In this editorial,we comment on the article by Lambert et al,published in the recent issue of the World Journal of Radiology.The focus of the editorial is to explore the advancements in whole-body magnetic resonance i...In this editorial,we comment on the article by Lambert et al,published in the recent issue of the World Journal of Radiology.The focus of the editorial is to explore the advancements in whole-body magnetic resonance imaging(WB-MRI)techno-logy,its current clinical applications,and the challenges that must be addressed to fully realize its potential in oncological imaging.WB-MRI has emerged as a pivotal tool in oncological imaging,offering comprehensive disease assessment without ionizing radiation.Its applications span the detection of bone metastases,evaluation of hematologic malignancies,and staging of a wide range of cancers,including lymphoma,prostate,and breast cancers.Advanced techniques such as diffusion-weighted imaging have enhanced its diagnostic performance by pro-viding superior lesion-to-background contrast and quantitative metrics.Despite its diagnostic strengths,WB-MRI faces challenges in standardization,patient acceptance,and integration into clinical workflows.Variability in acquisition pro-tocols,hardware differences,and patient-related factors,such as anxiety and motion artifacts,have limited widespread adoption.Emerging guidelines like MET-RADS-P and ONCO-RADS aim to address these issues by promoting stan-dardized protocols tailored to specific clinical needs.This editorial explores the advancements in WB-MRI technology,its current clinical applications,and the barriers that must be overcome to maximize its utility.By addressing these cha-llenges and embracing standardization,WB-MRI holds the potential to redefine the landscape of oncological imaging,aligning diagnostic precision with modern treatment goals of reducing long-term patient risk.展开更多
In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical co...In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical control scheme consisting of two modules.The first layer is to find an optimal ground reaction force(GRF)by employing inner model predictive control(MPC)along a full motor gait cycle,ensuring the minimal energy consumption of the system.Based on the output GRF of inner layer,the second layer is designed to prioritize tasks for motor execution sequentially using an outer model predictive control.In inner MPC,an objective function about GRF is designed by using a model with relatively long time horizons.Then a neural network solver is used to obtain the optimal GRF by minimizing the objective function.By using a two-layered MPC architecture,we design a hybrid motion/force controller to handle the impedance of leg joints and robotic uncertainties including external perturbation.Finally,we perform extensive experiments with a quadruped robot,including the crawl and trotting gaits,to verify the proposed control framework.展开更多
To reveal the principles of human thermal responses and find out the effects of body parts on whole-body thermal sensation,through a subjective survey,experimental investigations on human responses are carried out whe...To reveal the principles of human thermal responses and find out the effects of body parts on whole-body thermal sensation,through a subjective survey,experimental investigations on human responses are carried out when a single body part is thermally stimulated.Cooling airflow is sent to seven body parts,respectively.Totally 94 samples are tested.To eliminate the obvious multicollinearity of thermal sensation among different body parts,the principal component regression approach is adopted to obtain the principal components for the body parts under different experimental conditions.Through regression and analysis of principal components,the weighting factors of the seven body parts are obtained.A predictive model on whole-body thermal sensation is obtained based on the weighting factors.The results show that the different characteristics of trunk and limbs are clearly seen.The weighting factors of local thermal sensation are integrated values,and there is little difference among values of different body parts.展开更多
This study was carried out to determine if exposure to hot environmental temperatures had a direct, detrimental effect on sperm quality. For this the effect of whole-body heat exposure on epididymal spermatozoa of lab...This study was carried out to determine if exposure to hot environmental temperatures had a direct, detrimental effect on sperm quality. For this the effect of whole-body heat exposure on epididymal spermatozoa of laboratory mice was investigated. C57BL/6 mice （n = 7） were housed in a microclimate chamber at 37℃-38℃ for 8 h per day for three consecutive days, while control mice （n = 7） were kept at 23℃-24℃. Cauda epididymal spermatozoa were obtained 16 h after the last heat treatment. The results showed that sperm numbers were similar in the two groups （P = 0.23）, but after heat treatment, a significant reduction in the percentage of motile sperm was present （P 〈 0.0001）. Membrane changes of the spermatozoa were investigated by staining with phycoerythrin （PE）- conjugated Annexin V, which detects exteriorization of phosphotidylserine from the inner to the outer leaflet of the sperm plasma membrane, and 7-aminoactinomycin D （7-AAD）, which binds to the sperm nucleus when the plasma membrane is damaged. The percentage of spermatozoa showing positive staining with Annexin V-PE or 7-AAD or both, was significantly higher （P 〈 0.05） in heat-exposed mice compared with controls. These results show that whole-body heat exposure to 37℃-38℃ induces membrane changes in the epididymal spermatozoa of mice, which may lead to apoptosis.展开更多
Objective: We investigated the correlation between the number of circulating tumor cells(CTCs) and wholebody metabolic tumor volume(WBMTV) measured by 18 F-fluorodeoxyglucose(FDG) positron emission tomography/computed...Objective: We investigated the correlation between the number of circulating tumor cells(CTCs) and wholebody metabolic tumor volume(WBMTV) measured by 18 F-fluorodeoxyglucose(FDG) positron emission tomography/computed tomography(PET/CT).The aim was to evaluate the value of the incorporation of CTC number and WBMTV in the prognostic prediction of stage III small-cell lung cancer(SCLC).Methods: One hundred and twenty-nine patients were enrolled in this study.All patients were treated with four cycles of a platinum-based regimen and concurrent chest irradiation,followed by prophylactic cranial irradiation.Blood samples for CTC analysis were obtained from 112 patients before the initiation of chemotherapy(as a baseline),after cycle 1 and after cycle 4.CTCs were measured using the CELLSEARCH? system.The patients underwent pretreatment FDG PET/CT WBMTV,which included all malignant lesions.The Spearman rank test was used to determine the correlation among CTC counts,WBMTV and disease stage.Overall survival(OS) and progression-free survival(PFS) curves were produced using the Kaplan-Meier method,and survival differences between groups were assessed by the log-rank test.Results: The number of CTCs at baseline did not correlate with WBMTV before the initiation of therapy(P=0.241).The number of CTCs at baseline and the WBMTV before the initiation of therapy were independent relevant factors for PFS and OS.The subgroup analysis(Group A: CTC count >19.5 and a WBMTV >266.5cm~3;Group B: CTC count >19.5 and a WBMTV ≤266.5cm~3; Group C: CTC count ≤19.5 and a WBMTV >266.5cm~3;Group D: CTC count ≤19.5 and a WBMTV ≤266.5cm~3) showed that the differences were statistically significant in the median PFS(Group A vs.D,P<0.001; Group B vs.D,P=0.018; Group C vs.D,P=0.029) and in the median OS(Group A vs.D,P<0.001; Group B vs.D,P=0.012).Conclusions: CTC number and WBMTV are related to progression and death in patients with SCLC.The incorporation of CTC number and WBMTV scans can provide a detailed prognostic prediction for SCLC.展开更多
