Accurate Total-Body Ki Parametric Imaging with Shortened Dynamic 18F-FDG PET Scan Durations via Effective Data Processing

Background: Total-body dynamic PET (dPET) imaging using 18F-fluorodeoxyglucose (18F-FDG) has received widespread attention in clinical oncology. However, the conventionally required scan duration of approximately one hour seriously limits the application and promotion of this imaging technique. In this study, using Patlak analysis-based Ki parametric imaging as the evaluation standard, we investigated the possibility and feasibility of shortening the total-body dynamic scan duration to 30 mins post-injection (PI) with the help of a novel Patlak data processing algorithm.Methods: Total-body dPET images acquired by uEXPLORER (United Imaging Healthcare Inc.) using 18F-FDG of 15 patients with different types of tumors were analyzed in this study. Dynamic images were reconstructed into 25 frames with a specific temporal dividing protocol for the scan data acquired one hour PI. Patlak analysis-based Ki parametric imaging was carried out based on the imaging data corresponding to the first 30 mins PI, during which a Patlak data processing method based on third-order Hermite interpolation (THI) was applied. The resulting Ki images and standard Ki images were compared in terms of visual imaging effect and Ki estimation accuracy to evaluate the performance of the proposed data processing algorithm for parametric imaging with dPET with a shortened scan duration.Results: With the help of Patlak data processing, acceptable Ki parametric images were obtained from dPET data acquired with a shortened scan duration. Compared to Ki images obtained from unprocessed Patlak data, the resulting images from the proposed method contained less image noise, leading to remarkably improved imaging quality. Moreover, box plot analysis showed that that 30-min Ki images obtained from processed Patlak data have higher accuracy regarding tumor lesion Ki values.Conclusion: Acceptable Ki parametric images can be acquired from dynamic imaging data corresponding to the first 30 mins PI. Patlak data processing can help achieve higher Ki imaging quality and higher accuracy regarding tumor lesion Ki values. Clinically, it is possible to shorten the dynamic scan duration of 18F-FDG PET to 30 mins to facilitate the usage of such imaging techniques on uEXPLORER scanners.

Modeling, Design, and Implementation of an Underactuated Gripper with Capability of Grasping Thin Objects

Underactuated robotic grippers have the advantage of lower cost, simpler control, and higher safety over the fully actuated grippers. In this study, an underactuated robotic finger is presented. The design issues that should be considered for stable grasping are discussed in detail. This robotic finger is applied to design a two-fingered underactuated gripper. Firstly, a new three-DOF linkage-driven robotic finger that combines a five-bar mechanism and a double parallelogram is presented. This special architecture allows us to put all of the required actuators into the palm. By adding a torsion spring and a mechanical stopper at a passive joint, this underactuated finger mechanism can be used to perform parallel grasping, shape-adaptive grasping, and environmental contact-based grasp. Secondly, the dynamic model of this robotic finger is developed to investigate how to select an appropriate torsion spring. The dynamic simulation is performed with a multi-body dynamic simulator to verify our proposed approach. Moreover, static grasp models of both two-point and three-point contact grasps are investigated. Finally, different types of grasping modes are verified experimentally with a two-fingered underactuated robotic gripper.

Hydrodynamic Analysis of Self-Propulsion Performance of Wave-Driven Catamaran

The wave-driven catamaran is a small surface vehicle driven by ocean waves. It consists of a hull and hydrofoils, and has a multi-body dynamic structure. The process of moving from static state to autonomous navigation driven by ocean waves is called “self-propulsion”, and reflects the ability of the wave-driven catamaran to absorb oceanic wave energy. Considering the importance of the design of the wave-driven catamaran, its self-propulsion performance should be comprehensively analysed. However, the wave-driven catamaran’s multi-body dynamic structure, unpredictable dynamic and kinematic responses driven by waves make it difficult to analyse its self-propulsion performance. In this paper, firstly, a multi-body dynamic model is established for wave-driven catamaran. Secondly, a two-phase numerical flow field containing water and air is established. Thirdly, a numerical simulation method for the self-propulsion process of the wave-driven catamaran is proposed by combining the multi-body dynamic model with a numerical flow field. Through numerical simulation, the hydrodynamic response, including the thrust of the hydrofoils, the resistance of the hull and the sailing velocity of the wave-driven catamaran are identified and comprehensively analysed. Lastly, the accuracy of the numerical simulation results is verified through a self-propulsion test in a towing tank. In contrast with previous research, this method combines multi-body dynamics with computational fluid dynamics (CFD) to avoid errors caused by artificially setting the motion mode of the catamaran, and calculates the real velocity of the catamaran.

Research on Vibration Suppression of the Long Flexible Arm Based on Three Tilt Sensors

In this research, a new method based on the equivalence of modal characteristics, differential flatness (DF), and active disturbance rejection control (ADRC) is proposed for the stabilization control of the long flexible arm (LFA). There are two major problems in the system of the LFA. The first problem is that the LFA is very prone to the multiple-mode coupling, while the control systems need as few sensors as possible. Another problem is that the structure of the LFA in practice is often complex and subject to various disturbances. Therefore, in this paper, the equivalent multirigid body dynamic model of a LFA is derived from the modal information of the equivalent rigid body model of the prototype. Then, the output values of the three tilt sensors are synthesized into an output based on the DF method. Finally, the effectiveness of the proposed method is verified through physical experiments. Compared with PID, the proposed method has shorter settling time. The LFA can be restored within 7 seconds under the ADRC, while it needs 90 seconds or more to calm down without the control.

Upper Body of Dynamic Sweat Distributions in Young Males Wearing Fully Encapsulating Chemical Protective Ensembles

Fully encapsulating chemical protective ensembles (FCPE) has characteristic of impermeability, which may affect people’s sweat, accordingly influences clothing thermal-wet comfort. This study investigated upper-body dynamic sweat distribution in young males wearing FCPE, and evaluating changes in sweat rates both intra-region and inter-time. Participants were 10 healthy young male college students, aged 23.1\(\pm\)0.8 years. In a climatic chamber (environment temperature 35 ℃, relative humidity 60%), participants exercised on a treadmill at 4 km/h, 5%. A set of absorbent pads with 35 pads was used to collect sweat. Participants change a new set of absorbent pads every 5 minutes until trial stopped. Seven sets of pads were obtained. Average sweat rate of every 5 minutes is 389, 631, 920, 1137, 1100, 1211 and 1105 g.m−2.h−1, respectively. The top five high sweat rates were observed at the medial upper back, lateral lower back, medial upper chest, medial mid back and lateral top back, with average values 1406,1278,1198,1181 and 1139 g·m−2·h−1, respectively. The lower sweat rates were observed at waist (with average values 557, 370, 596 and 332 g·m−2·h−1, respectively) and bottom zones (with average values 373, 398, 661 and 849 g·m−2·h−1, respectively). Wearing FCPE greatly promoted body profuse sweating. Based on the distribution result, upper body can be divided into three levels of sweat rate zones, which could be used to improve clothing comfort. The present study provides basic physiological data and guidance for personal protective clothing design.