Torque Reduction of a Reconfigurable Spherical Parallel Mechanism Based on Craniotomy Experimental Data

This paper deals with a robotic manipulator dedicated to craniotomy with a remote center of motion based on a Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed to handle the drilling tool through the requested craniotomy Degrees of Freedom (DoF) with two rotations. The proposed architecture allows one degree of redundancy according to the total DoF. Thus, a first contribution of this work focuses on the experimental analysis of craniotomy surgery tasks. Secondly, its behavior is improved, taking advantage of the redundancy of the SPM using the spinning motion as a reconfiguration variable. The spinning angle modulation allows the reconfigurable manipulator to minimize its motor torques. A series of motion capture and force experimentations is performed for the analysis of the kinematic and force interaction characterizing Burr hole craniotomy procedures. Experimentations were carried out by a neurosurgeon on a human cadaver, ensuring highly realistic conditions.

A Hybridization of Dragonfly Algorithm Optimization and Angle Modulation Mechanism for 0-1 Knapsack Problems

The dragonfly algorithm (DA) is a new intelligent algorithm based on the theory of dragonfly foraging and evading predators. DA exhibits excellent performance in solving multimodal continuous functions and engineering problems. To make this algorithm work in the binary space, this paper introduces an angle modulation mechanism on DA (called AMDA) to generate bit strings, that is, to give alternative solutions to binary problems, and uses DA to optimize the coefficients of the trigonometric function. Further, to improve the algorithm stability and convergence speed, an improved AMDA, called IAMDA, is proposed by adding one more coefficient to adjust the vertical displacement of the cosine part of the original generating function. To test the performance of IAMDA and AMDA, 12 zero-one knapsack problems are considered along with 13 classic benchmark functions. Experimental results prove that IAMDA has a superior convergence speed and solution quality as compared to other algorithms.

Modulation of Ion Pitch Angle in the Presence of Large-amplitude, Electromagnetic Ion Cyclotron (EMIC) Waves: 1-D Hybrid Simulation

<p>Large-amplitude electromagnetic ion cyclotron (EMIC) waves induce unique dynamics of charged particle movement in the magnetosphere. In a recent study, modulation of the ion pitch angle in the presence of large-amplitude EMIC waves is observed, and there lacks a good explanation for this phenomenon. We investigate this modulation primarily via a 1-D hybrid simulation model and find that the modulation is caused by the bulk velocity triggered by large-amplitude EMIC waves. Affected by the bulk velocity, the number density of ions will enhance around pitch angle . Beyond that, the ion pitch angle is also modulated by the EMIC waves, and the modulation period is half of the EMIC waves' period. In addition, parameters that affect ion pitch angle modulation, including the wave amplitude, ion energy, ion species, and wave normal angle, are studied in our work.</p>

A Phase Angle-Modulated Bat Algorithm with Application to Antenna Topology Optimization

This paper proposes a phase angle-modulated bat algorithm (P-AMBA) for high-dimensional binary optimization. The idea was to reduce the optimization time by introducing angle modulation technology to reduce the optimization dimensions. Different from the original angle-modulated bat algorithm (AMBA), the control of the trigonometric generating function cosine wave is by introducing new parameters, thereby improving the perturbation ability of the function curve near the x-axis. P-AMBA can explore more 0/1 solutions, and it has advantages in optimizing convergence speed and global search capabilities. The numerical results of the 0–1 knapsack problem tests show that P-AMBA is superior to the contrast algorithms on optimization ability and optimization time. Finally, the experimental result of a compact dual-band planar monopole antenna design showed the effectiveness of P-AMBA in engineering applications.