Objective To assess the reproducibility of whole-body diffusion weighted imaging(WB-DWI) technique in healthy volunteers under normal breathing with background body signal suppression.Methods WB-DWI was performed on 3...Objective To assess the reproducibility of whole-body diffusion weighted imaging(WB-DWI) technique in healthy volunteers under normal breathing with background body signal suppression.Methods WB-DWI was performed on 32 healthy volunteers twice within two-week period using short TI inversion-recovery diffusion-weighted echo-planar imaging sequence and built-in body coil.The volunteers were scanned across six stations continuously covering the entire body from the head to the feet under normal breathing.The bone apparent diffusion coefficient(ADC) and exponential ADC(eADC) of regions of interest(ROIs) were measured.We analyzed correlation of the results using paired-t-test to assess the reproducibility of the WB-DWI technique.Results We were successful in collecting and analyzing data of 64 WB-DWI images.There was no significant difference in bone ADC and eADC of 824 ROIs between the paired observers and paired scans(P>0.05).Most of the images from all stations were of diagnostic quality.Conclusion The measurements of bone ADC and eADC have good reproducibility.WB-DWI technique under normal breathing with background body signal suppression is adequate.展开更多
Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body ...Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.展开更多
To investigate the effect of aerobic exercise combined with whole-body vibration (WBV) training on metabolic syndrome risk, and inflammatory markers, and to compare its effects on arterial stiffness and several blood ...To investigate the effect of aerobic exercise combined with whole-body vibration (WBV) training on metabolic syndrome risk, and inflammatory markers, and to compare its effects on arterial stiffness and several blood parameters related to metabolic syndrome with those of aerobic training alone. Thirty healthy participants were divided into 2 groups matched for age and body mass index (BMI). Fifteen subjects were assigned to the WBV group (WBV + aerobic training) and the other 15 to the control group (aerobic training only). All participants performed a treadmill exercise 3 days/week for 4 weeks, for 50 min after 30 min rest period. Exercise was performed at a heart rate (HR) corresponding to 60% of the HR at each individual’s maximum oxygen uptake (VO2max). Body weight and BMI after training were significantly lower than those before training in the WBV group (P < 0.01). Concerning arterial stiffness, the pulse-wave velocity after training was significantly lower than that before training in the WBV group (1048.7 ± 105.6 vs. 1008.4 ± 101.1 cm/s, P < 0.05). Meanwhile, the VO2max after training was significantly higher than that before training in the WBV group (47.7 ± 12.8 vs. 51.4 ± 14.1 mL·min-1·kg-1, P < 0.01). However, no significant differences were observed in any parameters before and after training in the control group. Our results suggest that aerobic exercise combined with WBV training may be effective in reducing arterial stiffness and improving cardiorespiratory fitness than aerobic training alone.展开更多
The 124Sb in vivo exposed person is measured with whole-body counter. Thesolid point source method is applied to calibrate the counter. The minimum detectable activity of this system for 124Sb is 32 Bq.
It is capable of giving the initial intakes of radionuclides and the assessment quantities used in radiation protection according to its measured results of radionuclides in vivo. It is accomplished by providing the ...It is capable of giving the initial intakes of radionuclides and the assessment quantities used in radiation protection according to its measured results of radionuclides in vivo. It is accomplished by providing the software of controlling, interface and internal dose estimation programs to the original iron cabin shielding whole-body counter. The preliminary application shows that its data processing is rapid and correct, and can meet the requirement of rapid internal radioactive contamination monitoring and diagnosing in case of lots of internal contamination subjects happened innuclear accident.展开更多
Objective: The research was carried out to test the influence of adaptation to passive whole body hyperthermia (PH) on physical capacity and cardio-respiratory efficiency in men-amateur athletes under the testing load...Objective: The research was carried out to test the influence of adaptation to passive whole body hyperthermia (PH) on physical capacity and cardio-respiratory efficiency in men-amateur athletes under the testing load of increasing intensity in laboratory thermal-neutral conditions. Twenty-eight amateur athletes (males, mean age 20.2 ± 2.1 y.o., game-based kinds of sports—football, handball, training experience—4 - 7 years) were randomized into two groups: experimental (14 people), who underwent 24 PH procedures, and control (14 people), who underwent 24 light training sessions in interval regime on elliptical gym apparatus. Results: Adaptation to PH was accompanied by moderate increase of aerobic efficiency and cardio-respiratory endurance in amateur athletes under thermally neutral conditions, while interval training in the control group showed no reliable changes in efficiency. Conclusion: A 10-week course of PH procedures leads to the increase of peak oxygen consumption, oxygen consumption at the level of anaerobic threshold, and heart efficiency (enhancement of oxygen pulse values), as well as efficiency of pulmonary ventilation and bronchial conductance, which we consider to be cross effects of adaptation to passive whole-body repetitive hyperthermia.展开更多
Reactive planning and control capacity for collaborative robots is essential when the tasks change online in an unstructured environment.This is more difficult for collaborative mobile manipulators(CMM)due to high red...Reactive planning and control capacity for collaborative robots is essential when the tasks change online in an unstructured environment.This is more difficult for collaborative mobile manipulators(CMM)due to high redundancies.To this end,this paper proposed a reactive whole-body locomotion-integrated manipulation approach based on combined learning and optimization.First,human demonstrations are collected,where the wrist and pelvis movements are treated as whole-body trajectories,mapping to the end-effector(EE)and the mobile base(MB)of CMM,respectively.A time-input kernelized movement primitive(T-KMP)learns the whole-body trajectory,and a multi-dimensional kernelized movement primitive(M-KMP)learns the spatial relationship between the MB and EE pose.According to task changes,the T-KMP adapts the learned trajectories online by inserting the new desired point predicted by MKMP.Then,the updated reference trajectories are sent to a hierarchical quadratic programming(HQP)controller,where the EE and the MB trajectories tracking are set as the first and second priority tasks,generating the feasible and optimal joint level commands.An ablation simulation experiment with CMM of the HQP is conducted to show the necessity of MB trajectory tracking in mimicking human whole-body motion behavior.Finally,the tasks of the reactive pick-and-place and reactive reaching were undertaken,where the target object was randomly moved,even out of the region of demonstrations.The results showed that the proposed approach can successfully transfer and adapt the human whole-body loco-manipulation skills to CMM online with task changes.展开更多
