Feedforward-Feedback Hybrid Control for Magnetic Shape Memory Alloy Actuators Based on the Krasnosel'skii-Pokrovskii Model

As a new type of smart material, magnetic shape memory alloy has the advantages of a fast response frequency and outstanding strain capability in the field of microdrive and microposition actuators. The hysteresis nonlinearity in magnetic shape memory alloy actuators, however, limits system performance and further application. Here we propose a feedforward-feedback hybrid control method to improve control precision and mitigate the effects of the hysteresis nonlinearity of magnetic shape memory alloy actuators. First, hysteresis nonlinearity compensation for the magnetic shape memory alloy actuator is implemented by establishing a feedforward controller which is an inverse hysteresis model based on Krasnosel''skii-Pokrovskii operator. Secondly, the paper employs the classical Proportion Integration Differentiation feedback control with feedforward control to comprise the hybrid control system, and for further enhancing the adaptive performance of the system and improving the control accuracy, the Radial Basis Function neural network self-tuning Proportion Integration Differentiation feedback control replaces the classical Proportion Integration Differentiation feedback control. Utilizing self-learning ability of the Radial Basis Function neural network obtains Jacobian information of magnetic shape memory alloy actuator for the on-line adjustment of parameters in Proportion Integration Differentiation controller. Finally, simulation results show that the hybrid control method proposed in this paper can greatly improve the control precision of magnetic shape memory alloy actuator and the maximum tracking error is reduced from 1.1% in the open-loop system to 0.43% in the hybrid control system.     

Novel biodegradable shape memory material based on partial inclusion complex formation between alpha-cyclodextrin and poly(epsilon-caprolactone)

A novel shape memory material was prepared based on the formation of inclusion complexes between alpha-cyclodextrin (alpha-CD) and poly(epsilon-caprolactone) (PCL); the PCL-alpha-CD inclusion crystallites serve as a fixing phase, while free PCL crystallites serve as a reversible phase. The characteristics of the material were investigated and a mechanism for the shape memory behavior was proposed. This material showed good shape memory properties, with the recovery ratio exceeding 90% and the recovery time being less than 6 s at 90 degrees C. This PCL-alpha-CD partial inclusion complex lost about 50% (47.4 +/- 4.4%) weight within 45 days in presence of lipase, indicating its degradability. The shape memory and biodegradation properties of the well-designed polymer-alpha-CD complexes indicate great promise for this novel shape memory material.     

Use of the vascular closure staple clip applier for microvascular anastomosis in free-flap surgery

We report our initial experience using the vascular closure staple clip applier (a nonpenetrating titanium clip applied in an interrupted, everting fashion) for microvascular anastomosis in free-flap surgery. In total, 153 anastomoses were performed in 87 free flaps (174 potential anastomoses) using the vascular closure stapler between October of 1997 and June of 1999. In 66 flaps, both the arterial and venous anastomosis were performed with the clip applier, whereas in 21 flaps only the venous anastomosis was performed using the clips. A total of 146 anastomoses were performed in an end-to-end fashion, and seven were performed end-to-side. Of the 87 flaps there were 53 TRAM flaps, seven bilateral TRAM, five latissimus dorsi, four gastrocnemius, three rectus abdominis, two radial forearm fibula, and four Rubens fat-pad flaps. Seventy flaps were used for breast reconstruction, seven flaps for lower limb reconstruction, four flaps for head and neck reconstruction, and six flaps for chest wall/trunk reconstruction. There were no postoperative anastomotic complications of bleeding, thrombosis, or need for revision (100 percent patency rate), with a significantly reduced time for completion of anastomoses. The clip applier is a safe, reliable method for performing microvascular anastomoses, allowing reduced operating time and possible cost savings in free-flap surgery.     

