A Review of the Methods on Cobb Angle Measurements for Spinal Curvature.

Scoliosis is a common disease of the spine and requires regular monitoring due to its progressive properties. A preferred indicator to assess scoliosis is by the Cobb angle, which is currently measured either manually by the relevant medical staff or semi-automatically, aided by a computer. These methods are not only labor-intensive but also vary in precision by the inter-observer and intra-observer. Therefore, a reliable and convenient method is urgently needed. With the development of computer vision and deep learning, it is possible to automatically calculate the Cobb angles by processing X-ray or CT/MR/US images. In this paper, the research progress of Cobb angle measurement in recent years is reviewed from the perspectives of computer vision and deep learning. By comparing the measurement effects of typical methods, their advantages and disadvantages are analyzed. Finally, the key issues and their development trends are also discussed.

Diagnosis of Typical Apple Diseases: A Deep Learning Method Based on Multi-Scale Dense Classification Network.

Disease has always been one of the main reasons for the decline of apple quality and yield, which directly harms the development of agricultural economy. Therefore, precise diagnosis of apple diseases and correct decision making are important measures to reduce agricultural losses and promote economic growth. In this paper, a novel Multi-scale Dense classification network is adopted to realize the diagnosis of 11 types of images, including healthy and diseased apple fruits and leaves. The diagnosis of different kinds of diseases and the same disease with different grades was accomplished. First of all, to solve the problem of insufficient images of anthracnose and ring rot, Cycle-GAN algorithm was applied to achieve dataset expansion on the basis of traditional image augmentation methods. Cycle-GAN learned the image characteristics of healthy apples and diseased apples to generate anthracnose and ring rot lesions on the surface of healthy apple fruits. The diseased apple images generated by Cycle-GAN were added to the training set, which improved the diagnosis performance compared with other traditional image augmentation methods. Subsequently, DenseNet and Multi-scale connection were adopted to establish two kinds of models, Multi-scale Dense Inception-V4 and Multi-scale Dense Inception-Resnet-V2, which facilitated the reuse of image features of the bottom layers in the classification neural networks. Both models accomplished the diagnosis of 11 different types of images. The classification accuracy was 94.31 and 94.74%, respectively, which exceeded DenseNet-121 network and reached the state-of-the-art level.

A Vibration Control Method for Hybrid-Structured Flexible Manipulator Based on Sliding Mode Control and Reinforcement Learning.

The hybrid-structured flexible manipulator has a complex structure and strong coupling between state variables. Meanwhile, the natural frequency of the hybrid-structured flexible manipulator varies with the motion of the telescopic joint, so it is difficult to suppress the vibration quickly. In this article, the tip state signal of the hybrid-structured flexible manipulator is decomposed into elastic vibration signal and tip vibration equilibrium position signal, and a combined control method is proposed to improve tip positioning accuracy and trajectory tracking accuracy. In the proposed combined control method, an improved nominal model-based sliding mode controller (NMBSMC) is used as the main controller to output the driving torque, and an actor-critic-based reinforcement learning controller (ACBRLC) is used as an auxiliary controller to output small compensation torque. The improved NMBSMC can be divided into a nominal model-based sliding mode robust controller and a practical model-based integral sliding mode controller. Two sliding mode controllers with different structures make full use of the mathematical model and the measured data of the actual system to improve the vibration equilibrium position tracking accuracy. The ACBRLC uses the tip elastic vibration signal and the prioritized experience replay method to obtain the small reverse compensation torque, which is superimposed with the output of the NMBSMC to suppress tip vibration and improve the positioning accuracy of the hybrid-structured flexible manipulator. Finally, several groups of experiments are designed to verify the effectiveness and robustness of the proposed combined control method.

Kinematic analysis of a flexible six-DOF parallel mechanism.

In this paper, a new type of six-degrees of freedom (DOF) flexible parallel mechanism (FPM) is presented. This type of parallel mechanism possesses several favorable properties: (1) its number of DOFs is independent of the number of serial chains which make up the mechanism; (2) it has no kinematical singularities; (3) it is designed to move on rails, and therefore its workspace is much larger than that of a conventional parallel manipulator; and (4) without changing the number of DOFs and the kinematics of the mechanisms, the number of the serial chains can be reconfigured according to the needs of the tasks. These properties make the mechanism very preferable in practice, especially for such tasks as joining huge ship blocks, in which the manipulated objects vary dramatically both in weights and dimensions. Furthermore, the mechanism can be used as either a fully actuated system or an underactuated system. In the fully actuated case, the mechanism has six DOF motion capabilities and manipulation capabilities. However, in the underactuated case, the mechanism still has six DOF motion capabilities, but it has only five DOF manipulation capabilities. In this paper, both the inverse and forward kinematics are studied and expressed in a closed form. The workspace and singularity analysis of the mechanism are also presented. An example is presented to illustrate how to calculate the kinematics of the mechanism in both fully-actuated and underactuated cases. Finally, an application of such a mechanism to manufacturing industry is introduced.