. The intrinsic kinetics and their changes upon azotriptycene isomerization are scrutinized comprehensively by a mixed theoretical and variable temperature NMR approach. With azotriptycenes C-N bond rotation rates can be decelerated or accelerated reversibly by up to five orders of magnitude. Rate change effects are highly localized and are strongest for the C-N bond connecting a triptycene rotor fragment to the central diazo group. The detailed mechanistic insights provide a solid basis for further conscious design and applications in the future.

Shared autonomy and positive power control for powered exoskeletons

Powered exoskeletons have been shown to significantly reduce physical workload during occupational tasks. Due to this they have great potential impact on future labor practices. However, powered exoskeleton controllers must first be developed that are able to directly assist with task objectives and truly collaborate with users. To address this need we present a shared autonomy control framework that separates the human and exoskeleton control objectives. This allows for creating a feedback-based exoskeleton controller that will help accomplish the user’s task goals rather than just assisting in specific motions. We introduce Positive Power control for the human-based controller that is designed to allow the human to directly command work that accomplishes the desired task. While a standard robotic controller can be used for the feedback-based control, we introduce ‘acceptance’ as a measure of how well the exoskeleton’s control objective matches the human’s. Both control objectives are implemented in an optimization-based Whole-Body-Control structure. Finally, we introduce a method to update the exoskeleton’s objectives to match the humans’ such that after operating for a time the exoskeleton can learn to assist the user in accomplishing their task. This framework is implemented on a 10-DoF upper-body powered exoskeleton. The results verify that the control framework works as desired and can form a basis for developing extended methods for directly improving cooperative control for powered exoskeletons.

Mitigation of VR Sickness During Locomotion With a Motion-Based Dynamic Vision Modulator.

In virtual reality, VR sickness resulting from continuous locomotion via controllers or joysticks is still a significant problem. In this article, we present a set of algorithms to mitigate VR sickness that dynamically modulate the user's field of view by modifying the contrast of the periphery based on movement, color, and depth. In contrast with previous work, this vision modulator is a shader that is triggered by specific motions known to cause VR sickness, such as acceleration, strafing, and linear velocity. Moreover, the algorithm is governed by delta velocity, delta angle, and average color of the view. We ran two experiments with different washout periods to investigate the effectiveness of dynamic modulation on the symptoms of VR sickness, in which we compared this approach against a baseline and pitch-black field-of-view restrictors. Our first experiment made use of a just-noticeable-sickness design, which can be useful for building experiments with a short washout period.

Modeling Human Suboptimal Control: A Review.

This review paper provides an overview of the approaches to model neuromuscular control, focusing on methods to identify nonoptimal control strategies typical of populations with neuromuscular disorders or children. Where possible, the authors tightened the description of the methods to the mechanisms behind the underlying biomechanical and physiological rationale. They start by describing the first and most simplified approach, the reductionist approach, which splits the role of the nervous and musculoskeletal systems. Static optimization and dynamic optimization methods and electromyography-based approaches are summarized to highlight their limitations and understand (the need for) their developments over time. Then, the authors look at the more recent stochastic approach, introduced to explore the space of plausible neural solutions, thus implementing the uncontrolled manifold theory, according to which the central nervous system only controls specific motions and tasks to limit energy consumption while allowing for some degree of adaptability to perturbations. Finally, they explore the literature covering the explicit modeling of the coupling between the nervous system (acting as controller) and the musculoskeletal system (the actuator), which may be employed to overcome the split characterizing the reductionist approach.

Simple and High‐Precision Hand–Eye Calibration for 3D Robot Measurement Systems

Three dimensional (3D) robot measurement systems, with binocular planar structured light cameras (3D cameras) installed at the terminal flange of robots, are widely used to measure complete workpieces by stitching point clouds obtained from various sampled poses. To ensure accurate stitching, hand–eye calibration is necessary. However, 3D cameras often demonstrate low precision in measuring jumping edges and vertices, resulting in challenges when selecting appropriate calibrators and calibration methods for hand–eye calibration. We propose a simple and high‐precision hand–eye calibration method for 3D robot measurement systems. Initially, a single sphere is utilized as the calibrator, and its poses are observed using specific robotic motions. Subsequently, the hand–eye calibration problem is formulated as a well‐known equation, , relying solely on the high‐precision relative pose of the robot. Finally, a novel simultaneous solution for and the corresponding closed‐form initial solution are introduced. Simulations and experiments confirm that the proposed method exhibits high noise resistance and achieves high‐precision calibration, even with a limited calibration data quantity. Compared with traditional methods, the fitting error of the proposed method can be reduced from over 0.9 mm to less than 0.6 mm.

Stability Analysis and RBF Neural Network Control of Second-Order Nonlinear Satellite System

This paper studies the open-loop stability analysis and radial basis function based neural-network(RBFNN) control of the triangular tethered satellite formation(TTSF) systems which comprise the in-plane and out-plane dynamics. The dynamical equations of TTSF are nonlinear coupled second-order differential equations(DE), whose explicit solutions are hard to work out. Therefore, the dynamics of systems are analyzed by imposing some constraints on initial states, and the norms of proper initialization for such TTSF systems are obtained by solving the DE. As a result, the nonlinear controllers achieving stable tracking to reference states of TTSF systems are designed based on open-loop analysis. Furthermore, when the structure information of the system is uncertain, delay sampled NN(DSNN) as well as offline training NN(OTNN) control algorithms are proposed to train RBFNN, and the optimal weights of NN are computed by least square(LS) method. Then RBFNN control is imposed to the uncertain TTSF system to ensure the stable tracking, and the stability proof of the control is given. Finally, simulations are taken on the specific motions of TTSF system to test the theoretical results.