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  • MDPI AG  (26)
  • Zhao, Jie  (26)
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  • MDPI AG  (26)
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  • 1
    Online Resource
    Online Resource
    Whole-Body Motion Planning for a Six-Legged Robot Walking on Rugged Terrain
    MDPI AG ; 2019
    In:  Applied Sciences Vol. 9, No. 24 ( 2019-12-04), p. 5284-
    Details
    In: Applied Sciences, MDPI AG, Vol. 9, No. 24 ( 2019-12-04), p. 5284-
    Abstract: Whole-body motion planning is a key ability for legged robots, which allows for the generation of terrain adaptive behaviors and thereby improved mobility in complex environment. To this end, this paper addresses the issue of terrain geometry based whole-body motion planning for a six-legged robot over a rugged terrain. The whole-body planning is decomposed into two sub-tasks: leg support and swing. For leg support planning, the target pose of the robot torso in a walking step is first found by maximizing the stability margin at the moment of support-swing transition and matching the orientation of the support polygon formed by target footholds. Then, the torso and thereby the leg support trajectories are generated using cubic spline interpolation and transferred into joint space through inverse kinematics. In terms of leg swing planning, the trajectories in a walking step are generated by solving an optimal problem that satisfies three constraints and a bioinspired objective function. The proposed whole-body motion planning strategies are implemented with a simulation and a real-world six-legged robot, and the results show that stable and collision-free motions can be produced for the robot over rugged terrains.
    Type of Medium: Online Resource
    ISSN: 2076-3417
    URL: Article
    DOI: 10.3390/app9245284
    Language: English
    Publisher: MDPI AG
    Publication Date: 2019
    detail.hit.zdb_id: 2704225-X
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  • 2
    Online Resource
    Online Resource
    Towards the Exploitation of Physical Compliance in Segmented and Electrically Actuated Robotic Legs: A Review Focused on Elastic Mechanisms
    MDPI AG ; 2019
    In:  Sensors Vol. 19, No. 24 ( 2019-12-04), p. 5351-
    Details
    In: Sensors, MDPI AG, Vol. 19, No. 24 ( 2019-12-04), p. 5351-
    Abstract: Physical compliance has been increasingly used in robotic legs, due to its advantages in terms of the mechanical regulation of leg mechanics and energetics and the passive response to abrupt external disturbances during locomotion. This article presents a review of the exploitation of physical compliance in robotic legs. Particular attention has been paid to the segmented, electrically actuated robotic legs, such that a comparable analysis can be provided. The utilization of physical compliance is divided into three main categories, depending on the setting locations and configurations, namely, (1) joint series compliance, (2) joint parallel compliance, and (3) leg distal compliance. With an overview of the representative work related to each category, the corresponding working principles and implementation processes of various physical compliances are explained. After that, we analyze in detail some of the structural characteristics and performance influences of the existing designs, including the realization method, compliance profile, damping design, and quantitative changes in terms of mechanics and energetics. In parallel, the design challenges and possible future works associated with physical compliance in robotic legs are also identified and proposed. This article is expected to provide useful paradigmatic implementations and design guidance for physical compliance for researchers in the construction of novel physically compliant robotic legs.
    Type of Medium: Online Resource
    ISSN: 1424-8220
    URL: Article
    DOI: 10.3390/s19245351
    Language: English
    Publisher: MDPI AG
    Publication Date: 2019
    detail.hit.zdb_id: 2052857-7
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  • 3
    Online Resource
    Online Resource
    Oral Health-Related Quality of Life among Chinese Chronic Orofacial Pain Patients with Psychological Health Problems: A Moderated Mediation Model
    MDPI AG ; 2023
    In:  International Journal of Environmental Research and Public Health Vol. 20, No. 4 ( 2023-02-13), p. 3244-
    Details
    In: International Journal of Environmental Research and Public Health, MDPI AG, Vol. 20, No. 4 ( 2023-02-13), p. 3244-
    Abstract: Psychological therapies are important for comprehensive chronic orofacial pain (COFP) treatment. This study is to validate the effects of psychological factors on oral health-related quality of life (OHRQoL) among COFP patients in China. Pain catastrophizing, which is a subjective cognitive emotion used to manage the psychological aspects of pain among COFP patients, was examined in relation to COFP severity and OHRQoL. All 479 participants were recruited in Changsha, Hunan Province, China. Cronbach’s alpha coefficients (0.868–0.960), composite reliability scores (0.924–0.969), and average variance extracted from each construct (0.555–0.753) all indicated a good model fit. Pearson’s correlation analysis showed that age and education status have a positive correlation with COFP severity, pain catastrophizing, and anxiety. COFP severity was related to anxiety, depression, and COFP-OHRQoL. Pain catastrophizing was related to employment status. Anxiety and depression symptoms indirectly mediated the correlation between COFP severity and COFP-OHRQoL. As a second-stage moderator, pain catastrophizing moderated the mediating effects of anxiety symptoms and depression symptoms. Our findings suggest that anxiety, depression, and pain catastrophizing should be evaluated jointly to improve COFP-OHRQoL among COFP patients. This evidence will help therapists to comprehensively treat patients for the best treatment effect.
