Objective To realize SLAM and path planning of mobile robot to solve the problem of real-time data association in the process of moving and to update the computational complexity of the state covariance matrix.Methods The mathematical model of SLAM was built,and FastSlam algorithm based on particle filter,A* and dynamic window approach (DWA) were used to prepare gmapping function package in the ROS framework.Results The motion simulation,path planning and dynamic obstacle avoidance of mobile robot in the ROS framework were realized.Conclusion By using ROS platform,mobile robots can execute path planning efficiently while completing self-localization and map building.

Objective To propose a grasp torque control based on experimental learning and haptic feedback to facilitate the manipulator in dexterous manipulation.Methods An experience database was built firstly,and then the object was recognized by tactile feedback in the grasp task.If the object had been experitentially grasped,the torque was output based on the database.In case a new object was grasped,the optimal output torque was calculated by iterative learning.Results The experiment showed that the robot hand could find the experiential output torque quickly when encountering the object in database and calculate the torque by iterative learning to achieve grasp task.Conclusion The experiential database grows up when the robot hand learns more and more experience.It can fast output torque like human in the grasp task.

Plateau environment has a wide range of diurnal temperatures and thin air. The surgical shelter needs to resist the huge temperature shock and work in harsh environments, placing higher noise immunity requirements on the microenvironment temperature control system. The traditional microenvironment control of surgical treatment shelters mostly use instrument display and switch control, with a high failure rate and functional dispersion. We have designed a plateau microenvironment temperature control system with PLC as the control center and the touch screen as the Human Machine Interface so that real-time monitoring and control of temperature is achieved and the plateau temperature shock is resisted while the heater fuel ratio can be adjusted properly to adapt to plateau environment. This paper describes the control system hardware, software and algorithm design in detail.

Objective To evaluate the safety of laparoscopic complete mesocolic excision (CME) in radical resection for right colon cancer. Methods From January 2012 to June 2013, laparoscopic CME was performed in 40 patients with right colon cancer. Another group of 38 patients underwent traditional radical resection from January 2011 to December 2011.Surgical outcomes were compared between the two groups . Results The number of lymph nodes retrieved in the laparoscopic group ( 22.1 ±7.8 ) was significantly more than that in the traditional group (18.6 ±4.3, t =2.436, P =0.017).In patients with stage Ⅲ cancer, the laparoscopic group was associated with higher lymph node counts (23.0 ±6.0 vs.18.2 ±5.1, t=2.699, P=0.000), however, there were no significant differences in those with stage Ⅱ cancer between the two groups (t=0.758, P=0.454).There were no differences in operation time and intraoperative blood loss between the two groups (t=0.716, P=0.476;t=-1.547, P=0.126), but in the laparoscopic group the time to pelvic drainage tube removal , time to first flatus, time to liquid diet intake , duration of hospital stay, and postoperative complications were significantly better than those in the traditional group (t=-2.950, P=0.004;t=-5.767, P=0.000; t =-7.817, P =0.000; t =-6.065, P =0.000; χ2 =4.504, P =0.034). Conclusions CME technique in laparoscopic radical right hemicolectomy is feasible , safe, and effective.CME improves the surgical quality with keeping the integrity of mesocolon , more harvested lymph nodes , and not increasing surgical risks and postoperative complications .

Objective To design a vision-based detection method for rotated human bodies to fulfill unmanned wounded search in the rescue operation.Methods HOG (histogram of oriented gradient) which was the most successful visual feature in pedestrian detection was involved in,and the human detection in the wounded search task was realized by multi-directional detection.Furthermore,two human bodies datasets were established by imitating the views of unmanned ground vehicle (UGV)and unmanned aerial vehicle (UAV).Results The application to the two datasets proved the method's feasibility in UGV and UAV.Conclusion The method is robust to the in-plane rotations and out-plane rotations of human bodies,which is of vital significance to promote the efficiency of the wounded searching and rescuing.

During rescue operations in case of armed conflicts in cities , terrorist attacks and public health emergencies , rescuers are always in danger .For this reason, search for and rescue robots have been used to search and evacuate the wounded .They have also become a hot issue in current robotics technology research ,promising a wide range of applications in civilian and military fields .This paper outlines the origin of rescue robot research ,course of development and classifica-tion, focuses on the developments of and future research of the U .S army on evacuation and rescue robots ,and finally pres-ents the problems and key technical difficulties facing the development of such robots .This paper is interded to improve re-search methods and design theories of rescue robotics .

Objective:This study aimed to investigate the expression levels of centrosome-associated kinase Aurora-A, mutant type P53 (mt-P53), and c-myc in colorectal cancer. This study was also conducted to investigate the mutual relationship and functions of these factors in tumorigenesis and tumor progression. Methods:We examined the pathological specimens obtained from colorectal cancer, pericancerous tissues, and normal colorectal tissues by tissue microarray technique and immunohistochemistry (SP method) to determine the expression levels of Aurora-A, mt-P53, and c-myc proteins. The clinicopathological parameters were then analyzed. Re-sults: The positive rates of Aurora-A expression in normal colorectal tissues, pericancerous tissues, and colorectal cancer were 0%, 35%, and 69%respectively;by comparison, the positive rates of mt-P53 were 0%, 20%, and 57%, respectively. For c-myc, the positive rates were 0, 37%, and 76%, respectively. The expression levels of Aurora-A, mt-P53, and c-myc were significantly higher in tumor tis-sues than in normal colorectal tissues and pericancerous tissues (P<0.01). Aurora-A overexpression was related to the depth of invasion (P<0.05). Mt-P53 and c-myc overexpression was related to the depth of invasion, lymph node metastasis, and Dukes' classification (P<0.05). A strong positive correlation was observed between the expressions of Aurora-A, mt-P53, and c-myc in colorectal cancer (r=0.362, P<0.01; r=0.487, P<0.01). A strong positive correlation was also observed between the expressions of mt-P53 and c-myc in colorectal cancer (r=0.242, P<0.01). Conclusion:The overexpression of Aurora-A and c-myc and the mutation of P53 were important in tumorigenesis, tumor invasion, and metastasis of colorectal cancer. Thus, the co-detection of Aurora-A, mt-P53, and c-myc may be useful for the early diagnosis and prognosis of colorectal cancer.

To fulfill the plane-beam junction, this paper applies the simplified finite element modeling to the plane-beam composite structures. The finite element modeling of the teleconsulting vehicle compartment and its model analysis are performed. The results show that the finite element model can improve the design of the compartment and lays a foundation for the realization of the engineerization and sequencing of compartment dynamic strength design.

ObjectiveTo realize the information integration of medical devices with different interfaces and nonstandard communication protocols in the mobile operating room .Methods There were three steps involved in the procedure:classi-fied the common medical equipment , designed three communication methods for different interfaces and developed an infor -mation collection system for mobile operating room .Results This system can acquire information from various medical de-vices and display the data and waveforms in real time .Conclusion The solution in the paper can facilitate the information acquisition for doctors during the operation and improve the efficiency and informationization level of the operating room .

Based on the structure characteristics of the stretcher base of WCY2000field ambulance,this paper sets up a finite element analysis model with twotypes of beam elements.The accuracies under twotypes of elements are discussed and model method of the same structure is presented.