Proxy-based sliding mode control of a robotic ankle-foot system for post-stroke rehabilitation

Robotic platform-based ankle–foot rehabilitation systems have been proved effective in treating joint spasticity and/or contracture of stroke survivors. However, simple force or velocity limiters are not adequate, since they cannot explicitly guarantee slow and overdamped motions without overshoot. In this paper, we propose a proxy-based sliding mode control (PSMC)-based approach, to avoid unsafe behaviors of a robotic ankle–foot rehabilitation system. The proposed method has three advantages: (1) without deteriorating tracking performance during normal operation, it guarantees overdamped, slow, and safe recoveries after abnormal events; (2) it provides a simple and accurate way to confine the output torque exerted on the subject’s ankle; (3) though effective, the control law avoids the necessity to identify the specific system model or build state observer, which is usually difficult for human–robot interaction system. A 71-year-old stroke patient and 10 able-bodied subjects were recruited for the experiments. Preliminary studies comparing PSMC and PID are performed on trajectory tracking, controlled torque output, slow and safe response under disturbance. Additionally, by fulfilling the rehabilitation method and obtaining biomechanical indicators, the proposed controller is proved to be feasible for the system.     

Teachers' acceptance and use of an educational portal

In this study, teachers' acceptance and use of an educational portal is assessed based on data from two sources: usage data (number of logins, downloads, uploads, reactions and pages viewed) and an online acceptance questionnaire. The usage data is extracted on two occasions from the portal's database: at survey completion (T1) and twenty-two months later (T2). Framework for this study is C-TAM-TPB (Combined Technology Acceptance Model and Theory of Planned Behavior). 919 usable responses from teachers are obtained. Based on the observed use data at T1, four types of portal users are distinguished: ‘new’ (N = 37), ‘light’ (N = 641), ‘medium’ (N = 201), and ‘heavy’ (N = 40). Path analyses show that all predictor variables in C-TAM-TPB influence teachers' portal acceptance, but their significance level varies depending on the user type. The strongest predictors of behavioral intention to use the portal are attitude (‘new’) and perceived usefulness (‘light’, ‘medium’ and ‘heavy’), with variance explained ranging from .39 (‘medium’) to .71 (‘heavy’). The observed use data show that the portal is primarily used to search for and download material, rather than for sharing material or information. The use data at T2 show that teachers become more efficient in their search behavior and that the majority of the teachers use the portal more frequently. Guidelines are proposed to policymakers and school boards aiming to introduce a similar technology to teachers.     

Effect of ingestion of dark chocolates with similar lipid composition and different cocoa content on antioxidant and lipid status in healthy humans

The association between in vitro antioxidant capacity of dark chocolates with different cocoa percentage and the in vivo response on antioxidant status was investigated. In a randomized crossover design, 15 healthy volunteer consumed 100 g of high antioxidants dark chocolate (HADC) or dark chocolate (DC). In vitro, HADC displayed a higher Total Antioxidant Capacity (TAC) than DC. In vivo, plasma TAC significantly peaked 2 h after ingestion of both chocolates. TAC levels went back to zero 5 h after DC ingestion whilst levels remained significantly higher for HADC. HADC induced a significantly higher urinary TAC in the 5-12 h interval time than DC. No change was detected in urinary excretion of F2-isoprostanes. Plasma thiols and triacylglycerol (TG) levels significantly increased for both chocolate with a peak at 2 h remaining significantly higher for DC after 5 h respect to HADC. Results provide evidence of a direct association between antioxidant content of chocolate and the extent of in vivo response on plasma antioxidant capacity.     

Hydrogenation of dinitriles on Raney-type Ni catalysts: kinetic and mechanistic aspects

The mechanism of the hydrogenation of aliphatic C₄–C₆ dinitriles (succinonitrile, glutaronitrile, and adiponitrile) over Raney-type Ni catalysts was investigated in a fed-batch autoclave at 350 K and 5.0 MPa. The results are interpreted based on the strength of adsorption, the interaction with the solvent and intramolecular interactions. The kinetics of the hydrogenation of aliphatic dinitriles is highly dependent on the hydrocarbon chain length. Short dinitriles like succinonitrile adsorb stronger on the catalyst surface than longer dinitriles like adiponitrile. The yield of the intermediate aminonitriles decreases with increasing hydrocarbon chain length, due to the enhanced competitiveness of dinitrile and aminonitrile for the same active sites. It is proposed that the reactivity of dinitriles and aminonitriles is caused by difference in solvent interaction. It is remarkable that the stronger the adsorption, the higher the reactivity. The reactivity decreases in the order: succinonitrile > glutaronitrile > adiponitrile. In contrast, the reaction rate of the aminonitriles is fairly independent of the hydrocarbon chain length. The formation of undesired secondary amines in the form of cyclic compounds is under kinetic control and increases with decreasing chain length. It is found that adiponitrile can be very selectively hydrogenated to primary diamines. Promoting Raney-type Ni catalysts with traces of Mo, Cr or Fe enhances the performance in the hydrogenation of dinitriles. This gives the best opportunity for process improvement towards the desired primary amines.     