Objective:The primary aim of this study was to assess the efficacy of whole-body diffusion-weighted imaging(WB-DWI)in detecting tumour recurrence and metastasis of gastrointestinal cancers by comparison with 18F-2-flu...Objective:The primary aim of this study was to assess the efficacy of whole-body diffusion-weighted imaging(WB-DWI)in detecting tumour recurrence and metastasis of gastrointestinal cancers by comparison with 18F-2-fluoro-2-deoxy-Dglucose positron emission tomography or computed tomography(18F-FDG-PET/CT).A secondary aim was to evaluate the change of apparent diffusion coefficient(ADC)value between metastases and normal tissues.Methods:Twenty-eight previously confirmed gastrointestinal cancer patients with suspected tumour recurrence or metastasis were recruited.WB-DWI and PET/CT images were evaluated by two radiologists and a nuclear medicine physician.Agreement between WB-DWI and PET/CT for detective efficacy was compared using kappa statistics.Additionally,diagnostic accuracy,sensitivity,specificity,negative predictive value(NPV),and positive predictive value(PPV)were also statistically analysed.ADC values between metastatic and normal tissues were compared.Results:There was no statistically significant difference(P>0.05)in the overall diagnostic performances of PET/CT(accuracy 98.9%;sensitivity 95.2%;specificity 99.8%;PPV 98.9%;NPV 98.9%)and WB-DWI(accuracy 95.9%;sensitivity 81.7%;specificity 99.1%;PPV 95.0%;NPV 96.1%).WB-DWI showed agreement with PET/CT(j=0.877)for detecting recurrence and distant metastases.A statistically significant difference in ADC value was observed between tissues of normal healthy volunteers and metastases in lymph nodes,liver and bones(P<0.05).Conclusions:WB-DWI is reliable in detecting tumour recurrence and metastasis of colorectal cancer and offers the same diagnostic performance as 18F-PET/CT without ionizing radiation.The quantitative value of ADC provides extra information to determine cancer metastasis.展开更多
Squatting is a basic movement of bipedal robots,which is essential in robotic actions like jumping or picking up objects.Due to the intrinsic complex dynamics of bipedal robots,perfect squatting motion requires high-p...Squatting is a basic movement of bipedal robots,which is essential in robotic actions like jumping or picking up objects.Due to the intrinsic complex dynamics of bipedal robots,perfect squatting motion requires high-performance motion planning and control algorithms.The standard academic solution combines model predictive control(MPC)with whole-body control(WBC),which is usually computationally expensive and difficult to implement on practical robots with limited computing resources.The real-time kinematic prediction(RKP)method is proposed,which considers upcoming reference motion trajectories and combines it with quadratic programming(QP)-based WBC.Since the WBC handles the full robot dynamics and various constraints,the RKP only needs to adopt the linear kinematics in the robot's task space and to softly constrain the desired accelerations.Then,the computational cost of derived closed-form RKP is greatly reduced.The RKP method is verified in simulation on a heavy-loaded bipedal robot.The robot makes rapid and large-amplitude squatting motions,which require close-to-limit torque outputs.Compared with the conventional QP-based WBC method,the proposed method exhibits high adaptability to rough planning,which implies much less user interference in the robot's motion planning.Furthermore,like the MPC,the proposed method can prepare for upcoming motions in advance but requires much less computation time.展开更多
Optical clearing of invertebrates,the number of species of which is 20 times greater than that of vertebrates,is of fundamental and applied interest for neuroscience in general.Herein,the optical clearing of invertebr...Optical clearing of invertebrates,the number of species of which is 20 times greater than that of vertebrates,is of fundamental and applied interest for neuroscience in general.Herein,the optical clearing of invertebrates to identify their morphology and neurostructure remains unrealized as of yet.Here,we report on fast(from a few seconds to minutes)and uniform whole-body optical clearing of invertebrates(bivalves,nemertines,annelids,and anomura)of any age and thickness(up to 2 cm)possessing complicated structures and integuments.We developed the protocol unifying dimethyl sulfoxide(DMSO)-based immunostaining of the animals followed by their optical clearing with benzyl alcohol/benzyl benzoate(BABB).Confocal microspectroscopy revealed that the protocol provides an increase of the fluorescence signal by 2 orders of magnitude and decrease of the light scattering by 2 orders of magnitude,thereby accelerating the confocal bioimaging of the whole body.Moreover,by tracking the optical clearing over time with 0.3 s resolution,we revealed that the clearing process is described by the Gompertz growth function,allowing us to determine the physical mechanism of the clearing and its optical parameters.Thereby,we were able to identify in detail and to describe previously unknown neurostructures of different invertebrate animals,paving the way to discovery in neuroscience.展开更多
Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of mo...Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of motion,these increases could be optimized by imposing an additional activation of the muscle,such as mechanical vibratory stimulation.While several original articles provide promising findings,contradictory results on flexibility and underlying mechanisms(e.g.,stiffness),reasonable effect size(ES)pooling remains scarce.With this work we systematically reviewed the available literature to explore the possibility of potentiating flexibility,stiffness,and passive torque adaptations by superimposing mechanical vibration stimulation.Methods:A systematic search of 4 databases(Web of Science,MEDLINE,Scopus,and Cochrane Public Library)was conducted until December2023 to identify studies comparing mechanical vibratory interventions with passive controls or the same intervention without vibration(sham)on range of motion and passive muscle stiffness in acute(immediate effects after single session)and chronic conditions(multiple sessions over a period of time).ES pooling was conducted using robust variance estimation via R to account for multiple study outcomes.Potential moderators of effects were analyzed using meta regression.Results:Overall,65 studies(acute:1162 participants,chronic:788 participants)were included.There was moderate certainty of evidence for acute flexibility(ES=0.71,p<0.001)and stiffness(ES=-0.89,p=0.006)effects of mechanical vibration treatments vs.passive controls without meaningful results against the sham condition(flexibility:ES=0.20,p<0.001;stiffness:ES=-0.19,p=0.076).Similarly,moderate certainty of evidence was found for chronic vibration effects on flexibility(control:ES=0.64,p=0.043;sham:ES=0.65,p<0.001).Lack of studies and large outcome heterogeneity prevented ES pooling for underlying mechanisms.Conclusion:Vibration improved flexibility in acute and chronic interventions compared to the stand-alone intervention,which can possibly be attributed to an accumulated mechanical stimulus through vibration.However,studies on biological mechanisms are needed to explain flexibility and stiffness effects in response to specific vibration modalities and timing.展开更多
