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Research on End-Effector Position Error Compensation of Industrial Robotic Arm Based on ECOA-BP.
Sensors (Basel)
January 2025
College of Science and Technology, Ningbo University, Ningbo 315300, China.
Industrial robotic arms are often subject to significant end-effector pose deviations from the target position due to the combined effects of nonlinear deformations such as link flexibility, joint compliance, and end-effector load. To address this issue, a study was conducted on the analysis and compensation of end-position errors in a six-degree-of-freedom robotic arm. The kinematic model of the robotic arm was established using the Denavit-Hartenberg (DH) parameter method, and a rigid-flexible coupled virtual prototype model was developed using ANSYS and ADAMS.
View Article and Find Full Text PDFModelling sensory attenuation as Bayesian causal inference across two datasets.
PLoS One
January 2025
Department of Psychology, Theoretical Cognitive Science Group, Philipps-Universität Marburg, Marburg, Germany.
Introduction: To interact with the environment, it is crucial to distinguish between sensory information that is externally generated and inputs that are self-generated. The sensory consequences of one's own movements tend to induce attenuated behavioral- and neural responses compared to externally generated inputs. We propose a computational model of sensory attenuation (SA) based on Bayesian Causal Inference, where SA occurs when an internal cause for sensory information is inferred.
View Article and Find Full Text PDFTregs levels and phenotype modifications during Amyotrophic Lateral Sclerosis course.
Front Immunol
January 2025
Department of Neurosciences, Ospedale Civile di Baggiovara, Azienda Ospedaliero-Universitaria di Modena, Modena, Italy.
Introduction: T regulatory cells (Tregs) inversely correlate with disease progression in Amyotrophic Lateral Sclerosis (ALS) and fast-progressing ALS patients have been reported to exhibit dysfunctional, as well as reduced, levels of Tregs. This study aimed to evaluate the longitudinal changes in Tregs among ALS patients, considering potential clinical and biological modifiers of their percentages and concentrations. Additionally, we explored whether measures of ALS progression, such as the decline over time in the revised ALS Functional Rating Scale (ALSFRS-r) or forced vital capacity (FVC) correlated Treg levels and whether Treg phenotype varied during the course of ALS.
View Article and Find Full Text PDFHumans excel at applying learned behavior to unlearned situations. A crucial component of this generalization behavior is our ability to compose/decompose a whole into reusable parts, an attribute known as compositionality. One of the fundamental questions in robotics concerns this characteristic: How can linguistic compositionality be developed concomitantly with sensorimotor skills through associative learning, particularly when individuals only learn partial linguistic compositions and their corresponding sensorimotor patterns? To address this question, we propose a brain-inspired neural network model that integrates vision, proprioception, and language into a framework of predictive coding and active inference on the basis of the free-energy principle.
View Article and Find Full Text PDFLong-Term Multimodal Exercise Intervention for Patients with Frontotemporal Lobar Degeneration: Feasibility and Preliminary Outcomes.
Dement Geriatr Cogn Dis Extra
December 2024
Division of Clinical Medicine, Department of Psychiatry, Institute of Medicine, University of Tsukuba, Tsukuba, Japan.
Introduction: After Alzheimer's disease, frontotemporal lobar degeneration (FTLD) is the second most common form of early-onset dementia. Despite the heavy burden of care for FTLD, pharmacological and non-pharmacological treatments with sufficient efficacy remain scarce. This study aimed to evaluate the feasibility of a multimodal exercise program for FTLD and to examine preliminary changes in the clinical outcomes of the program in FTLD.
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