The article describes an engineering prototype of the Device for 24-hour monitoring over the functional state of the fetus and mother’s cardiovascular system in the antenatal period of pregnancy. The Device is a hardware and software system that ensures the registration and analysis of fetus and mother’s phonocardiograms with further processing and interpretation. The interpretation process is designed to timely detect conditions that constitute a threat to a fetus. The Device operates as part of a telemedicine network that allows obstetricians-gynecologists managing pregnant women to remotely control their state. The article describes the Device design concept and features of its specific components. The engineering prototype of the Device was used to carry out biomedical tests that confirmed its suitability for 24-hour monitoring over the functional state of fetus and mother’s cardiovascular system in home settings.
This study aimed to develop a method allowing to improve safety of use of robotic medical rehabilitation devices by designing and testing an algorithm for calculation of the angular positions of rehabilitation robotic manipulators or robotic prostheses and allowing to reproduce the natural arc of a human arm under control of a CVS. The Introduction section supports the urgency of development of the methods granting control over positioning of robotic manipulators with the help of a computer vision system (CVS) and thus guarantee safety of patients and medical personnel in the context of work with medical robotic rehabilitation devices. The Materials and Methods section contains a brief description of the robotic arm used in this study, a description of the existing approaches to calculation of angular positions of drives, and a description of the proposed algorithm. The final sections compare application of the proposed algorithm and existing methods of calculation of angular positions of drives of robotic manipulators (robotic prostheses) and outline the possible directions for further improvement.
Biped walking implies a multitude of cyclically moving body segments and requires corresponding adjustment and coordinated movement of these segments to ensure smooth motion and balance maintenance – a challenging task considering technical limitations of currently existing robotic platforms. The article describes the implementation of the real-time dynamic walking of the AR-600 anthropomorphic robotic platform produced by JSC NPO Androidnaya Tekhnika (Magnitogorsk, Russia). The robot was controlled employing the software developed by the authors and motions were simulated in the 3DLK specialized simulation environment (JSC NPO Androidnaya Tekhnika). The authors studied various walking trajectories and confirmed the validity of this algorithm and related software for implementing biped robot locomotion.
The article describes the results of studying and analyzing phonocardiograms (PCGs) obtained during a physiological experiment with Blu-ray standard equipment. It provides the findings of a spectral and spectral-time analysis for signals with a sampling frequency of 10, 44.1 and 192 kHz. It shows that the differences in the PCG spectra of identical signals are unreliable. The article specifies the onset and disappearance moments of the harmonic components of heart sounds. It also provides recommendations on the sampling frequency and bit resolution of digitized PCG signals for telemetric systems.
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