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Background: After a smooth development of life expectancy per capita and fertility in the nineteenth century, the global population increased in size. Along with the demographic shift in the late nineteenth century, the phenomenon of population aging began to appear in developed countries. A survey from UN reports that by 2050, one in six people worldwide will be over 65 years old (16%), compared to 11 (9%) in 2019. According to another survey, 55% of people over the age of 60 suffer from joint diseases, and the number of people suffering from stroke, arthritis and other knee diseases will also increase accordingly. Objective: An overview of the classification and characteristics of today's knee rehabilitation devices and future developments. Methods: This review discusses the existing knee rehabilitation devices, including various products on the market, patents and some conceptual devices, in the context of the structural characteristics of the knee joint and the rehabilitation requirements of different knee conditions or after knee arthroplasty, and systematically introduces their structural features, differences and the rehabilitation effects achieved. Results: A comparative analysis of three types of passive knee rehabilitation devices according to their use was conducted to summarize the typical characteristics. The problems that exist in today's rehabilitation devices are also analyzed, and their development trends are looked forward to. Conclusion: Knee rehabilitation equipment has a high degree of structural richness, but it does not achieve a good balance of convenience, comfort and functionality, and there should be some room for improvement in the materials, volume of the power source and transmission form of the power system. There will be a good development in the future of knee joint recovery.

Background: Search and rescue in high-risk situations and searches in unknown environments pose certain threats to human physical life. The development of mobile robots with exploratory capabilities that can be adapted to complex sites, with high mobility and high obstacle-crossing capabilities, is therefore a research trend. Existing wheeled and tracked mobile robots have excellent locomotion, but they are less adaptable and less efficient when faced with complex terrain or outer space environments. Therefore, how to increase the obstacle-crossing ability and improve the movement efficiency of mobile robots has become a research hotspot in the field of mobile robotics. Objective: To introduce the classification, characteristics and development of existing hopping robots. Methods: The various products and patents of hopping robots are summarized, and the structural features, differences and applications of typical hopping robots are introduced. Results: By analyzing a variety of hopping robots, the typical characteristics and the current problems of hopping robots are analyzed, the development trend of hopping robots is prospected, the current research status of hopping robots are discussed and the future prospects are carried out. Conclusion: Hopping robots can be divided into mechanical energy drive, combustion energy drive and new energy drive according to the driving method. Depending on the drive energy used, jumping robots can achieve a jump height 0.5-30 times higher than their own size, and combined with a specific mechanical structure design, they have the characteristics of high explosive, high mobility, and can solve interstellar exploration, terrain exploration and rescue problems. Compared to mechanical energy drives, combustion chemistry is two orders of magnitude more energy intensive than even the highest performing batteries. The use of recycled renewable energy solves the energy self-loading problem of chemical combustion drives and is more environmentally friendly than the two previous types of new energy drives. Therefore, such products should be invented and patented in the future.

Background: With the rapid growth of the elderly population, the phenomenon of shoulder subluxation caused by stroke is increasing. For young people, frozen shoulders caused by works and shoulder fractures caused by accidents are also increasing. With the development and popularization of rehabilitation medicine, more and more people realize that rehabilitation and treatment are equally important. Therefore, more and more shoulder rehabilitation devices are designed. Objective: To provide an overview of the end traction shoulder rehabilitation device and introduce their classification, characteristics and development. Methods: This paper reviewed various productions and patents related to the end traction shoulder rehabilitation device. The structural characteristics, differentiations, applications of the end traction rehabilitation device are also introduced. Results: By analyzing the physiological structure and movement characteristics of the shoulder, the rehabilitation mechanism is understood. According to the usage and training track of the end traction shoulder rehabilitation device, it is classified and compared, and the typical characteristics are concluded. The main problems in its development are analyzed and studied. The current and future research of the productions and patents on it are discussed. Conclusion: As a single joint rehabilitation device, the rehabilitation goal of the end traction shoulder rehabilitation device is clearer. Through analysis of existing patents, it is found that the safety, the rehabilitation effect and the rehabilitation program of device need to be further improved. In the future, in order to better serve patients, technologies such as human-machine interaction and rehabilitation process monitoring are also essential.

Dental caries is a common disease affecting the health of humans. Tooth preparation is an essential method for the treatment of dental caries, and its effect determines the quality of dental caries restoration directly. At present, the doctor-patient ratio of dentistry is incredibly unbalanced, and it is challenging to meet the increasing demand for tooth preparation. Besides, it is prone to produce visual deviation and positioning error if the tooth preparation is operated manually by doctors. This paper focuses on the adjacent surface tooth preparation of the full crown. By analyzing the preparation process, the robot body as well as the end-effector are selected. Further, the pose and position between the robot and the tooth are established. Through the inverse calculation and interpolation of the NURBS curve, the robot-assisted trajectory planning of adjacent surface tooth preparation is realized. On the basis of the traditional offline programming method, mobile App “Dental Preparation Assisting Software” is developed based on augmented reality, which can interactively display the planned adjacent preparation curves and preparation information. And the robot can be controlled by the mobile App, which improves the visualization and efficiency of the preparation process. Finally, the experimental system based on the Dobot Magician robot is established, and the robot experiments of adjacent surface tooth preparation are carried out. The maximum relative fixed-point error of each feature point in the XYZ axis is 0.24 mm, 0.29 mm and 0.37 mm, respectively. The confidence interval width of each feature point in the XYZ direction is stable at about 0.31 mm on average, and the correlation between the feature points in the three directional variables is not strong. The proposed method of robot-assisted trajectory planning based on augmented reality for adjacent surface tooth preparation can improve the efficiency of tooth preparation and relieve the pressure of manual tooth preparation within the margin of error, and its feasibility and validity are verified.

The oil spill in the offshore oil facilities environmental risk assessment methods are explored, and the risk evaluation method is a comprehensive consideration of spill pollution range, degree and environmentally sensitive resources influence, which graded and situational combination drift diffusion trajectory simulation for each of the leak, quantitative measure of environmental risk. Thereby improving offshore oil facilities the major environmental risk management level, prevent accidents, reduce pollution, and solves the calculation method and ship pollution risk traditional risk calculation method is not suitable for offshore oil facilities oil spill environmental risk assessment.

Three hierarchical algorithms are proposed to get the passable driving road detection for unmanned ground vehicle (UGV). The innovation of this paper is the self-made directional texture which will be produced if the inverse homography transform is exerted on the image. This self-made texture is firstly used to remove the image corresponding to the objects above road. In order to avoid the influence of other color object, the k-means clustering is used to get the seed for region growing. Finally, the directional texture is secondly used to judge whether the image holes after region growing are the road or not. The final experimental results show the proposed algorithm can remove the non-road objects, can and fill the stained color region and can get the rational driving road.

It becomes more and more important to protect the security of web sites. In order to solve the problem about web site disaster recovery, a web site protection oriented remote backup and recovery method is proposed in this paper. Customers can design various backup strategies such as full, incremental and differential backup by themselves. A multi version control method is given to text files, and the remote transmission and backup mechanism is designed based on Rsync and FTP protocols. Rsync is used to reduce the transferred data efficiently, the experiment results show that the remote backup and recovery system can work fast and it can meet the requirements of web site protection.