Accelerometers and force sensing resistors for optimal control of walking of a hemiplegic

We developed a method for use of accelerometers and force sensing resistors (FSRs) within an optimal controller of walking for hemiplegic individuals. The data from four dual-axis accelerometers and four FSRs were inputs, while six muscle activation profiles were outputs. The controller includes two stages: 1) estimating the target gait pattern using artificial neural networks; and 2) optimal control minimizing tracking errors (from the estimated gait pattern) and muscle efforts. The controller was tested using data collected from six healthy subjects walking at five speeds (0.6–1.4 m/s). The average root mean square errors (RMSEs) normalized by the peak-to-peak value of the target signals [normalized RMSE (NRMSE)] were below 6%, 7%, 8%, and 3% for estimation of joint angles, hip acceleration, ground reaction force, and movement of the center of pressure, respectively. Using the estimated data as inputs, the simulation generated the target healthy-like gait patterns and reproducible muscle activation profiles in 90% of 300 tested gait trials. Overall tracking NRMSE was between 2% and 9%. The optimal controller was developed for testing the feasibility of healthy-like gait patterns in hemiplegic individuals, and generating a knowledge base that is required for the synthesis of a sensory-driven control of walking assisted by functional electrical stimulation.      

DIRECT ELECTROCHEMICAL POWER GENERATION FROM CARBON IN FUEL CELLS WITH MOLTEN HYDROXIDE ELECTROLYTE

Historically, despite its compelling cost and performance advantages, the use of a molten metal hydroxide electrolyte has been ignored by direct carbon fuel cell (DCFC) researchers, primarily due to the potential for formation of carbonate salt in the cell. This article describes the electrochemistry of a patented medium-temperature DCFC based on a molten hydroxide electrolyte, which overcomes the historical carbonate formation.

An important technique discovered for significantly reducing carbonate formation in the DCFC is to ensure a high water content of the electrolyte. To date, four successive generations of DCFC prototypes have been built and tested to demonstrate the technology – all using graphite rods as their fuel source. These cells all used a simple design in which the cell containers served as the air cathodes and successfully demonstrated the ability to deliver more than 40 A with the current density exceeding 250 mA/cm². Conversion efficiency greater than 60% was achieved.     

Idiopathic thrombocytopenia associated with Wilson's disease

We present the case of a 53 year-old patient with idiopathic thrombocytopenia associated with Wilson's disease. Idiopathic thrombocytopenia was diagnosed in August of 1994, and as the response to corticosteroid therapy was poor, the patient underwent a splenectomy in October of the same year. A liver biopsy, which was performed during the operation, showed Wilson's disease in the form of mild, chronic, active hepatitis. The serum ceruloplasmin was low, and the Kayser Fleischer's ring was positive. MRI of the brain showed cortical reductive changes with areas of copper accumulation in the white brain matter. An unusual presentation of Wilson's disease associated with idiopathic thrombocytopenia has not been published as of yet. The diagnosis of Wilson's disease was made at an advanced, adult age, which may implicate a heterozygous genetic configuration.     

Design of robust static output feedback for large-scale systems

The design of static output feedback is of fundamental importance in control theory. In this note, we propose a new approach to this problem, based on linear matrix inequalities. A distinguishing feature of the method is its ability to handle large-scale problems with additive nonlinearities. The resulting control is robust with respect to uncertainties, and can incorporate several types of information structure constraints. The effectiveness of the proposed strategy is demonstrated by application to a practical large-scale system.     

Developmental changes in human cerebellum: expression of intracellular calcium receptors, calcium-binding proteins, and phosphorylated and nonphosphorylated neurofilament protein

Few recent data are available on the development of the precise projection maps of the cerebellar cortex in humans. To address this topic, we studied temporal and spatial distribution of several antigens involved in calcium (Ca)-dependent processes: the intracellular Ca receptors, inositol 1,4,5-trisphosphate receptor type 1 (IP3R1) and ryanodine receptor (RyR); the Ca-binding proteins, calbindin D-28k (CB), parvalbumin (PV), and synaptophysin; and phosphorylated (SMI 31) and nonphosphorylated (SMI 32) forms of neurofilament protein. All antigens were studied in the human cerebellum during intrauterine development. The results of this study show that immunocytochemical markers appeared in the following sequence: CB and both forms ofneurofilament protein were observed at 4-5 gestational weeks (g.w.), PV appeared in the external granular layer and in a few Purkinje cells at 11 g.w., a diffuse immunostaining for IP3R1 and synaptophysin were observed at 13 g.w., whereas RyR was observed at 17-18 g.w. From 24 g.w. on, Purkinje cells expressed all four examined markers of intracellular Ca signaling as well as two forms of neurofilament protein. At the same time, compartmentation of the Purkinje cell layer was detected with three intracellular Ca-signaling molecules (IP3R1, CB, and PV) and with SMI 32. These results indicate that the developmentally regulated expression of antigens studied here may play a role in establishing a highly regular organization of terminal fields in the human cerebellar cortex. Moreover, the initial expression of these antigens is correlated temporally with other developmental processes in the cerebellum, such as cellular maturation, revealed by the immunoreaction to cytoskeletal protein, and synaptogenesis, revealed by immunoreaction to synaptophysin.     

Active MAP kinase in mitosis: localization at kinetochores and association with the motor protein CENP-E

To investigate possible involvement of the mitogen-activated protein (MAP) kinases ERK1 and ERK2 (extracellular signal-regulated kinases) in somatic cell mitosis, we have used indirect immunofluorescence with a highly specific phospho-MAP kinase antibody and found that a portion of the active MAP kinase is localized at kinetochores, asters, and the midbody during mitosis. Although the aster labeling was constant from the time of nuclear envelope breakdown, the kinetochore labeling first appeared at early prometaphase, started to fade during chromosome congression, and then disappeared at midanaphase. At telophase, active MAP kinase localized at the midbody. Based on colocalization and the presence of a MAP kinase consensus phosphorylation site, we identified the kinetochore motor protein CENP-E as a candidate mitotic substrate for MAP kinase. CENP-E was phosphorylated in vitro by MAP kinase on sites that are known to regulate its interactions with microtubules and was found to associate in vivo preferentially with the active MAP kinase during mitosis. Therefore, the presence of active MAP kinase at specific mitotic structures and its interaction with CENP-E suggest that MAP kinase could play a role in mitosis at least in part by altering the ability of CENP-E to mediate interactions between chromosomes and microtubules.     

Stabilization of nonlinear systems with moving equilibria

This note provides a new method for the stabilization of nonlinear systems with parametric uncertainty. Unlike traditional techniques, our approach does not assume that the equilibrium remains fixed for all parameter values. The proposed method combines different optimization techniques to produce a robust control that accounts for uncertain parametric variations, and the corresponding equilibrium shifts. Comparisons with analytical gain scheduling are provided.