In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the conta...
ISBN:
(数字)9781728164168
ISBN:
(纸本)9781728164175
In the research of vascular interventional surgery robotic system, the force information acquisition of surgical tools (guidewires and catheters) has a significant affect on the safety of surgery, especially the contact force between the catheter tip and vascular wall. Therefore. In order to obtain this contact force, we noticed the pressure sensitive rubber because of its piezoresistive effect and easy processing into any shape. a force sensor based on the pressure sensitive rubber was developed in this paper. Once a force is applied on the force sensor attached to the catheter tip, the contact force can be approximated by the piezoresistive effect of the pressure sensitive rubber. The feasibility of the developed force sensor was verified by the experiments in “Vitro”. And the results showed that the force sensor was developed in this paper can accurately detect the contact force between the catheter tip and vascular wall at different positions in the vascular model, the extraction of contact force information of catheter tip is of great significance to the safety of surgery, and the application potential of pressure sensitive rubber.
A large amount of power consumption information generated from private houses is being aggregated nowadays, particularly by the spread of smart electric meters. Applications that utilize these data are widely studied,...
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When the velocity of coolant water is 2m/s, 4 targets of 32.5g235U in 3# hole could produce more than 60,000Ci per year. Under this condition, targets are irradiated safely, and the largest production could be gained....
Encapsulation of drugs into nanocarriers is proven to be highly promising approach in reducing drug toxicity and enhancing therapeutic efficacy. However, controlling the loading efficiency and capacity, and release of...
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With the development of Connected Automated Vehicles (CAV), there will be a long period of mixed driving, which causes the traffic control task at intersections becomes much more complicated. The control tasks would i...
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ISBN:
(纸本)9781665412971
With the development of Connected Automated Vehicles (CAV), there will be a long period of mixed driving, which causes the traffic control task at intersections becomes much more complicated. The control tasks would include not only the traffic signal timing optimization but also the computing tasks for different levels of vehicles. Current control task management methods are proved to be inferior to solve this problem. In this paper, we propose an intersection control task scheduling optimization approach based on edge computing. Firstly, the traffic control edge computing system for intersections is constructed. Then, different types of control tasks are listed. Criticality and timeliness are introduced to calculate the control task's dynamic priority. The control task scheduling optimization model, which considering these two parameters is proposed. At last, the improved Hungarian algorithm is applied to solve the proposed task scheduling optimization model. Simulation results show that our proposed methods can effectively reduce task processing costs and ensure the critical tasks execute firstly.
The focusing effect of the metal molten pool plays an important role in elevating the validity of the In-Vessel Retention (IVR) during a severe accident while the melting of the shroud and basket can contribute to the...
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—In clinical practice, electroencephalography (EEG) plays an important role in the diagnosis of epilepsy. EEG-based computer-aided diagnosis of epilepsy can greatly improve the accuracy of epilepsy detection while re...
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CoCrMo biomedical alloys are extensively used in medical implants for their superior biocompatibility and mechanical properties. The present study investigates the relationship between microstructure and corrosion beh...
CoCrMo biomedical alloys are extensively used in medical implants for their superior biocompatibility and mechanical properties. The present study investigates the relationship between microstructure and corrosion behavior on the building surface (XY-plane) and side surface (YZ-plane) of CoCrMo alloys fabricated by laser powder bed fusion (LPBF). Comprehensive electrochemical tests revealed significant anisotropy in corrosion behavior between the XY and YZ planes due to the microstructure heterogeneity. In the XY-plane, finer grain sizes, higher dislocation densities, longer sub-grain boundaries, and a more extensive distribution of inclusions facilitate the formation and stability of a dense protective film, effectively preventing the intrusion of corrosive media. In contrast, the YZ-plane, characterized by a higher density of melt pool boundaries (MPBs), demonstrated pronounced selective corrosion, particularly within the sub-grain regions and along the MPBs. These insights can guide the optimization of manufacturing processes to enhance corrosion resistance, thereby improving the performance and safety of medical implants by reducing the risk of implant failure due to corrosion-related issues.
Insufficient force feedback and collision warning of teleoperation surgical tools increase the risk of endovascular catheterization. This paper proposed a master haptic interface with the adjustable threshold that tak...
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The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3 ...
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ISBN:
(数字)9781728198880
ISBN:
(纸本)9781728198897
The technology of detecting and identifying multitarget is of significance for robotic visual navigation within the unknown, unstructured, complex scenes, whose result could be considered as important references of 3 D map building and path planning for mobile robot. Traditional algorithms of target detection can be applied to 2 D images without depth information generally, which is disturbed by few factors such as illumination, view and scale easily. Therefore, an approach on visual detecting multi-target of unstructured and complex scenes based on RGBD images is proposed in this article to solve the above problem, which is composed of extracting descriptor of rotation and scale invariance feature, local encoding of targets, random ferns classifier training, Hough map generation, Hough voting theoretical model and local maximum search. Experimental results have shown that the proposed approach reduce the calculation of extracting and matching local feature, improve the accuracy of object recognition and detection in unknown complex environments, be capable of well robust against few disturbing factors i.e. rotation, scale, illumination, occlusion and non-rigid body deformation.
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