Search Results (301)

Solid-state LiDAR systems are widely recognized for their high reliability, low cost, and lightweight design, but they encounter significant challenges in SLAM tasks due to their limited field of view and uneven horizontal scanning patterns, especially in indoor environments with geometric constraints. To address these challenges, this paper proposes SS-LIO, a precise, robust, and real-time LiDAR–Inertial odometry solution designed for solid-state LiDAR systems. SS-LIO uses uncertainty propagation in LiDAR point-cloud modeling and a tightly coupled iterative extended Kalman filter to fuse LiDAR feature points with IMU data for reliable localization. It also employs voxels to encapsulate planar features for accurate map construction. Experimental results from open-source datasets and self-collected data demonstrate that SS-LIO achieves superior accuracy and robustness compared to state-of-the-art methods, with an end-to-end drift of only 0.2 m in indoor degraded scenarios. The detailed and accurate point-cloud maps generated by SS-LIO reflect the smoothness and precision of trajectory estimation, with significantly reduced drift and deviation. These outcomes highlight the effectiveness of SS-LIO in addressing the SLAM challenges posed by solid-state LiDAR systems and its capability to produce reliable maps in complex indoor settings. Full article

This work presents the development of a functional real-time SLAM system designed to enhance the perception capabilities of an Automated Guided Vehicle (AGV) using only a 2D LiDAR sensor. The proposal aims to address recurring gaps in the literature, such as the need for low-complexity solutions that are independent of auxiliary sensors and capable of operating on embedded platforms with limited computational resources. The system integrates scan alignment techniques based on the Iterative Closest Point (ICP) algorithm. Experimental validation in a controlled environment indicated better performance using Gauss–Newton optimization and the point-to-plane metric, achieving pose estimation accuracy of 99.42%, 99.6%, and 99.99% in the position ($x$, $y$) and orientation ($\theta$) components, respectively. Subsequently, the system was adapted for operation with data from the onboard sensor, integrating a lightweight graphical interface for real-time visualization of scans, estimated pose, and the evolving map. Despite the moderate update rate, the system proved effective for robotic applications, enabling coherent localization and progressive environment mapping. The modular architecture developed allows for future extensions such as trajectory planning and control. The proposed solution provides a robust and adaptable foundation for mobile platforms, with potential applications in industrial automation, academic research, and education in mobile robotics. Full article

Pedicle screw fixation is a critical technique for stabilizing lumbar fractures in canines, yet the biomechanical implications of insertion angles remain underexplored. This study aims to identify optimal screw trajectories by analyzing stress distribution and deformation patterns in beagle lumbar segments (L6-L7) using finite element analysis (FEA). A 3D finite element model was reconstructed from CT scans of a healthy beagle, incorporating cortical/cancellous bone, intervertebral disks, and cartilage. Pedicle screws (2.4 mm diameter, 22 mm length) were virtually implanted at angles ranging from 45° to 65°. A 10 N vertical load simulated standing conditions. Equivalent stress and total deformation were evaluated under static loading. The equivalent stress occurred at screw–rod junctions, with maxima at 50° (11.73 MPa) and minima at 58° (3.25 MPa). Total deformation ranged from 0.0033 to 0.0064 mm, with the highest at 55° and the lowest at 54°. The 58° insertion angle demonstrated optimal biomechanical stability with minimal stress concentration, with 56–60° as a biomechanically favorable range for pedicle screw fixation in canine lumbar fractures, balancing stress distribution and deformation control. Future studies should validate these findings in multi-level models and clinical settings. Full article

Pedicle screw fixation is a common spinal surgery technique, but concerns remain about stability when screws are malpositioned. Traditional in vitro pull-out tests assess anchorage but lack physiological accuracy. This study examined the stability of correctly placed and intentionally malpositioned pedicle screws on forty vertebrae from five cadavers. Optimal screw paths were planned via CT scans and applied using 3D-printed guides. Four malposition types—medial, lateral, superior, and superior-lateral—were created by shifting the original trajectory. A custom setup applied three consecutive cycles of tensile and compressive load from 50 N to 200 N. Screw inclination under load was measured with a 3D optical system. The results showed increasing screw inclination with higher forces, reaching about 1° at 50 N and 2° at 100 N, similar in both load directions. Significant differences in inclination were only found at 100 N tensile load, where malpositioned screws showed a lower inclination. Overall, malpositioning had no major effect on screw loosening. These findings suggest that minor deviations in screw placement do not significantly compromise mechanical stability. Clinically, the main concern with malpositioning lies in the potential for injury to nearby structures rather than reduced screw fixation strength. Full article

