[Overview of the Development of Spatial Positioning Accuracy Testing Technology for Surgical Robots].

Characteristics of two major categories of RA equipment which defined in the standard are interpreted firstly. Few representative RA equipment in current market and their key product features are introduced. Then, classifications of different indexes of spatial positioning accuracy are declared, the difficulties of performing testing process on each indexes are further explained. Meanwhile, different kinds of three dimensional coordinate measuring equipment that are cutting edge at present stage are introduced with their main methods of use explained. According to characteristics of three dimensional coordinate measuring equipment on the market, proper measuring equipment for testing certain index of spatial positioning accuracy and corresponding experiment method are introduced.

An air quality index prediction model based on CNN-ILSTM.

Air quality index (AQI) is an essential measure of air pollution evaluation, which describes the air pollution degree and its impact on health, so the accurate prediction of AQI is significant. This paper presents an AQI prediction model based on Convolution Neural Networks (CNN) and Improved Long Short-Term Memory (ILSTM), named CNN-ILSTM. ILSTM deletes the output gate in LSTM and improves its input gate and forget gate, and introduces a Conversion Information Module (CIM) to prevent supersaturation in the learning process. ILSTM realizes efficient learning of historical data, improves prediction accuracy, and reduces the training time. CNN extracts the eigenvalues of input data effectively. This paper uses air quality data from 00:00 on January 1, 2017, to 23:00 on June 30, 2021, in Shijiazhuang City, Hebei Province, China, as experimental data sets, and compares this model with eight prediction models: SVR, RFR, MLP, LSTM, GRU, ILSTM, CNN-LSTM, and CNN-GRU to prove the validity and accuracy of CNN-ILSTM prediction model. The experimental results show the MAE of CNN-ILSTM is 8.4134, MSE is 202.1923, R2 is 0.9601, and the training time is 85.3 s. In this experiment, the performance of this model performs better than other models.