Influence of Microstructure and Surface Activation of Dual‐Phase Membrane Ce0.8Gd0.2O2−δ–FeCo2O4 on Oxygen Permeation

Dual‐phase oxygen transport membranes are fast‐growing research interest for application in oxyfuel combustion process. One such potential candidate is CGO‐FCO (60 wt% Ce_0.8Gd_0.2O_2?δ–40 wt% FeCo₂O₄) identified to provide good oxygen permeation flux with substantial stability in harsh atmosphere. Dense CGO‐FCO membranes of 1 mm thickness were fabricated by sintering dry pellets pressed from powders synthesized by one‐pot method (modified Pechini process) at 1200°C for 10 h. Microstructure analysis indicates presence of a third orthorhombic perovskite phase in the sintered composite. It was also identified that the spinel phase tends to form an oxygen deficient phase at the grain boundary of spinel and CGO phases. Surface exchange limitation of the membranes was overcome by La_0.6Sr_0.4Co_0.2Fe_0.8O_3?δ (LSCF) porous layer coating over the composite. The oxygen permeation flux of the CGO‐FCO screen printed with a porous layer of 10 μm thick LSCF is 0.11 mL/cm² per minute at 850°C with argon as sweep and air as feed gas at the rates of 50 and 250 mL/min.     

Third–Generation Pleated Pneumatic Artificial Muscles for Robotic Applications: Development and Comparison with McKibben Muscle

This paper introduces the third generation of Pleated Pneumatic Artificial Muscles (PPAM), which has been developed to simplify the production over the first and second prototype. This type of artificial muscle was developed to overcome dry friction and material deformation, which is present in the widely used McKibben muscle. The essence of the PPAM is its pleated membrane structure which enables the muscle to work at low pressures and at large contractions. In order to validate the new PPAM generation, it has been compared with the mathematical model and the previous generation. The new production process and the use of new materials introduce improvements such as 55% reduction in the actuator’s weight, a higher reliability, a 75% reduction in the production time and PPAMs can now be produced in all sizes from 4 to 50?cm. This opens the possibility to commercialize this type of muscles so others can implement it. Furthermore, a comparison with experiments between PPAM and Festo McKibben muscles is discussed. Small PPAMs present similar force ranges and larger contractions than commercially available McKibben-like muscles. The use of series arrangements of PPAMs allows for large strokes and relatively small diameters at the same time and, since PPAM 3.0 is much more lightweight than the commong McKibben models made by Festo, it presents better force-to-mass and energy to mass ratios than Festo models.     

Psychological significance of pupillary movements.

Pupillary dilation, the light reflex, and spontaneous fluctuations in pupil size have been used as dependent variables in psychological investigations. A review of these studies provides evidence for the effectiveness of the pupil as an index of autonomic activity in psychophysiological research. Methodological problems in the pupillary literature are discussed, and directions for further research are suggested. (105 ref.) (PsycINFO Database Record (c) 2010 APA, all rights reserved)     

An exploratory study of api changes and usages based on apache and eclipse ecosystems

Frameworks are widely used in modern software development to reduce development costs. They are accessed through their Application Programming Interfaces (APIs), which specify the contracts with client programs. When frameworks evolve, API backward-compatibility cannot always be guaranteed and client programs must upgrade to use the new releases. Because framework upgrades are not cost-free, observing API changes and usages together at fine-grained levels is necessary to help developers understand, assess, and forecast the cost of each framework upgrade. Whereas previous work studied API changes in frameworks and API usages in client programs separately, we analyse and classify API changes and usages together in 22 framework releases from the Apache and Eclipse ecosystems and their client programs. We find that (1) missing classes and methods happen more often in frameworks and affect client programs more often than the other API change types do, (2) missing interfaces occur rarely in frameworks but affect client programs often, (3) framework APIs are used on average in 35 % of client classes and interfaces, (4) most of such usages could be encapsulated locally and reduced in number, and (5) about 11 % of APIs usages could cause ripple effects in client programs when these APIs change. Based on these findings, we provide suggestions for developers and researchers to reduce the impact of API evolution through language mechanisms and design strategies.     

The affective consequences of social comparison: Either direction has its ups and downs.

Research on social comparison processes has assumed that a comparison in a given direction (upward or downward) will lead to a particular affective reaction. In contrast, the present 2 studies proposed and found that a comparison can produce either positive or negative feelings about oneself, independent of its direction. Several factors moderated the tendency to derive positive or negative affect from upward and downward comparisons. In Study 1, cancer patients low in self-esteem and with low perceived control over their symptoms and illness were more likely to see downward comparisons as having negative implications for themselves. Those low in self-esteem were also more likely to perceive upward comparisons as negative. In Study 2, individuals with high marital dissatisfaction and those who felt uncertain about their marital relationship were more likely to experience negative affect from upward and downward comparisons. The implications of these findings for social comparison theory and for the coping and adaptation literature are discussed. (PsycINFO Database Record (c) 2010 APA, all rights reserved)