Sledování chůze s použitím senzoru MS Kinect a robotické platformy

Computer vision is a fast developing field of science. Activity monitoring and analysis belongs to this topic. Our application is focused on gait monitoring and analysis. The novelty of this attitude is in the combination of the MS Kinect v2 sensor for capturing the gait pattern and mobility of such sensor thanks to placing this device on a robotic platform. Crucial part of this project is the hardware solution and autonomous function of this recording set. The designed platform is a six-wheeled robotic platform controlled by a micro controller using the depth information from the Kinect sensor and the distance driven by robot provided by encoders attached to every motor. The following research is devoted to the proposal of methods for a precise and as narrow as possible control of the platform and post processing of records for a features selection and a classification of physical activities and early diagnostics of gait disorders, primarily the Parkinson’s disease.Počítačové vidění je rychle se vyvíjející odvětví vědy, kam patří i monitorování a analýza pohybu. Naše aplikace se zaměřuje na zaznamenávání a analýzu chůze a využívá nový přístup v kombinaci senzoru MS Kinect v2 pro sledování pohybových vzorů a robotické platformy jako nosiče, který umožňuje mobilitu senzoru. Stěžejní částí tohoto projektu je samotné hardwarové řešení a autonomní funkce nahrávání. Navrhnutá platforma je šestikolový podvozek řízený jednočipem s využitím hloubkových dat ze senzoru Kinect a ujeté vzdálenosti, která je získávána z šesti enkodérů upevněných na každém motoru. Následujícím úkolem je nelézt a aplikovat metody pro přesné a co nejkomplexnější řízení platformy. Získané nahrávky budou následně podrobeny analýze fyzické aktivity a použity k včasné diagnostice poruch chůze, primárně způsobených Parkinsonovou nemocí

INVERSE KINEMATICS - TOOL FOR ROBOTIC MANIPULATOR CONTROL

Příspěvek představuje matematické pozadí automatického řízení robotického manipulátoru. První část se zabývá matematickým modelem a řešením úlohy inverzní kinematiky. Druhá část poté vše aplikuje v případové studii.The contribution introduces the mathematical background of control of robotic manipulator. The first part deals with the mathematical model and the inverse kinematics problem. The second part shows the solution in the case study

Martenzitická přeměna u chladnoucího odlitku litiny monitorovaná akustickou emisí

Vydáno chybně pod ISSN 1210-047

Robot-Based Image Analysis for Evaluating Rehabilitation after Brain Surgery

After certain types of brain surgery, patients are often affected by changes in both their dynamic balance and facial disorder. Because rehabilitation takes several months, it is important that both doctors and patients are able to monitor progress quantitatively. At present, such quantification is subjective and highly dependent on the doctor’s opinion. Thus, we here investigate the use of robot-based image analysis for measuring rehabilitation. To evaluate a patient’s dynamic balance, we developed a mobile robotic platform that uses a stereovision camera (MS Kinect) to capture a video of the subject walking along a hospital corridor. To evaluate a patient’s facial disorders, the same camera is used in a static mode to detect and capture precise facial movements that the subject is asked to perform. From these videos, specific patterns can be extracted for rehabilitation process description

Mesenchymal Stem Cells in Bone Tissue Regeneration and Application to Bone Healing

This synoptic study gives a concise overview of current knowledge of bone healing, the role of mesenchymal stem cells in bone tissue regeneration and contemporary possibilities of supporting regeneration of damaged bone. Attention of research concerning the healing of fractures with extensive loss of bone tissue following trauma, the treatment of belatedly healing or non-healing fractures or the healing of segmental bone defects following tumour resection, is focused on development of three-dimensional scaffolds planted with mesenchymal stem cells that might be used for reconstruction of such large bone lesions. Presented are possibilities of transplantation of mesenchymal stem cells combined with biomaterials into bone defects, including the results of our own experimental studies dealing with the use of stem cells in the treatment of damaged tissues of the musculoskeletal system in animal models

New semi-spherical radiofrequency energy device for liver resection: an experimental study in pigs

The aim of this experimental study was to verify a new semi-spherical surgical tool for bipolar radiofrequency liver ablation, which can solve some of the disadvantages of the commonly used device, such as long duration of ablation. A total of 12 pigs which were randomly divided into two groups were used. Each pig underwent resection of the two liver lobes. In group 1, pigs were treated with the commonly used device; in group 2 the newly developed semispherical device was used. During surgery and the post-surgical period, many categories were observed and later analyzed. The blood count and biochemistry were monitored on days 0, 14 and 30 from the operation. On day 14 since the liver resection, pigs underwent diagnostic laparoscopy to evaluate their condition focusing on the site of the liver lobe resection. On day 30 after operation, all pigs were euthanized and subjected to histopathological examination. Histopathological evaluation of thermal changes at the resection margin showed strong thermal alteration in both groups. Data between both groups were compared using median test for continuous variables and Fisher’s exact test for categorical variables. Statistical analyses were performed with IBM SPSS software version 18.0. Statistical analysis of collected data did not prove any significant (P < 0.05) differences between the commonly used device and the newly designed surgical tool.Web of Science84439

Hodnocení fyzikálně metalurgických parametrů křehkého porušení konstrukčních ocelí

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