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The inverse kinematics of robotic manipulators involves determining an appropriate joint configuration to achieve a specified end-effector position. This problem is challenging because the inverse kinematics of manipulators are highly nonlinear and complexly coupled. To address this challenge, the bald eagle search optimization algorithm is introduced. This algorithm combines the advantages of evolutionary and swarm techniques, making it more effective at solving nonlinear problems and improving search efficiency. Due to the tendency of the algorithm to fall into local optima, the Lévy flight strategy is introduced to enhance its performance. This strategy adopts a heavy-tailed distribution to generate long-distance jumps, thereby preventing the algorithm from becoming trapped in local optima and enhancing its global search efficiency. The experiments first evaluated the accuracy and robustness of the proposed algorithm based on the inverse kinematics problem of manipulators, achieving a solution accuracy of up to 10−18 m. Subsequently, the proposed algorithm was compared with other algorithms using the CEC2017 test functions. The results showed that the improved algorithm significantly outperformed the original in accuracy, convergence speed, and stability. Specifically, it achieved over 70% improvement in both standard deviation and mean for several test functions, demonstrating the effectiveness of the Lévy flight strategy in enhancing global search capabilities. Furthermore, the practicality of the proposed algorithm was verified through two real engineering optimization problems.

The seven-degree-of-freedom space manipulator, characterized by its redundant and aspheric wrist structure, is extensively used in space missions due to its exceptional dexterity and multi-joint capabilities. However, the non-spherical wrist structure presents challenges in solving inverse kinematics, as it cannot decouple joints using the Pieper criterion, unlike spherical wrist structures. To address this issue, this paper presents a closed-form analytical method for solving the inverse kinematics of seven-degree-of-freedom aspheric wrist space manipulators. The method begins by identifying the redundant joint through comparing the volumes of the workspace with different joints fixed. The redundant joint angle is then treated as a parametric joint angle, enabling the derivation of closed-form expressions for the non-parametric joint angles using screw theory. The optimal solution branch is identified through a comparative analysis of various self-motion manifold branches. Additionally, a hybrid approach, combining analytical and numerical methods, is proposed to optimize the parametric joint angle for a trajectory tracking task. Simulation results confirm the effectiveness of the proposed method.

Abstract With the rapid development of sensor technology and artificial intelligence, the video gesture recognition technology under the background of big data makes human‐computer interaction more natural and flexible, bringing richer interactive experience to teaching, on‐board control, electronic games, etc. In order to perform robust recognition under the conditions of illumination change, background clutter, rapid movement, partial occlusion, an algorithm based on multi‐level feature fusion of two‐stream convolutional neural network is proposed, which includes three main steps. Firstly, the Kinect sensor obtains RGB‐D images to establish a gesture database. At the same time, data enhancement is performed on training and test sets. Then, a model of multi‐level feature fusion of two‐stream convolutional neural network is established and trained. Experiments result show that the proposed network model can robustly track and recognize gestures, and compared with the single‐channel model, the average detection accuracy is improved by 1.08%, and mean average precision (mAP) is improved by 3.56%. The average recognition rate of gestures under occlusion and different light intensity was 93.98%. Finally, in the ASL dataset, LaRED dataset, and 1‐miohand dataset, recognition accuracy shows satisfactory performances compared to the other method.

Collision detection is very important for robot motion planning. The existing accurate collision detection algorithms regard the evaluation of each node as a discrete event, ignoring the correlation between nodes, resulting in low efficiency. In this paper, we propose a novel approach that transforms collision detection into a binary classification problem. In particular, the proposed method searches the k-nearest neighbor (KNN) of the new node and estimates its collision probability by the prior node. We perform the hierarchical navigable small world (HNSW) method to query the nearest neighbor data and store the detected nodes to build the database incrementally. In addition, this research develops a KNN query technique tailored for linear data, incorporating threshold segmentation to facilitate collision detection along continuous paths. Moreover, it refines the distance function of the collision classifier to enhance the precision of probability estimations. Simulation results demonstrate the effectiveness of the proposed method.

In order to improve the operation performance and environmental adaptability of the manipulator, it is essential to control the position and force of the manipulator simultaneously. This paper proposed a hybrid control method of auto-dynamic bit based on bit control to realize flexible grasping of manipulator in unknown environment. The constraint conditions and control types of the hybrid force/bit control are analyzed firstly, and the dynamic model when contacting with the environment is established. Then, an improved position controller based on conventional fuzzy-PID control strategy is introduced to realize the hybrid force/bit control based on the position control by combining constraint estimation method and impedance force control. Finally, the control performance of the force/bit hybrid controller is verified by simulation experiments. The results show that the designed control strategy has relatively ideal force control precision and higher trajectory tracking ability, and the manipulator model has better compliance.

With the diversity of manipulator grasping methods and the complexity of the unstructured environment, the grasping planning of the target object is very complicated. However, the external factor for the manipulator grasping is primarily the external shape of the target object. Therefore, it is of great significance to establish a grasping system based on target shape analysis. This paper proposes a method for determining the grasping posture of manipulator based on shape analysis and force closure. The irregular or complex objects are reduced to a combination of some basic shapes. The 3D data points of the object are split into blocks and each part is fitted to sphere, cylinder or rectangle by a best-fit algorithm. This allows the grasping posture of the manipulator to be determined quickly. The grasping characteristics of the object are analyzed and the grasping surface is described qualitatively by means of a superellipse. The grasping of objects is simplified according to the stable grasping condition of force closure. The force spiral space for grasping defines the grasping quality of the manipulator. The best grasping posture is obtained by evaluating the indicators. This method eliminates complex training processes, reduces the complexity of robotic grasping and highly universal.