BACKGROUND Chronic recurrent multifocal osteomyelitis(CRMO)is a rare autoinflammatory bone disorder primarily affecting children and adolescents.Spinal involvement in CRMO is common and can lead to significant clinica...BACKGROUND Chronic recurrent multifocal osteomyelitis(CRMO)is a rare autoinflammatory bone disorder primarily affecting children and adolescents.Spinal involvement in CRMO is common and can lead to significant clinical features and complications,including severe chronic back pain and spinal deformities with possible spinal cord compression.AIM To summarize the information about vertebral involvement in CRMO patients,including the clinical features,diagnostic approaches,and treatment outcomes.METHODS Sixty-three manuscripts(2005-2025)were found in PubMed,including case reports,retrospective cohort studies,randomized controlled trials,and imaging studies.The focus was on spinal involvement features,diagnostic imaging,treatment strategies,and long-term outcomes in pediatric CRMO patients.RESULTS Spinal involvement in CRMO ranges from 28%to 81%among patients with CRMO.Patients typically present with localized back pain,back stiffness,and,in more severe cases,spinal deformities such as kyphosis or scoliosis.Multifocal lesions are frequently observed,with the thoracic spine being the most commonly affected area.Whole-body magnetic resonance imaging(WBMRI)has emerged as the gold standard for effectively revealing multifocal bone lesions and spinal involvement.However,a bone biopsy is often needed to rule out infection or malignancy.Bisphosphonate treatment showed a high response rate(90.9%),while tumor necrosis factor-alpha(TNF-α)inhibitors were less effective(66.7%).Long-term follow-up is crucial,as relapses and progression of spinal deformities can occur even with treatment.CONCLUSION Spinal involvement in CRMO often leads to chronic pain,vertebral deformities,and rare spinal deformities.Early diagnosis using WBMRI,combined with treatment with bisphosphonates and TNF-αinhibitors,could improve outcomes.展开更多
Purpose: The purpose of the present controlled cross-sectional study was to investigate proximal femur and whole-body bone mineral density(BMD), as well as bone turnover profile, in lifelong trained elderly male footb...Purpose: The purpose of the present controlled cross-sectional study was to investigate proximal femur and whole-body bone mineral density(BMD), as well as bone turnover profile, in lifelong trained elderly male football players and young elite football players compared with untrained age-matched men.Methods: One hundred and forty healthy, non-smoking men participated in the study, including lifelong trained football players(FTE, n = 35)aged 65—80 years, elite football players(FTY, n = 35) aged 18—30 years, as well as untrained age-matched elderly(UE, n = 35) and young(UY,n = 35) men. All participants underwent a regional dual-energy X-ray Absorptiometry(DXA) scan of the proximal femur and a whole-body DXA scan to determine BMD. From a resting blood sample, the bone turnover markers(BTMs) osteocalcin, carboxy-terminal type-1 collagen crosslinks(CTX-1), procollagen type-1 amino-terminal propeptide(P1NP), and sclerostin were measured.Results: FTE had 7.3%—12.9% higher(p < 0.05) BMD of the femoral neck, wards, shaft, and total proximal femur in both legs compared to UE,and 9.3%—9.7% higher(p < 0.05) BMD in femoral trochanter in both legs compared to UY. FTY had 24.3%—37.4% higher(p < 0.001) BMD in all femoral regions and total proximal femur in both legs compared to UY. The whole-body DXA scan confirmed these results, with FTE showing similar whole-body BMD and 7.9% higher(p < 0.05) leg BMD compared to UY, and with FTY having 9.6% higher(p < 0.001) wholebody BMD and 18.2% higher(p < 0.001) leg BMD compared to UY. The plasma concentration of osteocalcin, CTX-1, and P1NP were 29%,53%, and 52% higher(p < 0.01), respectively, in FTY compared to UY.Conclusion: BMD of the proximal femur and whole-body BMD are markedly higher in lifelong trained male football players aged 65—80 years and young elite football players aged 18—30 years compared to age-matched untrained men. Elderly football players even show higher BMD in femoral trochanter and leg BMD than untrained young despite an age difference of 47 years.展开更多
Noise and whole-body vibration measurements were made in a Viking military vehicle to determine the variation that should be expected during repeat measures,the effect of speed(up to 60 km/h in 5 km/h increments),and ...Noise and whole-body vibration measurements were made in a Viking military vehicle to determine the variation that should be expected during repeat measures,the effect of speed(up to 60 km/h in 5 km/h increments),and during travel over different types of terrain(comprising concrete road,gravel track and rough cross-country).Measurements were made at various crew positions(including the driver and commander)in both the front and the rear cabs in the vehicles.Three translational axes of vibration were measured in each seat.Two speeds were investigated over road(35 km/h and 55e60 km/h)and gravel(20 km/h and 35 km/h)surfaces.The effect of varying speed of the vehicle on the measured noise and vibration magnitudes was also investigated.The highest sound pressure level(LAeq)of 104 dB(A)was measured at the commander’s standing position during travel over concrete road at 55 km/h.Higher noise levels occurred for a standing commander compared with when sitting on the seat.A maximum single axis frequency-weighted vibration magnitude of 1.0 m/s^(2) r.m.s.was measured on the driver’s seat during travel over track at 35 km/h.Higher vibration magnitudes occurred during travel over track compared with travel over road.Both noise and vibration exposure of crew within the Viking vehicle increased with increasing speed of the vehicle.展开更多
Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged...Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and disturbances.This article proposes a real-time planning and control framework integrating motion planning and whole-body control.In the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body model.In addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot trajectories.The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically feasible.The performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.展开更多
文摘In this editorial,we comment on the article by Lambert et al,published in the recent issue of the World Journal of Radiology.The focus of the editorial is to explore the advancements in whole-body magnetic resonance imaging(WB-MRI)techno-logy,its current clinical applications,and the challenges that must be addressed to fully realize its potential in oncological imaging.WB-MRI has emerged as a pivotal tool in oncological imaging,offering comprehensive disease assessment without ionizing radiation.Its applications span the detection of bone metastases,evaluation of hematologic malignancies,and staging of a wide range of cancers,including lymphoma,prostate,and breast cancers.Advanced techniques such as diffusion-weighted imaging have enhanced its diagnostic performance by pro-viding superior lesion-to-background contrast and quantitative metrics.Despite its diagnostic strengths,WB-MRI faces challenges in standardization,patient acceptance,and integration into clinical workflows.Variability in acquisition pro-tocols,hardware differences,and patient-related factors,such as anxiety and motion artifacts,have limited widespread adoption.Emerging guidelines like MET-RADS-P and ONCO-RADS aim to address these issues by promoting stan-dardized protocols tailored to specific clinical needs.This editorial explores the advancements in WB-MRI technology,its current clinical applications,and the barriers that must be overcome to maximize its utility.By addressing these cha-llenges and embracing standardization,WB-MRI holds the potential to redefine the landscape of oncological imaging,aligning diagnostic precision with modern treatment goals of reducing long-term patient risk.
