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In the domain of mobile robot navigation, conventional path-planning algorithms typically rely on predefined rules and prior map information, which exhibit significant limitations when confronting unknown, intricate environments. With the rapid evolution of artificial intelligence technology, deep reinforcement learning (DRL) algorithms have demonstrated considerable effectiveness across various application scenarios. In this investigation, we introduce a self-exploration and navigation approach based on a deep reinforcement learning framework, aimed at resolving the navigation challenges of mobile robots in unfamiliar environments. Firstly, we fuse data from the robot's onboard lidar sensors and camera and integrate odometer readings with target coordinates to establish the instantaneous state of the decision environment. Subsequently, a deep neural network processes these composite inputs to generate motion control strategies, which are then integrated into the local planning component of the robot's navigation stack. Finally, we employ an innovative heuristic function capable of synthesizing map information and global objectives to select the optimal local navigation points, thereby guiding the robot progressively toward its global target point. In practical experiments, our methodology demonstrates superior performance compared to similar navigation methods in complex, unknown environments devoid of predefined map information. [ABSTRACT FROM AUTHOR]

Simultaneous Localization and Mapping (SLAM) poses distinct challenges, especially in settings with variable elements, which demand the integration of multiple sensors to ensure robustness. This study addresses these issues by integrating advanced technologies like LiDAR-inertial odometry (LIO), visual-inertial odometry (VIO), and sophisticated Inertial Measurement Unit (IMU) preintegration methods. These integrations enhance the robustness and reliability of the SLAM process for precise mapping of complex environments. Additionally, incorporating an object-detection network aids in identifying and excluding transient objects such as pedestrians and vehicles, essential for maintaining the integrity and accuracy of environmental mapping. The object-detection network features a lightweight design and swift performance, enabling real-time analysis without significant resource utilization. Our approach focuses on harmoniously blending these techniques to yield superior mapping outcomes in complex scenarios. The effectiveness of our proposed methods is substantiated through experimental evaluation, demonstrating their capability to produce more reliable and precise maps in environments with variable elements. The results indicate improvements in autonomous navigation and mapping, providing a practical solution for SLAM in challenging and dynamic settings. [ABSTRACT FROM AUTHOR]

The existing algorithms are mainly based on the laser or visual inertial odometer, which has problems such as large particle recommendation distribution error, particle consumption, and long running time of the algorithm. An SLAM scheme based on multisensor fusion is proposed, which integrates multisource sensor data including lidar, camera, and IMU and constructs a set of real-time mapping and positioning system with better robustness and higher accuracy. The experimental results show that the proposed SLAM method uses less running time, and the accuracy of map construction is better. [ABSTRACT FROM AUTHOR]

Context: People with spasticity that occurred between 30 days and one year after stroke onset with a baseline Modified Ashworth Scale (MAS) ≥1.Objectives: To determine the practicality of a pragmatic parallel-group open-labeled randomized controlled trial and to collect preliminary data of effectiveness and safety of electroacupuncture (EA) for poststroke spasticity.Methods: Eligible participants were randomly allocated to the intervention group (EA plus usual care) or the control group (usual care alone) at a 1:1 ratio with block sizes of six. Participants received EA three times a week for four weeks, then were followed up for another four weeks. Participants' retention and adherence in the trial were assessed to determine the practicality of trial design. Clinical outcome measures were the change scores of MAS, Fugl-Meyer Assessment of motor performance and Barthel Index, and adverse events.Results: Seventy-two people were screened for eligibility, and 30 of them were recruited and randomized. At the end, 25 participants followed the trial protocol and were included in our final data analyses using an intention-to-treat approach. No significant between-group difference was detected for the change scores of MAS, Fugl-Meyer Assessment, or Barthel Index at the end of treatment or end of follow-up. Eighteen participants reported 37 adverse events, but none of the participants was deemed related to EA.Conclusion: It is feasible to conduct a full-scale trial to precisely evaluate the effectiveness and safety of EA for treating poststroke spasticity; however, longer treatment and follow-up phases should be considered in the full-scale trial. [ABSTRACT FROM AUTHOR]