DNA barcoding is a promising technology for the simultaneous analysis of genetic and phenotypic heterogeneity. Here, the authors combine DNA barcoding and single-cell RNA-seq to study heterogeneity, progression and response to therapy in B-cell acute lymphoblastic leukaemia patient-derived xenografts.

Ordered core(PEO)-shell(PHB) microfibers were prepared by coaxial electrostatic spinning technology and high-speed rotating receiving roller with polyoxyethylene (PEO)/chloroform solvent as core spinning solution and poly(β-hydroxybutyrate) (PHB)/chloroform solvent as shell spinning solution. The surface morphology, core-shell structure, thermal properties, crystallization properties and mechanical properties of core(PEO)-shell(PHB) microfiber film were characterized and analyzed by SEM, TEM, DSC, TGA, XRD and DMA. The results show that PEO/PHB microfiber has remarkable core-shell structure; fiber arranges in the same direction and the average diameter are 0.57-1.27 μm; the crystal structure of core(PEO)-shell(PHB) microfiber includes α-type crystal of PHB and monoclinic crystal of PEO; when the spinning voltage is increased, the diameter of the fiber decreases, and the crystallinity increases first and then decreases; the fiber diameter increases with the increase of injection speed, and the crystallinity first increases and then decreases; with the increase of the collection distance, the fiber diameter first decreases and then increases, and the crystallinity first increases and then decreases. By changing the single spinning condition, the corresponding fiber films with the spinning voltage of 18 kV, the push velocity of 0.07 mm/min and the collection distance of 8 cm all have high mechanical properties. Compared with pure PHB fiber and PEO fiber, the thermal stability of each component in ordered core(PEO)-shell(PHB) microfiber is improved.

The continuous development of deep learning improves target detection technology day by day. The current research focuses on improving the accuracy of target detection technology, resulting in the target detection model being too large. The number of parameters and detection speed of the target detection model are very important for the practical application of target detection technology in embedded systems. This article proposed a real-time target detection method based on a lightweight convolutional neural network to reduce the number of model parameters and improve the detection speed. In this article, the depthwise separable residual module is constructed by combining depthwise separable convolution and non–bottleneck-free residual module, and the depthwise separable residual module and depthwise separable convolution structure are used to replace the VGG backbone network in the SSD network for feature extraction of the target detection model to reduce parameter quantity and improve detection speed. At the same time, the convolution kernels of 1 × 3 and 3 × 1 are used to replace the standard convolution of 3 × 3 by adding the convolution kernels of 1 × 3 and 3 × 1, respectively, to obtain multiple detection feature graphs corresponding to SSD, and the real-time target detection model based on a lightweight convolutional neural network is established by integrating the information of multiple detection feature graphs. This article used the self-built target detection dataset in complex scenes for comparative experiments; the experimental results verify the effectiveness and superiority of the proposed method. The model is tested on video to verify the real-time performance of the model, and the model is deployed on the Android platform to verify the scalability of the model.

Intelligent vehicles were widely used in logistics handling, agriculture, medical service, industrial production, and other industries, but they were often not smooth enough in planning the path, and the number of turns was large, resulting in high energy consumption. Aiming at the unsmooth path planning problem of four-wheel intelligent vehicle path planning algorithm, this article proposed an improved genetic and ant colony hybrid algorithm, and the physical model of intelligent vehicle was established. This article first improved ant colony optimization algorithm about heuristic function with the adaptive change of evaporation factor. Then, it improved the genetic algorithm on fitness function, adaptive adjustment of crossover factor, and mutation factor. Last, this article proposed the improved hybrid algorithm with the addition of a deletion operator, adoption of an elite retention strategy, and addition of suboptimal solutions obtained from the improved ant colony algorithm to improved genetic algorithm to obtain optimized new populations. The simulation environment for this article is windows 10, the processor is Intel Core i5-5257U, the running memory is 4GB, the compilation environment is MATLAB2018b, the number of ant samples is 50, the maximum number of iterations is 100, the initial population size of the genetic algorithm is 200, and the maximum number of iterations is 50. Simulation and physical experiments show that the improved hybrid algorithm is effective. Compared with the traditional hybrid algorithm, the improved hybrid algorithm reduced by 46% in the average number of iterations and 75% in the average number of turns in a simple grid. The improved hybrid algorithm reduced by 47% in the average number of iterations and 21% in the average number of turns in a complex grid. The improved hybrid algorithm works better to reduce the number of turns in simple maps.

As a key technology for the non-invasive human-machine interface that has received much attention in the industry and academia, surface EMG (sEMG) signals display great potential and advantages in the field of human-machine collaboration. Currently, gesture recognition based on sEMG signals suffers from inadequate feature extraction, difficulty in distinguishing similar gestures, and low accuracy of multi-gesture recognition. To solve these problems a new sEMG gesture recognition network called Multi-stream Convolutional Block Attention Module-Gate Recurrent Unit (MCBAM-GRU) is proposed, which is based on sEMG signals. The network is a multi-stream attention network formed by embedding a GRU module based on CBAM. Fusing sEMG and ACC signals further improves the accuracy of gesture action recognition. The experimental results show that the proposed method obtains excellent performance on dataset collected in this paper with the recognition accuracies of 94.1%, achieving advanced performance with accuracy of 89.7% on the Ninapro DB1 dataset. The system has high accuracy in classifying 52 kinds of different gestures, and the delay is less than 300 ms, showing excellent performance in terms of real-time human-computer interaction and flexibility of manipulator control.

