Application of synthetic transcription factor VP64-linker-Os03g11370 to improve paddy rice grain properties

The invention provides fusion protein (VP16) 4-linker-Os03g11370, wherein linker is formed by 39 flexible amino acids in serial connection, VP16 is VP16 protein coming from herpes simplex virus, and Os03g11370 is a paddy rice transcription factor Os03g11370. The invention also provides a gene encoding the fusion protein and application thereof to increase the grain length, the grain width and the thousand seed weight of paddy rice. The CDS sequence of the transcription factor gene Os03g11370 is constructed at the downstream of four VP16 sequences through a Gateway system for transforming paddy rice and enabling the grain of transgenic paddy rice to be lengthen and widen. The method for improving the paddy rice grain properties, and lengthening and widening grains has important theoretical value on illustrating the molecule mechanism of regulation and control on change of paddy rice grains. Through the transgenosis means, the paddy rice grains are lengthen and widen, so that the method has ...

Method for preparing imporous carbon absorbent material

The invention discloses a method for preparing an imporous carbon absorbent material, which comprises the following steps of: firstly, taking sucrose, adding 98 percent sulfuric acid for carbonization in a mass ratio of 1:2-4 to obtain a carbon precursor; secondly, heating the carbon precursor to the temperature of between 150 and 180 DEG C, and pre-oxidizing the carbon precursor to a bread shape; thirdly, continuously oxidizing the product for 4 to 5 hours under the vacuum degree between 0.06 and 0.08MPa and at the temperature of between 220 and 230 DEG C, and absorbing the produced waste gas by using alkali liquor; and finally, performing vacuum cooling on the product to room temperature under the vacuum degree between 0.06 and 0.08MPa, and grinding to obtain the novel imporous carbon absorbent material.

Wine preparation method

The invention discloses a wine preparation method. The method comprises the following steps: juicing fruits of one or more species, then, adding 85-150ppm SO2, adding sucrose or fructose/glucose syrup of an equal sugar amount of a volume which is 5-15% that of juice, fermenting by a screened yeast, and distilling, so as to obtain a fruit brandy; peeling and refining grains, then, soaking for 1-2 days by an aqueous solution containing 0.1-0.3% lactic acid, loading to a cage drawer, steaming for 45 minutes, showering with pure water until the temperature is 35-40 DEG C, then, adding 0.4-0.6% rice wine yeast or medium-temperature clear-flavor yeast, preserving temperature for 45-72 hours, and then, adding syrup; carrying out wine pressing, then, carrying out after-fermentation for 15-30 days at the temperature of 10-20 DEG C, so as to obtain compounded fermented wine; adding the fruit brandy to the compounded fermented wine, enabling alcohol content to reach designed alcohol content, and adjusting ...

Chinese medicine granules for treating diabetic, producing method and quality controlling method thereof

The invention relates to a Chinese traditional medicine granule for treating diabetes and the preparation method and quality control method; the Chinese traditional medicine granule is prepared by Astragalus root, gen-seng, fructus corni, radix trichosanthis, radices puerarire, bloodsucker, wine-fried rhubarb and hemlock parsley; and the quality control method of the Chinese traditional medicine granule includes: the thin layer identification of Astragalus root, gen-seng, fructus corni, radices puerarire, rhubarb and hemlock parsley as well as the content measurement of Astragalus root.

Device and method for hot forming of titanium alloy corrugated pipe through current assistance

The invention discloses a device and method for hot forming of a titanium alloy corrugated pipe through current assistance, and relates to a device and method for hot forming of a corrugated pipe. The device and method for hot forming of the titanium alloy corrugated pipe through current assistance solve the problem that an existing titanium alloy corrugated pipe is difficult to manufacture, and high in cost and low in production efficiency. According to the device, the positive pole and the negative pole of an electrode (3) tightly sleeve the upper end and the lower end of a tube blank (10), a low-voltage high-current power source (5) is connected with the positive pole and the negative pole of the electrode (3) through a wire (4), a gas cylinder (7) is connected with a gas guide pipe (11) on the tube blank (10) through a gas pipe (6), and a forming die (2) is placed on a working platform of a press machine (1). The method comprises the steps that the first step, the tube blank (10) is ...

Use of medicine composition in preparing medicine for treating insomnia

The invention relates to a medicine new application of a medicine combination which is composed of the followings, 750 portions of salvia and 250 portions of safflower, and can be made into injections, pills, grains, hard capsules, soft capsules, tablets, dropping pills or oral liquid preparations; Pharmacodynamic experiments and clinical observation proves that the medicine combination can be used for the treatment of non-organic insomnia and organic insomnia, and can be applicable to insomnia diseases.

Augmented stereoscopic visualization for a surgical robot

An illumination channel, a stereoscopic optical channel and another optical channel are held and positioned by a robotic surgical system. A first capture unit captures a stereoscopic visible image from the first light from the stereoscopic optical channel while a second capture unit captures a fluorescence image from the second light from the other optical channel. An intelligent image processing system receives the captured stereoscopic visible image and the captured fluorescence image and generates a stereoscopic pair of fluorescence images. An augmented stereoscopic display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of the stereoscopic visible image and the stereoscopic pair of fluorescence images.

ANTI-CD47 ANTIBODIES THAT DO NOT CAUSE SIGNIFICANT RED BLOOD CELL AGGLUTINATION

THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA

The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

Optimized field oriented control strategies for permanent magnet synchronous motors

A motor control system and associated method includes a transform component configured to receive current values associated with a motor being driven by the motor control system, and output rotating coordinate system values representing a flux generating component and a torque generating component of a current space vector. The motor control system and method further includes a control component configured to receive the flux generating component and the torque generating component of the current space vector, and generate motor control signals for driving the motor by performing a Cartesian to polar transform to obtain values associated with a rotating coordinate system followed by an angle addition to convert the rotating coordinate system values to values of a stationary coordinate system.

ANTI-CD47 ANTIBODIES THAT DO NOT CAUSE SIGNIFICANT RED BLOOD CELL AGGLUTINATION

Provided are antibodies including monoclonal, human, primate, rodent, mammalian, chimeric, humanized and CDR-grafted antibodies, and antigen binding fragments and antigen binding derivatives thereof. These antibodies bind to CD47 protein, particularly human CD47, modulate, e.g., inhibit, block, antagonize, neutralize or otherwise interfere with CD47 expression, activity and/or signaling, including inhibiting CD47 and SIRPa interaction; do not cause a significant level of hemagglutination of human red blood cells. These antibodies may not enhance RBC phagocytosis.

ENVIRONMENTAL CONTROL SYSTEM

Disclosed is an environmental control system. The control system is capable of detecting changes in a natural environment and in a man-made environment in the environment and either automatically or semi-automatically controlling use of electronic devices. The system is capable of computing and learning use habits of a user with respect to the electronic devices via a network connection and collected information stored in a built-in memory module.

ARRAY MODULE OF PARABOLIC SOLAR ENERGY RECEIVERS

A solar energy receiver array comprises a plurality of solar energy receivers arranged in an X by Y array. A protected housing includes a plurality of sides defining an opening therein. The plurality of solar energy receivers are arranged in the X by Y array may be lowered into the opening within the protective housing to protect the plurality of solar energy receivers arranged in the X by Y array from external winds.

一种用于治疗原发性低血压病的中成药

A Chinese patent medicine for treating primary hypotension is prepared from 8 Chinese-medicinal materials including red ginseng, prepared rehmannia root, immature bitter orange, ephedra, etc. Its advantage is high curative effect.

Preceding shock attenuation holds up equipment

The utility model discloses a preceding shock attenuation holds up equipment, include: a pedestal. Install jack on the base is used for holding up preceding shock attenuation, install connect on the base the motor of jack is used for the drive the lead screw of jack rotates, connect motor and for its battery that provides electric power, connect motor and battery and control motor corotation and direction changing switch. The utility model discloses simple structure replaces the manpower to hold up preceding shock attenuation, convenient operation, reduction intensity of labour and the emergence of avoiding the incident.

Traditional Chinese medicine preparation for treating coronary heart disease and angina pectoris and its preparing process

The invention discloses a Chinese herbal preparation for treating coronary angina pectoris and the preparation method. The preparation is mainly prepared by ginseng stems and leaves saponins and whitepeony root; the White Peony Root is extracted through ethanol; dropping pills are produced by purified macroporous resin plus the ginseng stems and leaves saponins. The preparation has the function of promoting blood circulation by removing blood stasis, replenishing qi and relieving pain, applicable to chest distress, cardiodynia, heart-throb and short breath all resulted from deficiency of qi and blood stasis. Compared with the prior art, the invention is characterized in excellent process, high bioavailability and evident efficacy.

Gasification process of water/gas mixed partial-chilled dry powder fuel and device

The invention relates to a process for gasifying water/gas mixed type partial chilling dry powder fuel and a special chiller thereof. The process resolves problems of poor cooling effect caused by only using water to chill high-temperature crude synthetic gases, no high-temperature resistance of spray throwers and easy corrosion and block of nozzles and pipes existing in dry powder fuel gasification process. Flammable dry powders are used as raw materials and undergo pressurized gasification, chilling and dust removal and cleaning; the crude synthetic gases at a temperature of between 180 and260 DEG C, which are used for downstream operating processes, are obtained; and the cleaning ash water obtained enters an ash water treatment system; chilling steps are as follows: when gasified crude synthetic gases at a temperature of between 1400 and 1700 DEG C rise to the middle part and/or upper part of a gasifier, crude synthetic gases are partially chilled by water/gas mixed fog liquids asthe ...

Solar air moisture continuous capturing device

The invention provides a solar air moisture continuous capturing device which comprises a water storage tank, the water storage tank is communicated with the outside, a sealing chamber is arranged above the water storage tank, a water collecting tank is arranged in the sealing chamber, a cylindrical three-dimensional water absorbing core is further arranged, and the lower end of the cylindrical three-dimensional water absorbing core is arranged at the position, close to the bottom end, in the water storage tank. A cylindrical interface evaporator is arranged at the upper end of the cylindrical three-dimensional water absorption core and arranged in the sealed chamber, moisture absorbents are arranged in the water storage tank and the cylindrical three-dimensional water absorption core, a condensation plate is arranged at the position, close to the upper portion of the cylindrical interface evaporator, in the water collection tank, a solar photovoltaic power generation plate and a storage ...

DIESEL OIL AND JET FUEL PRODUCTION SYSTEM AND METHOD UTILIZING FISCHER-TROPSCH SYNTHETIC OIL

A diesel oil and jet fuel production system and method utilizing Fischer-Tropsch synthetic oil. The method comprises two parts, hydrofining and hydro-upgrading, and comprises the following steps: mixing a Fischer-Tropsch synthetic oil with hydrogen and introducing the same into a hydrofining reactor (A), and introducing a product thereof into a first fractionating tower (C); taking a cut naphtha fraction as an ethylene cracking raw material, and introducing a diesel fraction into a hydroisomerization reactor (E); introducing an unconverted oil into a hydrocracking reactor (D), mixing the products of the two reactors and then introducing the mixed products into a second fractionating tower (F) to obtain a jet fuel and diesel oil product, and circulating the unconverted oil to the hydrocracking reactor (D). The method can produce diesel oil, jet fuel and a hydrotreating wax oil product, has a simple technique, a stable process, low equipment investment, low costs, a long running period, and ...

Chinese patent medicine for treating apoplexy

Ready-made medicine of traditional chinese medicine for treating ischemic cranial vascular disease

Acupuncture teaching human body model

The invention relates to a teaching instrument, in particular to an acupuncture teaching human model, which is characterized in that a surface layer of the model is a rubber layer, fillers are arranged in the rubber layer, and a plurality of sensors are arranged in the fillers. The invention uses self conductivity of a silver needle, uses the working principle of a circuit, the circuit is conducted through that a inserting depth and the accuracy of a guide wire are proper, thereby an I/O port of an ARM development board, which corresponds to an acupuncture point detects the changing of an electrical level, a command can be sent to a PC machine through a serial port, and a multimedia teaching training model with a low cost is connected with a computer which stores with a lot of acupuncture point information through a software operation interface. The teaching instrument can train the accuracy of the acupuncture point, also can train to insert a needle, and trains the inserting depth of the ...

System and method for producing diesel oil and jet fuel by utilizing Fischer-Tropsch synthetic oil

The invention provides a system and method for producing diesel oil and jet fuel by utilizing Fischer-Tropsch synthetic oil. The technological method of the system comprises two parts of hydrofining and hydro-upgrading, and comprises the following steps: firstly, enabling the Fischer-Tropsch synthetic oil to be mixed with hydrogen and then entering a hydrofining reactor, enabling products to enter a fractionating tower, taking cut naphtha fraction as an ethylene cracking raw material, enabling diesel fraction to enter a hydroisomerization reactor, enabling tail oil to enter a hydrocracking reactor, mixing the products of the two reactors and then enabling the mixed products to enter the fractionating tower to obtain the jet fuel and diesel oil product, and circulating the tail gas to enter a cracking reactor. Compared with a common refining-cracking series connection process, high-quality diesel oil, jet fuel and hydrotreating wax oil products can be produced by using the method, the method ...

Application of oryza sativa transcription factor Os05g32270.1 gene CDS sequence

The invention relates to the application of a oryza sativa transcription factor Os05g32270.1 gene CDS sequence. According to the invention, a transcription factor activation motif VP64 is fused with the oryza sativa transcription factor Os05g32270.1, such that a constitutive transcription factor is constructed; the gene coding the constitutive transcription factor is transferred to a crop such as oryza sativa, such that oryza sativa grain traits can be improved. For example, oryza sativa grain width can be increased. The invention has an important theoretical value in detailed explanation of seed development mechanism. Also, oryza sativa grain type can be improved through transgenic means. Therefore, the application provided by the invention also has important significance in production practices.

Large-diameter thick steel shell device

The invention discloses a large-diameter thick steel shell device which comprises a lower cylinder, an upper cylinder arranged above the lower cylinder and a first guiding and limiting mechanism arranged on the lower cylinder, and the first guiding and limiting mechanism is used for guiding and limiting the upper cylinder from the periphery of an upper opening of the lower cylinder. And the upper cylinder body is limited in a peripheral area range limited by the first guide limiting mechanism. According to the large-diameter thick steel shell device, the upper barrel is guided and limited through the first guiding and limiting mechanism, the upper barrel is prevented from swinging, shifting and rotating in the falling process, it is guaranteed that the upper barrel and the lower barrel are accurately in place, and the hoisting in-place quality of the upper barrel is guaranteed.

Dispensing production line

The invention relates to the technical field of electronic product production, and discloses a dispensing production line. The dispensing production line comprises a feeding device, an intermediate processing device and a dispensing device, wherein the feeding device is configured to bear a to-be-dispensed part; the intermediate processing device is configured to perform code scanning operation on the to-be-dispensed parts on the feeding device and put the to-be-dispensed parts subjected to code scanning into the corresponding bearing trays; the glue dispensing device comprises a middle transfer mechanism, a primary glue dispensing mechanism, a secondary glue dispensing mechanism and a glue dispensing transfer mechanism, and the middle transfer mechanism can transfer a bearing tray bearing a part to be dispensed on the middle treatment device to the primary glue dispensing mechanism for primary glue dispensing treatment; and the dispensing transfer mechanism can transfer the dried to-be-dispensed ...

Method for degumming ethanolamine solid fibrilia

The invention belongs to the technical field of textile processing, and particularly relates to a method for degumming ethanolamine solid fibrilia. The method comprises the following steps: mixing impurity-removed fibrilia with an ethanolamine solvent, and heating for 5-7 hours; wherein the bath ratio of the fibrilia to the ethanolamine solvent is 1: (2.5-4); washing, filtering and drying the treated fibrilia to obtain degummed fibrilia, and recovering the filtered degumming waste liquid; the degumming waste liquid is subjected to vacuum rotary evaporation to remove ethanol and water, and the purified degumming waste liquid is used as a next-batch degumming solvent, so that the waste liquid is recycled. According to the method, the high-bath-ratio solid fibrilia degumming is carried out only by using ethanolamine as a solvent, so that the dosage of chemicals and the volume of reaction equipment can be greatly reduced, and the degumming cost is reduced; and on the other hand, the ethanol ...

