Improved vision based pose estimation for industrial robots via sparse regression

In this work amonocular machine vision based pose estimation system is developed for industrial robots and the accuracy of the estimated pose is im-proved via sparse regression. The proposed sparse regressionbased methodis usedimprove the accuracy obtained from the Levenberg-Marquardt (LM) based pose estimation algorithmduring the trajectory tracking of an industrial robot’s end effector. The proposed method utilizes a set of basis functions to sparsely identify the nonlinear relationship between the estimated pose and the true pose provided by a laser tracker.Moreover,a camera target was designed and fitted with fiducial markers,andto prevent ambiguities in pose estimation, the markers are placed in such a way to guarantee the detection of at least two distinct nonparallel markers from a single camera within ± 90° in all directions of the cam-era’s view. The effectiveness of the proposed method is validated by an experi-mental study performed using a KUKA KR240 R2900 ultra robot while follow-ing sixteen distinct trajectories based on ISO 9238. The obtained results show that the proposed method provides parsimonious models which improve the pose estimation accuracy and precision of the vision based system during trajectory tracking of industrial robots' end effector

Intra aortic balloon pump: literature review of risk factors related to complications of the intraaortic balloon pump

The increasing use of the intra aortic balloon pump is attributed to the relatively easy percutaneous insertion and the low threshold of use over the past few years, especially in elderly patients with multi-vessel diseases and an affected ejection fraction

Influence of delayed pouring on irreversible hydrocolloid properties

The aim of this study was to evaluate the physical properties of irreversible hydrocolloid materials poured immediately and after different storage periods. Four alginates were tested: Color Change (Cavex); Hydrogum (Zhermack); Hydrogum 5 (Zhermack); and Hydro Print Premium (Coltene). Their physical properties, including the recovery from deformation (n = 3), compressive strength (n = 3), and detail reproduction and gypsum compatibility (n = 3), were analyzed according to ANSI/ADA specification no. 18. Specimens were stored at 23ºC and humidity and were then poured with gypsum immediately and after 1, 2, 3, 4, and 5 days. The data were analyzed by two-way analysis of variance (ANOVA) and Tukey's test at p < 0.05. All of the alginate impression materials tested exhibited detail reproduction and gypsum compatibility at all times. Hydro Print Premium and Hydrogum 5 showed recovery from deformation, as established by ANSI/ADA specification no. 18, after 5 days of storage. As the storage time increased, the compressive strength values also increased. Considering the properties of compounds' recovery from deformation, compressive strength, and detail reproduction and gypsum compatibility, irreversible hydrocolloids should be poured immediately