Search Results (1,030)

The ability to quantify equine kinematics is essential for clinical evaluation, research, and performance feedback. However, current methods are challenging to implement. This study presents a motion capture methodology for horses, where three-dimensional, full-body kinematics are calculated without instrumentation on the animal, offering a more scalable and labor-efficient approach when compared with traditional techniques. Kinematic trajectories are calculated from multi-camera video data. First, a neural network identifies skeletal landmarks (markers) in each camera view and the 3D location of each marker is triangulated. An equine biomechanics model is scaled to match the subject’s shape, using segment lengths defined by markers. Finally, inverse kinematics (IK) produces full kinematic trajectories. We test this methodology on a horse at three gaits. Multiple neural networks (NNs), trained on different equine datasets, were evaluated. All networks predicted over 78% of the markers within 25% of the length of the radius bone on test data. Root-mean-square-error (RMSE) between joint angles predicted via IK using ground truth marker-based motion capture data and network-predicted data was less than 10 degrees for 25 to 32 of 35 degrees of freedom, depending on the gait and data used for network training. NNs trained over a larger variety of data improved joint angle RMSE and curve similarity. Marker prediction error, the average distance between ground truth and predicted marker locations, and IK marker error, the distance between experimental and model markers, were used to assess network, scaling, and registration errors. The results demonstrate the potential of markerless motion capture for full-body equine kinematic analysis. Full article

Traditional map style transfer methods are mostly based on GAN, which are either overly artistic at the expense of conveying information, or insufficiently aesthetic by simply changing the color scheme of the map image. These methods often struggle to balance style transfer with semantic preservation and lack consistency in their transfer effects. In recent years, diffusion models have made significant progress in the field of image processing and have shown great potential in image-style transfer tasks. Inspired by these advances, this paper presents a method for transferring real-world 3D scenes to a cartoon style without the need for additional input condition guidance. The method combines pre-trained LDM with LoRA models to achieve stable and high-quality style infusion. By integrating DDIM Inversion, ControlNet, and MultiDiffusion strategies, it achieves the cartoon style transfer of real-world 3D scenes through initial noise control, detail redrawing, and global coordination. Qualitative and quantitative analyses, as well as user studies, indicate that our method effectively injects a cartoon style while preserving the semantic content of the real-world 3D scene, maintaining a high degree of consistency in style transfer. This paper offers a new perspective for map style transfer. Full article

Background: Gait kinematics address the analysis of joint angles and segment movements during walking. Although there is work in the literature to solve the problems of forward (FK) and inverse kinematics (IK), there are still problems related to the accuracy of the estimation of Cartesian and joint variables, singularities, and modeling complexity on gait analysis approaches. Objective: In this work, we propose a framework for two-dimensional gait analysis addressing the singularities in the estimation of the joint variables using quaternion-based kinematic modeling. Methods: To solve the forward and inverse kinematics problems we use the dual quaternions’ composition and Damped Least Square (DLS) Jacobian method, respectively. We assess the performance of the proposed methods with three gait patterns including normal, toe-walking, and heel-walking using the RMSE value in both Cartesian and joint spaces. Results: The main results demonstrate that the forward and inverse kinematics methods are capable of calculating the posture and the joint angles of the three-DoF kinematic chain representing a lower limb. Conclusions: This framework could be extended for modeling the full or partial human body as a kinematic chain with more degrees of freedom and multiple end-effectors. Finally, these methods are useful for both diagnostic disease and performance evaluation in clinical gait analysis environments. Full article

Background/Objectives: The simulation of human movement offers transformative potential for the design of medical devices, particularly in understanding the cause–effect dynamics in individuals with neurological or musculoskeletal impairments. This study presents a simulation-driven framework to determine the optimal ankle–foot orthosis (AFO) stiffness for mitigating the risk of ankle sprains due to excessive subtalar inversion during high-impact activities, such as landing from a free fall. Methods: We employed biomechanical simulations to assess the influence of translational stiffness on subtalar inversion control, given that inversion angles exceeding 25 degrees are strongly correlated with injury risk. Simulations were conducted using a musculoskeletal model with and without a passive AFO; the stiffness varied in three anatomical directions. A Design of Experiments (DoE) approach was utilized to capture nonlinear interactions among stiffness parameters. Results: The results indicated that increased translational stiffness significantly reduced inversion angles to safer levels, though direction–dependent effects were noted. Based on these insights, we developed a 4D visualization tool that integrates simulation data with an interactive color–coded interface to depict ”safe design” zones for various AFO stiffness configurations. This tool supports clinicians in selecting stiffness values that optimize both safety and functional performance. Conclusions: The proposed framework enhances clinical decision-making and engineering processes by enabling more accurate and individualized AFO designs. Full article