Image semantic segmentation has always been a research hotspot in the field of robots. Its purpose is to assign different semantic category labels to objects by segmenting different objects. However, in practical applications, in addition to knowing the semantic category information of objects, robots also need to know the position information of objects to complete more complex visual tasks. Aiming at a complex indoor environment, this study designs an image semantic segmentation network framework of joint target detection. Using the parallel operation of adding semantic segmentation branches to the target detection network, it innovatively implements multi‐vision task combining object classification, detection and semantic segmentation. By designing a new loss function, adjusting the training using the idea of transfer learning, and finally verifying it on the self‐built indoor scene data set, the experiment proves that the method in this study is feasible and effective, and has good robustness.

With the rapid development of sensor technology and artificial intelligence, the video gesture recognition technology under the background of big data makes human–computer interaction more natural and flexible, bringing the richer interactive experience to teaching, on‐board control, electronic games etc. To perform robust recognition under the conditions of illumination change, background clutter, rapid movement, and partial occlusion, an algorithm based on multi‐level feature fusion of two‐stream convolutional neural network is proposed, which includes three main steps. Firstly, the Kinect sensor obtains red–green–blue‐depth (RGB‐D) images to establish a gesture database. At the same time, data enhancement is performed on the training set and test set. Then, a model of multi‐level feature fusion of a two‐stream convolutional neural network is established and trained. Experiments show that the proposed network model can robustly track and recognise gestures under complex backgrounds (such as similar complexion, illumination changes, and occlusion), and compared with the single‐channel model, the average detection accuracy is improved by 1.08%, and mean average precision is improved by 3.56%.

The analysis of robot inverse kinematic solutions is the basis of robot control and path planning, and is of great importance for research. Due to the limitations of the analytical and geometric methods, intelligent algorithms are more advantageous because they can obtain approximate solutions directly from the robot’s positive kinematic equations, saving a large number of computational steps. Particle Swarm Algorithm (PSO), as one of the intelligent algorithms, is widely used due to its simple principle and excellent performance. In this paper, we propose an improved particle swarm algorithm for robot inverse kinematics solving. Since the setting of weights affects the global and local search ability of the algorithm, this paper proposes an adaptive weight adjustment strategy for improving the search ability. Considering the running time of the algorithm, this paper proposes a condition setting based on the limit joints, and introduces the position coefficient k in the velocity factor. Meanwhile, an exponential product form modeling method (POE) based on spinor theory is chosen. Compared with the traditional DH modeling method, the spinor approach describes the motion of a rigid body as a whole and avoids the singularities that arise when described by a local coordinate system. In order to illustrate the advantages of the algorithm in terms of accuracy, time, convergence and adaptability, three experiments were conducted with a general six-degree-of-freedom industrial robotic arm, a PUMA560 robotic arm and a seven-degree-of-freedom robotic arm as the research objects. In all three experiments, the parameters of the robot arm, the range of joint angles, and the initial attitude and position of the end-effector of the robot arm are given, and the attitude and position of the impact point of the end-effector are set to verify whether the joint angles found by the algorithm can reach the specified positions. In Experiments 2 and 3, the algorithm proposed in this paper is compared with the traditional particle swarm algorithm (PSO) and quantum particle swarm algorithm (QPSO) in terms of position and direction solving accuracy, operation time, and algorithm convergence. The results show that compared with the other two algorithms, the algorithm proposed in this paper can ensure higher position accuracy and orientation accuracy of the robotic arm end-effector. the position error of the algorithm proposed in this paper is 0 and the maximum orientation error is 1.29 × 10–8. while the minimum position error of the other two algorithms is −1.64 × 10–5 and the minimum orientation error is −4.03 × 10–6. In terms of operation time, the proposed algorithm in this paper has shorter operation time compared with the other two algorithms. In the last two experiments, the computing time of the proposed algorithm is 0.31851 and 0.30004s respectively, while the shortest computing time of the other two algorithms is 0.33359 and 0.30521s respectively. In terms of algorithm convergence, the proposed algorithm can achieve faster and more stable convergence than the other two algorithms. After changing the experimental subjects, the proposed algorithm still maintains its advantages in terms of accuracy, time and convergence, which indicates that the proposed algorithm is more applicable and has certain potential in solving the multi-arm inverse kinematics solution. This paper provides a new way of thinking for solving the multi-arm inverse kinematics solution problem.