    Type of Medium: Online Resource
    ISSN: 1660-4601
    URL: Article
    DOI: 10.3390/ijerph20043244
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2175195-X
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  • 4
    Online Resource
    Online Resource
    Ketamine Analog Methoxetamine Induced Inflammation and Dysfunction of Bladder in Rats
    MDPI AG ; 2017
    In:  International Journal of Molecular Sciences Vol. 18, No. 1 ( 2017-01-18), p. 117-
    Details
    In: International Journal of Molecular Sciences, MDPI AG, Vol. 18, No. 1 ( 2017-01-18), p. 117-
    Type of Medium: Online Resource
    ISSN: 1422-0067
    URL: Article
    DOI: 10.3390/ijms18010117
    Language: English
    Publisher: MDPI AG
    Publication Date: 2017
    detail.hit.zdb_id: 2019364-6
    SSG: 12
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  • 5
    Online Resource
    Online Resource
    Reliability Analysis of Nuclear Power Plant Electrical System Considering Common Cause Failure Based on GO-FLOW
    MDPI AG ; 2023
    In:  Sustainability Vol. 15, No. 19 ( 2023-09-22), p. 14071-
    Details
    In: Sustainability, MDPI AG, Vol. 15, No. 19 ( 2023-09-22), p. 14071-
    Abstract: The reliability of nuclear power plant electrical systems is an important guarantee of nuclear safety, and the common fault failure problem arising from redundant design and intelligent control may greatly affect reliability assessment results. Combined with the features of repairability, multi-state characteristics, and common fault failure of nuclear power plant electrical systems, a reliability analysis method of nuclear power plant electrical systems based on the GO-FLOW method considering common fault failure is proposed. This study firstly constructs the algorithmic model of combining operators of repairable components and the equivalent model of reliability parameters of multi-mode repairable components, then establishes a probability calculation model of common fault failure for repairable systems by considering the quantitative computation of the common signaling system model, and finally, quantitatively calculates the reliability of nuclear power plant electrical systems and their influencing factors. The example simulation calculates the reliability of the external power supply system and the electrical system of the nuclear power plant, analyzes the influence of the common signal processing and the common fault failure factors on the reliability of the electrical system of the nuclear power plant, and verifies the validity of the proposed method. The results show that the common fault failure factors have a large impact on the system reliability analysis; the common fault failure of the standby diesel generator set will seriously reduce the reliability of the electrical system, which can be improved by installing additional standby diesel generators.
    Type of Medium: Online Resource
    ISSN: 2071-1050
    URL: Article
    DOI: 10.3390/su151914071
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2518383-7
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  • 6
    Online Resource
    Online Resource
    Optimization of the Algorithm for the Implementation of Point Spread Function in the 3D-OSEM Reconstruction Algorithm Based on the List-Mode Micro PET Data
    MDPI AG ; 2023
    In:  Electronics Vol. 12, No. 6 ( 2023-03-09), p. 1309-
    Details
    In: Electronics, MDPI AG, Vol. 12, No. 6 ( 2023-03-09), p. 1309-
    Abstract: Positron emission tomography (PET) is a popular research topic. People are becoming more interested in PET images as they become more widely available. However, the partial volume effect (PVE) in PET images remains one of the most influential factors causing the resolution of PET images to degrade. It is possible to reduce this PVE and achieve better image quality by measuring and modeling the point spread function (PSF) and then accounting for it inside the reconstruction algorithm. In this work, we examined the response characteristics of the MetisTM PET/CT system by acquiring 22Na point source at different locations in the field of view (FOV) of the scanner and reconstructing with small pixel size for images to obtain their radial, tangential, and axial full-width half maximum (FWHM). An image-based model of the PSF model was then obtained by fitting asymmetric two-dimensional Gaussians on the 22Na images. This PSF model determined by FWHM in three directions was integrated into a three-dimensional ordered subsets expectation maximization (3D-OSEM) algorithm based on a list-mode format to form a new PSF-OSEM algorithm. We used both algorithms to reconstruct point source, Derenzo phantom, and mouse PET images and performed qualitative and quantitative analyses. In the point source study, the PSF-OSEM algorithm reduced the FWHM of the point source PET image in three directions to about 0.67 mm, and in the phantom study, the PET image reconstructed by the PSF-OSEM algorithm had better visual effects. At the same time, the quantitative analysis results of the Derenzo phantom were better than the original 3D-OSEM algorithm. In the mouse experiment, the results of qualitative and quantitative analyses showed that the imaging quality of PSF-OSEM algorithm was better than that of 3D-OSEM algorithm. Our results show that adding the PSF model to the 3D-OSEM algorithm in the MetisTM PET/CT system helps to improve the resolution of the image and satisfy the qualitative and quantitative analysis criteria.