基金supported in part by the National Natural Science Foundation of China(62133013,U22A2060)Dreams Foundation of Jianghuai Advance Technology Center(2023-ZM01Z024)。
文摘In this paper,a framework of model predictive optimization and control for quadruped whole-body locomotion is presented,which enables dynamic balance and minimizes the control effort.First,we propose a hierarchical control scheme consisting of two modules.The first layer is to find an optimal ground reaction force(GRF)by employing inner model predictive control(MPC)along a full motor gait cycle,ensuring the minimal energy consumption of the system.Based on the output GRF of inner layer,the second layer is designed to prioritize tasks for motor execution sequentially using an outer model predictive control.In inner MPC,an objective function about GRF is designed by using a model with relatively long time horizons.Then a neural network solver is used to obtain the optimal GRF by minimizing the objective function.By using a two-layered MPC architecture,we design a hybrid motion/force controller to handle the impedance of leg joints and robotic uncertainties including external perturbation.Finally,we perform extensive experiments with a quadruped robot,including the crawl and trotting gaits,to verify the proposed control framework.
基金The National Natural Science Foundation of China(No.50678030)
文摘To reveal the principles of human thermal responses and find out the effects of body parts on whole-body thermal sensation,through a subjective survey,experimental investigations on human responses are carried out when a single body part is thermally stimulated.Cooling airflow is sent to seven body parts,respectively.Totally 94 samples are tested.To eliminate the obvious multicollinearity of thermal sensation among different body parts,the principal component regression approach is adopted to obtain the principal components for the body parts under different experimental conditions.Through regression and analysis of principal components,the weighting factors of the seven body parts are obtained.A predictive model on whole-body thermal sensation is obtained based on the weighting factors.The results show that the different characteristics of trunk and limbs are clearly seen.The weighting factors of local thermal sensation are integrated values,and there is little difference among values of different body parts.
文摘This study was carried out to determine if exposure to hot environmental temperatures had a direct, detrimental effect on sperm quality. For this the effect of whole-body heat exposure on epididymal spermatozoa of laboratory mice was investigated. C57BL/6 mice （n = 7） were housed in a microclimate chamber at 37℃-38℃ for 8 h per day for three consecutive days, while control mice （n = 7） were kept at 23℃-24℃. Cauda epididymal spermatozoa were obtained 16 h after the last heat treatment. The results showed that sperm numbers were similar in the two groups （P = 0.23）, but after heat treatment, a significant reduction in the percentage of motile sperm was present （P 〈 0.0001）. Membrane changes of the spermatozoa were investigated by staining with phycoerythrin （PE）- conjugated Annexin V, which detects exteriorization of phosphotidylserine from the inner to the outer leaflet of the sperm plasma membrane, and 7-aminoactinomycin D （7-AAD）, which binds to the sperm nucleus when the plasma membrane is damaged. The percentage of spermatozoa showing positive staining with Annexin V-PE or 7-AAD or both, was significantly higher （P 〈 0.05） in heat-exposed mice compared with controls. These results show that whole-body heat exposure to 37℃-38℃ induces membrane changes in the epididymal spermatozoa of mice, which may lead to apoptosis.
基金supported by a grant from the National Health and Family Planning Commission of China(No.201402011)
文摘Objective: We investigated the correlation between the number of circulating tumor cells(CTCs) and wholebody metabolic tumor volume(WBMTV) measured by 18 F-fluorodeoxyglucose(FDG) positron emission tomography/computed tomography(PET/CT).The aim was to evaluate the value of the incorporation of CTC number and WBMTV in the prognostic prediction of stage III small-cell lung cancer(SCLC).Methods: One hundred and twenty-nine patients were enrolled in this study.All patients were treated with four cycles of a platinum-based regimen and concurrent chest irradiation,followed by prophylactic cranial irradiation.Blood samples for CTC analysis were obtained from 112 patients before the initiation of chemotherapy(as a baseline),after cycle 1 and after cycle 4.CTCs were measured using the CELLSEARCH? system.The patients underwent pretreatment FDG PET/CT WBMTV,which included all malignant lesions.The Spearman rank test was used to determine the correlation among CTC counts,WBMTV and disease stage.Overall survival(OS) and progression-free survival(PFS) curves were produced using the Kaplan-Meier method,and survival differences between groups were assessed by the log-rank test.Results: The number of CTCs at baseline did not correlate with WBMTV before the initiation of therapy(P=0.241).The number of CTCs at baseline and the WBMTV before the initiation of therapy were independent relevant factors for PFS and OS.The subgroup analysis(Group A: CTC count >19.5 and a WBMTV >266.5cm~3;Group B: CTC count >19.5 and a WBMTV ≤266.5cm~3; Group C: CTC count ≤19.5 and a WBMTV >266.5cm~3;Group D: CTC count ≤19.5 and a WBMTV ≤266.5cm~3) showed that the differences were statistically significant in the median PFS(Group A vs.D,P<0.001; Group B vs.D,P=0.018; Group C vs.D,P=0.029) and in the median OS(Group A vs.D,P<0.001; Group B vs.D,P=0.012).Conclusions: CTC number and WBMTV are related to progression and death in patients with SCLC.The incorporation of CTC number and WBMTV scans can provide a detailed prognostic prediction for SCLC.