Hollow mesoporous metal organic framework material as well as preparation method and application thereof

The invention relates to a hollow mesoporous metal organic framework material as well as a preparation method and application thereof. The preparation process comprises the following main steps: S1, forming an emulsion interface by utilizing incompatibility of an organic phase and a water phase; and S2, forming micelles in a system by utilizing an amphiphilic surfactant, and assembling the micelles with a precursor of the metal organic framework material. S3, monocarboxylic acid and dicarboxylic acid ligands are used for competitive coordination with metal nodes, coordination of the ligands and the metal nodes is dynamically regulated and controlled, the nucleation and growth process of the metal organic framework material precursor on the micelles is further regulated and controlled, the micelles are controlled to be assembled on an emulsion interface, and the metal organic framework material is obtained. And finally, washing to obtain the uniform monodispersed hollow mesoporous metal ...

Apparatus and method of fast commutation for matrix converter-based rectifier

A method of commutation in a matrix rectifier from an active vector to a zero vector includes two steps. A method of commutation in a matrix rectifier from a zero vector to an active vector includes three steps.

Method and device for controlling flight, control terminal, flight system and processor

A method for controlling flight includes displaying prompt information in a picture received from an aerial vehicle, dividing the picture into at least two portions based on the prompt information, obtaining a location of a click operation on the picture, and controlling a flight direction of the aerial vehicle based on the location and the prompt information.

Systems And Methods For Interventional Procedure Planning

A method of planning a procedure to deploy an interventional instrument comprises receiving a model of an anatomic structure. The anatomic structure includes a plurality of passageways. The method further includes identifying a target structure in the model and receiving information about an operational capability of the interventional instrument within the plurality of passageways. The method further comprises identifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument. 1. A method of planning a procedure to deploy an interventional instrument , the method performed by a processing system , the method comprising:receiving a model of an anatomic structure, the anatomic structure including a plurality of passageways;identifying a target structure in the model;receiving information about an operational capability of the interventional instrument within the plurality of passageways; andidentifying a planned deployment location for positioning a distal tip of the interventional instrument to perform the procedure on the target structure based upon the operational capability of the interventional instrument.2. The method of wherein identifying the planned deployment location includes receiving data representing one or more characteristics of the interventional instrument claim 1 , the one or more characteristics including a tool deployment length.3. The method of wherein identifying the planned deployment location includes receiving data representing one or more characteristics of the interventional instrument claim 1 , the one or more characteristics including the bending capability of the interventional instrument.4. The method of wherein identifying the planned deployment location includes receiving data representing one or more characteristics of the interventional instrument and wherein the interventional ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA

The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions.

Diesel oil and jet fuel production system and method utilizing Fischer-Tropsch synthetic oil

A diesel oil and jet fuel production system and method utilizing Fischer-Tropsch synthetic oil. The method comprises two parts, hydrofining and hydro-upgrading, and comprises the following steps: mixing a Fischer-Tropsch synthetic oil with hydrogen and introducing the same into a hydrofining reactor (A), and introducing a product thereof into a first fractionating tower (C); taking a cut naphtha fraction as an ethylene cracking raw material, and introducing a diesel fraction into a hydroisomerization reactor (E); introducing an unconverted oil into a hydrocracking reactor (D), mixing the products of the two reactors and then introducing the mixed products into a second fractionating tower (F) to obtain a jet fuel and diesel oil product, and circulating the unconverted oil to the hydrocracking reactor (D). The method can produce diesel oil, jet fuel and a hydrotreating wax oil product, has a simple technique, a stable process, low equipment investment, low costs, a long running period, and ...

ENVIRONMENT CONTROL SYSTEM

An environment control system comprising: a first panel and a second panel. The first panel comprises a first sensor module used for collecting a parameter related to a first device and a first processing module for controlling the first device on the basis of the collected parameter or user input. The second panel comprises a first physical regulator for controlling the first device. The second panel is capable of working independent of the first panel. The first panel is capable of controlling the first physical regulator.

Unmanned aerial vehicle's propaganda directed to communicate device and unmanned aerial vehicle

The utility model discloses an unmanned aerial vehicle's propaganda directed to communicate device and unmanned aerial vehicle, the device of propagandaing directed to communicate includes: the microphone, sound is received to the microphone to become an audio electrical signal with received signal conversion, the voice modulation ware, with the microphone electricity is connected, will the microphone conversion an audio electrical signal amplifies into high frequency signal, first antenna, with voice modulation ware electricity is connected, and will high frequency signal current switchover becomes the electric wave, and launches, the second antenna sets up unmanned aerial vehicle is last, the second antenna is received first day the line emission the electric wave, the audio frequency reducer sets up unmanned aerial vehicle is last, and with second antenna electricity is connected, will the second antenna was received the electric wave returns to the original condition or shape into the ...

Method for confirming multicast service bearing mode

The invention discloses a method for determining the loading mode of multicast services, which includes the following steps: the statistics of the number of the terminals required to receive the multicast service is carried out by a RNC; the point-to-point loading mode or the point-to-multipoint mode of the multicast service is determined on the basis of the terminal number required to receive the multicast service according to the statistics. The application of the method solves the problem of the determination of the loading of the multicast service in a TD-SCDMA system; if the PTP loading is adopted due to the small number of the terminals required to receive the multicast service, the radio resource occupied by the terminals required to receive the multicast service is less and the power sent by an Node B is comparatively low; therefore, interference to the terminal required not to receive the multicast service is comparatively low and the quality of the multicast service signal received ...

Vehicle control method and device based on multifunctional knob, vehicle and electronic equipment

The invention is applicable to the technical field of vehicles, and provides a vehicle control method and device based on a multifunctional knob, a vehicle and electronic equipment, and the method comprises the following steps: detecting a control intention of a user; according to the control intention, switching the multifunctional knob to a corresponding control mode, and under the corresponding control mode, performing function control according to a control instruction input by a user through the multifunctional knob; wherein the multifunctional knob correspondingly controls different functions of the vehicle in different control modes. Multiple vehicle functions can be controlled through one switch, user operation is simplified, and the whole vehicle intelligence is improved.

Large open caisson attitude monitoring system and excavation control system

The invention discloses a large open caisson attitude monitoring system and an excavation control system wherein the large open caisson attitude monitoring system comprises a first GNSS monitoring device, a second GNSS monitoring device, a tilt angle sensor and an attitude monitoring device. According to the excavation control system, a positioning device, an angle measuring instrument and an excavation control device are further arranged on the large open caisson posture monitoring system in a matched mode. The open caisson monitoring system provided by the invention can monitor the sinking amount of each control point of the open caisson in real time, the pose of the open caisson is solved in real time according to a built-in algorithm, and the monitoring system is stable, high in precision and high in monitoring efficiency. Besides, the excavation control system provided by the invention is matched with the result of the monitoring system, adjusts the soil sampling area and the soil ...

Rubber polymer stirring device

The invention discloses a stirring device for a rubber polymer. The stirring device comprises a first helical blade, a first second helical blade, a first screw rod and a second screw rod, the number of the first vertical supports is two, the two first vertical supports are arranged in a spaced mode, and the first spiral blade and the first second spiral blade are symmetrically wound around the two first vertical supports; and the number of the first transverse supports is two, the two first transverse supports are connected to the two ends of the two first vertical supports respectively, and one first transverse support is provided with a connecting piece connected with the driving device. As the polymer cannot be wound and accumulated on the stirring device, when the stirring device stirs, the polymer at the center can disperse towards the periphery of the polymerization kettle along with the stirring of the first spiral blade and the second spiral blade, and the polymer at the periphery ...

Detection system and detection method of distributed generation islanding based on power frequency carrier

A detection system of distributed generation islanding based on power frequency carrier, the detection system comprising: a power frequency carrier signal generating device; a power frequency carrier signal detection device; a signal coupling transformer; a substation bus; a distribution power generator (DG); and a safety isolation breaker, wherein the power frequency carrier signal generating device comprises a voltage and current monitor circuit, the power frequency carrier signal generating device is connected with the signal coupling transformer through four three phase four line power cables, and the signal coupling transformer is connected with substation bus through 3 power cables.

Interchangeable mounting platform

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

Self-tightening rotor

Systems, methods, and devices for propelling self-propelled movable objects are provided. In one aspect, a rotor assembly for a self-propelled movable object comprises: a hub comprising a first fastening feature; a drive shaft comprising a second fastening feature and directly coupled to the hub by a mating connection of the first and second fastening features, wherein the drive shaft is configured to cause rotation of the hub such that the mating connection of the first and second fastening features is tightened by the rotation; and a plurality of rotor blades coupled to the hub and configured to rotate therewith to generate a propulsive force.

INTERCHANGEABLE MOUNTING PLATFORM

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

BATTERY MANAGEMENT SYSTEM

A method of discharging a battery assembly used to power at least part of an object includes detecting when power to the object is turned off, detecting, with aid of a timer, an amount of time elapsed since the power to the object is turned off, and initiating a controlled self-discharge of the battery assembly when the amount of time exceeds a threshold length of time. The controlled self-discharge of the battery assembly is performed by a self-discharging circuit electrically coupled to the battery assembly. 1. A method of discharging a battery assembly used to power at least part of an object , the method comprising:detecting when power to the object is turned off;detecting, with aid of a timer, an amount of time elapsed since the power to the object is turned off; andinitiating a controlled self-discharge of the battery assembly when the amount of time exceeds a threshold length of time, wherein the controlled self-discharge of the battery assembly is performed by a self-discharging circuit electrically coupled to the battery assembly.2. The method of claim 1 , further comprising detecting a voltage of the battery assembly during the controlled self-discharge of the battery assembly.3. The method of claim 2 , further comprising terminating the controlled self-discharge of the battery assembly when the voltage reaches a threshold voltage value.4. The method of claim 3 , wherein the threshold voltage value is about 50% of a nominal voltage of the battery assembly.5. The method of claim 4 , wherein the threshold voltage value is about 38V.6. The method of claim 3 , wherein the threshold voltage is configured to enable safe long-term storage of the battery assembly.7. The method of claim 3 , furthering comprising entering a hibernation mode subsequent to terminating the controlled self-discharge of the battery assembly.8. The method of claim 1 , further comprising detecting when the power to the object is turned on.9. The method of claim 8 , further comprising ...

Rubber hanging assembly and rubber sheet cooling device

The invention provides a rubber hanging assembly and a rubber sheet cooling device. The rubber hanging assembly comprises a conveying chain unit, a rubber hanging arm and a rubber hanging bar. The conveying chain unit comprises two rollers; the conveying chain unit is fixedly connected with the rubber hanging arm; the rubber hanging bar is perpendicular to and is fixedly connected with the rubber hanging arm; the cross section of the rubber hanging bar is of an oval shape, and the long axis direction of the oval shape is perpendicular to a plane formed by the axes of the two rollers. The rubber hanging bar is of an oval structure, and is conducive to automatic rubber grabbing of an automatic rubber grabbing manipulator while improving the bending resistance ability of the rubber hanging bar. The wall thickness of a chain and the roller diameter are increased by more than one time, and the tensile strength of the whole conveying chain unit is increased by more than two times; and the strength ...

Lyophilized powder injection for treating ischemic cardio-cerebrovascular diseases and its preparing method

The present invention relates to a freeze-dried powder injection with the functions of expanding blood vessel and improving microcirculation for effectively curing ischemic angiocardiopathy and cerebrovascular disease, coronary heart disease, angina pectoris, cerebral embolism and cerebrovascular spasm, etc. with obvious therapeutic effect. Said freeze-dried powder injection is prepared by using ginkgo leaf extract. Besides, said invention also provides its preparation process and concrete steps.

Reverse sign buck converter

The invention discloses a reverse sign buck converter which comprises a diode D, a switch S, a capacitor C1, a capacitor C2, a winding L1 and a winding L2. The two electrodes of the capacitor C1 are connected with one terminal of the winding L1 and one terminal of the winding L2 respectively, the two electrodes of the capacitor C2 are connected with other terminal of the winding L1 and the other terminal of the winding L2 respectively, one electrode of the capacitor C2 is connected with one terminal of the switch S, the other terminal of the switch S is connected with the positive electrode of the diode D, the negative electrode of the diode D is connected with one electrode of the capacitor C2, the positive electrode and negative electrode of the diode D are connected with a filter circuit, and one electrode of the capacitor C1 and one electrode of the capacitor C2 serve as input ends. The reverse sign buck converter has the advantages that obviousness is achieved, and the effects of a ...

Use of pharmaceutical composition in preparing medicament for preventing and treating gynaecologic disease

The invention relates to novel application of a pharmaceutical composition to preparing a drug for preventing and treating gynecological diseases. The prescription of the pharmaceutical composition consists of 750 portions of salviae miltiorrhizae and 250 portions of safflower; and the preparation comprises a pill, a granule preparation, a hard capsule preparation, a soft capsule preparation, a troche, a guttate pill preparation or an oral liquid preparation. The aim of the invention is to provide the novel treatment application of the pharmaceutical composition, thereby enlarging the clinical application range and avoiding waste of good drug resource.

Positive excited DC/DC converter with single-end isolation of soft switch

Aerial input device of two bodies

The utility model discloses an aerial input device of two bodies, include: two bodies, each body includes: the storage area, first casing, the second casing, first casing with second casing swing joint, two driving pieces, and each correspondence ground in the driving piece is with one in the body second casing swing joint, the connecting seat, two the body is fixed in on the connecting seat. Wherein, the second casing through for first casing rotates, makes the second casing for first casing is opened or is closed, with will save in the storage area it puts in or saves to wait to throw the thing. The utility model discloses a can not receive adverse circumstances or air barriers to influence and cause the damage, it can wide characteristic to have simple structure, security performance height and suitability.

Test data distributed storage system and storage method

The invention belongs to a storage system and a storage method, and aims to solve the problems that an existing data management mode is difficult to compete with the requirement for large data volume and cannot well meet the requirement for high-performance, high-concurrency and long-term monitoring storage as the model test scale is increased and a data source is complicated. The test data distributed storage system comprises an archiving server, a data transfer service module, a distributed message bus module and a distributed database storage server, and the distributed database storage server comprises a measurement and control application server and a database storage server. The engine test data processing system is applied to engine test data processing, data generated in the test process can be managed and analyzed in a unified mode, high-availability and persistent data storage is achieved, good expandability and high concurrency are shown, the working difficulty of related users ...

SELF-TIGHTENING ROTOR

Systems, methods, and devices for propelling self-propelled movable objects are provided. In one aspect, a rotor assembly for a self-propelled movable object comprises: a hub comprising a first fastening feature; a drive shaft comprising a second fastening feature and directly coupled to the hub by a mating connection of the first and second fastening features, wherein the drive shaft is configured to cause rotation of the hub such that the mating connection of the first and second fastening features is tightened by the rotation; and a plurality of rotor blades coupled to the hub and configured to rotate therewith to generate a propulsive force.

Gimbal structure and gear adjusting mechanism thereof

A gimbal structure includes a support frame and a gear adjusting mechanism. The support frame includes a roll-axis support, a yaw-axis vertical bar connected to the roll-axis support, and a yaw-axis horizontal bar carried on the yaw-axis vertical bar. The yaw-axis horizontal bar includes a rack. The gear adjusting mechanism includes a gear. The gear is configured to engage with the rack and to drive the yaw-axis horizontal bar to move relative to the yaw-axis vertical bar through the engagement with the rack to change a center of gravity of the gimbal structure.

Internet address filtering based on a local database

A device may receive a request to access a resource. The resource may be associated with resource information. The device may obtain rating information based on receiving the request. The rating information may identify a rating associated with the resource. The device may apply an access rule based on the rating information. The access rule may identify an access indicator to generate based on the rating information. The access indicator may indicate an action to perform related to the resource. The device may generate the access indicator based on applying the access rule to the rating information. The device may store, locally in one or more memories, information that indicates an association between the access indicator and the resource information.