In order to solve the problems of poor image quality, loss of detail information and excessive brightness enhancement during image enhancement in low light environment, we propose a low-light image enhancement algorithm based on improved multi-scale Retinex and Artificial Bee Colony (ABC) algorithm optimization in this paper. First of all, the algorithm makes two copies of the original image, afterwards, the irradiation component of the original image is obtained by used the structure extraction from texture via relative total variation for the first image, and combines it with the multi-scale Retinex algorithm to obtain the reflection component of the original image, which are simultaneously enhanced using histogram equalization, bilateral gamma function correction and bilateral filtering. In the next part, the second image is enhanced by histogram equalization and edge-preserving with Weighted Guided Image Filtering (WGIF). Finally, the weight-optimized image fusion is performed by ABC algorithm. The mean values of Information Entropy (IE), Average Gradient (AG) and Standard Deviation (SD) of the enhanced images are respectively 7.7878, 7.5560 and 67.0154, and the improvement compared to original image is respectively 2.4916, 5.8599 and 52.7553. The results of experiment show that the algorithm proposed in this paper improves the light loss problem in the image enhancement process, enhances the image sharpness, highlights the image details, restores the color of the image, and also reduces image noise with good edge preservation which enables a better visual perception of the image.

We proposed an end-to-end deep learning convolutional neural network (DCNN) for region-of-interest based multi-parameter quantification (RMQ-Net) to accelerate quantitative ultrashort echo time (UTE) MRI of the knee joint with automatic multi-tissue segmentation and relaxometry mapping. The study involved UTE-based T1 (UTE-T1) and Adiabatic T1ρ (UTE-AdiabT1ρ) mapping of the knee joint of 65 human subjects, including 20 normal controls, 29 with doubtful-minimal osteoarthritis (OA), and 16 with moderate-severe OA. Comparison studies were performed on UTE-T1 and UTE-AdiabT1ρ measurements using 100%, 43%, 26%, and 18% UTE MRI data as the inputs and the effects on the prediction quality of the RMQ-Net. The RMQ-net was modified and retrained accordingly with different combinations of inputs. Both ROI-based and voxel-based Pearson correlation analyses were performed. High Pearson correlation coefficients were achieved between the RMQ-Net predicted UTE-T1 and UTE-AdiabT1ρ results and the ground truth for segmented cartilage with acceleration factors ranging from 2.3 to 5.7. With an acceleration factor of 5.7, the Pearson r-value achieved 0.908 (ROI-based) and 0.945 (voxel-based) for UTE-T1, and 0.733 (ROI-based) and 0.895 (voxel-based) for UTE-AdiabT1ρ, correspondingly. The results demonstrated that RMQ-net can significantly accelerate quantitative UTE imaging with automated segmentation of articular cartilage in the knee joint.

Human computer interaction plays an increasingly important role in our life. People need more intelligent, concise and efficient human-computer interaction. It is of great significance to optimize the process of human-computer interaction by using appropriate calculation methods. In order to eliminate the interference data of thumb recognition based on sEMG signal in the process of human-computer interaction, simplify the data processing, and improve the working efficiency of general equipment of sEMG signal. In the process of gesture recognition using sEMG signals generated by thumb, a method of redundant electrode determination based on variance theory is proposed. The redundancy of five groups of action signals is divided into 16 levels and visualized. By comparing the results of thumb motion recognition when different redundant channels are removed, the optimal channel combination in the process of thumb motion recognition is obtained. Finally, two kinds of classifiers suitable for sEMG signal field are selected, and the classification results are compared, and the best method of thumb motion pattern recognition is obtained.

In order to realize the force control, when the prosthetic hand grasps the object, the forearm electromyography signal is collected by the multi-channel surface electromyography (sEMG) acquisition system. The grasping force information of the human hand is recorded by the six-dimensional force sensor. The root mean square (RMS) of the electromyography signal steady state is selected, which is an effective feature. The gene expression programming algorithm (GEP) and BP neural network are used to construct the prediction model and predict the grasping force. The force prediction accuracy of GEP algorithm and BP neural network algorithm are discussed under different grasping power levels and different grasping modes. The performance of the two algorithm models are evaluated by two measures of root mean square error (RMSE) and correlation coefficient (CC). The results show that the RMS eigenvalue extracted from the sEMG signal can better characterize the grasping force. The prediction model with GEP algorithm has smaller relative error and higher prediction effect.

With the manipulator performs fixed-point tasks, it becomes adversely affected by external disturbances, parameter variations, and random noise. Therefore, it is essential to improve the robust and accuracy of the controller. In this article, a self-tuning particle swarm optimization (PSO) fuzzy PID positioning controller is designed based on fuzzy PID control. The quantization and scaling factors in the fuzzy PID algorithm are optimized by PSO in order to achieve high robustness and high accuracy of the manipulator. First of all, a mathematical model of the manipulator is developed, and the manipulator positioning controller is designed. A PD control strategy with compensation for gravity is used for the positioning control system. Then, the PID controller parameters dynamically are minute-tuned by the fuzzy controller 1. Through a closed-loop control loop to adjust the magnitude of the quantization factors–proportionality factors online. Correction values are outputted by the modified fuzzy controller 2. A quantization factor–proportion factor online self-tuning strategy is achieved to find the optimal parameters for the controller. Finally, the control performance of the improved controller is verified by the simulation environment. The results show that the transient response speed, tracking accuracy, and follower characteristics of the system are significantly improved.

Summary: Many acute and chronic diseases affect the distal lung alveoli. Alveolar epithelial cell (AEC) lines are needed to better model these diseases. We used de-identified human remnant transplant lungs to develop a method to establish AEC lines. The lines grow well in 2-dimensional (2D) culture as epithelial monolayers expressing lung progenitor markers. In 3-dimensional (3D) culture with fibroblasts, Matrigel, and specific media conditions, the cells form alveolar-like organoids expressing mature AEC markers including aquaporin 5 (AQP5), G-protein-coupled receptor class C group 5 member A (GPRC5A), and surface marker HTII280. Single-cell RNA sequencing of an AEC line in 2D versus 3D culture revealed increased cellular heterogeneity and induction of cytokine and lipoprotein signaling in 3D organoids. Our approach yields lung progenitor lines that retain the ability to differentiate along the alveolar cell lineage despite long-term expansion and provides a valuable system to model and study the distal lung in vitro.

