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Ground validation of manipulator adaptive variable admittance control method for detumbling a space noncooperative satellite.
Sci Rep
January 2025
Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China.
To achieve rapid and stable detumbling of a space noncooperative satellite, an adaptive variable admittance control method for the manipulator is proposed and verified through simulation study and the ground experiment. The control block diagram of the proposed method is presented, and the adaptive variable admittance compliant detumbling control model is established. The proposed controller includes the fixed admittance controller in manipulator task space, the adaptive pose compensator for the grasping point on docking ring, and the damping adaptive regulator based on manipulator joint angular velocity, and the stability is proven by the Lyapunov method.
View Article and Find Full Text PDFUltrafast Coherence-Based Power Doppler Estimation Using Nonlinear Compounding With Complementary Subset Transmit.
Ultrasound Med Biol
January 2025
Department of Electrical Engineering, National Taiwan University of Science and Technology, Taipei, Taiwan.
Objective: Conventional coherent plane wave compounding (CPWC) and sum-of-square power Doppler (PD) estimation lead to low contrast and high noise level in ultrafast PD imaging when the number of plane-wave angle and the ensemble length is limited. The coherence-based PD estimation using temporal-multiply-and-sum (TMAS) of high-lag autocorrelation can effectively suppress the uncorrelated noises but at the cost of signal power due to the blood flow decorrelation.
Methods: In this study, the TMAS PD estimation is incorporated with complementary subset transmit in nonlinear compounding (DMAS-CST) to leverage the signal coherence in both angular and temporal dimensions for improvement of PD image quality.
Decoding speech intent from non-frontal cortical areas.
J Neural Eng
January 2025
Department of Neurology, Northwestern University Feinberg School of Medicine, 320 East Superior St, Chicago, IL 60611, USA, Chicago, Illinois, 60611, UNITED STATES.
Brain-machine interfaces (BMIs) have advanced greatly in decoding speech signals originating from the speech motor cortices. Primarily, these BMIs target individuals with intact speech motor cortices but who are paralyzed by disrupted connections between frontal cortices and their articulators due to brainstem stroke or motor neuron diseases such as amyotrophic lateral sclerosis. A few studies have shown some information outside the speech motor cortices, such as in parietal and temporal lobes, that also may be useful for BMIs.
View Article and Find Full Text PDFComparison of precision of implant placement between two different guided systems for static computer-assisted implant surgery: A simulation-based experimental study.
J Dent Sci
December 2024
Faculty of Dentistry, Department of Oral and Maxillofacial Surgery, Chulalongkorn University, Bangkok, Thailand.
Background/purpose: Many designs of static computer-assisted implant surgery (sCAIS) are available for clinician to achieve proper implant position. However, there were not any studies that approached the design alone to evaluate whether sleeve-in-sleeve or sleeve-on-drill design provided most accuracy implant position. The purpose of this study was to investigate the precision of implant placement with sleeve-in-sleeve and sleeve-on-drill static computer assisted implant surgery (sCAIS) designs.
View Article and Find Full Text PDFImplant position accuracy using dynamic computer-assisted implant surgery (CAIS) combined with augmented reality: A randomized controlled clinical trial.
J Dent Sci
December 2024
Department of Oral and Maxillofacial Surgery, Faculty of Dentistry, Chulalongkorn University, Bangkok, Thailand.
Background/purpose: Computer-assisted implant surgery (CAIS) is increasingly performed to reduce deviations in implant position. Dynamic CAIS or navigation systems provide instant display of implant drilling instruments and patient positions directly on the computer monitor. Augmented reality (AR) technology allows operators to visualize real-time information projected onto the lenses of AR glasses.
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