    Type of Medium: Online Resource
    ISSN: 2079-9292
    URL: Article
    DOI: 10.3390/electronics12061309
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2662127-7
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  • 7
    Online Resource
    Online Resource
    Effects of Lime Application and Understory Removal on Soil Microbial Communities in Subtropical Eucalyptus L’Hér. Plantations
    MDPI AG ; 2019
    In:  Forests Vol. 10, No. 4 ( 2019-04-16), p. 338-
    Details
    In: Forests, MDPI AG, Vol. 10, No. 4 ( 2019-04-16), p. 338-
    Abstract: Soil microorganisms play key roles in ecosystems and respond quickly to environmental changes. Liming and/or understory removal are important forest management practices and have been widely applied to planted forests in humid subtropical and tropical regions of the world. However, few studies have explored the impacts of lime application, understory removal, and their interactive effects on soil microbial communities. We conducted a lime application experiment combined with understory removal in a subtropical Eucalyptus L’Hér. plantation. Responses of soil microbial communities (indicated by phospholipid fatty acids, PLFAs), soil physico-chemical properties, and litter decomposition rate to lime and/or understory removal were measured. Lime application significantly decreased both fungal and bacterial PLFAs, causing declines in total PLFAs. Understory removal reduced the fungal PLFAs but had no effect on the bacterial PLFAs, leading to decreases in the total PLFAs and in the ratio of fungal to bacterial PLFAs. No interaction between lime application and understory removal on soil microbial community compositions was observed. Changes in soil microbial communities caused by lime application were mainly attributed to increases in soil pH and NO3–-N contents, while changes caused by understory removal were mainly due to the indirect effects on soil microclimate and the decreased soil dissolved carbon contents. Furthermore, both lime application and understory removal significantly reduced the litter decomposition rates, which indicates the lime application and understory removal may impact the microbe-mediated soil ecological process. Our results suggest that lime application may not be suitable for the management of subtropical Eucalyptus plantations. Likewise, understory vegetation helps to maintain soil microbial communities and litter decomposition rate; it should not be removed from Eucalyptus plantations.
    Type of Medium: Online Resource
    ISSN: 1999-4907
    URL: Article
    DOI: 10.3390/f10040338
    Language: English
    Publisher: MDPI AG
    Publication Date: 2019
    detail.hit.zdb_id: 2527081-3
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  • 8
    Online Resource
    Online Resource
    Inhibition of the NF-κB Signaling Pathway Alleviates Pyroptosis in Bladder Epithelial Cells and Neurogenic Bladder Fibrosis
    MDPI AG ; 2023
    In:  International Journal of Molecular Sciences Vol. 24, No. 13 ( 2023-07-06), p. 11160-
    Details
    In: International Journal of Molecular Sciences, MDPI AG, Vol. 24, No. 13 ( 2023-07-06), p. 11160-
    Abstract: Most children with a neurogenic bladder (NB) have bladder fibrosis, which causes irreversible bladder dysfunction and damage to the upper urinary tract. However, the mechanism of bladder fibrosis remains unclear. This study aimed to investigate the underlying causes of bladder fibrosis. Here, the lumbar 6 (L6) and sacral 1 (S1) spinal nerves of Sprague Dawley rats were severed bilaterally to establish NB models. Using RNA-seq, we discovered that the NF-κB signaling pathway and inflammation were upregulated in spinal cord injury (SCI)-induced bladder fibrosis. Subsequent Western blotting, enzyme-linked immunosorbent assays, immunohistochemical staining, and immunofluorescence staining verified the RNA-seq findings. To further clarify whether the NF-κB signaling pathway and pyroptosis were involved in bladder fibrosis, a TGF-β1-treated urinary epithelial cell line (SV-HUC-1 cells) was used as an in vitro model. Based on the results of RNA-seq, we consistently found that the NF-κB signaling pathway and pyroptosis might play important roles in TGF-β1-treated cells. Further experiments also confirmed the RNA-seq findings in vitro. Moreover, using the NLRP3 inhibitor MCC950 rescued TGF-β1-induced fibrosis, and the NF-κB signaling pathway inhibitor BAY 11-7082 effectively rescued TGF-β1-induced pyroptosis and the deposition of extracellular matrix by SV-HUC-1 cells. In summary, our research demonstrated for the first time that the NF-κB signaling pathway inhibition rescued bladder epithelial cells pyroptosis and fibrosis in neurogenic bladders.