文摘Objective To assess the reproducibility of whole-body diffusion weighted imaging(WB-DWI) technique in healthy volunteers under normal breathing with background body signal suppression.Methods WB-DWI was performed on 32 healthy volunteers twice within two-week period using short TI inversion-recovery diffusion-weighted echo-planar imaging sequence and built-in body coil.The volunteers were scanned across six stations continuously covering the entire body from the head to the feet under normal breathing.The bone apparent diffusion coefficient(ADC) and exponential ADC(eADC) of regions of interest(ROIs) were measured.We analyzed correlation of the results using paired-t-test to assess the reproducibility of the WB-DWI technique.Results We were successful in collecting and analyzing data of 64 WB-DWI images.There was no significant difference in bone ADC and eADC of 824 ROIs between the paired observers and paired scans(P>0.05).Most of the images from all stations were of diagnostic quality.Conclusion The measurements of bone ADC and eADC have good reproducibility.WB-DWI technique under normal breathing with background body signal suppression is adequate.
基金This work was supported in part by the National Natural Science Foundation of China under Grant 62073041 and 61973039in part by the Beijing Municipal Science and Technology Project under Grant Z221100000222013in part by the“111”Project under Grant B08043.
文摘Whole-body control is beneficial for improving the disturbance adaptation of humanoid robots,since it can simultaneously optimize desired joint torque,joint acceleration,and contact force while considering whole-body dynamics and other physical limits.However,the lack of torque feedback information prevents the position-controlled humanoids from utilizing whole-body control directly,because it enhances the difficulty of guaranteeing desired contact force which is important for maintaining stability.In this paper,a whole-body control that integrates task-space inverse dynamics and variable contact force control is proposed for position-controlled humanoids to enhance the robot’s adaptability toward the unknown disturbance.The task-space inverse dynamics generates the desired joint acceleration and contact force with the consideration of whole-body dynamics and other limits to track the references.The variable contact force control modifies references related to Center of Mass(CoM)and end effectors to ensure reasonable contact force tracking performance,thereby assuring good tracking performance of CoM and momentum to maintain robot stability.Simulations and experiments of balancing and walking under unknown disturbance have been successfully conducted on a position-controlled humanoid robot,BHR-7P3,with the proposed method.
文摘To investigate the effect of aerobic exercise combined with whole-body vibration (WBV) training on metabolic syndrome risk, and inflammatory markers, and to compare its effects on arterial stiffness and several blood parameters related to metabolic syndrome with those of aerobic training alone. Thirty healthy participants were divided into 2 groups matched for age and body mass index (BMI). Fifteen subjects were assigned to the WBV group (WBV + aerobic training) and the other 15 to the control group (aerobic training only). All participants performed a treadmill exercise 3 days/week for 4 weeks, for 50 min after 30 min rest period. Exercise was performed at a heart rate (HR) corresponding to 60% of the HR at each individual’s maximum oxygen uptake (VO2max). Body weight and BMI after training were significantly lower than those before training in the WBV group (P < 0.01). Concerning arterial stiffness, the pulse-wave velocity after training was significantly lower than that before training in the WBV group (1048.7 ± 105.6 vs. 1008.4 ± 101.1 cm/s, P < 0.05). Meanwhile, the VO2max after training was significantly higher than that before training in the WBV group (47.7 ± 12.8 vs. 51.4 ± 14.1 mL·min-1·kg-1, P < 0.01). However, no significant differences were observed in any parameters before and after training in the control group. Our results suggest that aerobic exercise combined with WBV training may be effective in reducing arterial stiffness and improving cardiorespiratory fitness than aerobic training alone.
文摘The 124Sb in vivo exposed person is measured with whole-body counter. Thesolid point source method is applied to calibrate the counter. The minimum detectable activity of this system for 124Sb is 32 Bq.
文摘It is capable of giving the initial intakes of radionuclides and the assessment quantities used in radiation protection according to its measured results of radionuclides in vivo. It is accomplished by providing the software of controlling, interface and internal dose estimation programs to the original iron cabin shielding whole-body counter. The preliminary application shows that its data processing is rapid and correct, and can meet the requirement of rapid internal radioactive contamination monitoring and diagnosing in case of lots of internal contamination subjects happened innuclear accident.
文摘Objective: The research was carried out to test the influence of adaptation to passive whole body hyperthermia (PH) on physical capacity and cardio-respiratory efficiency in men-amateur athletes under the testing load of increasing intensity in laboratory thermal-neutral conditions. Twenty-eight amateur athletes (males, mean age 20.2 ± 2.1 y.o., game-based kinds of sports—football, handball, training experience—4 - 7 years) were randomized into two groups: experimental (14 people), who underwent 24 PH procedures, and control (14 people), who underwent 24 light training sessions in interval regime on elliptical gym apparatus. Results: Adaptation to PH was accompanied by moderate increase of aerobic efficiency and cardio-respiratory endurance in amateur athletes under thermally neutral conditions, while interval training in the control group showed no reliable changes in efficiency. Conclusion: A 10-week course of PH procedures leads to the increase of peak oxygen consumption, oxygen consumption at the level of anaerobic threshold, and heart efficiency (enhancement of oxygen pulse values), as well as efficiency of pulmonary ventilation and bronchial conductance, which we consider to be cross effects of adaptation to passive whole-body repetitive hyperthermia.
基金supported by the European Research Council′s(ERC)starting grant Ergo-Lean(No.GA 850932)funding provided by The Chinese University of Hong Kong,China.
文摘Reactive planning and control capacity for collaborative robots is essential when the tasks change online in an unstructured environment.This is more difficult for collaborative mobile manipulators(CMM)due to high redundancies.To this end,this paper proposed a reactive whole-body locomotion-integrated manipulation approach based on combined learning and optimization.First,human demonstrations are collected,where the wrist and pelvis movements are treated as whole-body trajectories,mapping to the end-effector(EE)and the mobile base(MB)of CMM,respectively.A time-input kernelized movement primitive(T-KMP)learns the whole-body trajectory,and a multi-dimensional kernelized movement primitive(M-KMP)learns the spatial relationship between the MB and EE pose.According to task changes,the T-KMP adapts the learned trajectories online by inserting the new desired point predicted by MKMP.Then,the updated reference trajectories are sent to a hierarchical quadratic programming(HQP)controller,where the EE and the MB trajectories tracking are set as the first and second priority tasks,generating the feasible and optimal joint level commands.An ablation simulation experiment with CMM of the HQP is conducted to show the necessity of MB trajectory tracking in mimicking human whole-body motion behavior.Finally,the tasks of the reactive pick-and-place and reactive reaching were undertaken,where the target object was randomly moved,even out of the region of demonstrations.The results showed that the proposed approach can successfully transfer and adapt the human whole-body loco-manipulation skills to CMM online with task changes.