Background. Several randomized controlled trials (RCTs) have assessed the role of Tai Chi and Qigong Practices (TQPs) in managing chronic heart failure (CHF). They have included broad variations in comparators, sample sizes, and results. This study evaluates existing RCTs for evidence of TQPs rehabilitation effects for CHF. Methods. Both English and Chinese databases were searched from their inception to October 23, 2019. RCTs were included if they compared the addition of TQPs into routine managements (RMs) to RMs alone or compared TQPs to general exercise, with RMs as a consistent cointervention in both groups. Data were screened and extracted independently using predesigned forms. RCT quality was assessed with the Cochrane tool. The primary outcomes were peak oxygen consumption (VO2peak), 6-minute walking distance (6MWD), and Minnesota Living with Heart Failure Questionnaire (MLHFQ). Mean differences (MDs) and 95% confidence intervals (CIs) were calculated, and heterogeneity was assessed with an I2 statistic. Results. A total of 33 RCTs with 2,465 patients were included in the systematic review. Compared to the RMs alone, TQPs plus RMs improved VO2peak (MD: 1.24 mL/kg/min, 95% CI, 0.91 to 1.57; I2 = 0%), 6MWD (MD: 59.63 meters, 95% CI, 43.35 to 75.90 I2 = 88%), and MLHFQ (MD: −8.63 scores; 95% CI, −10.60 to -6.67; I2 = 94%). Compared to general exercise, superior improvements were found in the TQP group; they were significant in MLHFQ (MD: −9.18 scores; 95% CI, −17.95 to −0.41; I2 = 86%), but not in VO2peak or 6MWD. Evidence was also found of TQPs' safety and high adherence. Conclusions. Considering that there are low costs, multiple physical benefits, and no equipment required, TQPs are a promising rehabilitation therapy, as an adjunct to routine pharmacotherapies or as an alternative to conventional exercises, especially in home-based settings. [ABSTRACT FROM AUTHOR]

Background. Several randomized controlled trials (RCTs) have assessed the role of Tai Chi and Qigong Practices (TQPs) in managing chronic heart failure (CHF). They have included broad variations in comparators, sample sizes, and results. This study evaluates existing RCTs for evidence of TQPs rehabilitation effects for CHF. Methods. Both English and Chinese databases were searched from their inception to October 23, 2019. RCTs were included if they compared the addition of TQPs into routine managements (RMs) to RMs alone or compared TQPs to general exercise, with RMs as a consistent cointervention in both groups. Data were screened and extracted independently using predesigned forms. RCT quality was assessed with the Cochrane tool. The primary outcomes were peak oxygen consumption (VO2peak), 6-minute walking distance (6MWD), and Minnesota Living with Heart Failure Questionnaire (MLHFQ). Mean differences (MDs) and 95% confidence intervals (CIs) were calculated, and heterogeneity was assessed with an I2 statistic. Results. A total of 33 RCTs with 2,465 patients were included in the systematic review. Compared to the RMs alone, TQPs plus RMs improved VO2peak (MD: 1.24 mL/kg/min, 95% CI, 0.91 to 1.57; I2 = 0%), 6MWD (MD: 59.63 meters, 95% CI, 43.35 to 75.90 I2 = 88%), and MLHFQ (MD: −8.63 scores; 95% CI, −10.60 to -6.67; I2 = 94%). Compared to general exercise, superior improvements were found in the TQP group; they were significant in MLHFQ (MD: −9.18 scores; 95% CI, −17.95 to −0.41; I2 = 86%), but not in VO2peak or 6MWD. Evidence was also found of TQPs' safety and high adherence. Conclusions. Considering that there are low costs, multiple physical benefits, and no equipment required, TQPs are a promising rehabilitation therapy, as an adjunct to routine pharmacotherapies or as an alternative to conventional exercises, especially in home-based settings. [ABSTRACT FROM AUTHOR]