A method for configuration synthesis of a reconfigurable decoupled parallel mechanical leg is proposed. In addition, a configuration evaluation index is proposed to evaluate the synthesized configurations and select the optimal one. Kinematic analysis and performance optimization of the selected mechanism’s configuration are carried out, and the motion mode of the robot’s reconfigurable mechanical leg is selected according to the task requirements. Then, the robot’s gait in walking mode is planned. Firstly, based on bionic principles, the motion characteristics of a mechanical leg based on a mammalian model and an insect model were analyzed. The input and output characteristics of the mechanism were analyzed to obtain the reconfiguration principle of the mechanism. Using type synthesis theory for the decoupled parallel mechanism, the configuration synthesis of the chain was carried out, and the constraint mode of the mechanical leg was determined according to the constraint property of the chain and the motion characteristics of the moving platform. Secondly, an evaluation index for the complexity of the reconfigurable mechanical leg structure was developed, and the synthesized mechanism was further analyzed and evaluated to select the mechanical leg’s configuration. Thirdly, the inverse position equations were established for the mechanical leg in the two motion modes, and its Jacobian matrix was derived. The degrees of freedom of the mechanism are completely decoupled in the two motion modes. Then, the workspace and motion/force transmission performance of the mechanical leg in the two motion modes were analyzed. Based on the weighted standard deviation of the motion/force transmission performance, the global performance fluctuation index of the mechanical leg motion/force transmission is defined, and the structural size parameters of the mechanical leg are optimized with the performance index as the optimization objective function. Finally, with the reconfigurable mechanical leg in the insect mode, the robot’s gait in the walking operation mode is planned according to the static stability criterion. Full article

Aiming at the multifunctional requirements of the limited space in high-end vehicle side-door latches, a double single-loop RRUPRR mechanism driven by a single motor for both electric releasing and cinching is proposed based on the POC set. The kinematical equations of the RRURR mechanism possess 2 × 2 analytical solutions. In order to apply the current motion/force transmission performance index of the parallel mechanisms to the transmission performance analysis of the serial mechanisms, matching methods for chain-driving transference and the moving/fixed platform inversion are proposed. The solution of the performance index of a single-degree-of-freedom single-loop mechanism is equivalent to the solution of the input motion/force transmission performance index of a parallel mechanism. The overall motion/force transmission performance index of a single-loop mechanism is constructed, and the corresponding calculation procedure is defined. Chain-driving transference can be obtained through forward and inverse solutions of the RRURR mechanism. In response to the extremely high requirements for motion/force transmission performance of electric release mechanisms, the proposed overall motion/force transmission performance index is used to calculate for the input motion screw and corresponding transmission-force screw of the single-loop RRURR mechanism and obtain the overall motion/force transmission performance of the mechanism. The performance atlas of the mechanism shows that it has excellent motion/force transmission characteristics within the workspace. Using ADAMS simulation software, the driving torque required for electric releasing and cinching of a vehicle side-door latch mechanism with a single motor is analyzed. The overall motion/force transmission performance index of a single-loop mechanism can be applied to single-loop overconstrained mechanisms and non-overconstrained mechanisms. Full article

Plant functional traits serve as vital tools for understanding vegetation adaptation mechanisms in changing environments. As the primary organs for nutrient acquisition from soil, fine roots are highly sensitive to environmental variations. However, current research on fine-root adaptation strategies predominantly focuses on tropical, subtropical, and temperate forests, leaving a significant gap in comprehensive knowledge regarding fine-root responses in rocky-desertification habitats. This study investigates the fine roots of Pseudotsuga sinensis across varying degrees of rocky desertification (mild, moderate, severe, and extremely severe). By analyzing fine-root morphological and nutrient traits, we aim to elucidate the trait differences and correlations under different desertification intensities. The results indicate that root dry matter content increases significantly with escalating desertification severity. Fine roots in mild and extremely severe desertification exhibit notably higher root C, K, and Mg concentrations compared to those in moderate and severe desertification, while root Ca concentration shows an inverse trend. Our correlation analyses reveal a highly significant positive relationship between specific root length and specific root area, whereas root dry matter content demonstrates a significant negative correlation with elemental concentrations. The principal component analysis (PCA) further indicates that the trait associations adopted by the forest in mild- and extremely severe-desertification environments are different from those in moderate- and severe-desertification environments. This study did not account for soil nutrient dynamics, microbial diversity, or enzymatic activity—key factors influencing fine-root adaptation. Future research should integrate root traits with soil properties to holistically assess resource strategies in rocky-desertification ecosystems. This study can serve as a theoretical reference for research on root characteristics and adaptation strategies of plants in rocky-desertification habitats. Full article

