The trajectory planning time is uncertain when there no velocity constraint in the joint space of an operating robot. This paper proposes a 3-5-3 polynomial interpolation algorithm based on improved cuckoo search (ICS) which functions under constraint. Kinematics analysis robot conducted and function established as foundation for planning. size step control factor set variant varies with number iterations, accelerates algorithm's convergence prevents premature falling into local optimal...

Delirium is an acute mental disorder and common postoperative complication. Monitoring regional cerebral oxygen saturation (rSO2) in endovascular therapeutic surgery may allow real-time monitoring of desaturation, avoiding profound dysfunction, reducing the incidence delirium. We sought to examine delirium patients undergoing surgery. This was a clinical cohort trial (registered with http://www.clinicaltrials.gov [NCT02356133]). monitored rSO2 43 general anesthesia The occurrence after...

Human papillomavirus (HPV) is one of the most common sexually transmitted infectious pathogens. Persistent infection has been linked to cancer development, in particular cervical cancer. This study aims investigate epidemiology HPV women Inner Mongolia China and dissect disparities between Han Mongolian ethnic populations. Cervical cell samples from 5655 (17‐68 years old) were collected during routine gynecologic examination. was established using GenoArray kit detecting 21 genotypes. The...

Background and purpose: To strengthen the understanding, increase early diagnostic rate, improve outcome of unilateral oculomotor nerve palsy through analysis 121 patients suffering from this disease in our hospital.Methods: A retrospective study was performed on with diagnosed at Affiliated Hospital Xuzhou Medical University October 2014 to 2015. The clinical data, such as gender, age, aetiology, features, laboratory tests, six months follow up reports were analyzed.Results: main causes...

SIFT ( Scale Invariant Feature Transform ) is one of the most active research subjects in field feature matching algorithms at present. This algorithm can dispose problem with translation, rotation and affine distortion between images to a certain extent more stable ability which are shot from random differrent angles. but its complicated computation time long. Method precision orientation key-pots SIFT-based image analyzed, Eulidean distance replaced by linear combination city-block...

To develop and evaluate the self-management scale for peritoneal dialysis (PD) patients.The item pool was formulated based on literature reviews in-depth interviews. An initial containing five factors 44 items constructed through two rounds of Delphi expert consultation a preliminary test. A total 313 PD patients from Jiangsu-Zhejiang-Shanghai area were surveyed to test reliability validity scale.Five factors, namely solution bag replacement, troubleshooting during operation, diet...

Abstract As the micromanipulator of surgical robots works in a narrow space, it is difficult to install any position sensors at end, so control and detection cannot be accurately performed. A estimator based on parameter autonomous selection model proposed estimate end indirectly. First, single joint principle prototype are established through 4DOF driving scheme cable-driven model. Second, change combined with method form Finally, established. The experimental results show maximum...

Two-stage detectors, which consist of the multi-scale feature representations and prediction region proposal boxes, have been recognized as an effective paradigm for tiny object detection in Unmanned Aerial Vehicle (UAV) images. Although most previous methods primarily concentrated on developing efficient fusion strategies within pyramid network (FPN), few studies elaborated improving performance (RPN). Conventional RPNs exhibit two key weaknesses majority existing two-stage approaches....

Abstract Background At present, China has more than 11 million patients with stable coronary heart disease and this is becoming a major public health problem. The pathological changes of can lead to dysfunction the cardiac autonomic nervous system, which increases risk complications such as malignant arrhythmia (ventricular flutter, ventricular fibrillation, etc.), rate, systolic blood pressure, rate-pressure product (RPP), highly correlated myocardial oxygen consumption indirectly reflects...

In order to improve the efficiency and success rate of obstacle avoidance motion planning industrial manipulator in complex multi scenes, a collision detection model between obstacles based on cylinder sphere bounding box is established, an improved RRT * algorithm heuristic probability fusion artificial potential field method(P-artificial , PAPF-RRT ) proposed. The target bias random sampling point optimization strategy are introduced into sampling, location constraints applied points...

Accurately detecting laparoscopic surgical instruments is crucial to ensuring the success of robot-assisted surgery. In this paper, we propose a instrument detection framework called ToolNet-X address issues low accuracy and inadequate real-time performance in current methods. The algorithm effectively fuses feature maps different scales using weighted fusion increasing links. addition, introduce gated convolution recursive operations enhance network's global modeling capabilities....

Surgery is a compelling application field for collaborative control robots. This paper proposes gesture recognition method applied to medical assistant robot delivering instruments collaborate with surgeons complete surgeries. The key assisting the surgeon in passing operating room ability recognize surgeon’s hand gestures accurately and quickly. Existing techniques suffer from poor accuracy low rate. To address existing shortcomings, we propose an improved lightweight convolutional neural...

Background: Obstacle avoidance path planning is an important parameter of robot manipulators. Path can directly affect the working efficiency manipulator. Objective: This study aims to summarize optimization design method from a large number literature and propose new make planned obstacle manipulator shorter smoother. Methods: The forward inverse kinematics redundant solved. Secondly, envelope are simplified for collision detection. Then, ant colony algorithm improved by adding environment...

The 6D pose estimation using RGBD images plays a pivotal role in robotics applications. At present, after obtaining the RGB and depth modality information, most methods directly concatenate them without considering information interactions. This leads to low accuracy of occlusion illumination changes. To solve this problem, we propose new method fuse features. Our effectively uses individual contained within each image fully integrates cross-modality interactive information. Specifically,...

Indoor robot global path planning needs to complete the motion between starting point and target according position command transmitted by wireless network. Behavior dynamics rolling windows in methods have limitations their applications because may not be optimal, there could a pseudo attractor or blind search an environment with large state space, where offline learning is applicable real-time changes, need set probability of selecting action. To solve these problems, we propose behavior...

The accurate Synthetic Aperture Radar (SAR) image registration is important for exact analyses of mine deformation and ecological environment change. Currently, many algorithms have been proposed, but these cannot be directly applied to SAR image, so an integrated approach presented in this paper. Firstly, it the coarse matching with Canny edge dividing regions; secondly, fine by SIFT algorithm improved features; finally, obtain image. This has fewer computations than that simply using...

This paper presents an approach to binocular vision simultaneous localization and mapping (SLAM). SIFT (Scale Invariant Feature Transform) algorithm is used extract the Natural landmarks, The minimal connected dominating set(CDS) in data association which solve problem that scale of increase with map grows process SLAM. Two improvements are introduced improve CDS'S performance. Firstly, CDS constructed lingeringly. Secondly, searched adaptively. SLAM completed by fusing information robot...

This work focuses on the calculation of state space for linear system simple sequential processes with resources (LS3PR). The method, different from reachability graphs rendering high computational complexity, finds reachable markings by combinatorics. First, set invariant can be obtained combinatorics if influence deadlocks is ignored. Unfortunately, some states in are proved to spurious exist. Second, we find computing a minimal markings, which calculated proposed algorithm based strict...

The inspection of power transmission line has achieved notable achievements in the past few years, primarily due to integration deep learning technology. However, current approaches continue encounter difficulties generalization and intelligence, which restricts their further applicability. In this paper, we introduce Power-LLaVA, first large language vision assistant designed offer professional reliable services for by engaging dialogues with humans. Moreover, also construct a large-scale...