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Camila Valentina Osorio Pena,Laura Catalina Lopez Riano,Julian David Medina Alfonso,Hernando Leon-Rodriguez 제어로봇시스템학회 2022 제어로봇시스템학회 국제학술대회 논문집 Vol.2022 No.11
The applications of continuous-redundant robots in the medical field, thanks to their hyper-flexibility and their ability to slide through complex curvilinear lines, make them ideal for surgical procedures. This paper describes the design, construction and control of a continuous redundant robot, driven by tension cables, based on the robotic model. Tests were carried out in a simulated physical environment of the Abdominopelvic cavity. Regarding the control of the system, inverse kinematics were used, which allowed to relate the different variables of the same, using the MatLAB and Arduino programs; its manipulation was carried out by means of a joystick and a PID control. Evaluation, performance of the system, position of the end effector, the length of the tension cables in each movement, as well as their respective curvature and angles were recorded through calculations.
Pedro Melendez,Veronica Gomez,Hans Bothe,Francisco Rodriguez,Juan Velez,Hernando Lopez,Julian Bartolome,Louis Archbald 대한수의학회 2018 Journal of Veterinary Science Vol.19 No.3
The objective of this study was to compare ovulation rate, number of large ovarian follicles, and concentrations of plasma progesterone (P4) and non-esterified fatty acids (NEFA) between lame (n = 10) and non-lame (n = 10) lactating Holstein cows. The study was conducted in an organic dairy farm, and cows were evaluated by undertaking ultrasonography and blood sampling every 3 days from 30 days postpartum for a period of 34 days. Cows which became lame during the first 30 days postpartum experienced a lower ovulation rate determined by the presence of a corpus luteum (50% presence for lame cows and 100% for non-lame cows, p ≤ 0.05). The number of large ovarian follicles in the ovaries was 5 for lame cows and 7 for non-lame cows (p = 0.09). Compared to non-lame cows, lame cows had significantly lower (p ≤ 0.05) concentrations of plasma P4. Furthermore, NEFA concentrations were lower (p ≤ 0.05) in lame cows than in non-lame cows. It is concluded that lameness in postpartum dairy cows is associated with ovulation failure and lower concentrations of P4 and NEFA.