GIMBAL STRUCTURE AND GEAR ADJUSTING MECHANISM THEREOF

A gimbal structure includes a support frame and a center of gravity adjusting device connected to the support frame. The support frame includes a roll-axis support, a yaw-axis vertical bar connected to the roll-axis support, and a yaw-axis horizontal bar carried on the yaw-axis vertical bar. The center of gravity adjusting device is configured to slide the yaw-axis horizontal bar relative to the yaw-axis vertical bar to adjust a center of gravity of the gimbal structure. The center of gravity adjusting device includes a quick release mechanism including a quick release buckle arranged on one side of the yaw-axis vertical bar, a slider arranged between the yaw-axis vertical bar and the yaw-axis horizontal bar, and a screw connecting the slider with the quick release buckle. 1. A gimbal structure , comprising: a roll-axis support;', 'a yaw-axis vertical bar connected to the roll-axis support; and', 'a yaw-axis horizontal bar carried on the yaw-axis vertical bar; and, 'a support frame comprising a quick release buckle arranged on one side of the yaw-axis vertical bar;', 'a slider arranged between the yaw-axis vertical bar and the yaw-axis horizontal bar; and', 'a screw connecting the slider with the quick release buckle,, 'a quick release mechanism comprising, 'a center of gravity adjusting device connected to the support frame and configured to slide the yaw-axis horizontal bar relative to the yaw-axis vertical bar to adjust a center of gravity of the gimbal structure, the center of gravity adjusting device comprisingwherein the center of gravity adjusting device is configured to be locked when the quick release buckle is fastened and the slider is abutted between the yaw-axis vertical bar and the yaw-axis horizontal bar, and to be adjustable when the quick release buckle is unfastened and the slider is released from the yaw-axis vertical bar and the yaw-axis horizontal bar.2. The gimbal structure according to claim 1 , wherein the quick release buckle comprises:a ...

Environmental control system

Disclosed is an environmental control system. The control system is capable of detecting changes in a natural environment and in a man-made environment in the environment and either automatically or semi-automatically controlling use of electronic devices. The system is capable of computing and learning use habits of a user with respect to the electronic devices via a network connection and collected information stored in a built-in memory module.

PPTC (polymeric positive temperature coefficient) thermosensitive resistor with high voltage withstanding grade and preparing method of PPTC (polymeric positive temperature coefficient) thermosensitive resistor

The invention relates to a PPTC (polymeric positive temperature coefficient) thermosensitive resistor with a high voltage withstanding grade and a preparing method of the PPTC (polymeric positive temperature coefficient) thermosensitive resistor. The PPTC thermosensitive resistor comprises a PPTC core material, metal foils which are attached to two opposite surfaces of the PPTC core material, electrodes which are welded on the outer surfaces of the metal foils, and insulating layers which are wrapped outside, wherein at least one groove is formed in at least one surface of the PPTC core material without attaching the metal foils; the PPTC core material is 1.0-5.0mm thick. The invention further provides the preparing method of the PPTC thermosensitive resistor with the high voltage withstanding grade. The PPTC thermosensitive resistor provided by the invention has the advantages that under the condition that the thickness of a PPTC chip is not changed, the surface distance between the two ...

Technology for removing tar from raw gas containing coal tar

The invention discloses a technology for removing tar from raw gas containing coal tar, solving the problems of wastewater generation, environment pollution and high cost of equipment investment and production operation in the current technology for removing tar. The technical scheme adopted by the invention is as follows: firstly, feeding the raw gas containing coal tar in a chilling tower to contact with coal tar from a cooler in a countercurrent manner for washing and cooling, enabling the raw gas after tar removing and cooling to enter in an electrical tar precipitator, precipitating the coal tar once again and feeding to the downstream procedure; and transmitting the coal tar at the bottom of the chilling tower in the cooler for cooling by a circulating pump, and feeding in the chilling tower for recycling. The invention has the advantages of simple technology, no consumption of fresh water, no generation of wastewater, and capability of producing coal tar byproducts, and has wide ...

Heated board installation device

The utility model discloses a heated board installation device, including long strip -shaped basal plate, the support is installed at the top of base plate, the waist hole has been seted up along itslength direction in the both sides of support, the inside slip cap in waist hole connects the movable rod, one side both ends vertical welding that the movable rod is close to the base plate has the piston rod, the piston rod has cup jointed the sleeve near one side activity of base plate, the trachea with the inside intercommunication of sleeve is installed to the piston rod was kept away from tothe sleeve one end, the trachea keep away from telescopic one end install with the fixed connecting tube that cup joints of base plate, the connecting tube stretches out the one end of base plate bottom and installs the sucking disc, the outer lane of movable rod is fixed and has been cup jointed the push pedal, one side both ends vertical welding that the base plate was kept away from in the push pedal ...

Anti-riot net support capable of being rapidly arranged

The utility model discloses a support structure of an anti-riot net capable of being arranged quickly, which relates to the field of security equipment and comprises two supports arranged oppositely,each support comprises a frame and a supporting rod, the supporting rods are used for supporting the frames, and a plurality of roller mechanisms capable of being turned over and lifted are arranged at the bottoms of the frames. The anti-riot net using the support can be rapidly arranged and retracted and cannot be easily moved after being arranged, and the security and protection effect is ensured.

Power transmission line inspection method and device

The invention provides a power transmission line inspection method and device. The power transmission line inspection method comprises the following steps: controlling an unmanned aerial vehicle to fly according to to-be-observed points in a preset to-be-observed point position set in sequence so as to generate a power equipment inspection model; for the to-be-inspected equipment position point set, planning a non-leap type unmanned aerial vehicle flight route according to the power equipment inspection model and unmanned aerial vehicle flight limitation conditions; and controlling the unmanned aerial vehicle to fly along the planned flight route, and collecting an image of the power equipment according to the power equipment inspection model. The power transmission line inspection efficiency can be effectively improved.

Payload mounting platform

Systems, devices, and methods are provided relating to improved mounting platforms for supporting a payload on a movable object. In one aspect, an apparatus for supporting a payload comprises: a first support member coupled to the payload and configured to rotate the payload; a second support member coupled to the first support member and configured to rotate the first support member relative to the second support member; and a flexible member electrically coupling the first and second support members, wherein a length of the flexible member winds around a portion of the first support member or second support member, such that the length winds up around the portion when the first support member is rotated in a first direction and unwinds from the portion when the first support member is rotated in a second direction.

Additive for lubricating oil and preparation method thereof

An additive for lube-oil consists of metal nanometer particle 2-50 wt%, metal compound nanometer particle 1-50 wt%, base oil or lube oil 0-80 wt%, anti-oxidant 0-20 wt% and cleaning dispersant 0-25 wt%. It has oil solubility and the grain size is 1-100 nm. It has less friction coefficient and excellent antifriction function.

Stop device and aerial vehicle using the same

A stop device includes a motor rotor assembly including a rotating shaft, a first shift lever fixedly connected to the rotating shaft and including a first shifting part configured to rotate around an axis of the rotating shaft to form a first motion trajectory, and a second shift lever rotatably connected to the first shift lever and including a second shifting part partially within the first motion trajectory. The first shifting part is configured to drive the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory. The stop device further includes a motor stator assembly sleeved on the rotating shaft and rotatably connected with the rotating shaft. The motor stator assembly includes a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory.

RENDERING TOOL INFORMATION AS GRAPHIC OVERLAYS ON DISPLAYED IMAGES OF TOOLS

An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer.

Configuration marker design and detection for instrument tracking

The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, a medical system includes a tool having a distal end that is insertable into a patient body, an image capture device insertable into the patient body so that the image capture device captures an image of at least a portion of a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the image.

Transformable aerial vehicle

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle.

STOP DEVICE AND AERIAL VEHICLE USING THE SAME

A stop device includes a motor rotor assembly including a rotating shaft, a first shift lever fixedly connected to the rotating shaft and including a first shifting part configured to rotate around an axis of the rotating shaft to form a first motion trajectory, and a second shift lever rotatably connected to the first shift lever and including a second shifting part partially within the first motion trajectory. The first shifting part is configured to drive the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory. The stop device further includes a motor stator assembly sleeved on the rotating shaft and rotatably connected with the rotating shaft. The motor stator assembly includes a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory. 1. A stop device , comprising:a motor rotor assembly including a rotating shaft;a first shift lever fixedly connected to the rotating shaft, the first shift lever comprising first shifting part configured to rotate around an axis of the rotating shaft to form a first motion trajectory;a second shift lever rotatably connected to the first shift lever, the second shift lever comprising a second shifting part partially within the first motion trajectory, and the first shifting part being configured to drive the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory; anda motor stator assembly sleeved on the rotating shaft and rotatably connected with the rotating shaft, the motor stator assembly comprising a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory,wherein the first shift lever is configured to rotate to drive the first shift lever to rotate for a total rotation angle greater than 360° and less than 720°.2. The stop device according to claim 1 , wherein the rotating shaft is configured to:drive the ...

Pseudo zero vectors for space vector modulation and enhanced space vector modulation

A method of performing space vector modulation for PWM control for creating AC waveforms includes generating and sampling a reference signal to generate reference samples and performing a reference vector approximation to synthesize a reference vector associated with at least one of the reference samples. The reference vector approximation employs active vectors, one or more zero vectors, and one or more pseudo zero vectors in the formation thereof. Another method of performing space vector modulation (SVM) includes generating a reference signal and sampling the reference signal at a sampling frequency to generate a plurality of reference samples. The method also includes performing a reference vector approximation to synthesize a reference vector associated with at least one of the reference samples, wherein the reference vector approximation has a first portion that employs two adjacent active vectors and a remaining portion that employs two non-adjacent active vectors in the formation ...

Pan-tilt motor and pan-tilt

The invention discloses a pan-tilt motor (10), comprising a rotor component (11), a motor shaft (12) and a stator component (13). The motor shaft (12) comprises a shaft body (122), a first end (124) and a second end (126). The first end (124) if fixedly connected to the rotor component (11). The stator component (13) sleeves the periphery of the shaft body (122) and is connected to the motor shaft (12) in a rotating manner through a pair of bearings (15). The pair of bearings (15) are disposed near the first end (124) and the second end (126). The pan-tilt motor (10) also comprises a compressing piece (16) and an elastic body (18). The compressing piece (16) matches with the second end (126), and thereby the stator component (13) is positioned at the motor shaft (12) in an axial direction. The elastic piece (18) and a bearing pad (152) are both disposed between the compressing piece (16) and the bearing (15) adjacent to the second end (126). The bearing pad (152) clings to the bearing ( ...

Chinese patent medicine for treating apoplexy and its preparation method

Augmented stereoscopic visualization for a surgical robot

A robotic surgical system positions and holds an endoscope. A visible imaging system is coupled to the endoscope. The visible imaging system captures a visible image of tissue. An alternate imaging system is also coupled to the endoscope. The alternate imaging system captures a fluorescence image of at least a portion of the tissue. A stereoscopic video display system is coupled to the visible imaging system and to the alternate imaging system. The stereoscopic video display system outputs a real-time stereoscopic image comprising a three-dimensional presentation of a blend of a fluorescence image associated with the captured fluorescence image and the visible image.

Be applied to optoelectronic pod's double shell mechanism

The utility model discloses a be applied to optoelectronic pod's double shell mechanism belongs to the unmanned air vehicle technique field, be applied to optoelectronic pod's double shell mechanism includes: the shell body, interior casing, the inside at the shell body is established to the cover to with shell body swing joint, be fixed with a camera device and an infrared device in the interior casing, the shell body is the ball structure, and the inside hollow structure that is, the middle part of interior casing is provided with a mounting groove, is provided with a baffle on the mounting groove, in order to incite somebody to action infrared device with camera device installs the upper and lower both sides of baffle. The utility model discloses an interior casing drives for the rotatory of shell body camera device and infrared device rotate for the camera device shooting angle can be adjusted, has realized the automatic multi angle acquisition who accomplishes image, video information ...

Seed crystal bar drawing and gluing process

The invention relates to the technical field of seed crystal rod digging, in particular to a seed crystal rod digging gluing process which comprises the following steps: determining the diameter of a silicon rod, selecting a gluing plate with the size larger than that of the bottom surface of the silicon rod, forming a gluing groove in the gluing plate, uniformly smearing glue in the gluing groove, abutting the bottom end of the silicon rod against the gluing groove, and gluing the silicon rod. After the silicon rod is fixed on the gluing plate, the rod taking operation can be carried out, finally, the gluing surface of the gluing plate is turned off by using a lathe to ensure that no gluing residue is left on the gluing plate, and then the gluing operation of the silicon rod can be repeatedly continued. Compared with a traditional method, according to the technical scheme, the gluing groove is formed in the gluing plate, the bottom of the silicon rod abuts against glue in the gluing groove ...

Sistema de control ambiental

...

SISTEMA QUE COMPRENDE UN PRIMER PANEL Y UN SEGUNDO PANEL DONDE EL PRIMER PANEL COMPRENDE UN PRIMER MÓDULO DE DETECCIÓN CONFIGURADO PARA RECOLECTAR UN PARÁMETRO RELACIONADO CON UN PRIMER DISPOSITIVO Y UN PRIMER MÓDULO DE PROCESAMIENTO CONFIGURADO PARA CONTROLAR AL PRIMER DISPOSITIVO DE CONFORMIDAD CON EL PARÁMETRO RECOLECTADO, Y EL SEGUNDO PANEL, CONFIGURADO PARA TRABAJAR EN FORMA INDEPENDIENTE DEL PRIMER PANEL, COMPRENDE UN PRIMER CONTROLADOR FÍSICO CONFIGURADO PARA CONTROLAR EL PRIMER DISPOSITIVO, TALES QUE EL PRIMER PANEL ESTÁ CONFIGURADO PARA CONTROLAR EL PRIMER CONTROLADOR FÍSICO Y EL PRIMER PANEL Y EL SEGUNDO PANEL ESTÁN CONECTADOS EN FORMA DESMONTABLE; MÉTODO.

Apparatus and method for producing diesel fuel and jet fuel using Fischer-Tropsch synthetic oil

An apparatus for producing diesel fuel and jet fuel using Fischer-Tropsch synthetic oil, the apparatus including a hydrofining reactor, a hot separator, a first rectifying column, a hydrocracking reactor, a hydroisomerization reactor, a second rectifying column, a first mixing chamber and a second mixing chamber. The hydrofining reactor includes a raw material inlet and a hydrofining product outlet. The hot separator includes a separated oil outlet and a hydrofining product inlet which is connected to the hydrofining product outlet. The first rectifying column includes a tail oil fraction outlet, a diesel fraction outlet and a separated oil inlet which is connected to the separated oil outlet. The first mixing chamber includes a circulating hydrogen inlet, a first mixture outlet and a tail oil fraction inlet which is connected to the tail oil fraction outlet.

Control circuit for voltage regulator with reference signal generating and associated method

A method for controlling a voltage regulator is receiving a voltage identification code which has a pulse width modulation signal, providing a duty signal via measuring a duty cycle of the pulse width modulation signal, calculating a target voltage based on the duty signal, providing a reference signal via filtering the duty signal by a first filter if the voltage identification code varies, and providing the reference signal via filtering the duty signal by a second filter if the reference signal is in a range determined by the target voltage.

LITHIUM METAL BATTERY

Lithium metal batteries are provided. A lithium metal battery includes a case being a cylinder with an opening at one end; a battery cover configured to cover the opening of the case, the case and the battery cover jointly forming a closed space; a support column in the case; and a battery winding core wound around the support column and received into the closed space. The battery winding core includes a positive electrode, a negative electrode containing lithium, and an electrolyte between the negative electrode and the positive electrode. The support column is a hard support column and is coaxially disposed in the case.

Method and apparatus for hand gesture control in a minimally invasive surgical system

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter.

Cellular network synchronization methods and apparatus under separation architecture

A synchronization apparatus in a control base station is disclosed. A GNSS synchronization unit receives a GNSS signal through a GNSS antenna to obtain time information. A clock generation unit adjusts a clock of the control base station based on the time information provided by the GNSS synchronization unit. A traffic base station synchronization unit transmits and receives information with a traffic base station through a wired connection. A user data sample generation unit generates data required by a mobile user including network time information, and transmits the data to the mobile user equipment through a control base station antenna.

OPTIMIERTE STEUERUNG FÜR SYNCHRONMOTOREN

Repräsentative Implementationen von Vorrichtungen und Techniken sehen eine optimierte Steuerung eines dreiphasigen WS-Motors vor. Eine feldorientierte Steuerungs-(FOC-)Anordnung verwendet Optimierungskomponenten und -techniken zur Verbesserung der Leistungseffizienz des Motors mit einem schnellen Steuerungsverhalten über einen gesamten Bereich von Motorgeschwindigkeiten.

ENGINEERED CELLS AND USES THEREOF

A system for inducing activity of immune cells, comprises a chimeric antigen receptor, a T cell receptor, and various combinations thereof.

Application of CDS sequence of paddy rice transcription factor Os01g36630 gene

The invention relates to an application of CDS sequence of paddy rice transcription factor Os01g36630. Transcription factor activating motif VP64 is used to fuse paddy rice transcription factor Os01g36630 to construct an assembled transcription factor, and the gene that codes the assembled transcription factor is transformed into crops such as paddy rice o improve the characters of paddy rice grain, for example to increase the length of the paddy rice grain. The provided application has an important theory value for researches on modulating seed growth mechanism. The grain shape of paddy rice can be improved through a transgene technology, and thus the application also has an important meaning in the practice and production.

