ABSTRACT This paper discusses the design of a safflower picking robot control system and focuses on a navigation control subsystem based on multisensor fusion. A navigation subsystem, an identification and positioning subsystem, a picking subsystem, and a levelling subsystem are designed. The hardware and software of the navigation subsystem are designed in detail, and a multisensor fusion positioning method based on extended Kalman fusion technology is proposed. The accuracy and stability levels of different combined navigation methods are compared. To test the effectiveness and accuracy of the proposed method, an outdoor test is carried out. The test results show that the outdoor fusion positioning accuracy of the robot is less than 8 cm, and when the satellite signal is lost, the navigation control subsystem can still provide high positioning accuracy. The final positioning result obtained using the integrated positioning method of the wheel odometer + IMU + DGNSS is approximately 52% higher than that of the odometer, approximately 29% higher than that of the wheel odometer + IMU, and approximately 11% higher than that of the IMU + DGNSS.

ABSTRACT Introduction: The research and development of new methods of injury diagnosis and rehabilitation training in benefits to the health and training of athletes is a contemporary priority. Among modern techniques, diagnostic imaging technology stands out. Objective: Study the auxiliary effect of imaging technology in the diagnosis and rehabilitation training of functional knee joint injuries in basketball practice. Methods: 50 basketball players diagnosed and treated in the past four years for knee joint function injuries in a special hospital were selected, including 28 male and 22 female athletes, aged 17 to 25 years. PerkinElmer Spotlight-300 FTIR spectral imaging system was used to scan the articular cartilage sections, visible light and total absorption images of the samples were obtained by reflection mode imaging. Results: The peak infrared feature of the articular cartilage measured by the infrared spectrum imaging technology is very consistent with the FTIR spectrum. After rehabilitation training, the Y test score of female patients increased from 96.72 ± 6.05 to 105.40 ± 4.23, and the Y test score of male patients increased from 98.34 ± 5.33 to 105.51 ± 4.89, showing significant differences. Conclusion: Infrared spectrum imaging technology is an effective technique for identifying functional knee joint injury, and is of great use for diagnosis and training update in basketball players with knee trauma. Level of evidence II; Therapeutic studies - investigation of treatment outcomes.

RESUMEN Introducción: La investigación y el desarrollo de nuevos métodos de diagnóstico de lesiones y entrenamiento de rehabilitación en beneficios para la salud y el entrenamiento de los deportistas es una prioridad contemporánea. Entre las técnicas modernas destaca el diagnóstico por tecnología de imagen. Objetivo: Estudiar el efecto auxiliar de la tecnología de imagen en el diagnóstico y entrenamiento de rehabilitación de lesiones funcionales de la articulación de la rodilla en la práctica del baloncesto. Métodos: Se seleccionaron 50 jugadores de baloncesto diagnosticados y tratados en los últimos cuatro años por lesiones funcionales de la articulación de la rodilla en un hospital especial, incluidos 28 atletas de sexo masculino y 22 de sexo femenino, con edades comprendidas entre los 17 y los 25 años. Se utilizó el sistema de imágenes espectrales FTIR PerkinElmer Spotlight-300 para escanear las secciones de cartílago articular, y se obtuvieron imágenes de luz visible y de absorción total de las muestras mediante imágenes en modo de reflexión. Resultados: El pico infrarrojo del cartílago articular medido mediante la tecnología de imagen de espectro infrarrojo es muy coherente con el espectro FTIR. Tras el entrenamiento de rehabilitación, la puntuación de la prueba Y de las pacientes femeninas aumentó de 96,72 ± 6,05 a 105,40 ± 4,23, y la puntuación de la prueba Y de los pacientes masculinos aumentó de 98,34 ± 5,33 a 105,51 ± 4,89, mostrando diferencias significativas. Conclusión: La tecnología de imágenes del espectro infrarrojo es una técnica eficaz para identificar lesiones funcionales de la articulación de la rodilla, y es de gran utilidad para el diagnóstico y la actualización del entrenamiento en jugadores de baloncesto con traumatismo de rodilla. Nivel de evidencia II; Estudios terapéuticos - investigación de los resultados del tratamiento.