A graph with $q(a+t)$ vertices is known as a q-broom-like graph $K_q\sqcap B(a;t)$, which is produced by the hierarchical product of the complete graph $K_q$ by the rooted broom $B(a;t)$, where $q\ge 3,a\ge 1$ and $t\ge 1$. A numerical quantity associated with graph structure is called a topological index. The inverse sum indeg index (shortened to $ISI$ index) is a topological index defined as $ISI\left(G\right)={\displaystyle \sum _{v_i{v}_j\in E\left(G\right)}}{\displaystyle \frac{d_{v_i}{d}_{v_j}}{d_{v_i}+d_{v_j}}}$, where $d_{v_i}$ is the degree of the vertex $v_i$. In this paper, we take into consideration the $ISI$ index for q-broom-like graphs and perform a thorough analysis of it. We find the $ISI$ spectrum of q-broom-like graphs and derive the closed formulas for their $ISI$ index and $ISI$ energy. We also characterize extremal graphs and arrange them according to their $ISI$ index and $ISI$ energy, respectively. Further, a quantitative structure–property relationship is used to predict six physicochemical properties of sixteen alkaloid structures using $ISI$ index and $ISI$ energy. Both graph invariants have significant correlation values, indicating the accuracy and utility of the findings. The conclusions made in this article can help chemists and pharmacists research alkaloids’ structures for applications in industry, pharmacy, agriculture, and daily life. Full article

A comprehensive analysis of the evolution of rainfall characteristics in Catalonia, NE Spain, was conducted using monthly data from 72 rain gauges over the period 1950–2022. A moving-window approach was applied at annual, seasonal, and monthly scales, calculating mean values, coefficients of variation (CV), and trends across 43 overlapping 31-year periods. To assess trends in these moving statistics, a modified Mann–Kendall test was applied to both the 31-year means and CVs. Results revealed a significant 10% decrease in annual rainfall, with summer showing the most pronounced decline, as nearly 90% of stations exhibited negative trends, while the CV showed negative trends in coastal areas and mostly positive trends inland. At the monthly scale, February, March, June, August, and December exhibited negative trends at more than 50% of stations, with rainfall reductions ranging from 20% to 30%. Additionally, the temporal evolution of Mann–Kendall trend coefficients within each 31-year moving window displayed a fourth-degree polynomial pattern, with a periodicity of 30–35 years at annual and seasonal scales, and for some months. Finally, at the annual scale and in two centennial series, the 80-year oscillations found were inversely correlated with the large-scale climate indices North Atlantic Oscillation (NAO) and Atlantic Multidecadal Oscillation (AMO). Full article

Analogous to Kolmogorov’s theorem for the existence of stochastic processes describing random functions, we consider theorems for the existence of stochastic processes describing random measures as limits of inverse measure systems. Specifically, given a coherent inverse system of random (bounded/signed/positive/probability) histograms on refining partitions, we study conditions for the existence and uniqueness of a corresponding random inverse limit, a Radon probability measure on the space of (bounded/signed/positive/probability) measures. Depending on the topology (vague/tight/weak/total-variational) and Kingman’s notion of complete randomness, the limiting random measure is in one of four phases, distinguished by their degrees of concentration (support/domination/discreteness). The results are applied in the well-known Dirichlet and Polya tree families of random probability measures and a new Gaussian family of signed inverse limit measures. In these three families, examples of all four phases occur, and we describe the corresponding conditions of defining parameters. Full article

The new generation of robots (Industry 5.0 and beyond) is expected to be accompanied by the massive introduction of autonomous and cooperative agents in our society, both in the industrial and service sectors. Cooperation with humans will be simplified by humanoid robots with a similar kinematic outline and a similar kinematic redundancy, which is required by the diversity of tasks that will be performed. A bio-inspired approach is proposed for coordinating the redundant DOFs of such agents. This approach is based on the ideomotor theory of action, combined with the passive motion paradigm, to implicitly address the degrees of freedom problem, without any kinematic inversion, while producing coordinated motor patterns structured according to the typical features of biological motion. At the same time, since the approach is force-field-based, it allows us to integrate the computational loop parallel modules that exploit the redundancy of the system for satisfying geometric or kinematic constraints implemented by appropriate repulsive force fields. Moreover, the model is expanded to include dynamic constraints associated with the Lagrangian dynamics of the humanoid robot to improve the energetic efficiency of the generated actions. Full article