Doffer is adjusted with controlling ware that shakes

The utility model relates to a doffer is adjusted with controlling ware that shakes, include: doffer body and motor, the welding has the angle steel between the landing leg of doffer body below, open the corresponding position of angle steel and motor lower part tailing axle has the through -hole, is fixed with microscler nut in the through -hole, install the bolt in the elongated nut screw hole, the motor passes through the motor mount and fixes at the landing leg inboardly, the controller is installed to motor one side, the inside drive mechanism of doffer is connected through the pivot to the motor, the landing leg below is fixed with the bottom plate, the utility model discloses a weld the angle steel between the landing leg, the microscler nut of trompil after -fixing on the angle steel, nut hole and motor tailing axle correspond, set up the bolt in the microscler nut, and vibration amplitude about the pivot when making a round trip to twist to move the lifting of bolt restriction ...

Chinese medicine injection for curing cardiovascular and cerebrovascular diseases as well as method for manufacture and detection thereof

The invention relates to a Chinese traditional medical injecting agent used for curing cardiovascular and cerebrovascular diseases, a producing method and a quality control method thereof. The Chinese traditional medical injecting agent comprises rhodiola root and breviscapinun. The quality control method of the Chinese traditional medical injecting agent comprises the steps of: distinguishing the rhodiola root and the breviscapinun in the aspects as pH value, solution color, protein, tannin, resin, oxalate, kalium ion, pyogen, burning residue, heavy metal, total solid, total content of the index component namely the percentage of the total solid content, etc., and detecting the content of the rhodiola root and the breviscapinun.

Preparation method of aluminum-magnesium-erbium alloy cast ingot

The invention discloses an aluminum-magnesium-erbium alloy cast ingot and a preparation method thereof, and relates to an alloy and a preparation method thereof, which solve the problems of poor corrosion resistance, low intensity, short service life and high cost of the existing LY12 aluminum alloy material. The aluminum-magnesium-erbium alloy cast ingot is prepared from Si, Fe, Cu, Mn, Mg, Zn, Er, Be, Ti and Zr in the following steps: 1, weighing the raw materials; 2, preparing an aluminum alloy melt; and 3, sequentially filtering the aluminum alloy melt with ceramic filter disks of 30 ppi and 50 ppi, then pouring in a crystallizer, and casting into the aluminum-magnesium-erbium alloy cast ingot. The intensity of the aluminum-magnesium-erbium alloy cast ingot is at least 40 MPa higher than that of the LY12 alloy cast ingot, and the corrosion resistance of the aluminum-magnesium-erbium alloy cast ingot is one grade higher than that of the LY12 alloy cast ingot. Besides, compared withthe ...

Nanometer tracer displaying nanometer vortex flow and using method thereof

The invention provides a nanometer tracer displaying a nanometer vortex flow and a using method thereof, and relates to the technical field of micro flow display of nanometer vortex of a hydromechanics experiment. The tracer grain has grain diameter in nanometer grade and is slightly larger than that of a fluid molecule, has the density ratio to the fluid between 0.95 and 1.10, color difference with the fluid larger than 1.5 and clear contrast ratio, and is not soluble in the fluid. The method comprises the following steps: dosing the tracer on the surface of the fluid; then, carrying out revolution and other fluid motion experiments; observing vortex flow image variations in the fluid; and carrying out tracing macrophotography; as the tracer has close density with the fluid, different color from the fluid, large contrast, and grain diameter which is slightly larger than the fluid molecule and cannot quickly diffuse, the tracer can clearly display the fluid movement, and has good and stable ...

Application of oryza sativa transcription factor Os04g55590.1 gene CDS sequence

The invention relates to the application of a oryza sativa transcription factor Os04g55590.1 gene CDS sequence. According to the invention, a transcription factor activation motif VP64 is fused with the oryza sativa transcription factor Os04g55590.1, such that a constitutive transcription factor is constructed; the gene coding the constitutive transcription factor is transferred to a crop such as oryza sativa, such that oryza sativa grain traits can be improved. For example, oryza sativa grain width can be increased. The invention has an important theoretical value in detailed explanation of seed development mechanism. Also, oryza sativa grain type can be improved through transgenic means. Therefore, the application provided by the invention also has important significance in production practices.

Uncoupling device for car coupler

The unhooking device comprises a supporting base plate, a rotating shaft and a movable rotating plate, the rotating shaft is rotationally connected to the top of the supporting base plate, the movable rotating plate is fixedly connected to the outer wall of the rotating shaft, and the inner wall of the movable rotating plate is rotationally connected with a transmission rotating column; one end of the transmission rotary column is rotationally connected with a rotary motor, the end, away from the rotary motor, of the transmission rotary column is fixedly connected with a picking claw, the outer wall of the transmission rotary column is fixedly connected with a transmission gear, and the bottom of the transmission gear is meshed with a movable gear. By arranging the movable piece and the movable sleeve, during unhooking, the transmission rotary column can drive the transmission gear to be meshed with the movable gear, the movable gear can drive the transmission rotary rod to enable the circular ...

Valve plate closing limiting structure of three-eccentric center butterfly valve

The invention provides a three-eccentric center butterfly valve plate closing limiting structure which comprises a valve body, a bottom flange arranged at the bottom of the valve body, a valve shaft arranged in the middle of the valve body, valve plates arranged on the two sides of the valve shaft, a first concave face and a first boss arranged on the end face, close to the valve shaft, of the bottom flange, and a second concave face and a second boss arranged on the end face, close to the bottom flange, of the valve shaft. The second boss of the valve shaft rotates in the first concave surface of the bottom flange in a 90-degree stroke; when the three-eccentric center butterfly valve is closed, the side plane of the first boss of the bottom flange is a limiting face, plane limiting is formed by the limiting face and the side plane of the second boss of the valve shaft, and therefore accurate limiting of the valve is achieved. According to the three-eccentric center butterfly valve plate ...

METHOD AND APPARATUS FOR HAND GESTURE CONTROL IN A MINIMALLY INVASIVE SURGICAL SYSTEM

Payload mounting platform

Systems, devices, and methods are provided relating to improved mounting platforms for supporting a payload on a movable object. In one aspect, an apparatus for supporting a payload comprises: a first support member coupled to the payload and configured to rotate the payload; a second support member coupled to the first support member and configured to rotate the first support member relative to the second support member; and a flexible member electrically coupling the first and second support members, wherein a length of the flexible member winds around a portion of the first support member or second support member, such that the length winds up around the portion when the first support member is rotated in a first direction and unwinds from the portion when the first support member is rotated in a second direction.

SYSTEMS AND METHODS FOR CLEANING AN ENDOSCOPIC INSTRUMENT

A system comprises a medical instrument including a nozzle and a lens. The system further comprises a valve configured to control provision of a pressurized fluid. The system further comprises a valve control mechanism and a control system. The control system is configured to determine, based on a position of the medical instrument within a patient anatomy, whether an obstruction is on a surface of the lens. The control system is further configured to, based on a determination that the obstruction is on the surface of the lens, instruct the valve control mechanism to open the valve to release a flow of the pressurized fluid through the nozzle and over the surface of the lens.

GIMBAL, IMAGING DEVICE AND UNMANNED AERIAL VEHICLE USING THE GIMBAL

A gimbal comprises a carrying plate, a quick release assembly detachably mounted on the carrying plate and configured to detachably mount the gimbal on an unmanned aerial vehicle, and an angle adjusting mechanism rotatably disposed on the carrying plate and configured to connect with a load and to drive the load to rotate. The quick release assembly and the angle adjusting mechanism are arranged side by side on the carrying plate.

Mobile object and antenna automatic alignment method and system thereof

A UAV system includes a remote controller including two first antennas and a UAV including two second antennas arranged at two landing stands of the UAV, respectively. The two first antennas and the two second antennas are configured to establish a 2×2 MIMO communication link. The remote controller is configured to transmit current terminal position information of the remote controller to the UAV via the 2×2 MIMO communication link. The UAV determines current remote controller relative position information of the remote controller relative to the UAV according to the current terminal position information and current UAV position information acquired via a position sensor, and controls communication between the UAV and the remote controller according to the current remote controller relative position information.

Intelligent kitchen garden cultivation cabinet

The invention discloses an intelligent kitchen garden cultivation cabinet which comprises a user control end and a cultivation cabinet control terminal which receives a signal sent by the user control end and produces various needed growth factors through plants and organisms in the regulation cultivation cabinet. According to the intelligent kitchen garden cultivation cabinet, vegetables are cultivated in a relatively sealed cabinet body, with the combination with the soilless water planting technology and by means of the R/G/B LED intelligent illumination technology, the intelligent temperature and humidity modulation technology, the carbon dioxide (CO2) gas matching technology and other control technologies, the vegetable growth cycle is optimized to the largest extent, the yield of unit space is improved, and high-quality and harmless vegetable products are produced.

Application of oryza sativa transcription factor Os03g05590.1 gene CDS sequence

The invention relates to the application of a oryza sativa transcription factor Os03g05590.1 gene CDS sequence. According to the invention, a transcription factor activation motif VP64 is fused with the oryza sativa transcription factor Os03g05590.1 gene CDS sequence, such that a constitutive transcription factor is constructed; the constitutive transcription factor is transferred to a crop such as oryza sativa, such that oryza sativa grain traits can be improved. For example, oryza sativa grain length can be increased. The invention has an important theoretical value in detailed explanation of seed development mechanism. Also, oryza sativa grain type can be improved through transgenic means. Therefore, the application provided by the invention also has important significance in production practices.

Application of medicinal composition in preparing medicaments for treating fracture

The invention relates to novel application of a medicinal composition in preparing medicaments for fracture therapy. The prescription of the medicinal composition comprises 300 portions of Codonopsis Pilosula, 400 portions of Polygonatum sibiricum Red., 60 portions of Panax notoginseng, 40 portions of amber and 200 portions of Nardostachyos Root and Rhizome. The medicament forms of the medicinal composition include pills, granules, hard capsules, soft capsules, tablets, drop pills or oral liquid. The invention aims to provide novel therapeutic application of the medicinal composition to expand the clinical application range of the medicinal composition and avoid the waste of enormous medicament resources.

Use of pharmaceutical composition in preparing medicament for preventing and treating allergic diseases

The invention relates to novel application of a pharmaceutical composition to preparing a medicine for preventing and treating allergic diseases. The prescription consists of the following materials: 300 portions of radix codonopsis pilosulae, 400 portions of rhizoma polygonati, 60 portions of radix notoginseng, 40 portions of amber, and 200 portions of nard, and the formulation includes pill, granule, hard capsule, soft capsule, tablet, dripping pill or oral taking liquid. The aim of the invention is to provide novel treatment application of the pharmaceutical composition, which widens the clinical application range of the invention, and avoids waste of good medicine resources.

METHOD AND APPARATUS FOR HAND GESTURE CONTROL IN A MINIMALLY INVASIVE SURGICAL SYSTEM

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter. 1. A method comprising:tracking elements mounted on part of a human hand to obtain a plurality of locations of the part of the human hand;selecting a hand gesture from a plurality of known hand gestures based on the plurality of locations; andcontrolling operation of a minimally invasive surgical system based on the hand gesture.2. The method of claim 1 , wherein the hand gesture is a hand gesture pose and the plurality of known hand gestures includes a plurality of known hand gesture poses.32. The method of claim 1 , wherein the controlling comprises:controlling a user interface of the minimally invasive surgical system based on the hand gesture pose.42. The method of claim 1 , wherein the controlling comprises:using the tracking to control a proxy visual.5. The method of claim 4 , wherein the proxy visual is selected from a group of proxy visuals including a virtual hand claim 4 , a virtual surgical instrument claim 4 , and a virtual telestration device.6. The method of claim 2 , wherein the selecting further comprises:generating an observed feature set from the plurality of locations.7. The method of claim 6 , wherein the selecting further comprises:comparing the observed feature set with feature sets of the plurality of known hand gesture poses.8. The method of claim 7 , wherein the selecting ...

System And Method For Detecting And Tracking An Object Of Interest In Spatio-Temporal Space

The present invention provides a system and method for detecting and tracking a moving object. First, robust change detection is applied to find initial candidate regions in consecutive frames. These initial detections in consecutive frames are stacked to produce space-time bands which are extracted by Hough transform and entropy minimization based band detection algorithm. 1. A method for object tracking comprising:detecting changes in a plurality of consecutive frames received from an image sensor containing one or more objects;projecting the detected changes onto a dimension to produce a spatio-temporal three-dimensional (3D) volume;converting the 3D volume to form a two-dimensional (2D) spatio-temporal image; andextracting one or more bands from the 2D image to track movement of the one or more objects in one dimension.2. The method of wherein the transforming further comprises applying a Hough transform to the 2D spatio-temporal image to extract claim 1 , iteratively claim 1 , the one or more bands claim 1 , of the 2D spatio-temporal image claim 1 , in one or more dimensions.3. The method of wherein the applying comprises reducing the 3D volume into straight lines and clustering the straight lines to form the 2D band.4. The method of further comprising combining the one or more extracted 2D bands from all the incoming images to track the one or more objects in a plurality of dimensions.5. The method of wherein the detecting further comprises calculating image difference between two consecutive frames in the plurality of consecutive frames.6. The method of further comprising filtering the calculated image difference.7. The method of further comprising refining the extracted 2D band.8. The method of wherein the refining is performed using entropy minimization.9. The method of further comprising filtering the 2D band.10. The method of wherein the applying the Hough transform comprising combining straight lines within the same band to generate a band described by ...

METHOD AND STRUCTURE FOR IMAGE LOCAL CONTRAST ENHANCEMENT

A local contrast enhancement method transforms a first plurality of color components of a first visual color image into a modified brightness component by using a first transformation. The first plurality of color components are in a first color space. The modified brightness component is a brightness component of a second color space. The second color space also includes a plurality of chromatic components. The method transforms all the color components of the first color space into the chromatic components of the second color space. The method then transforms the modified brightness component and the chromatic components of the second color space into a plurality of new color components, in the first color space, of a second visual color image. The method transmits the plurality of new color components to a device such as a display device. The second visual color image has enhanced contrast in comparison to the first visual color image. 1. A method comprising: wherein the first plurality of color component are color components in a first color space,', 'wherein the modified brightness component is a brightness component of a second color space,', 'wherein the second color space includes a plurality of chromatic components in addition to the brightness component, and', 'wherein the first transformation is different from a second standards transformation that transforms all color components of the first color space into a brightness component of the second color space;, 'transforming a first plurality of color components of a first visual color image into a modified brightness component using a first transformation,'}transforming all the color components of the first color space into the chromatic components of the second color space; andtransforming the modified brightness component and the chromatic components of the second color space into a plurality of new color components in the first color space of a second visual color image, wherein the plurality of new ...

SOLAR TRACKING SYSTEM AND METHOD FOR CONCENTRATED PHOTOVOLTAIC (CPV) SYSTEMS

A system and method for tracking a position of the Sun includes a solar tracker controller that generates directional control signals responsive to sensing signals. A solar tracking algorithm controls operation of the solar tracker controller responsive to the sensing signals. The solar tracking algorithm includes a rough tracking mode of operation for causing a pointing axis of at least one solar receiver to point generally in a direction of the Sun as indicated by the sensing signals. A searching mode of operation positions the at least one solar receiver such that sunlight falls on at least one solar cell of the receiver. A fine tracking mode of operation positions a pointing axis of the at least one solar receiver responsive to the feedback signal from the at least one solar receiver. 1. A system , comprising:at least one solar receiver including at least one solar cell, the at least one solar receiver having a pointing axis associated therewith and generating a feedback signal;a solar tracker driver for positioning the at least one solar receiver to direct the pointing axis in a selected direction responsive to directional control signals;at least one tracking sensor for tracking a parameter relating to a position of a Sun and generating a sensing signal responsive thereto;a solar tracker controller for generating the directional control signals responsive to the sensing signals; anda solar tracking algorithm for controlling operation of the solar tracker controller responsive to the sensing signals and the feedback signal, the solar tracking algorithm including a rough tracking mode of operation for causing the pointing axis of the at least one solar receiver to point generally in a direction of the Sun as indicated by the sensing signals, the solar tracking algorithm further including a searching mode of operation to position the at least one solar receiver such that sunlight falls on at least one of the at least one solar cells, the solar tracking algorithm ...

