We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait tr...We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction（pHRI） torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.展开更多
在长期演进系统(Long Term Evolution,LTE)室内场景下,可针对小区中心用户群和边缘用户群,通过动态波束赋型的方式形成相应的专属天线下倾角。本文以最大化系统的总吞吐量为目标,提出一种联合优化的资源分配和下倾角调整的协作资源分配...在长期演进系统(Long Term Evolution,LTE)室内场景下,可针对小区中心用户群和边缘用户群,通过动态波束赋型的方式形成相应的专属天线下倾角。本文以最大化系统的总吞吐量为目标,提出一种联合优化的资源分配和下倾角调整的协作资源分配算法,从而协作调度小区间的功率、时频资源块(Resource Block,RB)和下倾角三维(3-Dimension,3D)变量。这里,通过交互相关的窄带传输功率(Relative Narrow Band Transmit Power,RNTP)信令的方式完成基站间协作。仿真结果表明,对比采用固定下倾角的联合RB、功率分配策略,本文所提的3D协作资源分配算法能有效地提升LTE室内场景下的小区吞吐量。展开更多
目的探讨microRNA-134(miR-134)及环腺苷酸应答元件结合蛋白(cyclic AMP response element binding protein,CREB)在老年小鼠术后认知功能障碍发病机制中的作用。方法 68只老年C57BL/6小鼠随机分为4组:对照组(con)、异氟醚组(iso)、手术...目的探讨microRNA-134(miR-134)及环腺苷酸应答元件结合蛋白(cyclic AMP response element binding protein,CREB)在老年小鼠术后认知功能障碍发病机制中的作用。方法 68只老年C57BL/6小鼠随机分为4组:对照组(con)、异氟醚组(iso)、手术组(sur)、异氟醚+手术组(iso+sur)。对照组行假手术,异氟醚组1.8%异氟醚吸入1.5 h,手术组行局麻腹部手术,异氟醚+手术组1.8%异氟醚吸入1.5 h+局麻腹部手术。术后行Morris水迷宫实验评估小鼠认知功能,并分别于术后第1、3、7天取小鼠海马行q RT-PCR检测miR-134表达,Western blot检测CREB、Ser133位点磷酸化CREB(pCREB)、脑源性神经营养因子(brain derived neurotrophic factor,BDNF)、突触后致密95(postsynaptic density 95,PSD95)的表达。结果与对照组相比,手术组小鼠术后水迷宫登台潜伏期延长(P<0.05),目标象限停留时间缩短(P<0.01),穿台次数减少(P<0.05);与手术组相比,异氟醚+手术组小鼠登台潜伏期缩短(P<0.05),目标象限停留时间延长(P<0.05)。与对照组相比,手术组小鼠海马组织miR-134表达增加(0.219±0.013 vs 0.277±0.017),p-CREB/CREB表达比值降低(0.655±0.025 vs 0.379±0.053),CREB、BDNF、PSD95表达减少(0.359±0.023 vs 0.307±0.027,0.377±0.031 vs 0.246±0.019,1.066±0.081 vs 0.839±0.098)(P均<0.05);与手术组相比,异氟醚+手术组小鼠海马miR-134表达减少(0.277±0.017 vs0.235±0.020),p-CREB/CREB表达比值升高(0.379±0.053 vs 0.605±0.037),CREB、BDNF表达增加(0.307±0.027 vs0.345±0.034,0.246±0.019 vs 0.341±0.017)(P均<0.05)。结论腹部手术致老年小鼠术后早期学习记忆功能受损,异氟醚吸入全麻下行腹部手术可缓解该损伤,可能的机制是手术创伤使海马中miR-134表达增加,抑制CREB活性,造成突触可塑性下降,引起学习记忆功能损伤。展开更多
文摘We proposed a lower extremity exoskeleton for power amplification that perceives intended human motion via humanexoskeleton interaction signals measured by biomedical or mechanical sensors, and estimates human gait trajectories to implement corresponding actions quickly and accurately. In this study, torque sensors mounted on the exoskeleton links are proposed for obtaining physical human-robot interaction（pHRI） torque information directly. A Kalman smoother is adopted for eliminating noise and smoothing the signal data. Simultaneously, the mapping from the pHRI torque to the human gait trajectory is defined. The mapping is derived from the real-time state of the robotic exoskeleton during movement. The walking phase is identified by the threshold approach using ground reaction force. Based on phase identification, the human gait can be estimated by applying the proposed algorithm, and then the gait is regarded as the reference input for the controller. A proportional-integral-derivative control strategy is constructed to drive the robotic exoskeleton to follow the human gait trajectory. Experiments were performed on a human subject who walked on the floor at a natural speed wearing the robotic exoskeleton. Experimental results show the effectiveness of the proposed strategy.