Autonomous Underwater Vehicle are widely used in industries, such as marine resource exploitation and fish farming, but they are often subject to a large amount of interference which cause poor control stability, while performing their tasks. A decoupling control algorithm is proposed and A single control volume–single attitude angle model is constructed for the problem of severe coupling in the control system of attitude of six degrees of freedom Autonomous Underwater Vehicle. Aiming at the problem of complex Active Disturbance Rejection Control (ADRC) adjustment relying on manual experience, the PSO-ADRC algorithm is proposed to realize the automatic adjustment of its parameters, which improves the anti-interference ability and control accuracy of Autonomous Underwater Vehicle in dynamic environment. The anti-interference ability and control accuracy of the method were verified through experiments.

Mobile robots have an important role in material handling in manufacturing and can be used for a variety of automated tasks. The accuracy of the robot’s moving trajectory has become a key issue affecting its work efficiency. This paper presents a method for optimizing the trajectory of the mobile robot based on the digital twin of the robot. The digital twin of the mobile robot is created by Unity, and the trajectory of the mobile robot is trained in the virtual environment and applied to the physical space. The simulation training in the virtual environment provides schemes for the actual movement of the robot. Based on the actual movement data returned by the physical robot, the preset trajectory of the virtual robot is dynamically adjusted, which in turn enables the correction of the movement trajectory of the physical robot. The contribution of this work is the use of genetic algorithms for path planning of robots, which enables trajectory optimization of mobile robots by reducing the error in the movement trajectory of physical robots through the interaction of virtual and real data. It provides a method to map learning in the virtual domain to the physical robot.

Green technology innovation is one of the important driving forces to promote green development of China’s economy. Based on the panel data of 29 provinces, municipalities and autonomous regions in China and the mechanism of Outward Foreign Direct Investment (OFDI) on green technology innovation, this paper introduced different spatial weights and established a Spatial Durbin Model (SDM) to study the impact of OFDI on China’s green technology innovation according to the hypothesis proposed in this paper. It is found that OFDI can significantly promote China’s green technology innovation, which is under the influence of different spatial weights, and presents a significant spatial spillover effect. However, there are obvious regional differences in the spatial impact of OFID on green technology innovation, and the spatial spillover effect in some regions is not significant enough. Then the change of international investment environment will affect the spatial spillover effect of OFDI on China’s green technology innovation. Moreover, OFDI has significant nonlinear characteristics in its impact on green technology innovation. After crossing the threshold, OFDI has significantly increased its impact on green technology innovation, which further confirms that OFDI can effectively promote China’s green technology innovation and it can promote China’s green economic development.

Ladle plays an important role in the metallurgical industry whose maintenance directly affects the production efficiency of enterprises. In view of the problems such as low maintenance efficiency and untimely maintenance in the current ladle passive maintenance scheme, the life prediction mechanism for ladle composite structures is established which bases on the stress analysis of steel shell and ladle lining in the production process, combining conventional fatigue analysis and extended fracture theory. The mechanism is accurate and effective according to the simulation results. Through which, the useful life of steel shell can be accurately predicted by detecting the crack length of it. Due to the large number of factors affecting the life of the lining of the ladle, it is difficult to accurately predict the life of the ladle lining, so a forecasting mean based on the thermal shock method is proposed to predict the service life of the ladle lining in this paper. The life prediction mechanism can provide data support and theoretical guidance for the active maintenance of the ladle, which is the prerequisite for scientifically formulating ladle initiative maintenance program.

Gesture recognition technology is widely used in the flexible and precise control of manipulators in the assisted medical field. Our MResLSTM algorithm can effectively perform dynamic gesture recognition. The result of surface EMG signal decoding is applied to the controller, which can improve the fluency of artificial hand control. Much current gesture recognition research using sEMG has focused on static gestures. In addition, the accuracy of recognition depends on the extraction and selection of features. However, Static gesture research cannot meet the requirements of natural human-computer interaction and dexterous control of manipulators. Therefore, a multi-stream residual network (MResLSTM) is proposed for dynamic hand movement recognition. This study aims to improve the accuracy and stability of dynamic gesture recognition. Simultaneously, it can also advance the research on the smooth control of the Manipulator. We combine the residual model and the convolutional short-term memory model into a unified framework. The architecture extracts spatiotemporal features from two aspects: global and deep, and combines feature fusion to retain essential information. The strategy of pointwise group convolution and channel shuffle is used to reduce the number of network calculations. A dataset is constructed containing six dynamic gestures for model training. The experimental results show that on the same recognition model, the gesture recognition effect of fusion of sEMG signal and acceleration signal is better than that of only using sEMG signal. The proposed approach obtains competitive performance on our dataset with the recognition accuracies of 93.52%, achieving state-of-the-art performance with 89.65% precision on the Ninapro DB1 dataset. Our bionic calculation method is applied to the controller, which can realize the continuity of human-computer interaction and the flexibility of manipulator control.

