| 2 | Control of Velocity-Constrained Stepper Motor-Driven Hilare Robot for Waypoint Navigation显示文摘在障碍物密集的环境中,找到一条从初始位置到目标位置的最优轨迹,并控制一台Hilare机器人沿着该轨迹行驶仍是一项具有挑战性的任务。为了完成这个任务,控制环中通常需要加入路径规划器以及轨迹跟踪控制器。本文的目的是在一台由步进电机驱动的Hilare机器人上实现轨迹跟踪控制的任务。其中,轨迹由航点集合表示。在设计过程中,控制器需要考虑处理方向连续的离散航点,并且需要考虑不同的执行器速度约束。本文利用多目标粒子群优化(multi-objective particle swarm optimization, MOPSO)的方法来调整控制器的参数。MOPSO通过最小化移动机器人在追踪预定义轨迹时的平均航迹误差以及平均线速度误差来得到最优的控制器参数。实验中,移动机器人被控制从起始点沿着一条由航点表示的轨迹行驶到达目标点。实验同样给出对路径规划器生成的轨迹,以及自定义轨迹的跟踪结果。基于移动机器人的实验结果验证了本文方法对不同形式轨迹跟踪的有效性。 | Robins Mathew Somashekhar S. Hiremath | 2018 | Engineering2018，4，4： | 2 |
| 7 | Socio-demographic factors impact time to discharge following total knee arthroplasty显示文摘AIM To determine social, logistical and demographic factors that influence time to discharge in a short stay pathway(SSP) by following total knee arthroplasty(TKA). METHODS The study included primary TKA's performed in a highvolume arthroplasty center from January 2016 through December 2016. Potential variables associated with increased hospital length of stay(LOS) were obtained from patient medical records. These included age, gender, race, zip code, body mass index(BMI), number of pre-operative medications used, number of narcotic medications used, number of patient reported allergies(PRA), simultaneous bilateral surgery, tobacco use, marital status, living arrangements, distance traveled for surgery, employment history, surgical day of the week, procedure end time and whether the surgery was performed during a major holiday week. Multivariate step-wise regression determined the impact of social, logistical and demographic factors on LOS. RESULTS Eight hundred and six consecutive primary SSP TKA's were included in this study. Patients were discharged at a median of 49 h(post-operative day two). The following factors increased LOS: Simultaneous bilateral TKA [46.1 h longer(P < 0.001)], female gender [4.3 h longer(P = 0.012)], age [3.5 h longer per ten-year increase in age(P < 0.001)], patient-reported allergies [1.1 h longer per allergy reported(P = 0.005)], later procedure endtimes [0.8 h longer per hour increase in end-time(P = 0.004)] and Black or African American patients [6.1 h longer(P = 0.047)]. Decreased LOS was found in married patients [4.8 h shorter(P = 0.011)] and TKA's performed during holiday weeks [9.4 h shorter(P = 0.011)]. Non-significant factors included: BMI, median income, patient's living arrangement, smoking status, number of medications taken, use of pre-operative pain medications, distance traveled to hospital, and the day of surgery. CONCLUSION The cost of TKA is dependent upon LOS, which is affected by multiple factors. The clinical care team should acknowledge socio-demographic factors to optimize LOS. | Ugonna N Ihekweazu Garrett H Sohn Mitzi S Laughlin Robin N Goytia Vasilios Mathews Gregory W Stocks Anay R Patel Mark R Brinker | 2018 | World Journal of Orthopedics2018，9，12： | 1 |
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