To expand the clinical applications and improve the ease of use of ultrahigh-resolution optical coherence tomography (UHR-OCT), we developed a portable boom-type ophthalmic UHR-OCT operating in supine position that can be used for pediatric subjects, bedridden patients and perioperative conditions. By integrating the OCT sample arm probe with real-time iris display and automatic focusing electric lens for easy alignment, coupling the probe on a self-locking multi-directional manipulator to reduce motion artifacts and operator fatigue, and installing the OCT module on a moveable cart for system mobility, our customized portable boom-type UHR-OCT enables non-contact, high-resolution and high-stability retinal examinations to be performed on subjects in supine position. The spectral-domain UHR-OCT operates at a wavelength of 845 nm with 130 nm FWHM (full width at half maximum) bandwidth, achieving an axial resolution of ≈2.3µm in tissue with an A-line acquisition rate up to 128 kHz. A high-definition two-dimensional (2D) raster protocol was used for high-quality cross-sectional imaging while a cube volume three-dimensional (3D) scan was used for three-dimensional imaging and en-face reconstruction, resolving major layer structures of the retina. The feasibility of the system was demonstrated by performing supine position 2D/3D retinal imaging on healthy human subjects, sedated infants, and non-sedated awake neonates.
Compliant grasping is an important function of continuum robots that interact with humans and/or unpredictable environments. However, the existing robots often have cross‐sections that remain constant along their length. This causes the robots to exhibit poor grasping ability, especially when dealing with objects with diverse curvatures. Here, inspired by the high adaptability of seahorse tails in grasping, a cable‐driven continuum robot with tapered tensegrity, capable of conformally grasping objects with various curvatures is proposed. To characterize the effects of tapering on robotic kinematics, a mechanical model is derived using a multi‐body dynamic framework for both predicting the configuration and developing a control strategy for cables. Theoretical predictions indicate that the curvature of each unit can be regulated by altering the length of the cables, allowing the robot to conform to objects with curvatures ranging from 1.48 to 28.21 m−1. Further, a continuum robot is employed, and the control strategy that can be used for grasping floating objects when the curvature of the objects is used as the input is tested. The robotic design, which presents an example of embedded physical intelligence, can inspire in situ characterization techniques for collecting floating contaminants.
Abstract. The friction of the hydraulic cylinder mainly comes from the sealing part, the existence of friction leads the wear of the seal. In view of the serious impact of the damage of the seal on the hydraulic cylinder, a set of sealing test system was designed, for the purpose of investigation and analysis on the performance of different sealing kit configuration, in terms of friction with given hydraulic medium. In this paper, there will be the introduction of the principles, constitutions and functions of the testing system. The experimental results provide data support for the design and selection of sealing system of the hydraulic cylinder.
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