This study examines the effect of smooth and humped flow channels on the recovery of industrial magnetic seeds in a drum magnetic separator. The results demonstrate that under varying feeding slurry quantities and drum rotational speeds, the humped channel consistently achieves higher recovery rates compared with the smooth channel, with an improvement of up to 3%. Scanning electron microscopy and vibrating sample magnetometry analyses of the samples reveal the presence of a small amount of impurities (predominantly consisting of elements, such as Al, Si, and Ti) in the industrial magnetite magnetic particles. These impurities exhibit lower magnetization, leading to reduced capture efficiency in the conventional smooth-channel drum magnetic separator. Simulations of the magnetic field, flow field, and particle trajectory indicate that the magnetic field force at the bottom of the smooth channel is only 0.6 kg²/(m·s⁴·A²), i.e., approximately 18 times lower than that at the roller surface. The incorporation of a humped channel shifts the impure magnetic seeds from a region with low magnetic field force to a region with higher magnetic field force, significantly enhancing the capture efficiency of the impure magnetic seeds. Full article

Background/Objectives: The long-term sequelae of COVID-19 pneumonia, particularly the persistence of imaging abnormalities and their relationship to clinical symptoms, remain unclear. While the acute radiologic patterns are well-documented, the transition to chronic pulmonary changes—and their implications for long COVID symptoms—require systematic investigation. Methods: Our study included 93 patients with moderate to severe COVID-19 pneumonia who were admitted to Istanbul Medical Faculty Hospital, each having one follow-up CT scan over a ten-month period. Two thoracic radiologists independently calculated semi-quantitative initial chest CT scores to evaluate lung involvement in pneumonia (0–5 per lobe, total score 0–25). Two radiologists and one pulmonologist retrospectively examined the persistence of follow-up imaging findings, interpreting them alongside the relevant clinical and laboratory data. Additionally, in a subcohort (n = 46), mid-term (5–7 months) and long-term (≥10 months) scans were compared to assess temporal trajectories. Results: Among the 93 patients with long-term follow-up imaging, non-fibrotic changes persisted in 34 scans (36.6%), while fibrotic-like changes were observed in 70 scans (75.3%). The most common persistent non-fibrotic changes were heterogeneous attenuation (29%, n = 27) and ground-glass opacities (17.2%, n = 16), and the persistent fibrotic-like changes were pleuroparenchymal bands or linear atelectasis (58%, n = 54), fine reticulation (52.6%, n = 49), and subpleural curvilinear lines (34.4%, n = 32). Both persistent non-fibrotic and fibrotic-like changes were statistically correlated with the initial CT score (p < 0.001), LDH (p < 0.001), and ferritin levels (p = 0.008 and p = 0.003, respectively). Fatigue (p = 0.025) and chest pain (p < 0.001) were reported more frequently in patients with persistent non-fibrotic changes, while chest pain (p = 0.033) was reported more frequently among those with persistent fibrotic-like changes. Among the 46 patients who underwent both mid- and long-term follow-up imaging, 47.2% of those with non-fibrotic changes (17 out of 36) and 10% of those with fibrotic-like changes (4 out of 40) exhibited regression over the long term. Conclusions: Initial imaging and laboratory findings may indicate persistent imaging findings related to long-term sequelae of COVID-19 pneumonia. Many of these persistent imaging abnormalities, particularly non-fibrotic changes seen in the mid-term, tend to lessen over the long term. A correlation exists between persistent imaging findings and clinical outcomes of long COVID-19, underscoring the need for further research. Full article

Low-latency and robust beamforming are vital for sustaining signal quality and spectral efficiency in emerging high-mobility 5G and future 6G wireless networks. Conventional beam management approaches, which rely on periodic Channel State Information feedback and static codebooks, as outlined in 3GPP standards, are insufficient in rapidly varying propagation environments. In this work, we propose a Dominance-Enforced Adaptive Clustered Sliding Window Regression (DE-ACSW-R) framework for predictive beamforming in O-RAN Split 7-2x architectures. DE-ACSW-R leverages a sliding window of recent angle of arrival (AoA) estimates, applying in-window change-point detection to segment user trajectories and performing both Linear Regression (LR) and curvature-adaptive Support Vector Regression (SVR) for short-term and non-linear prediction. A confidence-weighted fusion mechanism adaptively blends LR and SVR outputs, incorporating robust outlier detection and a dominance-enforced selection regime to address strong disagreements. The Open Radio Unit (O-RU) autonomously triggers localised MUSIC scans when prediction confidence degrades, minimising unnecessary full-spectrum searches and saving delay. Simulation results demonstrate that the proposed DE-ACSW-R approach significantly enhances AoA tracking accuracy, beamforming gain, and adaptability under realistic high-mobility conditions, surpassing conventional LR/SVR baselines. This AI-native modular pipeline aligns with O-RAN architectural principles, enabling scalable and real-time beam management for next-generation wireless deployments. Full article

