There is an effort to build anatomically and biophysically detailed virtual heart, and, although there are models for the atria ventricles, no model sinoatrial node (SAN). For SAN show pacemaking drive atrial muscle, theoretically, should be a gradient in electrical coupling from center periphery of interdigitation cells at periphery. Any include such features. Staining rabbit preparations histology, middle neurofilament, natriuretic peptide, connexin (Cx) 43 revealed multiple cell types...

High-gain proportional-integral-derivative (PID) position control involves some risk of unsafe behaviors in cases abnormal events, such as unexpected environment contacts and temporary power failures. This paper proposes a new position-control method that is accurate conventional PID during normal operation, but capable slow, overdamped resuming motion without overshoots from large positional errors result actuator-force saturation. The proposed method, which we call proxy-based sliding mode...

This paper presents a new soft wearable robotic suit for energy-efficient walking in daily activities elderly persons. The presented provides small yet effective assistive force hip flexion through winding belts that include elastic elements. In addition, it does not restrict the range of movement lower limbs. Moreover, its structure is simple and lightweight, thus wearers can easily take device on off by themselves. Experimental results nine subjects (age = 74.23.7 years) show worn powered...

New sensitive quick-response and low-power-consumption micromagnetic sensors, namely, the magnetoimpedance (MI) sensor utilizing MI effect in zero-magnetostrictive amorphous wires stress-impedance (SI) SI negative-magnetostrictive wires, are presented. The field detection resolution of CMOS IC-type is about I /spl mu/Oe for ac fields 100 a dc with full scale plusmn/3 Oe using 2- or 0.5-mm-long wire 30- 15-/spl mu/m diameter as head. possible response speed 1 MHz, power consumption 10 mW....

To describe the population pharmacokinetics of vancomycin in patients with gram-positive infections and to investigate influence type infectious disease.A two-compartment open model was adopted as a pharmacokinetic model. The nonlinear mixed-effects used analyze models.We propose one general disease type-specific showed that clearance (CL) linearly correlated estimated creatinine (CL(CR)) when CL(CR) less than 85 mL/min, expressed by CL(L/h) = 0.0322 x + 0.32. distribution volumes central...

This paper deals with a motion planning problem for spherical rolling robot actuated by two internal rotors that are placed on orthogonal axes. The key feature of the is it can be stated only in dynamic formulation. In addition, features singularity when contact trajectory goes along equatorial line plane rotors. A strategy composed trivial and one nontrivial maneuver devised. maneuvers implement geodesic perpendicular to line. construction employs nilpotent approximation originally...

This paper discusses parallel wire mechanisms where an end-effector of the mechanism is suspended by multiple wires. The enable not only three-dimensional (3-D) positioning but also 3-D orienting end-effector, unlike typical suspension-type such as overhead crane. To discuss parallel-wire-suspended generally, two forms basic dynamic equations are presented. Then classified into types based on equations. Dynamical properties wire-suspended discussed. In this paper, one mechanism, incompletely...

Abstract This paper presents a sliding mode filter for removing noise. It effectively removes impulsive noise and highfrequency noise, producing smaller phase lag than linear filters. In addition, it is less prone to overshoot previous filters does not produce chattering. computationally inexpensive thus suitable real-time applications. The proposed employs quadratic surface as its surface, which designed so that the output converges input in finite time when value constant. Its algorithm...

Effects of block the rapid delayed rectifier K + current ( I K,r ) by E-4031 on electrical activity small ball-like tissue preparations from different regions rabbit sinoatrial node were measured. The effects partial 0.1 μM varied in node. In center spontaneous was generally abolished, whereas periphery persisted, although action potential prolonged, maximum diastolic decreased, and slowed. After , peripheral more like that central under normal conditions. One possible explanation these...

This article describes a computationally efficient formulation and an algorithm for tetrahedral finite-element simulation of elastic objects subject to Saint Venant-Kirchhoff (StVK) material law. The number floating point operations required by the is in range 15% 27% computing vertex forces from given set positions, 38% tangent stiffness matrix, comparison well-optimized directly derived conventional Total Lagrangian formulation. In new algorithm, data associated with edges...