C24H48N2O3, monoclinic, P21 (no. 4), a = 14.805(3) Å, b = 10.0557(18) Å, c = 18.061(3) Å, β = 98.935(5)°, V = 2656.3(8) Å3, Z = 4, Rgt(F) = 0.0674, wRref(F2) = 0.1955, T = 173 K.

The brain is the largest and most complex structure in the central nervous system. It dominates all activities in the body, and the lesions in the human body are also reflected in the brain signal. In this paper, the image method is used to assist the brain signal to detect the human lesion. Due to the particularity of medical images, there is no common segmentation method for any medical image, and there is no objective standard to judge whether the segmentation is effective. Medical image segmentation technology is still a bottleneck restricting the development and the application of other related technologies in medical image processing. Based on the above reasons, this paper proposes an improved region growing algorithm based on the fuzzy theory and region growing algorithm. The algorithm is used to segment the medical images of the liver and chest X-ray of different human organs. The improved algorithm uses a threshold segmentation algorithm to assist in the automatic selection of seed points and improves the region growing rules, then morphological post-processing is used to improve the segmentation effect. The experimental results show that the improved region growing algorithm has better segmentation effect under two different organs, which proves that the algorithm has certain applicability, and its accuracy and segmentation quality are better than the traditional region growing algorithm. This algorithm combines the advantages of the threshold method and traditional region growing method. It is feasible in algorithm and has certain application value.

Studies have shown that the observed image texture details and semantic information are of great significance for the depth estimation on the road scenes. However, there are ambiguities and inaccuracies in the boundary information of observed objects in previous methods. For this reason, we hope to design a new depth estimation method that can obtain higher accuracy and more accurate boundary information of the detected object. Based on polarized self-attention (PSA) and feature pyramid U-net, we proposed a new self-supervised monocular depth estimation model to extract more accurate texture details and semantic information. Firstly, we add a PSA module at the end of the depth encoder and pose encoder so that the network can extract more accurate semantic information. Then, based on the U-net, we put the multi-scale image obtained by the object detection module FPN (Feature Pyramid network) directly into the decoder. It can guide the model to learn semantic information, thus enhancing the boundary of the image. We evaluated our method on KITTI 2015 datasets and Make3D datasets, and our model achieved better results than previous studies. In order to verify the generalization of the model, we have done monocular, stereo, monocular plus stereo experiments. The experimental results show that our model has achieved better results in several main evaluation indexes and clearer boundary information. In order to compare different forms of PSA mechanism, we did ablation experiments. Compared with no PSA module, after adding the PSA module, better results in evaluating indicators were achieved. We also found that our model is better in monocular training than stereo training and monocular plus stereo training.

Scene structure and local details are important factors in producing high-quality depth estimations so as to solve fuzzy artifacts in depth prediction results. We propose a new network structure that combines two channel attention modules in a deep prediction network. The structure perception module (spm) uses a frequency channel attention network. We use frequencies from different perspectives to analyze the channel representation as a compression process. This enhances the perception of the scene structure and obtains more feature information. The detail emphasis module (dem) adopts the global attention mechanism. It improves the performance of deep neural networks by reducing irrelevant information and magnifying global interactive representations. Emphasizing important details effectively fuses features at different scales to achieve more accurate and clearer depth predictions. Experiments show that our network produces clearer depth estimations, and our accuracy rate on the KITTI benchmark has improved from 98.1% to 98.3% in the δ < 1.253 metric.

With the rapid development of computer information technology, the virtual simulation technology is coming as the times require. In recent years, due to its good interactivity, versatility and openness, virtual laboratories have received increasing widely attention in the field of instrumental analysis experiment teaching. The current teaching demonstration is limited by the laboratory equipment, resulting in a lot of students fell behind the class. Combined with the advantages and experimental teaching characteristics of virtual simulation technology, a set of virtual experiment teaching system was designed. The system includes experimental purposes, experimental content, experimental principles, teaching animations, virtual operation training, precautions, and experimental virtual tests. The virtual experiment teaching system can be used as an important supplement to the experimental teaching, and improve teaching effects.

C29H54N2O3, monoclinic, P21 (no. 4), a = 9.8091(11) Å, b = 7.6661(8) Å, c = 19.095(2) Å, β = 93.171(4)°, V = 1433.7(3) Å3, Z = 2, Rgt(F) = 0.0657, wRref(F2) = 0.1362, T = 250 K.

C31H48N2O, orthorhombic, P212121 (no. 19), a = 6.530(2) Å, b = 11.728(4) Å, c = 35.236(12) Å, V = 2698.6(15) Å3, Z = 4, Rgt(F) = 0.0492, wRref(F2) = 0.1034, T = 173 K.

C28H42N2O2, monoclinic, P21 (no. 4), a = 12.679(3) Å, b = 6.9067(14) Å, c = 15.577(3) Å, β = 113.821(4)°, V = 1247.8(5) Å3, Z = 2, Rgt(F) = 0.0485, wRref(F2) = 0.1266, T = 173 K.