SURGICAL INSTRUMENT AND METHOD WITH MULTIPLE IMAGE CAPTURE SENSORS

A surgical instrument has a distal end portion with an outer surface with an outer radius. One or more image capture elements are movably mounted in the distal end portion. In a first state, the one or more image capture elements are un-deployed. In the first state, a surface having an aperture of at least one of the one or more image capture elements is enclosed within the outer surface of the surgical instrument so that the surface having the aperture does not extend beyond the outer surface. In a second state, the one or more image capture elements are deployed. In the second state the surface having the aperture of the at least one of the one or more image capture elements extends beyond the outer surface. 1. An apparatus comprising: a distal end portion having an outer surface with an outer radius;', 'one or more image capture elements movably mounted in the distal end portion, each image capture element comprising: a surface having an aperture; and an image capture sensor positioned within the image capture element to receive light that passes through the aperture in the surface,', 'wherein in a first state, the one or more image capture elements is un-deployed, and the surface having the aperture of at least one of the one or more image capture elements is enclosed within the outer surface so that the surface having the aperture does not extend beyond the outer surface, and', 'wherein in a second state, the one or more image capture elements is deployed, and the surface having the aperture of the at least one of the one or more image capture elements is positioned beyond the outer radius and so extends beyond the outer surface., 'a surgical instrument comprising2. The apparatus of claim 1 , at least one image capture element further comprising an illuminator.3. The apparatus of claim 1 , the surgical instrument further comprising:an orientation marker fixed in position relative to the one or more image capture elements.4. The apparatus of claim 1 , the ...

THREE-DIMENSIONAL TARGET DEVICES, ASSEMBLIES AND METHODS FOR CALIBRATING AN ENDOSCOPIC CAMERA

The present disclosure relates to calibration target devices, assemblies and methods for use with imaging systems, such as a stereoscopic endoscope. A calibration assembly includes: a target surface extends in three dimensions with calibration markers and a body with an interface that engages an endoscope so the markers are within the field of view. A first calibration marker extends along a first plane of the target surface and a second marker extends along a second plane of the target surface. The planes are different and asymmetric relative to the field of view as seen through the endoscope. Three-dimensional targets, in particular, enable endoscopic calibration using a single image (or pair of images for a stereoscopic endoscope) to reduce the calibration process complexity, calibration time and chance of error as well as allow the efficient calibration of cameras at different focus positions. 1. A method for facilitating camera calibration of a stereoscopic endoscope , the method comprising:engaging the endoscope with a calibration target device so as to provide a calibration spatial relationship between the endoscope and a target surface of the target device, wherein the target surface extends in three dimensions;wherein the engaged target device presents an image of a plurality of calibration markers of the target surface to the endoscope while the endoscope has the calibration spatial relationship with the target surface, wherein the presented markers are distributed within a field of view of the endoscope with a first calibration marker extending along a first plane and a second calibration marker extending along a second plane, the second plane being different from the first plane and asymmetric, relative to the field of view, with the first plane.2. The method of claim 1 , further comprising configuring an interface of the calibration target device for engagement with the endoscope by selectively positioning a first receptacle of the interface in ...

OBTAINING FORCE INFORMATION IN A MINIMALLY INVASIVE SURGICAL PROCEDURE

Methods of and a system for providing force information for a robotic surgical system. The method includes storing first kinematic position information and first actual position information for a first position of an end effector; moving the end effector via the robotic surgical system from the first position to a second position; storing second kinematic position information and second actual position information for the second position; and providing force information regarding force applied to the end effector at the second position utilizing the first actual position information, the second actual position information, the first kinematic position information, and the second kinematic position information. Visual force feedback is also provided via superimposing an estimated position of an end effector without force over an image of the actual position of the end effector. Similarly, tissue elasticity visual displays may be shown. 146-. (canceled)47. A robotic system comprising:a display;a robotic arm adapted to manipulate an instrument; anda processor programmed to cause a computer model of the instrument to be displayed relative to a real-time image of the instrument on the display so as to indicate a force being applied against a distal end of the instrument.48. The robotic system of claim 47 , wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display according to a kinematically determined position of the distal end of the instrument.49. The robotic system of claim 47 , wherein the robotic arm comprises linkages that are coupled together and manipulated through motor controlled joints claim 47 , and wherein the processor is programmed to cause the computer model of the instrument to be displayed on the display according to sensed positions of the motor controlled joints.50. The robotic system of claim 47 , wherein the robotic arm comprises linkages that are coupled together and manipulated through motor ...

SYSTEM AND METHOD FOR MULTIPLE NATIVE SOFTWARE APPLICATIONS USER INTERFACE COMPOSITION

In an environment with multiple graphics software application framework, a rending application programming interface (API) agent is provided in a rendering API library. The rendering API agent is to find surface information on memory surfaces corresponding to rendering surfaces of the rendering API library and relationship information between the memory surfaces and a process of the redering API application. The rendering API agent is to communicate with a global scene graph library (GSGL) to send the surface information and the relationship information to the GSGL. Binding may be used to transform the memory surfaces to desired rendering API surfaces based on the surface information in GSGL. A user experience application is to manipulate the translated rendering API surfaces to create user experience. 1. A system , comprising:a memory to store a graphics application and a user experience application;a processor that is coupled to the memory, wherein the processor is to execute the graphics application to obtain a first rendering surface and a corresponding underlying memory surface, record surface information on the underlying memory surface and relationship information between the underlying memory surface anda process of the graphics application, transform the underlying memory surface into a second rendering surface that is recognizable to the user experience application based on the recorded surface information and manipulate the second rendering surface to provide user experience.2. The system of claim 1 , wherein the processor is to record the surface information and the relationship information in a library that is accessible by the user experience application.3. The system of claim 1 , wherein the processor is to provide a global library under the user experience application to record the surface information and the relationship information claim 1 , from the graphic application.4. The system of claim 1 , wherein the processor is to execute the user ...

COMPACT NEEDLE MANIPULATOR FOR TARGETED INTERVENTIONS

Embodiments of an instrument manipulator are disclosed. An instrument manipulator can include a track; a translational carriage coupled to ride along the track; a shoulder yaw joint coupled to the translational carriage; a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint, and a shoulder pitch mechanism coupled to the arm; a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint and a differentially driven pitch-roll joint; and an instrument mount coupled to the wrist. The various joints and carriages can be driven by motors. 1. An instrument manipulator , comprising:a track;a translational carriage coupled to ride along the track, the translational carriage being propelled along the track by a linear motor;a shoulder yaw joint coupled to the translational carriage, the shoulder yaw joint being actuated by a shoulder yaw motor;a shoulder pitch joint coupled to the shoulder yaw joint, the shoulder pith joint including an arm, a wrist mount coupled to the arm, struts coupled between the wrist mount and the shoulder yaw joint to form a 3D parallelogram, and a shoulder pitch motor coupled to actuate the shoulder pitch joint, the struts, the arm, and the wrist mount;a yaw-pitch-roll wrist coupled to the wrist mount, the yaw-pitch-roll wrist including a yaw joint actuated by one or more wrist yaw motors and a differentially driven pitch-roll joint actuated by differentially driven pitch-roll motors; andan instrument mount coupled to the wrist, the instrument mount having one or more instrument motors providing an instrument drive.2. The manipulator of claim 1 , further including a controller coupled to the linear motor claim 1 , the controller being coupled to the linear motor claim 1 , the shoulder yaw motor claim 1 , the shoulder pitch motor claim 1 , the one or more wrist yaw motors ...

Systems and Methods for Navigation Based on Ordered Sensor Records

A method of tracking a medical instrument comprises receiving a model of an anatomical passageway formation and receiving a set of ordered sensor records for the medical instrument. The set of ordered sensor records provide a path history of the medical instrument. The method further comprises registering the medical instrument with the model of the anatomical passageway formation based on the path history. 1. A method of tracking a medical instrument , the method comprising:receiving a model of an anatomical passageway formation;receiving a set of ordered sensor records for the medical instrument, the set providing a path history of the medical instrument; andregistering the medical instrument with the model of the anatomical passageway formation based on the path history.2. The method of further comprising determining a relationship between a first sensor record of the set of ordered sensor records claim 1 , a second sensor record of the set of ordered sensor records claim 1 , a first candidate match point defined within the model of the anatomical passageway claim 1 , and a second candidate match point defined within the model of the anatomical passageway.3. The method of wherein determining the relationship includes determining a transition probability between the first and second candidate match points.4. The method of further comprising tracking the movement of the medical instrument relative to the model of the anatomical passageway formation.5. The method of wherein the set of ordered sensor records include a set of temporally ordered sensor records.6. The method of wherein the set of ordered sensor records include a set of spatially ordered sensor records.7. The method of wherein receiving the model of the anatomical passageway formation includes receiving the model formed from a set of three-dimensional volumetric images.8. The method of wherein receiving a set of ordered sensor records includes receiving the set from an electromagnetic sensor coupled to ...

Systems and Methods for Deformation Compensation Using Shape Sensing

A method and medical system for estimating the deformation of an anatomic structure that comprises generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy and determining a shape of a device positioned within the branched anatomical passageways. The method and medical system also comprise generating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device. 1. A method for estimating the deformation of an anatomic structure comprising:generating a first model of at least one anatomical passageway from anatomical data describing a patient anatomy;determining a shape of a device positioned within the branched anatomical passageways; andgenerating a second model of the plurality of branched anatomical passageways by adjusting the first model relative to the determined shape of the device.2. The method of wherein determining a shape of the device includes receiving information from an optical fiber shape sensor.3. The method of wherein determining a shape of the device includes receiving information from an electromagnetic sensor.4. The method of further comprising fitting a sampling of points along the shape of the device to the first model.5. The method of further comprising computing a set of deformation forces and wherein generating a second model further includes adjusting the first model in response to the set of deformation forces.6. The method of further comprising computing a set of restorative forces and wherein generating a second model further includes adjusting the first model in response to the set of restorative forces.7. The method of further comprising computing a set of maintenance forces and wherein generating a second model further includes adjusting the first model in response to the set of maintenance forces.8. The method of further comprising creating a weighted sum of a set of deformation claim 1 , ...

WAVE SOLDERING CARRIER

A wave soldering carrier includes a base plate and a fixing member positioned on the base plate. The base plate defines a receiving recess and a number of through holes communicating with the receiving recess. The receiving recess receives a circuit board. The through holes are arranged and shaped corresponding to a number of electronic components on the circuit board. The fixing member includes a shaft including a fixing shaft fixed to the base plate and a restricting shaft extending from an end of the fixing shaft. A diameter of the restricting shaft is greater than that of the fixing shaft, thereby forming a step. The fixing member further includes a rotatable member rotatably connected to the fixing shaft and sandwiched between the shoulder and the base plate. The rotation member is rotatable to a preset position, where a distal end of the rotatable member firmly contacts the circuit board. 1. A wave soldering carrier comprising:a base plate defining a receiving recess for receiving a circuit board therein and a plurality of through holes defined in a bottom in the receiving recess, a contour of the receiving recess being shaped conforming to the circuit board, the through holes communicating with the receiving recess, and the through holes being arranged and shaped corresponding to a plurality of electronic components on the circuit board, the base plate defining a plurality of fixing holes around the receiving recess; a shaft comprising a fixing shaft for insertion into one of the fixing holes of the base plate and a restricting shaft extending from an end of the fixing shaft, a diameter of the restricting shaft being greater than that of the fixing shaft, thereby forming a step therebetween;', 'a rotatable member rotatably connected to the fixing shaft and sandwiched between the step and the base plate;, 'a fixing member positioned on the base plate, the fixing member comprisingwherein the rotation member is rotatable between a first position where the ...

Rendering Multiple Remote Graphics Applications

In some embodiments, remote graphics rendering may be facilitated by causing thin clients, that send raw graphics data to a local server for rendering, to downscale the data to a size appropriate for use by the local server. In some embodiments this avoids the storage of unnecessary data which is not useful for the local server because the actual display size on the local server is smaller than what the transmitted raw data would permit. 1. A method comprising:commanding, by a server, a thin client to scale graphics data sent for rendering on the server.2. The method of including commanding the thin client to downscale the graphics data.3. The method of including providing a height and width for video data from the client.4. The method of including inserting an agent on said client to downscale said data.5. The method of including inserting an agent to intercept application program interface calls on said client.6. The method of including inserting an agent to intercept a local user interface composing application call to resize a remote application.7. The method of including receiving claim 4 , in said agent claim 4 , a target size from a graphics composing layer.8. The method of including enabling the agent to store and reuse said target size.9. At least one non-transitory machine readable medium comprising a plurality of instructions and claim 7 , in response to being executed on a computing device claim 7 , causing the computing device to carry out a sequence comprising:commanding, by a server, a thin client to scale graphics data sent for rendering on the server.10. The medium of claim 9 , said sequence including commanding the thin client to downscale the graphics data.11. The medium of claim 9 , said sequence including providing a height and width for video data from the client.12. The medium of claim 9 , said sequence including inserting an agent on said client to downscale said data.13. The medium of claim 12 , said sequence including inserting an agent to ...

Systems and Methods for Registration of Multiple Vision Systems

A method comprises generating a model of an anatomic region and receiving a true image from an endoscopic image capture probe positioned within the anatomic region. The method further comprises identifying a true fiducial region in the true image and identifying a plurality of virtual tissue structures in the model of the anatomic region. The method further comprises matching one of the plurality of the virtual tissue structures with the true fiducial region and determining a probe pose of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures. 1. A method comprising:receiving a true image from an endoscopic image capture probe positioned within an anatomic region;identifying a true fiducial region in the true image;matching the true fiducial region with one of a plurality of virtual tissue structures from a model of the anatomic region; andlocalizing a tip of the endoscopic image capture probe relative to the model of the anatomic region.2. The method of wherein localizing includes determining a position of the tip of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.3. The method of wherein localizing includes determining an orientation of the tip of the endoscopic image capture probe from the matched one of the plurality of virtual tissue structures.4. The method of further comprising displaying the matched one of the plurality of virtual tissue structures from the model of the anatomic region.5. The method of further comprising:receiving, from a position sensor system, position information indicating a position of the endoscopic image capture probe relative to the anatomic region.6. The method of claim 5 , wherein matching the true fiducial region comprises identifying a first subset of the plurality of virtual tissue structures located within a subregion of the model claim 5 , the subregion corresponding to a region of interest about the position of the endoscopic ...

RENDERING TOOL INFORMATION AS GRAPHIC OVERLAYS ON DISPLAYED IMAGES OF TOOLS

An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the work site on a display. Tool information is provided in the operator's current gaze area on the display by rendering the tool information over the tool so as not to obscure objects being worked on at the time by the tool nor to require eyes of the user to refocus when looking at the tool information and the image of the tool on a stereo viewer. 1. A robotic system comprising:a robotically manipulatable tool;a display; anda processor configured to render information of the tool over an image of the tool being shown on the display by tracking a position of the tool.2. The robotic system of claim 1 , wherein the processor is configured to render the information of the tool over the image of the tool being shown on the display in a manner such that the rendered information appears to be part of the tool.3. The robotic system of claim 2 , wherein the processor is configured to render the information of the tool over the image of the tool by rendering an indication that the tool is energized claim 2 , wherein the rendering is performed over a working end of the tool as shown on the display.4. The robotic system of claim 3 , wherein the processor is configured to render the indication that the tool is energized by rendering an icon over the working end of the tool as shown on the display claim 3 , wherein presence of the icon indicates the tool is energized.5. The robotic system of claim 3 , wherein the processor is configured to render the indication that the tool is energized by rendering the working end of the tool in a color as shown on the display claim 3 , wherein the color indicates the tool is energized.6. The robotic system of claim 3 , wherein the processor is configured to render the indication that the tool is energized by rendering the working end of the tool at a different brightness level as shown on the display claim 3 , ...