适用于磁压榨吻合的平移钳的设计

目的:提出了磁压榨吻合操作中可用于磁体夹持固定的平移钳的结构设计方案。方法:分析本团队多种原创性磁压榨吻合技术操作中存在的缺陷和不足,认为目前磁压榨吻合操作中依靠术者徒手控制或利用现有血管钳对磁体进行夹持和固定,是造成操作中诸多不便的主要原因。从力学角度分析了常规血管钳夹持磁体易导致磁体滑脱的原因,指出设计加工磁吻合专用钳是解决目前磁吻合操作不便的有效措施。在此基础上提出了利用平移钳来固定磁体的结构设计方案,并从力学角度进行了受力分析,设计出了用于磁压榨吻合操作中磁体夹持固定的平移钳。结果:平移钳的结构设计能够稳定夹持磁体,避免磁体滑脱;同时,借助齿轮传动结构控制钳头的平行移动能够更好地控制磁体的精准对吸和分离,可进一步简化操作,避免副损伤,节省手术操作时间。结论:平移钳能满足多种形状及大小的磁体的夹持和固定,可有效控制磁体的吸合与分离,极大地方便操作。该平移钳加工简单,使用方便,有助于推动磁压榨吻合技术在临床广泛开展。     

Simulation of mechanical behavior of temperature-responsive braided stents made of shape memory polyurethanes

Polymeric stents can be considered as an alternative to metallic stents thanks to their lessened incidence of restenosis and controlled deployment. The purpose of this study was to investigate the feasibility of developing a temperature-responsive braided stent using shape memory polyurethane (SMPU) through finite element analysis. It was assumed that braided stents were manufactured using SMPU fibers. The mechanical behavior of SMPU fibers was modeled using a constitutive equation describing their one-dimensional thermal-induced shape memory behavior. Then, the braided stents were analyzed to investigate their mechanical behavior using finite element analysis software, in which the constitutive equation was implemented through a user material subroutine. The diameter of the SMPU fibers and braiding angle were chosen as the design parameters and their values were adjusted to ensure that the mechanical properties of the braided polymer stents match those of metallic stents. Finally, the deployment process of the braided stents inside narrowed vessels was simulated, showing that the SMPU stents can be comfortably implanted while minimizing the overpressure onto the vessel walls, due to their thermo-responsive shape memory behavior.     

Watchband‐Like Supercapacitors with Body Temperature Inducible Shape Memory Ability

Smart watches have gained worldwide popularity because they can integrate diverse functions all in one. However, their energy storage devices currently being used are placed in the watches, and this design seriously limited the energy support ability and the future boost space. Herein, for the first time, a strategy to integrate energy storage device with watchband is put forward, which is realized by the preparation of watchband‐like solid‐state supercapacitors using graphene coated on TiNi alloy flake as the negative electrode, ultrathin MnO₂/Ni film as the positive electrode, and different gel electrolytes as the separator. Statical and dynamical bending tests both verify that the as‐fabricated devices have excellent electrochemical performance reliability during bending process. The devices also exhibit the distinctive shape memory ability owing to the use of TiNi shape memory alloy. As a state of the art, such a watchband‐like supercapacitor is connected with an electronic watch to show its potential application. Interestingly, this “watchband” can not only support power to the watch, but also can maintain the shape memory property which can be automatically induced by touching it with the human wrist. In addition, it exhibits excellent biocompatibility. Thus, the smart supercapacitor is qualified for a promising candidate for the next‐generation smart watches.     

Sutural expansion osteogenesis for management of the bony-tissue defect in cleft palate repair: experimental studies in dogs

