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Control of underactuated biped running robot via CPG
Hiroyuki Oyama,Masaki Yamakita,Sang-Ho Hyon,Susumu Ohtake 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we propose a control method which is adaptive to the environment and apply it to a biped underactuated robot named “KenkenII” which has springs mimicing a tendon system of animals soth at KenkenII can walk and run stably from zero-velocity on irregularter rains. In the proposed method, we use a CPG(CentralPatternGenerator) constructed by a neural oscillator network and realize rhythmic movements. Parameters in the control system are seached by PSO(Particle Swarm Optimization) and the validity is conformed by numerical simulation and experiment.
Manabe Osamu,Oyama-Manabe Noriko,Naya Masanao,Obara Masahiko,Kikuchi Yasuka,Aikawa Tadao,Tomiyama Yuuki,Sugimori Hiroyuki,Katoh Chietsugu,Tamaki Nagara,Anzai Toshihisa 아시아심장혈관영상의학회 2019 Cardiovascular Imaging Asia Vol.3 No.1
Objective: Although the relationship between coronary stenosis and myocardial perfusion is well established, little is known regarding the contribution of subendocardial infarction to this relationship. The purpose of this study was to evaluate the effects of obstructive coronary stenosis and subendocardial infarction on myocardial flow reserve (MFR). Materials and Methods: Fifty-four patients with suspected and known coronary artery disease (CAD) who underwent perfusion 3T-MRI and invasive angiography were studied. The time-intensity curves of the left ventricle tissue and cavity were fitted by a single-compartment model to compute myocardial blood flow (MBF). Global MFR and regional MFR were calculated by dividing stress MBF by rest MBF. Myocardial infarction lesions were assessed by late gadolinium enhancement. The effects of obstructive coronary stenosis and subendocardial infarction on the regional MFR were evaluated. Results: Obstructed vessels (≥70% diameter stenosis for main vessels or ≥50% for left main) were observed in 65 out of 162 vessels. Further analysis demonstrated that MFR in obstructed vessels was significantly lower than that in non-obstructed vessels {1.48 [the interquartile range (IQR) : 1.31–2.03] vs. 1.84 (IQR: 1.44–2.46), p=0.01}. After excluding vessels with transmural infarction (n=19), the MFR for vessels with subendocardial infarction (n=20) was significantly lower than the MFR for non-infarction vessels (n=123) [1.48 (IQR: 1.40–1.79) vs. 1.88 (IQR: 1.41–2.48), p=0.02]. Conclusion: Subendocardial infarction in addition to obstructive coronary atherosclerosis might be associated with an impairment of regional MFR in patients with CAD.