Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper prop...
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Positioning accuracy is of great significance for industrial robots in high-end industries. In addition to kinematic parameter errors, there are also some dynamic parameter errors, which are nonlinear. This paper proposes a novel method to improve the positioning accuracy of industrial robot, which takes both kinematics and dynamics parameter errors into account. Firstly, the method uses improved Denavit-Hartenberg (DH) model to establish kinematics model and identifies the geometric errors. Then, the deformation of the joint is analysed, and the angle deviation of each joint due to the end load is compensated. Finally, the accuracy improvement experiment is carried out on 6R robot. The experimental results show that the method is very effective.
Rheumatoid arthritis(RA)is a chronic autoimmune disorder characterized by persistent joint inflammation leading to bone and cartilage damage and even ***,the pathogenesis of RA is multi-factorial and to a large degree...
Rheumatoid arthritis(RA)is a chronic autoimmune disorder characterized by persistent joint inflammation leading to bone and cartilage damage and even ***,the pathogenesis of RA is multi-factorial and to a large degree,remains *** Sini decoction(DSD),a traditional Chinese medicine(TCM)formula,has been widely used as a remedy for rheumatoid arthritis(RA)in recent *** our study,1H-nuclear magnetic resonance(1H-NMR)based metabolomics analysis of 7 potential biomarkers,including taurine(1),urea(2),betaine(3),pyruvate(4),hippurate(5),succinate(6)and acetone(7)was performed to investigate the progression of RA and assess the efficacy of DSD in collagen-induced arthritis(CIA)*** to pathway analysis using identified metabolites and correlation construction,taurine and hypotaurine metabolism,gut microbiota metabolism,pyruvate metabolism,glycolysis/gluconeogenesis,the citrate cycle(TCA cycle)and lipid metabolism were recognized as being the most influenced metabolic pathways associated with *** a result,deviations of metabolites 1,3,4,5,6 and 7 in CIA rats were improved by DSD,which suggested that DSD mediated the abnormal metabolic pathways *** summary,the efficacy and its underlying therapeutic mechanisms of DSD on RA were systematically investigated and expect to provide a new insight in relevant studies of other TCM formulas.
Background . Rose acne is a chronic inflammatory skin disease that can cause paroxysmal flushing, persistent erythema, papules or papules on the face, and pustules, and it has a greater impact on the life of patients,...
Background . Rose acne is a chronic inflammatory skin disease that can cause paroxysmal flushing, persistent erythema, papules or papules on the face, and pustules, and it has a greater impact on the life of patients, so it is important to treat it. Objective . To investigate the effect of Danzhi Xiaoyao Powder combined with photodynamic therapy (PDT) on the curative effect evaluation and prognosis of patients with rose acne. Patients and Methods . The clinical data of 110 rose acne patients who were treated in our hospital from January 2019 to January 2021 were selected as the subject of this retrospective study. They were divided into a control group and a treatment group according to the random residue grouping method. The new crown epidemic, loss to follow-up, etc. fell out of 5 cases in each group, and finally, 50 cases in each group were left. Among them, the control group was treated with PDT, and the treatment group was combined with Danzhi Xiaoyao Powder on the basis of the control group. Then we observe and compare the effects of skin lesion scores and clinical symptom scores and differences in clinical efficacy between the two groups. Results . The comparison of the clinical symptom scores of the two groups of patients before treatment was not statistically significant ( P > 0.05), while the burning score, tingling score, dryness score, and pruritus score of the treatment group after treatment were significantly different. The internal comparison after treatment was lower than before treatment, and the comparison between the treatment groups was significantly higher than the control group, which was statistically significant ( P < 0.05). There was no statistically significant difference in the skin lesion scores of the two groups before treatment ( P > 0.05), while the papules score, pustule score, erythema score, and telangiectasia score of the treatment group after treatment were significantly different and compared within the group. After treatment, th
BACKGROUND: Disruption of dopamine neurotransmis-sion is associated with functional impairment after severe traumatic brain injury (sTBI). This has prompted the study of dopamine agonists, such as amantadine, to assis...
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BACKGROUND: Disruption of dopamine neurotransmis-sion is associated with functional impairment after severe traumatic brain injury (sTBI). This has prompted the study of dopamine agonists, such as amantadine, to assist re-covery of consciousness. Randomized trials have mostly addressed the posthospital setting, with inconsistent findings. Therefore, we evaluated the efficacy of early amantadine administration on recovery of consciousness after ***: We searched the medical records of all pa-tients with sTBI admitted to our hospital between 2010 and 2021 who survived 10 days postinjury. We identified all patients receiving amantadine and compared them with all patients not receiving amantadine and a propensity score-matched nonamantadine group. Primary outcome measures included discharge Glasgow Coma Scale, Glasgow Outcome Scale-Extended score, length of stay, mortality, recovery of command-following (CF), and days to CF. -RESULTS: In our study population, 60 patients received amantadine and 344 did not. Compared with the propensity score-matched nonamantadine group, the amantadine group had no difference in mortality (86.67% vs. 88.33%, P = 0.783), rates of CF (73.33% vs. 76.67%, P = 0.673), or percentage of patients with severe (3-8) discharge Glas-gow Coma Scale scores (11.11% vs. 12.28%, P = 0.434). In addition, the amantadine group was less likely to have a favorable recovery (discharge Glasgow Outcome Scale-Extended score 5-8) (14.53% vs. 16.67%, P < 0.001), had a longer length of stay (40.5 vs. 21.0 days, P < 0.001), and had a longer time to CF (11.5 vs. 6.0 days, P = 0.011). No dif-ference in adverse events existed between ***: Our findings do not support the early administration of amantadine for sTBI. Larger inpatient randomized trials are necessary to further investigate amantadine treatment for sTBI.
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