A series of experimental studies on sutural expansion osteogenesis for management of the bony-tissue defect in cleft palate repair was performed between 1995 and 1997. Forty-five young dogs in weaning were used in four experiments that were divided into two parts. Part I probed the possibility of closing the surgically constructed hard palate cleft not only with mucoperiosteum but also with bony tissue by the technique of sutural expansion of lateral palatine sutures. Part II explored the possibility of pushing the palatine bone posteriorly and advancing the maxillary segment anteriorly by transverse palatine suture expansion. In Part I, a ring-shaped suture expander made of nickel-titanium shape memory alloy was used to expand the lateral suture of palatine bones. Expansion forces of 200 G, 360 G, and 480 G were used for the first experiment. A force of 360 G was chosen for two other experiments; this force is equivalent to the distraction rate of 0.5 mm per day of a jackscrew device. The ring-shaped suture expander was opened and its two feet were fixed in the medial sides of residual horizontal plates of the palatine bones immediately after a hard palate cleft was constructed surgically under endotracheal general anesthesia. At the eighth postoperative day, under the traction of 360 G, the two sides of the 8-mm-wide hard palate cleft were brought into contact with each other, and 8 or 9 days later the closed palatal cleft had healed completely with mucosal tissue. This experiment was repeated twice and yielded the same results. Sutural expansion osteogenesis was evaluated physically, fluorescently, histologically, and ultrastructurally to examine the deposition of the regenerated bone in the suture areas. Additionally, the influence of sutural expansion osteogenesis of the palatal bones on other facial bones was also studied cephalometrically. In Part II, a bow-shaped suture expander made of nickel-titanium shape memory alloy was applied to expand either the left or the right side of the transverse palatal suture of each of the experimental dogs. At the postoperative week 4 to 6, the maxillary segment was moved forward 5 to 6 mm on the expanded side, and the palatal bone was pushed backward 5 mm. The changes of bone position were assessed radiographically and cephalometrically. Tissue response of circum-maxillary sutures was examined histologically. These experiments led to the following conclusions: (1) Bony closure of the surgically constructed hard palate cleft with a ring-shaped suture expander made of nickel-titanium shape memory alloy is possible. (2) Anterior advancement of the maxillary segment and posterior lengthening of the hard palate using a bow-shaped suture expander made of nickel-titanium shape memory alloy applied at the palatomaxillary suture (transverse palatal suture) of the hard palate are also possible. Thus, in humans, a new approach for cleft palate repair may be a worthwhile investigation.     

A Biomimetic Climbing Robot Based on the Gecko

1 Introduction The locomotion, sensing, navigation, and adapta- tion capabilities in animals have long inspired humans to emulate them in robots. The purpose of this study was to determine the potential of climbing robots for both ter- restrial and extra-terrestrial explorations. Robots similar to their biological counterparts require extensive sys- tems for power, locomotion, and actuation, with com- putation, sensing, and autonomy. From animal research and current technologies, the possibili…     

Design of Adjustable Frame-Type Prosthetic Socket for Lower Limb

ObjectivesProsthetic socket is the contact interface between the stump and the prosthesis, and also the interface component that transmits forces from the stump to the prosthesis distal. The current prosthetic socket fit is a major factor affecting rehabilitation, especially with the stump volume fluctuations. The main goal of this article is to design an adjustable frame-type prosthetic socket with constant force to adapt to the stump volume fluctuations.Materials and methodsIn this paper, an adjustable frame-type prosthetic socket with constant force is designed. The constant force device is designed based on the superelasticity of the shape memory alloy for maintaining constant stump-socket interface stress and automatically adapting to certain volume fluctuations. The constant force extrusion performance of this prosthetic socket was verified and optimized by finite element analysis.ResultsThe results suggest that the constant force unit may maintain constant interface stress. According to the optimization results, the shape memory alloy dimensional parameters could be selected according to different requirements.ConclusionThe adjustable frame-type prosthetic socket allows the user to adjust the socket volume through the cable system and has a large heat dissipation area. The constant force unit maintains constant interface stress and automatically adapts to stump volume fluctuations.     

Thermal and hydrodynamic modelling of active catheters for interventional radiology

Interventional radiologists desire to improve their operating tools such as catheters. Active catheters in which the tip is moved using shape memory alloy actuators activated using the Joule effect present a promising approach for easier navigation in the small vessels. However, the increase in temperature caused by this Joule effect must be controlled in order to prevent damage to blood cells and tissues. This paper is devoted to the simulation and experimental validation of a fluid-thermal model of an active catheter prototype. Comparisons between computer-predicted and experimentally measured temperatures are presented for both experiments in air and water at 37°C. Good agreement between the computational and experimental results is found, demonstrating the validity of the developed computer model. These comparisons enable us to highlight some important issues in the modelling process and to determine the optimal current for the activation of the catheter.     

