Research on Trajectory Recognition and Control Technology of Real-Time Tracking Welding

Real-time tracking welding with the assistance of structured light vision enhances the intelligence of robotic welding, which significantly shortens teaching time and guarantees accuracy for user-customized product welding. However, the robustness of most image processing algorithms is deficient during welding practice, and the security regime for tracking welding is not considered in most trajectory recognition and control algorithms. For these two problems, an adaptive feature extraction algorithm was proposed, which can accurately extract the seam center from the continuous, discontinuous or fluctuating laser stripes identified and located by the CNN model, while the prior model can quickly remove a large amount of noise and interference except the stripes, greatly improving the extraction accuracy and processing speed of the algorithm. Additionally, the embedded Pauta criterion was used to segmentally process the center point data stream and to cyclically eliminate outliers and further ensure the accuracy of the welding reference point. Experimental results showed that under the guarantee of the above-mentioned seam center point extraction and correction algorithms, the tracking average error was 0.1 mm, and even if abnormal trajectory points existed, they did not cause welding torch shaking, system interruption or other accidents

Mitochondrial Ca2+ oscillation induces mitophagy initiation through the PINK1-Parkin pathway

Abstract Dysregulation of the PINK1/Parkin-mediated mitophagy is essential to Parkinson’s disease. Although important progress has been made in previous researches, the biochemical reagents that induce global and significant mitochondrial damage may still hinder deeper insights into the mechanisms of mitophagy. The origin of PINK1/Parkin pathway activation in mitophagy remains elusive. In this study, we develop an optical method, ultra-precise laser stimulation (UPLaS) that delivers a precise and noninvasive stimulation onto a submicron region in a single mitochondrial tubular structure. UPLaS excites localized mitochondrial Ca2+ (mitoCa2+) oscillations with tiny perturbation to mitochondrial membrane potential (MMP) or mitochondrial reactive oxygen species. The UPLaS-induced mitoCa2+ oscillations can directly induce PINK1 accumulation and Parkin recruitment on mitochondria. The Parkin recruitment by UPLaS requires PINK1. Our results provide a precise and noninvasive technology for research on mitophagy, which stimulates target mitochondria with little damage, and reveal mitoCa2+ oscillation directly initiates the PINK1-Parkin pathway for mitophagy without MMP depolarization