VISUAL FORCE FEEDBACK IN A MINIMALLY INVASIVE SURGICAL PROCEDURE

Methods of and a system for providing a visual representation of force information in a robotic surgical system. A real position of a surgical end effector is determined. A projected position of the surgical end effector if no force were applied against the end effector is also determined. Images representing the real and projected positions are output superimposed on a display. The offset between the two images provides a visual indication of a force applied to the end effector or to the kinematic chain that supports the end effector. In addition, tissue deformation information is determined and displayed. 1. A method of providing a visual representation of force information in a robotic surgical system , the method comprising:determining a force applied against a surgical end effector;displaying a first image showing an actual position of the end effector under the applied force; andsuperimposing on the first image a second image representing a projected position of the end effector offset from the first position, wherein the offset is a visual indication of the force.2. The method of claim 1 , wherein said at least some force comprises force applied to the end effector as a result of movement of the end effector between a first position and a second position claim 1 , wherein another force is applied to a linkage supporting the end effector claim 1 , and wherein the offset between the projected position and the actual position disregards at least some of the other force.3. The method of claim 1 , wherein the second image represents kinematic position information derived from joint states of a linkage supporting the end effector.4. The method of claim 1 , wherein the first image comprises a visual image of the end effector.5. The method of claim 1 , wherein displaying comprises displaying on a viewer of a surgeon console of the robotic surgical system.6. The method of claim 1 , wherein the second image comprises a synthetic representation of the tool showing a ...

POWER-ON-RESET (POR) CIRCUIT WITH ZERO STEADY-STATE CURRENT CONSUMPTION AND STABLE PULL-UP VOLTAGE

The present invention discloses a Power-On-Reset (POR) circuit with zero steady-state current consumption and stable pull-up voltage. The POR circuit achieves zero steady-state current consumption during steady operation after the POR process by cutting off a power supply to a band-gap comparator circuit and a current comparator circuit after the POR process. The present invention has high reliability and stable pull-up voltage, is less susceptible to the impact of power-on rate of power supply, temperature, and process variation, has very low steady-state power consumption, and can be integrated in a SOC chip in low-power consumption applications. 1. A Power-On Reset (POR) circuit with zero steady-state current consumption and stable pull-up voltage , comprising:{'b': '0', 'a power switch (), with the input terminal connected to the supply voltage;'}{'b': 1', '0, 'a band-gap comparator circuit (), which is connected to the output terminal of the power switch (), and configured to output two channels of current signals according to a variation signal of the supply voltage;'}{'b': 2', '1, 'a current comparator circuit (), which is connected to the output terminal of the band-gap comparator circuit (), and configured to compare the two channels of current signals and output a voltage detection signal;'}{'b': 3', '2, 'a state latch circuit (), which is connected to the output terminal of the current comparator circuit (), and configured to latch the voltage detection signal and output a latch signal;'}{'b': 5', '3', '5', '0', '0, 'an output buffer circuit (), which is connected to the output terminal of the state latch circuit (), and configured to buffer the latch signal, wherein, the output buffer circuit () comprises a first buffer unit and a second buffer unit connected in sequence, the output terminal of the first buffer unit is connected to the power switch () and configured to control ON/OFF of the power switch (), the second buffer unit outputs a final Power-On ...

AUGMENTED VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUORESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE

An endoscope with an optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image at a first time and (2) a visible second image combined with a fluorescence image at a second time. An image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence image and generates at least one fluorescence image. A display system outputs an output image including an artificial fluorescence image. 118-. (canceled)19. A method of operating an image processing system of a teleoperated system comprising:receiving a first frame including a first visible image, the first visible image comprising a first plurality of visible color components, the first frame being captured by a capture unit from light received by an endoscope, and the first frame being captured at a first time; andreceiving a second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image, the combination image comprising a second plurality of color components, wherein one color component of the second plurality of color components is captured as a combination of the first fluorescence image and a visible color component, and other color component of the second plurality of color components are captured as visible color components different from the visible color component of the one color component, the second frame being captured by the capture unit from light received by the endoscope, and the second frame being captured at a second time, the second time being different from the first time;creating a second fluorescence image including artifacts from the first frame and the second frame;creating a third fluorescence image based on the second fluorescence image including artifacts; andoutputting to a display system the first visible image and an artificial fluorescence image, the artificial fluorescence image being based ...

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED PROCEDURES

Systems and methods for supporting image-guided procedures include a device having an instrument usable to collect location data for one or more passageways and one or more processors coupled to the instrument. The one or more processors are configured to organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected, create a passageway tree based on the points, identify at least three non-collinear landmark locations within the passageway tree, create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data, and register, using the seed transformation, the plurality of points to the model data for the one or more passageways. In some embodiments, the at least three non-collinear landmark locations are based on a main branch point in the passageway tree. 1. A device , comprising:an instrument usable to collect location data for one or more passageways; andone or more processors coupled to the instrument; organize a plurality of points within the location data based on a corresponding insertion depth of the instrument when each of the plurality of points is collected;', 'create a passageway tree based on the organized points;', 'identify at least three non-collinear landmark locations within the passageway tree;', 'create a seed transformation between one or more of the at least three non-collinear landmark locations and corresponding model locations in model data; and', 'register, using the seed transformation, the plurality of points to the model data for the one or more passageways., 'wherein the one or more processors are configured to2. The device of claim 1 , wherein the instrument is a flexible catheter comprising a shape sensor claim 1 , wherein the location data is provided by the shape sensor.3. The device of claim 2 , wherein the shape sensor is a fiber optic shape ...

MULTI-SPOT SOLDERING APPARATUS

A multi-spot soldering apparatus which applies temperature protection to molten solder to be applied to the contacts of electronic components on printed circuit boards is provided. The multi-spot soldering apparatus includes a bottom plate, a number of containers mounted on the bottom plate and communicating with the multiple solder pot, and a number of protrusions mounted on the containers. Each of the protrusions defines an opening communicating with a container and the size and shape of each protrusion reduces the exposure of molten solder to ambient temperatures and reduces the distance that the molten solder must travel before application to a contact of an electronic component. 1. A multi-spot soldering apparatus for being placed on a solder pot , and configured to weld a plurality of elements mounted on a printed circuit board (PCB) , the multi-spot soldering apparatus comprising:a bottom plate to be placed on the solder pot;a plurality of containers mounted on the bottom plate and to communicate with the solder pot; anda plurality of protrusions mounted on the containers, and each of the protrusions defining an opening communicating with a corresponding container; wherein the size of each of the plurality of containers is greater than the size of each of the plurality of protrusions.2. The multi-spot soldering apparatus as described in claim 1 , wherein height of the container is two times higher than the height of the protrusion.3. The multi-spot soldering apparatus as described in claim 1 , wherein the size of the container is two times larger than the size of the protrusion.4. The multi-spot soldering apparatus as described in claim 1 , wherein the sum of the height of the container and the height of the protrusion is not less than 20 mm.5. The multi-spot soldering apparatus as described in claim 1 , wherein an amount of the plurality of containers and a distribution structure of the plurality of containers on the bottom plate are related to an amount of ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 1. (canceled)2. A multi-rotor unmanned aerial vehicle (UAV) having a weight , the UAV comprising:a housing forming a body of the UAV, the housing comprising an outer surface and an inner surface, the inner surface forming a cavity;one or more electrical components disposed within the cavity, the one or more electrical components selected from a group comprising a power source, flight control module, inertial measurement unit (IMU), and GPS receiver;a landing stand attached to and extending away from the housing to bear the weight of the UAV when the UAV is not airborne; anda magnetometer attached to the landing stand at a distance of at least about 3 cm from the one or more electrical components.3. The UAV of claim 2 , further comprising a carrier configured to support a payload device.4. The UAV of claim 3 , wherein the landing stand is one of two landing stands claim 3 , the two landing stands being attached to a lower body potion of the housing at corresponding attachment interfaces claim 3 , and wherein the carrier includes a gimbal claim 3 , and wherein the UAV further comprises the payload device claim 3 , the payload device including a camera claim 3 , with both the gimbal and the camera positioned between the two landing stands.5. The UAV of claim 2 , wherein the landing stand includes an attachment interface adjacent the housing claim 2 , the attachment interface having an opening claim 2 , and wherein the UAV further comprises a wire connected to the magnetometer and extending through the opening and into the cavity.6. The UAV of claim 2 , further comprising:multiple actuators ...

SYSTEMS AND METHODS FOR DEFORMATION COMPENSATION USING SHAPE SENSING

A medical system comprises a surgical device including a tracking system. The medical system also includes a memory storing anatomical data describing a patient anatomy. The medical system also includes a processor configured for generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy. The processor is also configured for determining, by the tracking system, a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways. The processor is also configured for computing, based on the determined shape of the elongate flexible body, a total set of forces acting on the set of anatomical passageways in response to the surgical device positioned within the first proximal branch and the first distal branch. The processor is also configured for deforming the first model into a second model of the anatomical passageways by adjusting at least one joint between branches in the set of anatomical passageways in the first model based on the total set of forces computed, to thereby change a pose of at least one branch through which the surgical device extends and at least one additional branch through which the surgical device does not extend. 19-. (canceled)10. A medical system comprising:a surgical device including a tracking system;a memory storing anatomical data describing a patient anatomy; and generating a first model, that includes a set of anatomical passageways including a first proximal branch connected to a first distal branch, from the stored anatomical data describing the patient anatomy;', 'determining by the tracking system a shape of an elongate flexible body of the surgical device positioned within the first proximal branch and the first distal branch of the set of anatomical passageways;', 'computing, based on the ...

SYSTEMS AND METHODS FOR INTELLIGENTLY SEEDING REGISTRATION

A medical system comprises a robotic manipulator arm and an imaging probe coupled to the robotic manipulator arm such that the imaging probe is movable in connection with the robotic manipulator arm. The system also comprises a control system in communication with the robotic manipulator arm and the imaging probe. The control system performs operations comprising extracting system information. The system information includes kinematic information from a robotic arm of a medical system, setup information, or a combination of the kinematic information and setup information associated with a medical procedure to be performed. The control system also generates, by a control system processor, a first registration between a first set of model points of a model of a patient anatomy of interest and a second set of intra-operatively collected captured points of a portion of the patient anatomy of interest, wherein the registration is based on the extracted system information. 118-. (canceled)19. A non-transitory machine-readable medium comprising a plurality of machine-readable instructions which when executed by one or more processors associated with the medical system are adapted to cause the one or more processors to perform operations including:accessing a first set of model points representing a model of a patient anatomy of interest;receiving a second set of captured points acquired during visualization of a portion of the patient anatomy of interest with an imaging probe;obtaining system information from a medical system, wherein the system information comprises at least one of kinematic information from a robotic arm of the medical system or setup information associated with a medical procedure; andgenerating, by a control system processor of the medical system, a first registration between the first set of model points and the second set of captured points using the system information.2029-. (canceled)30. A medical system comprising:a robotic manipulator arm;an ...

STOP DEVICE AND AERIAL VEHICLE USING THE SAME

A stop device includes a first shift lever including a first shifting part configured to rotate around a rotation axis to form a first motion trajectory, and a second shift lever including a second shifting part partially within the first motion trajectory. The first shifting part drives the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory. The stop device further includes a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory. The second shift lever rotates to drive the second shifting part to contact a first side of the stopping boss when rotating in a first direction and to contact a second side of the stopping boss facing away from the first boss when rotating in a second direction opposite to the first direction. 1. A stop device comprising:a first shift lever comprising a first shifting part configured to rotate around a rotation axis to form a first motion trajectory;a second shift lever comprising a second shifting part partially within the first motion trajectory, the first shifting part being configured to drive the second shifting part to rotate around the rotation axis to form a second motion trajectory; anda stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory;wherein the second shift lever is configured to rotate to drive the second shifting part to contact a first side of the stopping boss when rotating in a first direction and to contact a second side of the stopping boss when rotating in a second direction opposite to the first direction, the first side of the stopping boss and the second side of the stopping boss facing away from each other.2. The stop device according to claim 1 , wherein the first shift lever is configured to rotate for a total rotation angle greater than 360° and less than 720°.3. The stop device according to claim 1 , further comprising:a ...

SYSTEMS AND METHODS FOR UAV INTERACTIVE INSTRUCTIONS AND CONTROL

A method for controlling a movable object comprise receiving an input indicative of a selected mode, wherein the selected mode is selected from a plurality of modes, and effecting movement of the movable object based on the selected mode. The plurality of modes may comprise at least a target mode and a directional mode. The movable object may be configured to move towards or follow a selected target when the selected mode is the target mode. The movable object may be configured to move in a selected direction when the selected mode is the directional mode. An apparatus, a medium and an UAV system are also provided. 1381-. (canceled)382. A method for controlling a movable object , comprising:receiving an input indicative of a selected mode, wherein the selected mode is selected from a plurality of modes including at least a target mode and a directional mode, wherein the movable object is configured to move towards or follow a selected target when the selected mode is the target mode and the movable object is configured to move in a selected direction when the selected mode is the directional mode, and wherein the received input includes one or more selected points in at least one image that is captured by the movable object; andeffecting movement of the movable object based on the selected mode.383. The method of claim 382 , wherein the target mode comprises a fly-to mode and a tracking mode.384. The method of claim 383 , further comprising: selecting the fly-to mode when the selected target is determined to be stationary or when a relatively direct path exists between the movable object and the target.385. The method of claim 383 , further comprising: selecting the fly-to mode when fewer than a predetermined number and/or type of obstacles are determined to be present as the movable object is moving towards the selected target.386. The method of claim 383 , further comprising: directing the movable object to move towards the selected target when the selected mode ...

ESTIMATION OF A POSITION AND ORIENTATION OF A FRAME USED IN CONTROLLING MOVEMENT OF A TOOL

A robotic system includes a camera having an image frame whose position and orientation relative to a fixed frame is determinable through one or more image frame transforms, a tool disposed within a field of view of the camera and having a tool frame whose position and orientation relative to the fixed frame is determinable through one or more tool frame transforms, and at least one processor programmed to identify pose indicating points of the tool from one or more camera captured images, determine an estimated transform for an unknown one of the image and tool frame transforms using the identified pose indicating points and known ones of the image and tool frame transforms, update a master-to-tool transform using the estimated and known ones of the image and tool frame transforms, and command movement of the tool in response to movement of a master using the updated master-to-tool transform. 1. A method of operating a system comprising a control device having a control device frame , an image-capturing system having an image frame , the method comprising:specifying a plurality of frame transforms for a sequence of frames, wherein the sequence of frames is from the image frame to a tool frame, the tool frame being of a tool disposed within a field of view of the image-capturing system, wherein the sequence of frames includes the image frame, the tool frame, and one or more additional frames between the image frame and the tool frame, wherein each frame transform of the plurality of frame transforms corresponds to a pair of adjacent frames of the sequence of frames, and wherein the plurality of frame transforms including an unknown frame transform;determining an image-to-tool frame relationship between the image frame and the tool frame from information in one or more images captured by the image-capturing system, the image-to-tool frame relationship relating the image frame and the tool frame;determining an estimated frame transform for the unknown frame transform ...

FASTENING ASSEMBLY, HOLDING MECHANISM, BRACKET AND REMOTE CONTROLLER,USING THE HOLDING MECHANISM

A fastening assembly includes a fastening member and an operating member movably sheathed on the fastening member. The fastening member includes a threaded part and a mating part connected to the threaded part. The operating member includes a snap-fitting part corresponding to the mating part. 1. A fastening assembly comprising:a fastening member including a threaded part and a mating part connected to the threaded part; andan operating member movably sheathed on the fastening member, the operating member including a snap-fitting part corresponding to the mating part.2. The fastening assembly of claim 1 , wherein the operating member is configured to slide along an axial direction of the operating member relative to the fastening member to snap-fit the snap-fitting part with the mating part claim 1 , such that the operating member drives the fastening member to rotate via the snap-fitting part.3. The fastening assembly of claim 1 , further comprising:a resetting member configured to provide an elastic restoring force to the operating member to enable the operating member to automatically reset after sliding.4. The fastening assembly of claim 3 , wherein the resetting member is accommodated in the operating member claim 3 , and a first end of the resetting member abuts against the fastening member and a second end of the resetting member abuts against the operating member.5. The fastening assembly of claim 4 , wherein:the operating member includes a first sheathing hole and a second sheathing hole arranged along the axial direction of the operating member, the first sheathing hole and second sheathing hole being in communication with each other and together penetrating the entire operating member;a size of the first sheathing hole is smaller than a size of the second sheathing hole, such that a stepped surface is formed at a position where the first sheathing hole and second sheathing hole are connected; andthe second end of the resetting member abuts against the ...

SELF-TIGHTENING ROTOR

Systems, methods, and devices for propelling self-propelled movable objects are provided. In one aspect, a rotor assembly for a self-propelled movable object comprises: a hub comprising a first fastening feature; a drive shaft comprising a second fastening feature and directly coupled to the hub by a mating connection of the first and second fastening features, wherein the drive shaft is configured to cause rotation of the hub such that the mating connection of the first and second fastening features is tightened by the rotation; and a plurality of rotor blades coupled to the hub and configured to rotate therewith to generate a propulsive force.