Thermal and hydrodynamic modelling of active catheters for interventional radiology

Interventional radiologists desire to improve their operating tools such as catheters. Active catheters in which the tip is moved using shape memory alloy actuators activated using the Joule effect present a promising approach for easier navigation in the small vessels. However, the increase in temperature caused by this Joule effect must be controlled in order to prevent damage to blood cells and tissues. This paper is devoted to the simulation and experimental validation of a fluid-thermal model of an active catheter prototype. Comparisons between computer-predicted and experimentally measured temperatures are presented for both experiments in air and water at 37°C. Good agreement between the computational and experimental results is found, demonstrating the validity of the developed computer model. These comparisons enable us to highlight some important issues in the modelling process and to determine the optimal current for the activation of the catheter.     

Colonic healing after portal ischemia and reperfusion: an experimental study with oxidative stress biomarkers

This experimental study aimed to evaluate colon healing after portal ischemia followed by reperfusion. Seventy male Wistar rats randomly distributed in four groups were used: Group 1, colonic anastomosis (n = 20); Group 2, portal ischemia-reperfusion (n = 20); Group 3, colonic anastomosis and portal ischemia-reperfusion (n = 20); and Group 4, control (n = 10). In the postoperative period, these rats were re-allocated into subgroups and lipid peroxidation and protein oxidation plasma levels were evaluated on days 1 and 5 by thiobarbituric acid reactive substances (TBARS) and slot-blotting assays, respectively. A segment of the right colon was also removed for collagen analysis. Both malondialdehyde (MDA) and protein carbonyl levels (oxidative markers of lipids and proteins) presented a significant increase after reperfusion in Group 3 on days 1 (P < 0.002) and 5 (P < 0.0001). In this same group, an extensive inflammatory process showing decreased fibroplasia was observed, with deficiency in collagen deposition on both sides of the anastomosis edges. Taken together, these results indicate that portal congestion followed by reperfusion induces an oxidative stress, which impaired the mechanism of colon anastomotic healing.     

Electrochemical and cytocompatibility assessment of NiTiNOL memory shape alloy for orthodontic use

Orthodontic arcs and wires are mostly realised from alloys and constitute the motor of dental shifting. Ti-base alloys rapidly replaced the formerly used stainless steel wires due to their excellent corrosion resistance, their high mechanical characteristics and their increased biocompatibility. NiTiNOL shape memory alloys add to these advantages their ability of deforming force. NiTiNOL, highly pure Nickel (hp-Ni) and commercially pure titanium (cp-Ti) were tested by electrochemical assays in artificial saliva and in vitro biological tests with L132 cells and HEPM cells. All tests gave concordant results: the electrochemical assays, the proliferation test, the colony forming method, and the inflammatory test clearly show, that nickel is a corrosive and a cytotoxic material. Ti and NiTiNOL are cytocompatible and in particular corrosion resistant. No significant differences are observed for both materials on the electrochemical and the biological level as well. The NiTiNOL shape memory alloy is a master trump for dental practitioners to repair occlusal defects by shifting teeth under optimal biological conditions. In spite of its high Ni-content, it is biocompatible. It considerably reduces the tune of therapeutic treatment, facilitate the occlusal concept and leads to a result of high clinical quality.     

磁压榨技术建立大鼠胃肠吻合模型的实验研究

目的:探讨采用磁压榨技术建立大鼠胃肠吻合模型的可行性。方法:设计加工适用于大鼠胃肠吻合的子、母磁体。将10只SD大鼠采用磁压榨技术进行胃肠吻合,子、母磁体分别经口置入大鼠胃和空肠内,子母磁体相吸压榨胃壁和肠壁,磁体间受压组织缺血坏死后连同磁体从吻合口脱落入肠道,胃肠吻合即建立,磁体最终经消化道自行排出体外,术后2周处死动物,获取吻合口标本,检测吻合口爆破压、肉眼和光镜下观察吻合口愈合情况。结果:10只SD大鼠中,1只因麻醉意外死亡,其余9只大鼠均顺利完成手术操作并存活至术后2周;手术平均操作时间(15.89±3.25)min,磁体排出体外时间(8.56±1.26)天(范围7-11)天;吻合口爆破压均大于200 mm Hg,吻合口组织HE染色和Masson染色可见粘膜层连续性建立,愈合良好。结论:磁压榨技术可用于大鼠胃肠吻合模型制备,具有操作简单、成功率高的优点。     