Five-axis sweep scanning measurement technology, as a novel contact measurement technology, offers excellent reachability and high measurement efficiency for complex parts. However, deviations between the measurement instructions based on the model and the workpiece exist, leading to mismatches between the intended and actual sweep scanning areas, which manifest as displacements of the scanning boundaries and subsequently impact the acquisition of sampling points. When these sampling points are utilized to evaluate the machining quality of workpieces, the accuracy and reliability of the assessment results are compromised. Therefore, by focusing on the phenomenon of boundary displacement in a five-axis sweep scanning measurement, the sampling principle has been analyzed, the constrained sector for the probe tip trajectory in a five-axis scanning measurement has been defined, and the concept of the trajectory constrained sector effect has been proposed for the first time. The constrained sector effect reveals how deviations affect the scanning boundary positions and acquisition of sampling points. Based on the constrained sector effect, the influence of deviations on boundary displacement and sampling point acquisition in single-patch and multiple-patch measurement scenarios is discussed. Furthermore, practical engineering recommendations are provided, aiming to reduce the impact of deviations on the completeness of sampling point acquisition. Full article

Background: Arterial variations in the upper limb, although infrequent, carry critical clinical implications. The presence of superficial ulnar and radial arteries, especially when originating from high levels, increases the risk of iatrogenic injury, misdiagnosis, and surgical complications. To confirm and describe, through ultrasound and anatomical dissection, the presence of a high-origin superficial ulnar artery and a superficial radial artery in a cadaver, highlighting their anatomical trajectory and clinical relevance. Methods: A cross-sectional ultrasound and anatomical study was conducted on 150 upper limbs from fresh-frozen cadavers. High-frequency ultrasound was used to scan the vasculature from the axilla to the wrist. Subsequently, dissection was performed to confirm sonographic findings. Results: One case (0.66%) of concurrent superficial ulnar artery and superficial radial artery was identified in the left arm of a 79-year-old male cadaver. The superficial ulnar artery originated from the axillary artery and coursed superficially along the forearm, anterior to the flexor muscles. The superficial radial artery emerged from the brachial artery and ran subcutaneously in the distal forearm. These arteries remained in close relation to key neural and venous structures, increasing their vulnerability to clinical error. Conclusions: The identification of high-origin superficial arteries is essential for clinical practice. Ultrasound serves as a reliable, non-invasive method for detecting such variations preoperatively. Awareness of these anomalies can prevent inadvertent vascular injuries, improve diagnostic accuracy, and inform safer surgical and anesthetic approaches in upper limb interventions. Full article

Arginine plays a critical role in biomolecular interactions due to its guanidinium side chain, which enables multivalent electrostatic and hydrogen bonding contacts. In this study, atomistic molecular dynamics simulations were conducted across a broad concentration range (26–605 mM) to investigate the thermodynamic and structural features of arginine self-assembly in aqueous solution. Key observables—including hydrogen bond count, radius of gyration, contact number, and isobaric heat capacity—were analyzed to characterize emergent behavior. A three-regime aggregation pattern (dilute, cooperative, and saturated) was identified and quantitatively modeled using the Hill equation, revealing a non-linear transition in clustering behavior. Spatial analyses were supplemented with trajectory-based clustering and radial distribution functions. The heat capacity peak observed near 360 mM was interpreted as a thermodynamic signature of hydration rearrangement. Trajectory analyses utilized both GROMACS tools and the MDAnalysis library. While force field limitations and single-replica sampling are acknowledged, the results offer mechanistic insight into how arginine concentration modulates molecular organization—informing the understanding of biomolecular condensates, protein–nucleic acid complexes, and the design of functional supramolecular systems. The findings are in strong agreement with experimental observations from small-angle X-ray scattering and differential scanning calorimetry. Overall, this work establishes a cohesive framework for understanding amino acid condensation and reveals arginine’s concentration-dependent behavior as a model for weak, reversible molecular association. Full article