基金National Natural Science Foundation of China(60908023,11075143/A050609)Key Laboratory of Ultra-Precision M achining Technology Foundation of CAEP(ZZ15003)~~
文摘在长期演进系统(Long Term Evolution,LTE)室内场景下,可针对小区中心用户群和边缘用户群,通过动态波束赋型的方式形成相应的专属天线下倾角。本文以最大化系统的总吞吐量为目标,提出一种联合优化的资源分配和下倾角调整的协作资源分配算法,从而协作调度小区间的功率、时频资源块(Resource Block,RB)和下倾角三维(3-Dimension,3D)变量。这里,通过交互相关的窄带传输功率(Relative Narrow Band Transmit Power,RNTP)信令的方式完成基站间协作。仿真结果表明,对比采用固定下倾角的联合RB、功率分配策略,本文所提的3D协作资源分配算法能有效地提升LTE室内场景下的小区吞吐量。
文摘目的探讨microRNA-134(miR-134)及环腺苷酸应答元件结合蛋白(cyclic AMP response element binding protein,CREB)在老年小鼠术后认知功能障碍发病机制中的作用。方法 68只老年C57BL/6小鼠随机分为4组:对照组(con)、异氟醚组(iso)、手术组(sur)、异氟醚+手术组(iso+sur)。对照组行假手术,异氟醚组1.8%异氟醚吸入1.5 h,手术组行局麻腹部手术,异氟醚+手术组1.8%异氟醚吸入1.5 h+局麻腹部手术。术后行Morris水迷宫实验评估小鼠认知功能,并分别于术后第1、3、7天取小鼠海马行q RT-PCR检测miR-134表达,Western blot检测CREB、Ser133位点磷酸化CREB(pCREB)、脑源性神经营养因子(brain derived neurotrophic factor,BDNF)、突触后致密95(postsynaptic density 95,PSD95)的表达。结果与对照组相比,手术组小鼠术后水迷宫登台潜伏期延长(P<0.05),目标象限停留时间缩短(P<0.01),穿台次数减少(P<0.05);与手术组相比,异氟醚+手术组小鼠登台潜伏期缩短(P<0.05),目标象限停留时间延长(P<0.05)。与对照组相比,手术组小鼠海马组织miR-134表达增加(0.219±0.013 vs 0.277±0.017),p-CREB/CREB表达比值降低(0.655±0.025 vs 0.379±0.053),CREB、BDNF、PSD95表达减少(0.359±0.023 vs 0.307±0.027,0.377±0.031 vs 0.246±0.019,1.066±0.081 vs 0.839±0.098)(P均<0.05);与手术组相比,异氟醚+手术组小鼠海马miR-134表达减少(0.277±0.017 vs0.235±0.020),p-CREB/CREB表达比值升高(0.379±0.053 vs 0.605±0.037),CREB、BDNF表达增加(0.307±0.027 vs0.345±0.034,0.246±0.019 vs 0.341±0.017)(P均<0.05)。结论腹部手术致老年小鼠术后早期学习记忆功能受损,异氟醚吸入全麻下行腹部手术可缓解该损伤,可能的机制是手术创伤使海马中miR-134表达增加,抑制CREB活性,造成突触可塑性下降,引起学习记忆功能损伤。