重建钛板及记忆合金内固定治疗不稳定型骨盆骨折的效果

目的:探讨重建钛板及记忆合金内固定系统治疗不稳定型骨盆骨折的临床效果。方法:回顾性分析本院2012年12月~2013年12月收治的93例不稳定型骨盆骨折患者的临床资料,按照治疗方法分为两组,分别实施重建钛板联合螺钉固定治疗(对照组)和重建钛板联合记忆合金内固定系统治疗(观察组),观察并比较两组患者的临床效果。结果:观察组治疗优良率显著高于对照组,骨折愈合时间显著短于对照组,内固定松动和内固定断裂发生率显著低于对照组,差异均具有统计学意义(P0.05)。结论:重建钛板及记忆合金内固定系统治疗不稳定型骨盆骨折患者行可以获得较重建钛板联合螺钉固定治疗更好的临床效果。     

Sea Urchin Spines as a Model-System for Permeable, Light-Weight Ceramics with Graceful Failure Behavior. Part I. Mechanical Behavior of Sea Urchin Spines under Compression

The spines of pencil and lance urchins Heterocentrotus mammillatus and Phyllacanthus imperialis were studied as a modelof light-weight material with high impact resistance.The complex and variable skeleton construction ("stereom") of body andspines of sea urchins consists of highly porous Mg-bearing calcium carbonate.This basically brittle material with pronouncedsingle-crystal cleavage does not fracture by spontaneous catastrophic device failure but by graceful failure over the range of tensof millimeter of bulk compression instead.This was observed in bulk compression tests and blunt indentation experiments onregular,infiltrated and latex coated sea urchin spine segments.Microstructural characterization was carried out using X-raycomputer tomography,optical and scanning electron microscopy.The behavior is interpreted to result from the hierarchicstructure of sea urchin spines from the rnacroscale down to the nanoscale.Guidelines derived from this study see ceramics withlayered porosity as a possible biomimetic construction for appropriate applications.     

New design of hip prosthesis using carbon fibre reinforced composite

We present a new design for a hip prosthesis using polyethylene-hydroxyapatite, a composite material with layered stiffness and good bone compatibility. In order to overcome the low stiffness of the matrix, carbon fibre reinforcement is suggested. This new collarless prosthesis was designed to give maximum stiffness at the core and lower stiffness at the bone-implant interface. For this design a 2D finite element analysis was undertaken; its results were compared with those for a titanium alloy prosthesis. The effect of the variation in the collar stiffness was also analysed.     

Colonic healing after portal ischemia and reperfusion: an experimental study with oxidative stress biomarkers

Abstract

This experimental study aimed to evaluate colon healing after portal ischemia followed by reperfusion. Seventy male Wistar rats randomly distributed in four groups were used: Group 1, colonic anastomosis (n = 20); Group 2, portal ischemia-reperfusion (n = 20); Group 3, colonic anastomosis and portal ischemia-reperfusion (n = 20); and Group 4, control (n = 10). In the postoperative period, these rats were re-allocated into subgroups and lipid peroxidation and protein oxidation plasma levels were evaluated on days 1 and 5 by thiobarbituric acid reactive substances (TBARS) and slot-blotting assays, respectively. A segment of the right colon was also removed for collagen analysis. Both malondialdehyde (MDA) and protein carbonyl levels (oxidative markers of lipids and proteins) presented a significant increase after reperfusion in Group 3 on days 1 (P < 0.002) and 5 (P < 0.0001). In this same group, an extensive inflammatory process showing decreased fibroplasia was observed, with deficiency in collagen deposition on both sides of the anastomosis edges. Taken together, these results indicate that portal congestion followed by reperfusion induces an oxidative stress, which impaired the mechanism of colon anastomotic healing.