The force-projecting master-slave (MS) control scheme is the reversed implementation of conventional force-reflecting scheme. This paper presents a method to stabilize force projecting MS systems using linear phase-lead compensator and new nonlinear filter. filter modified version Jin et al.'s parabolic sliding mode filter, which produces relatively small phase lag. Some numerical properties are presented. then applied an experimental system composed two industrial manipulators. A scaling...

This paper presents methods of trajectory planning for a mobile manipulator with stability considerations. The proposed method is to generate the from given path end-effector considering stability. Then, we derive dynamics model it as combined system and platform. ZMP criterion used an index problem formulated optimal control some constraints. To solve problem, use hierarchical gradient which synthesizes function in manner based on order priority. simulation results 2-link planar...

In position control of mechatronic devices, velocity feedback is important for injecting additional damping to avoid low-frequency fluctuation around desired trajectories. practice, signal often obtained by finite difference from an optical encoder. However, such a numerical differentiation produces high-frequency noise magnifying quantization error contained in the signal. As result, controller may produce vibration. This paper presents new noise-reduction discrete-time filter based on...

Woodpeckers have flexible and extendable tongues that they use to reach their prey through tiny openings in trees insect burrows. This unique capability of tongue represents a promising design for tool picking up handling objects unstructured environments. Although continuum robots can produce dexterous movements because few shape constraints, the lack structural stiffness has restricted deployment real-world Inspired by characteristics woodpeckers, we designed robot manipulator...

This paper addresses a problem of optimal motion planning mobile platforms amidst obstacles, considering the platform dynamics. Due to nonholonomic constraints, actuator and state constraints by obstacle avoidance, with two independently driven wheels is complicated one. In this study, dynamical model for presented, including kinematic constraints. The idea path parameter introduced simplify dynamics Using parameter, divided into sub-problems: 1) time-optimization trajectory along specified...

This paper presents the results of quantitative performance evaluation an authors’ new parabolic sliding mode filter, which is for removing noise from signals in robotics and mechatronics applications, based on frequency time domain characteristics. Based results, selection guidelines two parameters filter. The show that, domain, capability filter almost same as that second-order Butterworth low-pass (2-LPF), but its phase lag smaller (maximum 150 degree) than 2-LPF 180 degree). Moreover,...

This paper deals with the dynamics and motion planning for a spherical rolling robot pendulum actuated by two motors. First dynamic model is established. In general, not all feasible kinematic trajectories of carrier are dynamically realizable. A notable exception when contact on sphere plane geodesic lines. Based this consideration, strategy complete reconfiguration proposed. The consists trivial movements non-trivial maneuver that based tracing multiple triangles. To compute sizes number...

4-Aminopyridine (4-AP)-sensitive transient outward current ( I to ) has been observed in the sinoatrial node, but its role is unknown. The effect of block by 5 mM 4-AP on small ball-like tissue preparations (diameter ∼0.3–0.4 mm) from different regions rabbit node investigated. elevated plateau, prolonged action potential, and decreased maximum diastolic potential. Effects were greater periphery than center. In peripheral tissue, abolished potential notch, if present. slowed pacemaker...

This paper discusses an inverse dynamics problem for a parallel wire mechanism with multi-degrees of freedom. Firstly, crane-type wires which has three trolleys and is proposed handling heavy objects. enables not only dimensional positioning but also orientating objects, unlike typical crane mechanism. A dynamical model using force vector derived. Based on the vector, analytically solved by linear equation in terms vector. The trajectory end-effector manipulator can be transformed into...

A new control method for an AC/DC converter using a piezoelectric transformer is presented. The combination of pulse width modulation and frequency makes it possible to the output voltage, its adaptability worldwide range input voltage variation. implemented on printed circuit board experimentally evaluated, as result, good controllability successfully achieved. highest efficiency 86% was obtained at AC 90-270 V, 17 load current 0.57-1.4 A, operating frequencies around 107 kHz.