    Type of Medium: Online Resource
    ISSN: 1422-0067
    URL: Article
    DOI: 10.3390/ijms241311160
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2019364-6
    SSG: 12
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  • 9
    Online Resource
    Online Resource
    Study on the Compressive Properties of an Elastomeric Porous Cylinder Using 360° Three-Dimensional Digital Image Correlation System
    MDPI AG ; 2023
    In:  Materials Vol. 16, No. 12 ( 2023-06-10), p. 4301-
    Details
    In: Materials, MDPI AG, Vol. 16, No. 12 ( 2023-06-10), p. 4301-
    Abstract: To study the compressive properties of an elastomeric porous cylinder, a 360° 3D digital image correlation (DIC) system is proposed. This compact vibration isolation table system captures different segments of the object from four different angles and fields of view, enabling a comprehensive measurement of the full surface of the object. To increase the stitching quality, a coarse–fine coordinate matching method is presented. First, a three-dimensional rigid body calibration auxiliary block is employed to track motion trajectory, which enables preliminary matching of four 3D DIC sub-systems. Subsequently, scattered speckle information characteristics guide fine matching. The accuracy of the 360° 3D DIC system is verified through a three-dimensional shape measurement conducted on a cylindrical shell, and the maximum relative error of the shell’s diameter is 0.52%. A thorough investigation of the 3D compressive displacements and strains exerted on the full surface of an elastomeric porous cylinder are investigated. The results demonstrate the robustness of the proposed 360° measuring system on calculating images with voids and indicate a negative Poisson’s ratio of periodically cylindrical porous structures.
    Type of Medium: Online Resource
    ISSN: 1996-1944
    URL: Article
    DOI: 10.3390/ma16124301
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2487261-1
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  • 10
    Online Resource
    Online Resource
    A Hierarchical Motion Planning Method for Mobile Manipulator
    MDPI AG ; 2023
    In:  Sensors Vol. 23, No. 15 ( 2023-08-04), p. 6952-
    Details
    In: Sensors, MDPI AG, Vol. 23, No. 15 ( 2023-08-04), p. 6952-
    Abstract: This paper focuses on motion planning for mobile manipulators, which includes planning for both the mobile base and the manipulator. A hierarchical motion planner is proposed that allows the manipulator to change its configuration autonomously in real time as needed. The planner has two levels: global planning for the mobile base in two dimensions and local planning for both the mobile base and the manipulator in three dimensions. The planner first generates a path for the mobile base using an optimized A* algorithm. As the mobile base moves along the path with the manipulator configuration unchanged, potential collisions between the manipulator and the environment are checked using the environment data obtained from the on-board sensors. If the current manipulator configuration is in a potential collision, a new manipulator configuration is searched. A sampling-based heuristic algorithm is used to effectively find a collision-free configuration for the manipulator. The experimental results in simulation environments proved that our heuristic sampling-based algorithm outperforms the conservative random sampling-based method in terms of computation time, percentage of successful attempts, and the quality of the generated configuration. Compared with traditional methods, our motion planning method could deal with 3D obstacles, avoid large memory requirements, and does not require a long time to generate a global plan.
    Type of Medium: Online Resource
    ISSN: 1424-8220
    URL: Article
    DOI: 10.3390/s23156952
    Language: English
    Publisher: MDPI AG
    Publication Date: 2023
    detail.hit.zdb_id: 2052857-7
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