文摘Objective:The primary aim of this study was to assess the efficacy of whole-body diffusion-weighted imaging(WB-DWI)in detecting tumour recurrence and metastasis of gastrointestinal cancers by comparison with 18F-2-fluoro-2-deoxy-Dglucose positron emission tomography or computed tomography(18F-FDG-PET/CT).A secondary aim was to evaluate the change of apparent diffusion coefficient(ADC)value between metastases and normal tissues.Methods:Twenty-eight previously confirmed gastrointestinal cancer patients with suspected tumour recurrence or metastasis were recruited.WB-DWI and PET/CT images were evaluated by two radiologists and a nuclear medicine physician.Agreement between WB-DWI and PET/CT for detective efficacy was compared using kappa statistics.Additionally,diagnostic accuracy,sensitivity,specificity,negative predictive value(NPV),and positive predictive value(PPV)were also statistically analysed.ADC values between metastatic and normal tissues were compared.Results:There was no statistically significant difference(P>0.05)in the overall diagnostic performances of PET/CT(accuracy 98.9%;sensitivity 95.2%;specificity 99.8%;PPV 98.9%;NPV 98.9%)and WB-DWI(accuracy 95.9%;sensitivity 81.7%;specificity 99.1%;PPV 95.0%;NPV 96.1%).WB-DWI showed agreement with PET/CT(j=0.877)for detecting recurrence and distant metastases.A statistically significant difference in ADC value was observed between tissues of normal healthy volunteers and metastases in lymph nodes,liver and bones(P<0.05).Conclusions:WB-DWI is reliable in detecting tumour recurrence and metastasis of colorectal cancer and offers the same diagnostic performance as 18F-PET/CT without ionizing radiation.The quantitative value of ADC provides extra information to determine cancer metastasis.
基金Science and Technology Innovation 2030-Key Project,Grant/Award Number:2021ZD0201402。
文摘Squatting is a basic movement of bipedal robots,which is essential in robotic actions like jumping or picking up objects.Due to the intrinsic complex dynamics of bipedal robots,perfect squatting motion requires high-performance motion planning and control algorithms.The standard academic solution combines model predictive control(MPC)with whole-body control(WBC),which is usually computationally expensive and difficult to implement on practical robots with limited computing resources.The real-time kinematic prediction(RKP)method is proposed,which considers upcoming reference motion trajectories and combines it with quadratic programming(QP)-based WBC.Since the WBC handles the full robot dynamics and various constraints,the RKP only needs to adopt the linear kinematics in the robot's task space and to softly constrain the desired accelerations.Then,the computational cost of derived closed-form RKP is greatly reduced.The RKP method is verified in simulation on a heavy-loaded bipedal robot.The robot makes rapid and large-amplitude squatting motions,which require close-to-limit torque outputs.Compared with the conventional QP-based WBC method,the proposed method exhibits high adaptability to rough planning,which implies much less user interference in the robot's motion planning.Furthermore,like the MPC,the proposed method can prepare for upcoming motions in advance but requires much less computation time.
基金supported by the Russian Science Foundation(Grant No.21-74-30004(clearance)and 22-14-00245(immunostainings)).
文摘Optical clearing of invertebrates,the number of species of which is 20 times greater than that of vertebrates,is of fundamental and applied interest for neuroscience in general.Herein,the optical clearing of invertebrates to identify their morphology and neurostructure remains unrealized as of yet.Here,we report on fast(from a few seconds to minutes)and uniform whole-body optical clearing of invertebrates(bivalves,nemertines,annelids,and anomura)of any age and thickness(up to 2 cm)possessing complicated structures and integuments.We developed the protocol unifying dimethyl sulfoxide(DMSO)-based immunostaining of the animals followed by their optical clearing with benzyl alcohol/benzyl benzoate(BABB).Confocal microspectroscopy revealed that the protocol provides an increase of the fluorescence signal by 2 orders of magnitude and decrease of the light scattering by 2 orders of magnitude,thereby accelerating the confocal bioimaging of the whole body.Moreover,by tracking the optical clearing over time with 0.3 s resolution,we revealed that the clearing process is described by the Gompertz growth function,allowing us to determine the physical mechanism of the clearing and its optical parameters.Thereby,we were able to identify in detail and to describe previously unknown neurostructures of different invertebrate animals,paving the way to discovery in neuroscience.
文摘Background:Due to its high relevance in sports and rehabilitation,the exploration of interventions to further optimize flexibility becomes paramount.While stretching might be the most common way to enhance range of motion,these increases could be optimized by imposing an additional activation of the muscle,such as mechanical vibratory stimulation.While several original articles provide promising findings,contradictory results on flexibility and underlying mechanisms(e.g.,stiffness),reasonable effect size(ES)pooling remains scarce.With this work we systematically reviewed the available literature to explore the possibility of potentiating flexibility,stiffness,and passive torque adaptations by superimposing mechanical vibration stimulation.Methods:A systematic search of 4 databases(Web of Science,MEDLINE,Scopus,and Cochrane Public Library)was conducted until December2023 to identify studies comparing mechanical vibratory interventions with passive controls or the same intervention without vibration(sham)on range of motion and passive muscle stiffness in acute(immediate effects after single session)and chronic conditions(multiple sessions over a period of time).ES pooling was conducted using robust variance estimation via R to account for multiple study outcomes.Potential moderators of effects were analyzed using meta regression.Results:Overall,65 studies(acute:1162 participants,chronic:788 participants)were included.There was moderate certainty of evidence for acute flexibility(ES=0.71,p<0.001)and stiffness(ES=-0.89,p=0.006)effects of mechanical vibration treatments vs.passive controls without meaningful results against the sham condition(flexibility:ES=0.20,p<0.001;stiffness:ES=-0.19,p=0.076).Similarly,moderate certainty of evidence was found for chronic vibration effects on flexibility(control:ES=0.64,p=0.043;sham:ES=0.65,p<0.001).Lack of studies and large outcome heterogeneity prevented ES pooling for underlying mechanisms.Conclusion:Vibration improved flexibility in acute and chronic interventions compared to the stand-alone intervention,which can possibly be attributed to an accumulated mechanical stimulus through vibration.However,studies on biological mechanisms are needed to explain flexibility and stiffness effects in response to specific vibration modalities and timing.