Payload mounting platform

Systems, devices, and methods are provided relating to improved mounting platforms for supporting a payload on a movable object. In one aspect, an apparatus for supporting a payload comprises: a first support member coupled to the payload and configured to rotate the payload; a second support member coupled to the first support member and configured to rotate the first support member relative to the second support member; and a flexible member electrically coupling the first and second support members, wherein a length of the flexible member winds around a portion of the first support member or second support member, such that the length winds up around the portion when the first support member is rotated in a first direction and unwinds from the portion when the first support member is rotated in a second direction.

CONTROLLER FOR A FREE-RUNNING MOTOR

A controller for controlling a multi-phase motor is described. The controller may be configured to measure a plurality of phase voltages of the multi-phase motor when the multi-phase motor is in an uncontrolled state. The controller may be configured to determine, based on the plurality of measured phase voltages, a position and a velocity of a rotor of the multi-phase motor. The velocity of the rotor includes a speed of the rotor and a direction of the rotor. The controller may be further configured to, responsive to determining that the direction of the rotor is a forward direction and the speed of the rotor satisfies a closed-loop threshold speed: set, based on the position of the rotor and the velocity of the rotor, at least one initial control condition of the rotor, and control, using closed-loop control and based on the at least one initial control condition, the rotor. 1. A controller for controlling a multi-phase motor , wherein the controller is configured to:measure a plurality of phase voltages of the multi-phase motor when the multi-phase motor is in an uncontrolled state;determine, based on the plurality of measured phase voltages, a position of a rotor of the multi-phase motor;determine, based on the plurality of measured phase voltages, a velocity of the rotor, wherein the velocity of the rotor includes a speed of the rotor and a direction of the rotor; and set, based on the position of the rotor and the velocity of the rotor, at least one initial control condition of the rotor; and', 'control, using closed-loop control and based on the at least one initial control condition, the rotor., 'responsive to determining that the direction of the rotor is a forward direction and the speed of the rotor satisfies a closed-loop threshold speed2. The controller of claim 1 , wherein the controller is further configured to: set, based on the position of the rotor and the velocity of the rotor, the at least one initial control condition of the rotor; and', 'slow, ...

Distributed Graphics Processing

In accordance with some embodiments, stability of remote graphics processing may be improved by parallelizing the original high resolution graphics data processing into multiple lower resolution graphics data processed on the remote device. If some remote connections are down, the client graphics application can still generate the final screen image, with lower definition, from the rest of the resulted images to ensure that the frame is not dropped. 1. A method comprising:dividing an image into a plurality of sub-images; andtransmitting said sub-images for processing on a server cluster.2. The method of including reconstructing a processed image composed of decomposed resulting images received from said cluster.3. The method of including receiving less resulting images than a number of sub-images sent to said cluster.4. The method of including reconstructing a composite image by calculating image data to make up for a missing resulting image.5. The method of including averaging the received final images to reconstruct said composite image.6. A method comprising:receiving in a server cluster a plurality of sub-images from a client;processing said sub-images in separate servers; andsending resulting sub-images to said client.7. The method of including using a distributed processing proxy in each server.8. One or more non-transitory computer readable media storing instructions executed by a computer to perform a sequence comprising:dividing an image into a plurality of sub-images; andtransmitting said sub-images for processing on a server cluster.9. The media of claim 8 , further storing instructions to perform a sequence including reconstructing a processed image composed of decomposed resulting images received from said cluster.10. The media of claim 9 , further storing instructions to perform a sequence including receiving less resulting images than a number of sub-images sent to said cluster.11. The media of claim 10 , further storing instructions to perform a ...

TRANSFORMABLE AERIAL VEHICLE

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle. 1. An aerial vehicle , the aerial vehicle comprising:a central body;at least two frame assemblies respectively disposed on the central body, each of the at least two frame assemblies having a primary shaft with a proximal portion coupled to the central body and a distal portion coupled to a cross bar; anda plurality of propulsion units operable to move the aerial vehicle, wherein each of the at least two frame assemblies supports at least two propulsion units coupled to the cross bar.2. The aerial vehicle of claim 1 , wherein the aerial vehicle is an unmanned aerial vehicle further comprising a receiver configured to receive user commands for controlling one or more of the propulsion units.3. The aerial vehicle of claim 1 , wherein the user commands are transmitted from a remote terminal.4. The aerial vehicle of claim 1 , wherein the central body supports a payload beneath the central body.5. The aerial vehicle of claim 4 , wherein the payload is movable relative to the central body.6. The aerial vehicle of claim 5 , wherein the payload is movable relative to the central body about one or more axes of rotation.7. The aerial vehicle of claim 4 , further comprising a support member configured to support the aerial vehicle when the aerial vehicle is resting on a ...

PAYLOAD MOUNTING PLATFORM

Systems, devices, and methods are provided relating to improved mounting platforms for supporting a payload on a movable object. In one aspect, an apparatus for supporting a payload comprises: a first support member coupled to the payload and configured to rotate the payload; a second support member coupled to the first support member and configured to rotate the first support member relative to the second support member; and a flexible member electrically coupling the first and second support members, wherein a length of the flexible member winds around a portion of the first support member or second support member, such that the length winds up around the portion when the first support member is rotated in a first direction and unwinds from the portion when the first support member is rotated in a second direction. 1. An apparatus for supporting a payload , the apparatus comprising:a first support member coupled to the payload and configured to rotate the payload;a second support member coupled to the first support member and configured to rotate the first support member relative to the second support member; anda flexible member electrically coupling the first and second support members, wherein a length of the flexible member winds around a portion of the first support member or second support member, such that the length winds up around the portion when the first support member is rotated in a first direction and unwinds from the portion when the first support member is rotated in a second direction.2. The apparatus of claim 1 , wherein the first support member comprises a first actuation unit configured to rotate the payload.3. The apparatus of claim 2 , wherein the second support member comprises a second actuation unit configured to rotate the first support member relative to the second support member.4. The apparatus of claim 3 , wherein the flexible member electrically couples the first and second actuation units.5. The apparatus of claim 1 , wherein the ...

EFFICIENT 3-D TELESTRATION FOR LOCAL AND REMOTE ROBOTIC PROCTORING

An apparatus is configured to show telestration in 3-D to a surgeon in real time. A proctor is shown one side of a stereo image pair, such that the proctor can draw a telestration line on the one side with an input device. Points of interest are identified for matching to the other side of the stereo image pair. In response to the identified points of interest, regions and features are identified and used to match the points of interest to the other side. Regions can be used to match the points of interest. Features of the first image can be matched to the second image and used to match the points of interest to the second image, for example when the confidence scores for the regions are below a threshold value. Constraints can be used to evaluate the matched points of interest, for example by excluding bad points. 132-. (canceled)33. A medical system comprising:an image capture device for capturing stereo images of a work site, each stereo image including a first two-dimensional image and a second two-dimensional image, wherein corresponding points in the first and second two-dimensional images depict a common point in the work site and exhibit a disparity between the corresponding points so as to indicate a depth of the common point relative to the image capture device;a stereo display displaying the first and second two-dimensional images so as to provide a three-dimensional viewing experience; anda processor that is programmed to: receive information of a first telestration indicative of user selected points of interest of the first two-dimensional image; selectively match the selected points of interest of the first two-dimensional image to corresponding points of the second two-dimensional image to determine matched points of interest of the second two-dimensional image by computing a plurality of image offsets wherein each of the plurality of image offsets is computed using a different image matching method than all others of the plurality of image offsets, ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 1. A multi-rotor unmanned aerial vehicle (UAV) , comprising:a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing member forming a central cavity;one or more branch housing members extending from the central body, the one or more branch housing members each comprising an upper branch housing member and a lower branch housing member,wherein the one or more branch housing members are configured to support one or more actuator assemblies configured to effect movement of the UAV,wherein the one or more upper branch housing members and the upper housing member form an integral upper body portion, the one or more lower branch housing members and the lower housing member form an integral lower body portion, and the integral upper body portion and the integral lower body portion are removably coupled to form a hollow body portion comprising the central cavity;one or more electrical components disposed inside the hollow body portion, wherein the one or more electrical components (1) are configured to control the operation of the UAV, and (2) comprise at least a flight control module and an inertial measurement unit (IMU); andone or more electronic speed control (ESC) modules, each electrically coupled to a corresponding actuator assembly of the one or more actuator assemblies in order to control actuation of said corresponding actuator assembly,wherein each ESC module is not located within the central cavity.2. The UAV of claim 1 , further comprising a magnetometer claim 1 , wherein the magnetometer is located on a landing ...

Graphical user interface for planning a procedure

A system and method of planning a procedure includes a planning workstation including: a display system; and a user input device. The planning workstation is configured to: display image data via the display system; receive a first user input via the user input device; display via the display system a target of a medical procedure within the displayed image data identified based at least on the first user input; display an interactive image via the display system, the interactive image including the image data, a plurality of connected anatomical passageways, and the identified target; receive a second user input via the user input device; display via the display system a trajectory between the target and an exit point along a nearest passageway of the plurality of connected anatomical passageways identified based at least on the second user input; receive a third user input via the user input device; and adjust the interactive image based at least on the defined trajectory and the third user input.

Systems and methods for robotic medical system integration with external imaging

A medical system comprises a memory for receiving intraoperative external image data for at least a portion of a patient anatomy. The memory further receives intraoperative pose data for a medical instrument of the medical system. The medical system further comprises a processor configured for generating a first model of the patient anatomy. The processor is further configured for, based on the intraoperative external image data, intraoperatively generating an updated model of the patient anatomy that is different from the first model. The updated model includes an anatomical structure that is not present in the first model.

Interchangeable mounting platform

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

SYSTEMS AND METHODS OF POSE ESTIMATION AND CALIBRATION OF PERSPECTIVE IMAGING SYSTEM IN IMAGE GUIDED SURGERY

A method performed by a computing system comprises receiving, from a fluoroscopic imager, having a first set of parameters, first fluoroscopic image data of a first fiducial marker within a surgical coordinate space. The method comprises receiving a configuration of the first fiducial marker within the surgical coordinate space. The method comprises determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first flouroscopic image data and the configuration of the first fiducial marker. In some embodiments, determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the first fiducial marker. 1. A method performed by a computing system comprising:receiving, from a fluoroscopic imager having a first set of parameters, first fluoroscopic image data of a fiducial marker within a surgical coordinate space;receiving a configuration of the fiducial marker within the surgical coordinate space;determining a second set of parameters of the fluoroscopic imager in the surgical coordinate space based on the first fluoroscopic image data and the configuration of the fiducial marker, wherein determining the second set of parameters comprises developing a calibrated model of the fiducial marker in the surgical coordinate space from the first fluoroscopic image data and the configuration of the fiducial marker;refining the calibrated model of the fiducial marker;registering, based on the refined calibrated model of the fiducial marker, a fluoroscopic imager reference frame to a surgical coordinate reference frame of the surgical coordinate space; anddetermining a pose of the fiducial marker in the surgical reference frame based on the registration.2. The method of claim 1 , further comprising:localizing the fiducial marker in the surgical coordinate space based on the configuration of the ...

Interchangeable mounting platform

A handheld platform includes an imaging device configured to obtain image data, a gimbal assembly coupled to the imaging device and configured to permit movement of the imaging device with respect to at least a first axis and a second axis that are non-orthogonal to each other, and a handheld support coupled to the gimbal assembly. The handheld support includes an input interface configured to receive a user input to control the imaging device or the gimbal assembly and a controller configured to generate one or more control signals based at least in part on the user input.

Systems and methods for generating anatomical tree structures

A method of building an anatomical branch model comprises receiving anatomical image data comprising a plurality of graphical units associated with an anatomical structure and determining a plurality of parent segments and child segments to include a plurality of linked graphical units from the plurality of graphical units. The method also comprises determining a set of relationships between the parent segments and the child segments and generating an image of the anatomical branch model based on the determined set of relationships between the parent segments and the child segments.

TARGETS, FIXTURES, AND WORKFLOWS FOR CALIBRATING AN ENDOSCOPIC CAMERA

The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data. 116-. (canceled)17. A calibration target for use in calibrating an imaging system , the target comprising a plurality of markers with each marker including a plurality of localizer features and a plurality of identification features , wherein the plurality of localizer features have known relative positions on the target and are used to determine an orientation for each marker , and wherein the plurality of identification features are used to determine an identification for each marker.1827-. (canceled)28. The calibration target of claim 17 ,wherein the identification for each marker of the plurality of markers is different than the identifications for all other markers of the plurality of markers.29. The calibration target of claim 28 ,wherein the plurality of identification features for a first marker of the plurality of markers includes a first plurality of potential dot locations, andwherein the identification for the first marker is indicated by a presence or an absence of a dot in each of the first plurality of potential dot locations so as to indicate a first pattern of dots.29. The calibration target of claim 29 ,wherein the plurality of identification features ...

SYNTHETIC REPRESENTATION OF A SURGICAL ROBOT

A synthetic representation of a robot tool for display on a user interface of a robotic system. The synthetic representation may be used to show the position of a view volume of an image capture device with respect to the robot. The synthetic representation may also be used to find a tool that is outside of the field of view, to display range of motion limits for a tool, to remotely communicate information about the robot, and to detect collisions. 138-. (canceled)39. A method for controlling movement of first and second tools in a robotic surgical system; the first tool including a first elongated shaft and a first end effector , the first end effector coupled to a distal end of the first elongated shaft; the second tool including a second elongated shaft and a second end effector , the second end effector coupled to a distal end of the second elongated shaft; the robotic surgical system including: an image capture device; first , second , and third robotic arm assemblies , the first robotic arm assembly detachably coupled to a proximal end of the first elongated shaft of the first tool , the second robotic arm assembly detachably coupled to a proximal end of the second elongated shaft of the second tool , and the third robotic arm assembly supporting the image capture device; and a viewer displaying images captured by the image capture device; the method comprising:a computer generating a synthetic image of the first robotic arm assembly, the first tool, the second robotic arm assembly, the second tool, the third robotic arm assembly, the image capture device, and a view volume projecting out of an image capturing end of the image capture device so as to provide a visual indication of a field of view of the image capture device, by using kinematic data for the first, second, and third robotic arm assemblies, andthe computer providing the synthetic image to the viewer for displaying on the viewer so that proximity with respect to each other of the first, second, ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 1. An unmanned aerial vehicle (UAV) , comprising:a housing comprising an outer surface and an inner surface that forms a cavity;one or more electrical components disposed inside the cavity and adapted to control operation of the UAV; anda sensor located outside the housing, operation of the sensor being susceptible to interference caused by the one or more electrical components.2. The UAV of claim 1 , wherein the sensor is located on an extension member extending from the housing and away from the cavity.3. The UAV of claim 2 , wherein the extension member includes a landing stand.4. The UAV of claim 1 , wherein the sensor is located directly on the outer surface of the housing.5. The UAV of claim 1 , wherein the minimum distance between the sensor and the one or more electrical components is at least about 3 cm.6. The UAV of claim 1 , wherein the UAV comprises one or more rotor blades.7. The UAV of claim 6 , wherein at least one of the electrical components is pre-configured by a manufacturer of the UAV claim 6 , and wherein the at least one of the electric components forms an electric unit necessary and sufficient for controlling operation of said UAV.8. The UAV of claim 1 , wherein the sensor is a magnetometer or compass claim 1 , and the one or more electrical components include a GPS receiver.9. The UAV of claim 1 , wherein the housing comprises an upper housing member and a lower housing member that are removably coupled to form the cavity.10. The UAV of claim 1 , wherein the housing comprises a central housing member connected to one or more branch housing members claim 1 , ...

SYSTEMS AND METHODS OF REGISTRATION FOR IMAGE-GUIDED SURGERY

A method of registering sets of anatomical data for use during a surgical procedure is provided herein. The method may include segmenting a set of first modality image data representing a model of one or more passageways within a patient and generating a first set of points based on the segmented set of first modality image data representing the model of the one or more passageways. The method may further include determining a set of matches between a second set of points and the first set of points, wherein the second set of points is obtained by a second modality and discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches. The second set of points may then be moved relative to the first set of points based on the modified set of matches. 138-. (canceled)39. A method comprising:receiving a set of model points of a model of one or more passageways of a patient;receiving a set of measured points collected from within the one or more passageways of the patient, each point comprising coordinates within a medical environment occupied by the patient;assigning weights to one or more of the measured points;matching each measured point to a model point to generate a set of matches, a value of each of the matches depending on the assigned weight of the measured point in the match; andmoving the set of measured points relative to the set of model points based on the set of matches.40. (canceled)41. The method of claim 39 , further comprising computing a corrective motion to apply to the set of measured points claim 39 , and wherein the moving the set of measured points relative to the set of model points comprises applying the corrective motion to the set of measured points.42. (canceled)43. The method of claim 39 , further comprising:discarding a subset of the set of matches based on a first heuristic to generate a modified set of matches; andcomputing a corrective motion to apply to the set of measured points, wherein the ...