PURPOSE: To investigate the feasibility and application of a novel imaging technique, a three-dimensional dual adiabatic inversion recovery prepared ultrashort echo time (3D DIR-UTE) sequence, for high contrast assessment of cartilaginous endplate (CEP) imaging with head-to-head comparisons between other UTE imaging techniques. METHOD: The DIR-UTE sequence employs two narrow-band adiabatic full passage (AFP) pulses to suppress signals from long T2 water (e.g., nucleus pulposus (NP)) and bone marrow fat (BMF) independently, followed by multispoke UTE acquisition to detect signals from the CEP with short T2 relaxation times. The DIR-UTE sequence, in addition to three other UTE sequences namely, an IR-prepared and fat-saturated UTE (IR-FS-UTE), a T1-weighted and fat-saturated UTE sequence (T1w-FS-UTE), and a fat-saturated UTE (FS-UTE) was used for MR imaging on a 3 T scanner to image six asymptomatic volunteers, six patients with low back pain, as well as a human cadaveric specimen. The contrast-to-noise ratio of the CEP relative to the adjacent structures-specifically the NP and BMF-was then compared from the acquired images across the different UTE sequences. RESULTS: For asymptomatic volunteers, the DIR-UTE sequence showed significantly higher contrast-to-noise ratio values between the CEP and BMF (CNRCEP-BMF) (19.9 ± 3.0) and between the CEP and NP (CNRCEP-NP) (23.1 ± 1.7) compared to IR-FS-UTE (CNRCEP-BMF: 17.3 ± 1.2 and CNRCEP-NP: 19.1 ± 1.8), T1w-FS-UTE (CNRCEP-BMF: 9.0 ± 2.7 and CNRCEP-NP: 10.4 ± 3.5), and FS-UTE (CNRCEP-BMF: 7.7 ± 2.2 and CNRCEP-NP: 5.8 ± 2.4) for asymptomatic volunteers (all P-values

BackgroundTendon and bone comprise a critical interrelating unit. Bone loss, including that seen with osteopenia (OPe) or osteoporosis (OPo), may be associated with a reduction in tendon quality, though this remains incompletely investigated. Clinical magnetic resonance imaging (MRI) sequences cannot directly detect signals from tendons because of the very short T2. Clinical MRI may detect high-graded abnormalities by changes in the adjacent structures like bone. However, ultrashort echo time MRI (UTE-MRI) can capture high signals from all tendons. To determine if the long T2 fraction, as measured by a dual-echo UTE-MRI sequence, is a sensitive quantitative technique to the age- and bone-loss-related changes of the lower leg tendons.MethodsThis is a cross-sectional study conducted between January 2018 to February 2020 in the lower legs of 14 female patients with OPe [72±6 years old, body mass index (BMI) =25.8±6.2 kg/m2] and 31 female patients with OPo (73±6 years old, BMI=22.0±3.8 kg/m2), as well as 30 female subjects with normal bone (Normal, 35±18 years old, BMI =23.2±4.3 kg/m2), were imaged on a 3T clinical scanner using a dual-echo 3D Cones UTE sequence. We defined the apparent long T2 signal fraction (aFrac-LongT2) of tendons as the ratio between the signal at the second echo time (TE =2.2 ms) to the UTE signal. The average aFrac-LongT2 and the cross-sectional area were calculated for the anterior tibialis tendons (ATTs) and the posterior tibialis tendons (PTTs). The Kruskal-Wallis rank test was used to compare the differences in aFrac-LongT2 and the cross-sectional area of the tendons between the groups.ResultsThe aFrac-LongT2 of the ATTs and PTTs were significantly higher in the OPo group compared with the Normal group (22.2% and 34.8% in the ATT and PTT, respectively, P

PurposeTo develop a 3D phase modulated UTE adiabatic T1ρ (PM-UTE-AdiabT1ρ ) sequence for whole knee joint mapping on a clinical 3 T scanner.MethodsThis new sequence includes six major features: (1) a magnetization reset module, (2) a train of adiabatic full passage pulses for spin locking, (3) a phase modulation scheme (i.e., RF cycling pair), (4) a fat saturation module, (5) a variable flip angle scheme, and (6) a 3D UTE Cones sequence for data acquisition. A simple exponential fitting was used for T1ρ quantification. Phantom studies were performed to investigate PM-UTE-AdiabT1ρ 's sensitivity to compositional changes and reproducibility as well as its correlation with continuous wave-T1ρ measurement. The PM-UTE-AdiabT1ρ technique was then applied to five ex vivo and five in vivo normal knees to measure T1ρ values of femoral cartilage, meniscus, posterior cruciate ligament, anterior cruciate ligament, patellar tendon, and muscle.ResultsThe phantom study demonstrated PM-UTE-AdiabT1ρ 's high sensitivity to compositional changes, its high reproducibility, and its strong linear correlation with continuous wave-T1ρ measurement. The ex vivo and in vivo knee studies demonstrated average T1ρ values of 105.6 ± 8.4 and 77.9 ± 3.9 ms for the femoral cartilage, 39.2 ± 5.1 and 30.1 ± 2.2 ms for the meniscus, 51.6 ± 5.3 and 29.2 ± 2.4 ms for the posterior cruciate ligament, 79.0 ± 9.3 and 52.0 ± 3.1 ms for the anterior cruciate ligament, 19.8 ± 4.5 and 17.0 ± 1.8 ms for the patellar tendon, and 91.1 ± 8.8 and 57.6 ± 2.8 ms for the muscle, respectively.ConclusionThe 3D PM-UTE-AdiabT1ρ sequence allows volumetric T1ρ assessment for both short and long T2 tissues in the knee joint on a clinical 3 T scanner.