文摘BACKGROUND Chronic recurrent multifocal osteomyelitis(CRMO)is a rare autoinflammatory bone disorder primarily affecting children and adolescents.Spinal involvement in CRMO is common and can lead to significant clinical features and complications,including severe chronic back pain and spinal deformities with possible spinal cord compression.AIM To summarize the information about vertebral involvement in CRMO patients,including the clinical features,diagnostic approaches,and treatment outcomes.METHODS Sixty-three manuscripts(2005-2025)were found in PubMed,including case reports,retrospective cohort studies,randomized controlled trials,and imaging studies.The focus was on spinal involvement features,diagnostic imaging,treatment strategies,and long-term outcomes in pediatric CRMO patients.RESULTS Spinal involvement in CRMO ranges from 28%to 81%among patients with CRMO.Patients typically present with localized back pain,back stiffness,and,in more severe cases,spinal deformities such as kyphosis or scoliosis.Multifocal lesions are frequently observed,with the thoracic spine being the most commonly affected area.Whole-body magnetic resonance imaging(WBMRI)has emerged as the gold standard for effectively revealing multifocal bone lesions and spinal involvement.However,a bone biopsy is often needed to rule out infection or malignancy.Bisphosphonate treatment showed a high response rate(90.9%),while tumor necrosis factor-alpha(TNF-α)inhibitors were less effective(66.7%).Long-term follow-up is crucial,as relapses and progression of spinal deformities can occur even with treatment.CONCLUSION Spinal involvement in CRMO often leads to chronic pain,vertebral deformities,and rare spinal deformities.Early diagnosis using WBMRI,combined with treatment with bisphosphonates and TNF-αinhibitors,could improve outcomes.
文摘Purpose: The purpose of the present controlled cross-sectional study was to investigate proximal femur and whole-body bone mineral density(BMD), as well as bone turnover profile, in lifelong trained elderly male football players and young elite football players compared with untrained age-matched men.Methods: One hundred and forty healthy, non-smoking men participated in the study, including lifelong trained football players(FTE, n = 35)aged 65—80 years, elite football players(FTY, n = 35) aged 18—30 years, as well as untrained age-matched elderly(UE, n = 35) and young(UY,n = 35) men. All participants underwent a regional dual-energy X-ray Absorptiometry(DXA) scan of the proximal femur and a whole-body DXA scan to determine BMD. From a resting blood sample, the bone turnover markers(BTMs) osteocalcin, carboxy-terminal type-1 collagen crosslinks(CTX-1), procollagen type-1 amino-terminal propeptide(P1NP), and sclerostin were measured.Results: FTE had 7.3%—12.9% higher(p < 0.05) BMD of the femoral neck, wards, shaft, and total proximal femur in both legs compared to UE,and 9.3%—9.7% higher(p < 0.05) BMD in femoral trochanter in both legs compared to UY. FTY had 24.3%—37.4% higher(p < 0.001) BMD in all femoral regions and total proximal femur in both legs compared to UY. The whole-body DXA scan confirmed these results, with FTE showing similar whole-body BMD and 7.9% higher(p < 0.05) leg BMD compared to UY, and with FTY having 9.6% higher(p < 0.001) wholebody BMD and 18.2% higher(p < 0.001) leg BMD compared to UY. The plasma concentration of osteocalcin, CTX-1, and P1NP were 29%,53%, and 52% higher(p < 0.01), respectively, in FTY compared to UY.Conclusion: BMD of the proximal femur and whole-body BMD are markedly higher in lifelong trained male football players aged 65—80 years and young elite football players aged 18—30 years compared to age-matched untrained men. Elderly football players even show higher BMD in femoral trochanter and leg BMD than untrained young despite an age difference of 47 years.
文摘Noise and whole-body vibration measurements were made in a Viking military vehicle to determine the variation that should be expected during repeat measures,the effect of speed(up to 60 km/h in 5 km/h increments),and during travel over different types of terrain(comprising concrete road,gravel track and rough cross-country).Measurements were made at various crew positions(including the driver and commander)in both the front and the rear cabs in the vehicles.Three translational axes of vibration were measured in each seat.Two speeds were investigated over road(35 km/h and 55e60 km/h)and gravel(20 km/h and 35 km/h)surfaces.The effect of varying speed of the vehicle on the measured noise and vibration magnitudes was also investigated.The highest sound pressure level(LAeq)of 104 dB(A)was measured at the commander’s standing position during travel over concrete road at 55 km/h.Higher noise levels occurred for a standing commander compared with when sitting on the seat.A maximum single axis frequency-weighted vibration magnitude of 1.0 m/s^(2) r.m.s.was measured on the driver’s seat during travel over track at 35 km/h.Higher vibration magnitudes occurred during travel over track compared with travel over road.Both noise and vibration exposure of crew within the Viking vehicle increased with increasing speed of the vehicle.
基金supported by the China Scholarship Council under Grant[2020]06120186the Engineering and Physical Sciences Research Council[Grant number EP/V026801/2]+1 种基金the Advanced Machinery and Productivity Institute[Innovate UK project number 84646]the National Natural Science Foundation of China under Grant 52175011.
文摘Legged locomotion poses significant challenges due to its nonlinear,underactuated and hybrid dynamic properties.These challenges are exacerbated by the high-speed motion and presence of aerial phases in dynamic legged locomotion,which highlights the requirement for online planning based on current states to cope with uncertainty and disturbances.This article proposes a real-time planning and control framework integrating motion planning and whole-body control.In the framework,the designed motion planner allows a wider body rotation range and fast reactive behaviors based on the 3-D single rigid body model.In addition,the combination of a Bézier curve based trajectory interpolator and a heuristic-based foothold planner helps generate continuous and smooth foot trajectories.The developed whole-body controller uses hierarchical quadratic optimization coupled with the full system dynamics,which ensures tasks are prioritized based on importance and joint commands are physically feasible.The performance of the framework is successfully validated in experiments with a torque-controlled quadrupedal robot for generating dynamic motions.