We developed the Global–Local Integrated Topology inverse design algorithm (denoted as the GLINT algorithm), which employs a trajectory-based optimization strategy with waveguide–substrate material-flipping structural modifications, enabling the direct optimization of discrete waveguide–substrate binary structures. Compared to the conventional Direct Binary Search (DBS), the GLINT algorithm not only significantly enhances computational efficiency through its global search–local refinement framework but also achieves a superior 20 nm × 20 nm optimization resolution while maintaining its optimization speed—substantially advancing the design capability. Utilizing this algorithm, we designed and experimentally demonstrated a 3.5 µm × 3.5 µm dual-port wavelength division multiplexer (WDM), achieving a minimum crosstalk of −11.3 dB and a 2 µm × 2 µm 90-degree bending waveguide exhibiting a 0.31–0.52 dB insertion loss over the 1528–1600 nm wavelength range, both fabricated on silicon-on-insulator (SOI) wafers. Additionally, a 4.5 µm × 4.5 µm three-port WDM structure was also designed and simulated, demonstrating crosstalk as low as −36.5 dB. Full article

Background/Objectives: This study investigates adaptive changes in long-lasting pattern electroretinogram (PERG) responses in ocular hypertension (OHT) and open-angle glaucoma (OAG) patients, and in healthy subjects. Methods: Sixty consecutive individuals were recruited, including 20 OHT, 20 OAG, and 20 normal subjects. All participants underwent comprehensive ophthalmologic examination, 30–2 perimetry, and retinal nerve fiber layer imaging. Steady-state (7.5 Hz) PERGs were recorded over approximately 2 min, in response to 90% contrast alternating gratings within a large field size. The recordings were acquired into a sequence of 10 averages (packets), lasting 10 s each, following a standardized adaptation paradigm (Next Generation PERG, PERGx). Key outcome measures included PERGx parameters reflecting response amplitude and phase changes over time. Results: The PERGx grand average scalar amplitude, a surrogate of ordinary PERG, was significantly reduced in both OHT and OAG groups compared to normal subjects (p < 0.01). In contrast, minimal adaptation changes were noted in PERGx amplitude among all groups. The PERGx phase exhibited a progressive decline over time, with consistent delays of approximately 20 degrees across all groups. Angular dispersion of the PERGx phase increased significantly in OHT patients compared to normal subjects (p < 0.05). An inverse relationship was observed between PERGx angular dispersion and treated intraocular pressure, specifically in OHT patients. Conclusions: The findings suggest that both OHT and OAG eyes may exhibit temporal abnormalities in PERG adaptation, potentially indicating early dysfunction in retinal ganglion cell activity. Translational Relevance: PERGx phase changes may have significant implications for glaucoma early detection and management. Full article

Central pattern generators (CPGs) have been extensively researched and validated as a well-established methodology for bionic control, particularly within the field of legged robotics. However, investigations concerning octopod robots remain relatively sparse. This study presents the design of an octopod robotic system inspired by the biological characteristics of lobsters. The machine lobster utilizes remote sensing technology to execute designated tasks in subterranean and mining environments, with its motion regulated by CPGs, accompanied by a comprehensive simulation analysis. The research commenced with the modeling of a biomimetic lobster robot, which features a three-degree-of-freedom leg structure and torso, interconnected by shape memory alloys (SMAs) that serve as muscle actuators. Mathematically, both forward and inverse kinematics were formulated for the robot’s legs, and a 24-degree-of-freedom (DOF) gait pattern was designed and validated through MATLAB 2020a simulations. Subsequently, a multi-layer mesh CPG neural network model was developed utilizing the Kuramoto model, which incorporated frustration effects as the rhythm generator. The control model was constructed and evaluated in Simulink, while dynamic simulations were conducted using Adams 2022 software. The findings demonstrate the feasibility, robustness, and efficiency of the proposed CPG network in facilitating the forward locomotion of the lobster robot, thereby broadening the range of control methodologies applicable to octopod biomimetic robots. Full article

Aiming at the problems of complex control processes, strong model dependence, and difficult engineering application when the existing active suspension control strategy is applied to multi-axle vehicles, an active suspension control strategy based on the inverse position solution of a parallel mechanism is proposed. First, the active suspension of the three-axle emergency rescue vehicle is grouped and interconnected within the group, and it is equivalently constructed into a 3-DOF parallel mechanism. Then, the displacement of each equivalent suspension actuating hydraulic cylinder is calculated by using the method of the inverse position solution of a parallel mechanism, and then the equivalent actuating hydraulic cylinder is reversely driven according to the displacement, thereby realizing the effective control of the attitude of the vehicle body. To verify the effectiveness of the proposed control strategy, a three-axis vehicle experimental platform integrating active suspension and hydro-pneumatic suspension was built, and a pulse road experiment and gravel pavement experiment were carried out and compared with hydro-pneumatic suspension. Both types of road experimental results show that compared to hydro-pneumatic suspension, the active suspension control strategy based on the inverse position solution of a parallel mechanism proposed in this paper exhibits different degrees of advantages in reducing the peak values of the vehicle vertical displacement, pitch angle, and roll angle changes, as well as suppressing various vibration accelerations, significantly improving the vehicle’s driving smoothness and handling stability. Full article