RESUMO Introdução: A pesquisa e o desenvolvimento de novos métodos de diagnóstico de lesões e treinamento de reabilitação em benefícios para a saúde e o treinamento dos atletas é uma prioridade contemporânea. Entre as técnicas modernas, destaca-se o diagnóstico por tecnologia de imagem. Objetivo: Estudar o efeito auxiliar da tecnologia de imagem no diagnóstico e treinamento de reabilitação das lesões funcionais das articulações do joelho na prática do basquetebol. Métodos: Foram selecionados 50 jogadores de basquetebol diagnosticados e tratados nos últimos quatro anos por lesões da função articular do joelho em um hospital especial, incluindo 28 atletas masculinos e 22 atletas femininos, com idade entre 17 e 25 anos. O sistema de imagem espectral PerkinElmer Spotlight-300 FTIR foi usado para escanear as seções de cartilagem articular, a luz visível e as imagens de absorção total das amostras foram obtidas através da imagem em modo de reflexão. Resultados: O pico da característica infravermelha da cartilagem articular medida pela tecnologia de imagem de espectro infravermelho é muito consistente com o espectro FTIR. Após o treinamento de reabilitação, o escore do teste Y de pacientes do sexo feminino aumentou de 96,72 ± 6,05 para 105,40 ± 4,23, e o escore do teste Y de pacientes do sexo masculino aumentou de 98,34 ± 5,33 para 105,51 ± 4,89, mostrando diferenças significativas. Conclusão: A tecnologia de imagem de espectro infravermelho é uma técnica eficaz para identificar a lesão funcional da articulação do joelho, sendo de grande utilidade para o diagnóstico e atualização de treinamento em praticantes de basquetebol com traumatismos no joelho. Nível de evidência II; Estudos terapêuticos - investigação dos resultados do tratamento.

ABSTRACT To mitigate the large demand for safflower picking labour and the low efficiency of manual picking, a safflower picking robot that is based on a parallel manipulator is designed. The whole robot mainly consists of a walking device, parallel manipulator device, vision device, picking device, filament collection device, control system, and motor drive system. The forward and inverse kinematics analysis of the parallel manipulator is analysed via a geometric method, the kinematics model is established, and the computational analysis of the parallel manipulator working speed is based on the Jacobi matrix. For driving angle errors of 0.001∼0.005°, the moving platform's motion accuracy is 0.2174–0.9387 mm, which meets the position accuracy requirements of the test stage. Based on MATLAB software, the Monte Carlo method is employed to solve the working space of the parallel manipulator, which is approximately an equilateral triangle with a side length of 0.35 m, which satisfies the safflower growth space picking conditions. The prototype is constructed, and safflower picking experiments are carried out under laboratory conditions. The average picking period of each flower bulb was 16 s, and the average net picking rate of the filaments was 87.91%. The experimental results verified the applicability of the safflower picking robot.

This study aimed to investigate the predictive factors for uveitis recurrence (UR) risk in Behcet's disease (BD) patients. BD patients (n=164) with a history of uveitis were recruited, and demographic data, clinical features, and laboratory tests were recorded. Uveitis was defined as anterior uveitis, intermediate uveitis, posterior uveitis, panuveitis referring to the “International Uveitis Study Group recommendations for the evaluation of intraocular inflammatory disease”. In total, there were 70 UR patients and 94 non-UR patients. Compared to non-UR patients, UR patients appeared to be older and presented with increased uveitis occurrence rate and times within 3 months, oral ulcers occurrence rate, as well as higher concentrations of triglycerides (TG), total cholesterol (TC), low-density lipoprotein (LDL), and serum amyloid A (SAA). Multivariate logistic model disclosed that uveitis occurrence times within 3 months, oral ulcers, TG, LDL, and SAA independently predicted higher risk of UR. Furthermore, receiver operating characteristic curve analysis showed that the combination of uveitis occurrence times within 3 months, oral ulcers, TG, LDL, and SAA exhibited a high predictive value for UR risk with an area under the curve of 0.983 (95%CI: 0.969−0.998). In conclusion, uveitis occurrence times within 3 months, oral ulcers, TG, LDL, and SAA might be potential predictive factors for UR risk in BD patients, which can help in prevention and management of the disease.

Abstract Chemical leukoderma occurs due to the toxic effect of a variety of chemical agents. Mechanisms include either destruction or inhibition of melanocytes. We report two male patients (36 and 51 years old) who presented with multiple hypopigmented macules and patches on the neck, wrist, and legs after exposure to dimethyl sulfate in a chemical industry. Physical examination revealed irregular depigmentation macules with sharp edges and clear hyperpigmentation around the lesions. History of repeated exposure to a chemical agent can help the clinical diagnosis of chemical leukoderma. This diagnosis is very important for prognosis and therapeutic management of the disease.