Objective: The aim of this study is to present the initiation of robotic-guided (RG) spine surgery into routine clinical care at a single center with the use of intraoperative CT (iCT) automatic registration-based navigation. The workflow included iCT with automatic registration, fusion with preoperative imaging, verification of preplanned screw trajectories, RG introduction of K-wires, and the insertion of pedicle screws (PSs), followed by a control iCT scan. Methods: All patients who underwent RG implantation of pedicle screws using the Cirq^® robotic arm (BrainLab, Munich, Germany) in the thoracolumbar spine at our department were included in the study. The accuracy of the pedicles screws was assessed using the Gertzbein–Robbins scale (GRS). Results: In total, 108 patients (60 female, mean age 68.7 ± 11.4 years) in 109 surgeries underwent RG PS placement. Indications included degenerative spinal disorders (n = 30 patients), spondylodiscitis (n = 24), tumor (n = 33), and fracture (n = 22), with a mean follow-up period of 7.7 ± 9 months. Thirty-seven cases (33.9%) were performed percutaneously, and all others were performed openly. Thirty-three operations were performed on the thoracic spine, forty-four on the lumbar and lumbosacral spine, thirty on the thoracolumbar, one on the cervicothoracic spine, and one on the thoracolumbosacral spine. The screws were inserted using a fluoroscopic (first 12 operations) or navigated technique (latter operations). The mean operation time was 228.8 ± 106 min, and the mean robotic time was 31.5 ± 18.4 min. The mean time per K-wire was 5.35 ± 3.98 min. The operation time was lower in the percutaneous group, while the robot time did not differ between the two groups. Robot time and the time per K-wire improved over time. Out of 688 screws, 592 were GRS A screws (86.1%), 54 B (7.8%), 22 C (3.2%), 12 D (1.7%), and 8 E (1.2%). Seven screws were revised intraoperatively, and after revision, all were GRS A. E screws were either revised or removed. In the case of D screws, screws located at the end of the construct were revised, while so-called in-out-in screws in the middle of the construct were not revised. Conclusions: Brainlab’s Cirq^® Robotic Alignment Module feature enables placement of pedicle screws in the thoracolumbar spine with high accuracy. A learning curve is shown through improvements in robotic time and time per K-wire. Full article

In our contribution, we conduct a thematic literature review on trajectory estimation using a decentralized multi-sensor system based on robotic total stations (RTS) with a focus on unmanned aerial system (UAS) platforms. While RTS are commonly used for trajectory estimation in areas where GNSS is not sufficiently accurate or is unavailable, they are rarely used for UAS trajectory estimation. Extending the RTS with integrated camera images allows for UAS pose estimation (position and orientation). We review existing research on the entire RTS measurement processes, including time synchronization, atmospheric refraction, prism interaction, and RTS-based image evaluation. Additionally, we focus on integrated trajectory estimation using UAS onboard measurements such as IMU and laser scanning data. Although many existing articles address individual steps of the decentralized multi-sensor system, we demonstrate that a combination of existing works related to UAS trajectory estimation and RTS calibration is needed to allow for trajectory estimation at sub-$\mathrm{c}$$\mathrm{m}$ and sub-$0.01$ gon accuracies, and we identify the challenges that must be addressed. Investigations into the use of RTS for kinematic tasks must be extended to realistic distances (approx. 300–500 m) and speeds (>2.5 m s⁻¹). In particular, image acquisition with the integrated camera must be extended by a time synchronization approach. As to the estimation of UAS orientation based on RTS camera images, the results of initial simulation studies must be validated by field tests, and existing approaches for integrated trajectory estimation must be adapted to optimally integrate RTS data. Full article

In this article, fourth-order systems of ordinary differential equations are studied. These systems are of a special form, which is used in modeling gene regulatory networks. The nonlinear part depends on the regulatory matrix W, which describes the interrelation between network elements. The behavior of solutions heavily depends on this matrix and other parameters. We research the evolution of trajectories. Two approaches are employed for this. The first approach combines a fourth-order system of two two-dimensional systems and then introduces specific perturbations. This results in a system with periodic attractors that may exhibit sensitive dependence on initial conditions. The second approach involves extending a previously identified system with chaotic solution behavior to a fourth-order system. By skillfully scanning multiple parameters, this method can produce four-dimensional chaotic systems. Full article

Twin robotic X-ray computed tomography (CT) refers to CT systems in which two robotic arms are used to independently move the X-ray source and the X-ray detector around the object. This setup enables flexible CT scans by using robots to move the X-ray source and the X-ray detector around an object’s region of interest. This allows scans of large objects, image quality optimization and scan time reduction. Despite these advantages, robotic CT systems still face challenges that limit their widespread adoption. This paper discusses the state of twin robotic CT and its current main challenges. These challenges include the optimization of scanning trajectories, precise geometric calibration and advanced 3D reconstruction techniques. Full article

Traditional offline programming has limitations for large parts with significant machining or assembly deviations. This study proposes a 3D scanning-assisted method that generates accurate STereoLithography (STL) models and enables multi-layer multi-bead welding trajectory planning for large intersecting line workpieces. The proposed framework implements a robust STL model processing pipeline incorporating Random Sample Consensus (RANSAC)-based cylindrical approximation, cross-sectional slicing, and automated feature detection to achieve high-precision groove feature recognition. For asymmetric variable-section grooves, a multi-layer and multi-pass path-planning algorithm based on template affine projection transformation is developed to ensure accurate deposition of welds along complex geometric contours. Experimental validation demonstrates sub-millimeter trajectory accuracy (positional errors < 1.0 mm), meeting stringent arc welding specifications and substantially expanding the applicability of offline programming systems. Full article