C24H46ClNO5, orthorhombic, P212121 (no. 19), a = 7.5992(3) Å, b = 9.6634(5) Å, c = 34.7499(7) Å, V = 2551.8(10) Å3, Z = 4, Rgt(F) = 0.0554, wRref(F2) = 0.1479, T = 170 K.

Low on-state voltage and low turn-off loss are key issues for IGBT used in HVDC and FACTS. Partial narrow mesa was introduced to improve emitter side contact resistance of IGBT based on Nakagawa limit assumption. However, turn-off loss increases and short circuit sustainability get worse. Split gate separates gate electrode from drift region and reduces gate-collector capacitance to lower turn-off energy loss. Combination partial narrow mesa with split gate can get better gate performance and turn-off characteristics in 4.5kV IGBT. Simulated results with TCAD show proposed models improves switching loss and gate reliability. By adjusting split gap electric filed, split gate shape has an important effect on turn-on characteristics.

Introduction: The objective of this study was to assess the bi-exponential relaxation times and fractions of the short and long components of the human patellar tendon ex vivo using three-dimensional ultrashort echo time T1ρ (3D UTE-T1ρ) imaging. Materials and Methods: Five cadaveric human knee specimens were scanned using a 3D UTE-T1ρ imaging sequence on a 3T MR scanner. A series of 3D UTE-T1ρ images were acquired and fitted using single-component and bi-component models. Single-component exponential fitting was performed to measure the UTE-T1ρ value of the patellar tendon. Bi-component analysis was performed to measure the short and long UTE-T1ρ values and fractions. Results: The single-component analysis showed a mean single-component UTE-T1ρ value of 8.4 ± 1.7 ms for the five knee patellar tendon samples. Improved fitting was achieved with bi-component analysis, which showed a mean short UTE-T1ρ value of 5.5 ± 0.8 ms with a fraction of 77.6 ± 4.8%, and a mean long UTE-T1ρ value of 27.4 ± 3.8 ms with a fraction of 22.4 ± 4.8%. Conclusion: The 3D UTE-T1ρ sequence can detect the single- and bi-exponential decay in the patellar tendon. Bi-component fitting was superior to single-component fitting.

PURPOSE: To test the ability of inversion-recovery ultrashort echo time (IR-UTE) MRI to directly detect demyelination in mice using a standard cuprizone mouse model. METHODS: Non-aqueous myelin protons have ultrashort T2s and are invisible with conventional MRI sequences but can be detected with UTE sequences. The IR-UTE sequence uses an adiabatic inversion-recovery preparation to suppress the long T2 water signal so that the remaining signal is from the ultrashort T2 myelin component. In this study, eight 8-week-old C57BL/6 mice were fed cuprizone (n = 4) or control chow (n = 4) for 5 weeks and then imaged by 3D IR-UTE MRI. The differences in IR-UTE signal were compared in the major white matter tracts in the brain and correlated with the Luxol Fast Blue histochemical marker of myelin. RESULTS: IR-UTE signal decreased in cuprizone-treated mice in white matter known to be sensitive to demyelination in this model, such as the corpus callosum, but not in white matter known to be resistant to demyelination, such as the internal capsule. These findings correlated with histochemical staining of myelin content. CONCLUSIONS: 3D IR-UTE MRI was sensitive to cuprizone-induced demyelination in the mouse brain, and is a promising noninvasive method for measuring brain myelin content.

BackgroundWe investigated the relationship of two commonly used quantitative ultrasound (QUS) parameters, speed of sound (SoS) and attenuation coefficient (α), with water and macromolecular contents of bovine cortical bone strips as measured with ultrashort echo time (UTE) magnetic resonance imaging (MRI).MethodsSoS and α were measured in 36 bovine cortical bone strips utilizing a single-element transducer with nominal 5 MHz center frequency based on the time of flight principles after accommodating for reflection losses. Specimens were then scanned using UTE MRI to measure total, bound, and pore water proton density (TWPD, BWPD, and PWPD) as well as macromolecular proton fraction and macromolecular transverse relaxation time (T2-MM). Specimens were also scanned using microcomputed tomography (μCT) at 9-μm isometric voxel size to measure bone mineral density (BMD), porosity, and pore size. The elastic modulus (E) of each specimen was measured using a 4-point bending test.Resultsα demonstrated significant positive Spearman correlations with E (R = 0.69) and BMD (R = 0.44) while showing significant negative correlations with porosity (R = -0.41), T2-MM (R = -0.47), TWPD (R = -0.68), BWPD (R = -0.67), and PWPD (R = -0.45).ConclusionsThe negative correlation between α and T2-MM is likely indicating the relationship between QUS and collagen matrix organization. The higher correlations of α with BWPD than with PWPD may indicate that water organized in finer structure (bound to matrix) provides lower acoustic impedance than water in larger pores, which is yet to be investigated thoroughly.Relevance statementThis study highlights the importance of future investigations exploring the relationship between QUS measures and all major components of the bone, including the collagenous matrix and water. Investigating the full potential of QUS and its validation facilitates a more affordable and accessible tool for bone health monitoring in clinics.Key points• Ultrasound attenuation demonstrated significant positive correlations with bone mechanics and mineral density. • Ultrasound attenuation demonstrated significant negative correlations with porosity and bone water contents. • This study highlights the importance of future investigations exploring the relationship between QUS measures and all major components of the bone.