Tendon sheath transmission system (TSTS) has been widely adopted in many cases due to its characteristics of simple structure, flexible transmission path, and applicability for long-distance power transmission. However, the characteristics of displacement gap and hysteresis inside the tendon sheath seriously hinder its transmission accuracy. In this paper, the static and dynamic models of TSTS were established and experimentally verified. Then, the sliding mode compensation control (SMCC) based on the inverse model has been proposed. In SMCC, with the displacement of the actuation side as a feedback signal, compensation control was realized and its stability and accuracy was experimentally verified. In addition, the perturbation of system parameters might decrease the optimal working performance of the sliding mode controller. Therefore, an adaptive sliding mode compensation control (ASMCC) based on an inverse model was proposed. The adaptive control algorithm was used to estimate the dynamic parameters of the system online and combined with the sliding mode controller to achieve the adaptive compensation control. Finally, compensation control experiments were separately conducted with/without interference and the performance of PID, SMC, and ASMC algorithms was experimentally compared. Under two experimental conditions with/without interference, compared to PID compensation control (PIDCC), SMC algorithm respectively decreased the system output force (MAE value) by 26.57% and 56.38%. Compared with SMCC, ASMCC respectively reduced the MAE value of the system output force by 22.34% and 11.14%. Comparative experiments confirmed the feasibility and performance of ASMCC in tendon sheath transmission.
BackgroundEpilepsy is one of the most common neurological diseases, affecting people of any age. Although the treatments of epilepsy are more and more diverse, the uncertainty regarding efficacy and adverse events still exists, especially in the control of childhood epilepsy.MethodsWe performed a systematic review and meta- analysis following the Cochrane Handbook and preferred reporting items for systematic reviews and meta-analyses (PRISMA) guidelines. Four databases including PubMed, Embase, Web of Science and Cochrane library were searched. Studies reporting the use of brivaracetam monotherapy or adjuvant therapy in children (aged ≤18 years) were eligible for inclusion. Each stage of the review was conducted by two authors independently. Random-effects models were used to combine effect sizes for the estimation of efficacy and safety.ResultsA total of 1884 articles were retrieved, and finally 9 articles were included, enrolling 503 children with epilepsy. The retention rate of BRV treatment was 78% (95% CI: 0.64–0.91), the responder rate (reduction of seizure frequency ≥ 50%) was 35% (95% CI: 0.24–0.47), the freedom seizure rate (no seizure) was 18% (95% CI: 0.10–0.25), and the incidence rate of any treatment-emergent adverse events (TEAE) was 39% (95% CI: 0.09–0.68). The most common TEAE was somnolence, which had an incidence rate of 9% (95% CI: 0.07–0.12). And the incidence rate of mental or behavioral disorders was 12% (95% CI: 0.06–0.17).ConclusionOur systematic review and meta-analysis showed that BRV seemed to be safe and effective in the treatment of childhood epilepsy.
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