An improved RRT behavioral planning method for robots based on PTM algorithm.

For multi-dimensional high-order nonlinear systems with unstable path quality in parameter and extension terms, we developed a new fast search random tree strategy. First, we established a high-order Lipschitz vector field dynamic system to adapt to high-order systems of multi-degree-of-freedom robots, with the complex obstacle function being one of its key components. Secondly, we designed a classification gap filtering network layer (Classification LSTM) to screen training data models and ensure the global stability of data in path design. Additionally, the visual sensors deployed in the unit area effectively implement the path marking backtracking strategy and dead zone path simplification. Finally, three examples are provided to verify the effectiveness of this design method.

Online control parameter optimization design for multi-machine coordinated loading system of hazardous substances.

To address the parameter instability issues in hazardous materials handling during multi-machine loading and unloading operations, we propose a Full-Scale Smart Parameter Optimization Control (FSPOC) system specifically designed for multi-machine coordination. This system leverages a novel fish scale prediction algorithm tailored for cooperative multi-machine environments. Initially, the fish scale prediction algorithm, inspired by bionic fish scales, is developed to predict future system behavior by analyzing historical data. Building on this algorithm, we introduce a disturbance cancellation control theorem and design a parameter optimization controller to enhance stability in high-dimensional nonlinear spaces. The FSPOC method is then applied to a multi-machine cooperative system, enabling online distributed parameter optimization for complex systems with multiple degrees of freedom. The effectiveness of the proposed method was validated through simulations, where it was compared with two other optimization techniques: Genetic Algorithm-based PID (GAPID) and Chaotic Atomic Search Algorithm-based PID (CHASO). The simulation results confirm the superiority of the FSPOC method.

Color changing object recognition and grabbing technology based on crystal butterfly algorithm and adaptive imitation.

Implementing grasping tasks under color and multi scene promotion conditions is a key technology. This study proposes a recognition and grasping technique based on the crystal butterfly algorithm and adaptive imitation synthesis. Firstly, inspired by the movement trajectory of butterflies, a dynamic node tracking method called "Butterfly Trajectory" was designed. It can complete dynamic trajectory tracking under geometric constraints and achieve route memory. The second color dynamic recognition technology (CDR) has been proposed. It can quickly extract brightness, transparency, and color saturation obtained from multiple angles. Improve the feature extraction speed of Region CNN (R-CNN) instead of traditional methods (HOG). In addition, an adaptive imitation synthesis technique (AISP) is used to achieve the multi scenario promotion of grasping technology. Finally, simulation and physical testing were provided to verify the effectiveness of the design scheme in this article.

Clinical analysis of perioperative nursing of aortic coarctation.

BACKGROUND: The aim of this study is to explore the treatment experience of the perioperative nursing of coarctation of the aorta. METHODS: From June 2012 to December 2013, a total of 15 children diagnosed with coarctation of the aorta were retrospectively studied and sorted into the observation group in our hospital. Also, 12 children admitted between January 2010 and December 2012 was sorted into control group. Combined intravenous anesthesia and cardiopulmonary bypass were conducted on all the children. Children in observation group underwent perioperative nursing, including preoperative nursing (evaluating disease conditions, improving preoperative preparation and preoperative discussion) and postoperative nursing (transferred into ICU, respiratory management, circulation system management, nutrition support nursing, using intravenous drugs). Children in the control group were treated with common nursing. Clinical effects of both groups were compared. RESULTS: Fourteen of 15 cases in the treatment group were cured and discharged from the hospital after a 6~12-month follow-up. All patients had good prognosis, except one case quit the treatment and left hospital for obstinate low output syndrome. CONCLUSIONS: With the improvement in the skills of a repair operation, extracorporeal circulation and monitoring as well as nursing, the restenosis incident rate and morality rate were effectively reduced. Meanwhile, taking an initiative for comprehensive prevention nursing measures during peri-operation is an important guarantee to a successful operation and prognosis.

DTI and pathological changes in a rabbit model of radiation injury to the spinal cord after 125I radioactive seed implantation.

Excessive radiation exposure may lead to edema of the spinal cord and deterioration of the nervous system. Magnetic resonance imaging can be used to judge and assess the extent of edema and to evaluate pathological changes and thus may be used for the evaluation of spinal cord injuries caused by radiation therapy. Radioactive 125I seeds to irradiate 90% of the spinal cord tissue at doses of 40-100 Gy (D90) were implanted in rabbits at T10 to induce radiation injury, and we evaluated their safety for use in the spinal cord. Diffusion tensor imaging showed that with increased D90, the apparent diffusion coefficient and fractional anisotropy values were increased. Moreover, pathological damage of neurons and microvessels in the gray matter and white matter was aggravated. At 2 months after implantation, obvious pathological injury was visible in the spinal cords of each group. Magnetic resonance diffusion tensor imaging revealed the radiation injury to the spinal cord, and we quantified the degree of spinal cord injury through apparent diffusion coefficient and fractional anisotropy.