This paper proposes an innovative ducted fan aerial manipulator, which is particularly suitable for the tasks in confined environment, where traditional multirotors and helicopters would be inaccessible. The dynamic model of the aerial manipulator is established by comprehensive mechanism and parametric frequency-domain identification. On this basis, a composite controller of the aerial platform is proposed. A basic static robust controller is designed via H-infinity synthesis to achieve basic performance, and an adaptive auxiliary loop is designed to estimate and compensate for (...) the effect acting on the vehicle from the manipulator. The computer simulation analyses show good stability of the aerial vehicle under the manipulator motion and good tracking performance of the manipulator end effector, which verify the feasibility of the proposed aerial manipulator design and the effectiveness of the proposed controller, indicating that the system can meet the requirements of high precision operation tasks well. (shrink)
The tsunami effect of the COVID-19 pandemic is affecting many aspects of scientific activities. Multidisciplinary experimental studies with international collaborators are hindered by the closing of the national borders, logistic issues due to lockdown, quarantine restrictions, and social distancing requirements. The full impact of this crisis on science is not clear yet, but the above-mentioned issues have most certainly restrained academic research activities. Sharing innovative solutions between researchers is in high demand in this situation. The aim of this paper is (...) to share our successful practice of using web-based communication and remote control software for real-time long-distance control of brain stimulation. This solution may guide and encourage researchers to cope with restrictions and has the potential to help expanding international collaborations by lowering travel time and costs. (shrink)
Filling out long questionnaires can be frustrating, unpleasant, and discouraging for respondents to continue. This is why shorter forms of long instruments are preferred, especially when they have comparable reliability and validity. In present study, two short forms of the Cross-cultural Personality Assessment Inventory were developed and validated. The items of the short forms were all selected from the 28 personality scales of the CPAI-2 based on the norm sample. Based on some priori criteria, we obtained the appropriate items and (...) constructed the 56-item Chinese Personality Assessment Inventory and the 28-item CPAI. Then, we examined the factor structure of both short forms with Exploratory SEM and replicated the four-factor structure of the original CPAI-2, reflecting the four personality domains of Chinese people, namely, Social Potency, Dependability, Accommodation, and Interpersonal Relatedness. Further analyses with ESEM models demonstrate full measurement invariance across gender for both short forms. The results show that females score lower than males on Social Potency. In addition, these four factors of both short forms have adequate internal consistency, and the correlation patterns of the four factors, the big five personality traits, and several health-related variables are extremely similar across the two short forms, reflecting adequate and comparable criterion validity, convergent validity, and discriminant validity. Overall, the short versions of CPAI-2 are psychometrically acceptable and have practically implications for measuring Chinese personality and cross-cultural research. (shrink)
Recording and manipulating neuronal ensemble activity is a key requirement in advanced neuromodulatory and behavior studies. Devices capable of both recording and manipulating neuronal activity brain-computer interfaces should ideally operate un-tethered and allow chronic longitudinal manipulations in the freely moving animal. In this study, we designed a new intracortical BCI feasible of telemetric recording and stimulating local gray and white matter of visual neural circuit after irradiation exposure. To increase the translational reliance, we put forward a Göttingen minipig model. The (...) animal was stereotactically irradiated at the level of the visual cortex upon defining the target by a fused cerebral MRI and CT scan. A fully implantable neural telemetry system consisting of a 64 channel intracortical multielectrode array, a telemetry capsule, and an inductive rechargeable battery was then implanted into the visual cortex to record and manipulate local field potentials, and multi-unit activity. We achieved a 3-month stability of the functionality of the un-tethered BCI in terms of telemetric radio-communication, inductive battery charging, and device biocompatibility for 3 months. Finally, we could reliably record the local signature of sub- and suprathreshold neuronal activity in the visual cortex with high bandwidth without complications. The ability to wireless induction charging combined with the entirely implantable design, the rather high recording bandwidth, and the ability to record and stimulate simultaneously put forward a wireless BCI capable of long-term un-tethered real-time communication for causal preclinical circuit-based closed-loop interventions. (shrink)