Targets, fixtures, and workflows for calibrating an endoscopic camera

The present disclosure relates to calibration assemblies and methods for use with an imaging system, such as an endoscopic imaging system. A calibration assembly includes: an interface for constraining engagement with an endoscopic imaging system; a target coupled with the interface so as to be within the field of view of the imaging system, the target including multiple of markers having calibration features that include identification features; and a processor configured to identify from first and second images obtained at first and second relative spatial arrangements between the imaging system and the target, respectively, at least some of the markers from the identification features, and using the identified markers and calibration feature positions within the images to generate calibration data.

OPTIMIZED FIELD ORIENTED CONTROL STRATEGIES FOR PERMANENT MAGNET SYNCHRONOUS MOTORS

A motor control system and associated method includes a transform component configured to receive current values associated with a motor being driven by the motor control system, and output rotating coordinate system values representing a flux generating component and a torque generating component of a current space vector. The motor control system and method further includes a control component configured to receive the flux generating component and the torque generating component of the current space vector, and generate motor control signals for driving the motor by performing a Cartesian to polar transform to obtain values associated with a rotating coordinate system followed by an angle addition to convert the rotating coordinate system values to values of a stationary coordinate system. 1. A motor control system , comprising:a transform component configured to receive current values associated with a motor being driven by the motor control system, and output rotating coordinate system values representing a flux generating component and a torque generating component of a current space vector; anda control component configured to receive the flux generating component and the torque generating component of the current space vector, and generate motor control signals for driving the motor by performing a Cartesian to polar transform to obtain values associated with a rotating coordinate system followed by an angle addition to convert the rotating coordinate system values to values of a stationary coordinate system.2. The motor control system of claim 1 , wherein the transform component comprises:a Clarke transform component configured to receive the current values associated with respective phases of the motor being drive, and convert the current values into a Cartesian space to obtain Cartesian current values; and a Park transform component configured to receive the Cartesian current values and convert such into the flux generating component and the torque ...

SHARED ELECTRONIC DEVICE MANAGEMENT DEVICE AND METHOD

A shared electronic device management method is implemented in a shared electronic device management device. The method includes receiving a function instruction, obtaining verification information, linking the obtained verification information to verification information in a database, determining whether the obtained verification information meets a first preset condition, implementing the function instruction if the obtained verification information meets the first preset condition, and outputting a prompt if the obtained verification information does not meet the first preset condition. The function instruction includes any one of retrieving, depositing, and repairing a shared electronic device. The verification information includes user verification information and shared electronic device verification information. 1. A shared electronic device management method implemented in a shared electronic device management device , the method comprising:receiving a function instruction comprising any one of retrieving a shared electronic device, depositing the shared electronic device, and repairing the shared electronic device;obtaining verification information comprising user verification information and shared electronic device verification information;comparing the obtained verification information to verification information in a database, and determining whether the obtained verification information meets a first preset condition;implementing the function instruction if the obtained verification information meets the first preset condition; andoutputting a prompt if the obtained verification information does not meet the first preset condition.2. The shared electronic device management method of claim 1 , wherein:the user verification information comprises biometric information and user personal identification information; andthe biometric information comprises at least one of facial information, fingerprint information, iris information, and voiceprint ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 120.-. (canceled)21. A multi-rotor unmanned aerial vehicle (UAV) , comprising:a central body comprising a housing, the housing comprising an outer surface and an inner surface, wherein the inner surface forms a cavity;a plurality of actuator assemblies configured to effect movement of the UAV;a plurality of electronic speed control (ESC) modules each electrically coupled to a corresponding actuator assembly of the plurality of actuator assemblies in order to control actuation of said actuator assemblies; anda flight control module disposed inside the cavity of the housing and connected to each of the plurality of ESC modules via an electrical coupling permitting two-way communication between the flight control module and each ESC module.22. The UAV of claim 21 , further comprising a magnetometer located at a position away from said plurality of ESC modules to effect a reduction of interference therefrom.23. The UAV of claim 22 , wherein the minimum distance between the magnetometer and the plurality of ESC modules is at least about 3 cm.24. The UAV of claim 22 , wherein the magnetometer is located inside the cavity.25. The UAV of claim 21 , comprising at least three actuator assemblies and at least three ESC modules.26. The UAV of claim 21 , comprising at least four actuator assemblies and at least four ESC modules.27. The UAV of claim 21 , wherein the plurality of actuator assemblies each comprise a rotor blade and an actuator configured to drive rotation of the rotor blade.28. The UAV of claim 27 , wherein each ESC module is electrically coupled to the actuator of the corresponding ...

GIMBAL STRUCTURE AND GEAR ADJUSTING MECHANISM THEREOF

A gimbal structure includes a support frame and a gear adjusting mechanism. The support frame includes a roll-axis support, a yaw-axis vertical bar connected to the roll-axis support, and a yaw-axis horizontal bar carried on the yaw-axis vertical bar. The yaw-axis horizontal bar includes a rack. The gear adjusting mechanism includes a gear. The gear is configured to engage with the rack and to drive the yaw-axis horizontal bar to move relative to the yaw-axis vertical bar through the engagement with the rack to change a center of gravity of the gimbal structure. 1. A gimbal structure , comprising: a roll-axis support;', 'a yaw-axis vertical bar connected to the roll-axis support; and', 'a yaw-axis horizontal bar carried on the yaw-axis vertical bar, the yaw-axis horizontal bar including a rack; and, 'a support frame comprisinga gear adjusting mechanism comprising a gear, wherein the gear is configured to engage with the rack and to drive the yaw-axis horizontal bar to move relative to the yaw-axis vertical bar through the engagement with the rack to change a center of gravity of the gimbal structure.2. The gimbal structure according to claim 1 , wherein the gear adjusting mechanism further comprises:a gear rotating shaft connected to the gear; andan adjusting knob arranged at one end of the gear rotating shaft and configured to rotate the gear rotating shaft to rotate the gear.3. The gimbal structure according to claim 1 , wherein the rack is arranged at an upper surface of the yaw-axis horizontal bar.4. The gimbal structure according to claim 1 , wherein the gear is configured to drive the yaw-axis horizontal bar to move along the rack through the engagement with the rack.5. The gimbal structure according to claim 1 , wherein the rack is arranged along an extending direction of the yaw-axis horizontal bar.6. The gimbal structure according to claim 1 , wherein the gear adjusting mechanism further comprises a gear fixing member provided at a top end of the yaw-axis ...

SYSTEMS AND METHODS FOR REGISTRATION OF MULTIPLE VISION SYSTEMS

A non-transitory machine-readable media storing instructions is provided. The instructions cause one or more processors to: define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures—a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the probe; compare a tissue structure in an image received from a camera positioned at the tip of the probe to a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; and based on identification of the closest matched virtual tissue structure, register the image to the model to identify a virtual probe position for the tip of the probe with respect to the model. 127-. (canceled)28. A non-transitory machine-readable media storing instructions that , when run by one or more processors , cause the one or more processors to:define a subregion of a model of an anatomic region of a patient anatomy, the subregion corresponding to an area surrounding a tip of an image capture probe located within the anatomic region, the subregion including a plurality of virtual tissue structures, wherein a set of virtual tissue structures of the plurality of virtual tissue structures is situated distally from the tip of the image capture probe;compare a tissue structure in an image received from a camera positioned at the tip of the image capture probe to at least a portion of the plurality of virtual tissue structures to identify a closest matched virtual tissue structure; andbased on identification of the closest matched virtual tissue structure, perform a registration of the image to the model of the anatomic region to identify a virtual probe position for the tip of the image capture probe with respect to the model.29. The non-transitory ...

Battery and unmanned aerial vehicle with the battery

The disclosure provides a battery which can include a power supply and power supply circuit, the power supply circuit connected to the power supply. The power supply can discharge through the power supply circuit. An electronic switch can control the power-on or off of the power supply, thereby avoiding the generation of sparks during the power on process and allowing for the normal use of the battery and the safety of the aircraft. The disclosure also provides an aircraft having the battery.

Systems and methods for generating anatomic tree structures using backward pathway growth

A method comprises receiving anatomic image data comprising a plurality of graphical units and generating an initial segmented set of the plurality of graphical units associated with an anatomic tree structure. The method also comprises receiving an indication of a first user selected graphical unit from the plurality of graphical units and applying a cost function to determine a first sequence of the plurality of graphical units from the first user selected graphical unit to the initial segmented set of the plurality of graphical units.

METHOD AND DEVICE FOR CONTROLLING FLIGHT, CONTROL TERMINAL, FLIGHT SYSTEM AND PROCESSOR

A method for controlling flight includes displaying, in a real-time manner, a picture photographed and sent by a photographing device carried by an aerial vehicle; determining a no-clicking area in the picture based on a position of an obstacle or a no-fly zone; receiving a click operation of a user on the picture; and controlling a flight of the aerial vehicle based on the click operation. Controlling the flight of the aerial vehicle based on the click operation includes invalidating the click operation in response to determining a click location of the click operation being in the no-clicking area; and controlling the flight of the aerial vehicle based on a position of the click location in response to determining the click location being not in the no-clicking area. 1. A method for controlling flight comprising:displaying, in a real-time manner, a picture photographed and sent by a photographing device carried by an aerial vehicle;determining a no-clicking area in the picture based on a position of an obstacle or a no-fly zone;receiving a click operation of a user on the picture; and invalidating the click operation in response to determining a click location of the click operation being in the no-clicking area; and', 'controlling the flight of the aerial vehicle based on a position of the click location in response to determining the click location being not in the no-clicking area., 'controlling a flight of the aerial vehicle based on the click operation, including2. The method of claim 1 , further comprising: covering the no-clicking area with a color or shadow; or', 'displaying a prompt sign in the no-clicking area., 'displaying the no-clicking area in the picture by at least one of3. The method of claim 1 , further comprising:determining at least one base line in the picture based on attitude information of the photographing device for photographing the picture;wherein determining the no-clicking area includes determining the no-clicking area in the picture ...

Unmanned aerial vehicle and operations thereof

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors.

DETECTION SYSTEM AND DETECTION METHOD OF DISTRBUTED GENERATION ISLANDING BASED ON POWER FREQUENCY CARRIER

This present inversion relates to a detection system and detection method of distributed generation islanding based on power frequency carrier. The system includes a power frequency carrier signal generating device near the terminal power distribution substation, a power frequency carrier signal detection device in distributed power grid; the power frequency carrier signal generating device is connected to the substation bus through a signal coupling transformer; the power frequency carrier signal generating device is connected with signal coupling transformer though phase A, B C live wires and the N middle wire, that results in the signal can be send by anyone signal phase, any two phases parallel way or three phases parallel way. The power frequency carrier signal detection device is connected with the low voltage power network though phase A, B and C live wires and the N middle wire. The system of distributed generation islanding detection based on power frequency carrier has low cost of implementation advantage and the test methods to meet the requirements of relevant standards. The present invention provides an effective method for islanding signal detection of distributed generation and micro-grid signal, anti-islanding protection. There is very high technical and economic performance applying the distribution network under high permeability condition. 1123456133446265221245265. A detection system of distributed generation islanding based on power frequency carrier , which is characterized in that: the system includes power frequency carrier signal generating device () , power frequency carrier signal detection device () , signal coupling transformer () , substation bus () , distribution power generator (DG) () and safety isolation breaker () , said power frequency carrier signal generating device contains the voltage and current monitor circuit , aid power frequency carrier signal generating device () is connected with said signal coupling transformer () ...

SYSTEMS AND METHODS FOR PRE-OPERATIVE MODELING

A method for modeling a patient anatomy includes applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy, presenting the first model to a user, receiving an input from the user, and generating a revised model based upon the input. 1. A computing system comprising:a user interface;a processor; and through the user interface, present a first model to a user, the first model being formed by applying a first modeling function to a set of volumetric image data for a patient anatomy to produce a first model of the patient anatomy;', 'through the user interface, receive an input from the user;', 'generate a revised model based upon the input; and', 'present the revised model to the user., 'a memory comprising machine readable instructions that when executed by the processor, cause the system to2. The system of wherein the first model is associated with a plurality of first model parameters.3. The system of wherein the plurality of first model parameters includes a leak rate.4. The system of wherein the plurality of first model parameters includes a center line composite length.5. The system of wherein the plurality of first model parameters includes a quantity of voxels in the first model.6. The system of wherein the plurality of first model parameters includes a quantity of branches in the first model.7. The system of wherein the input received from the user includes additional voxels representing additional features of the patient anatomy.8. The system of wherein the input received from the user includes a seed location and to generate the revised model claim 1 , the processor is further to cause the system to apply a second modeling function to the set of volumetric image data in a region of the seed location.9. The system of wherein the input received from the user includes a tunable parameter for at least a portion of the first model and to generate the revised model claim 1 , the ...

ANTI-CD47 ANTIBODIES THAT DO NOT CAUSE SIGNIFICANT RED BLOOD CELL AGLLUTINATION

Provided are antibodies including monoclonal, human, primate, rodent, mammalian, chimeric, humanized and CDR-grafted antibodies, and antigen binding fragments and antigen binding derivatives thereof. These antibodies bind to CD47 protein, particularly human CD47, modulate, e.g., inhibit, block, antagonize, neutralize or otherwise interfere with CD47 expression, activity and/or signaling, including inhibiting CD47 and SIRPa interaction; do not cause a significant level of hemagglutination of human red blood cells. These antibodies may not enhance RBC phagocytosis. 1: An anti-CD47 antibody comprising at least one antibody-antigen binding site , said antibody binds human CD47 , inhibits , blocks , antagonizes , neutralizes or otherwise interferes with CD47 expression , activity and/or signaling , and does not cause significant agglutination of cells , wherein said antibody is a human antibody , a chimeric antibody , a humanized antibody , a primatized antibody , a bi-specific antibody , a conjugated antibody , a Small Modular ImmunoPharmaceutical , a single chain antibody , a cameloid antibody , a CDR-grafted antibody , or an antigen-binding fragment or antigen binding functional variant thereof.2: The antibody of claim 1 , wherein said antibody does not cause hemagglutination of human red blood cells.3: The antibody of claim 1 , wherein said anti-CD47 antibody blocks the interaction between human CD47 and human signal-regulatory-protein α (SIRPα).410-. (canceled)11: The antibody of claim 1 , wherein said antibody does not promote clumping of CD47 positive cell lines.12: The antibody of claim 1 , wherein said antibody comprises a variable heavy chain selected from SEQ ID NOs: 349 claim 1 , 351 claim 1 , 353 claim 1 , 355 claim 1 , 357 claim 1 , 359 claim 1 , 361-373 claim 1 , 380-383 claim 1 , 388-392 and a variable light chain selected from SEQ ID NOs: 350 claim 1 , 352 claim 1 , 354 claim 1 , 356 claim 1 , 358 claim 1 , 360 claim 1 , 374-379 claim 1 , 384-387 and 393 ...

UNMANNED AERIAL VEHICLE COMMUNICATIONS METHODS AND SYSTEMS

A method for communicating ground terminal-to-unmanned aerial vehicle (GT-UAV) data one or more times to an unmanned aerial vehicle (UAV) from a ground terminal includes receiving the GT-UAV data over a wireless channel, transmitting UAV image data to the ground terminal over the wireless channel, determining whether the received GT-UAV data is transmitted according to an Acknowledgment (ACK) protocol, and transmitting an acknowledgment signal over the wireless channel to the ground terminal in response to the received GT-UAV data being determined to be transmitted according to the ACK protocol. 1. A method for communicating ground terminal-to-unmanned aerial vehicle (GT-UAV) data to an unmanned aerial vehicle (UAV) from a ground terminal , wherein the GT-UAV data is transmitted one or more times to the UAV , comprising:receiving the GT-UAV data over a wireless channel;transmitting UAV image data to the ground terminal over the wireless channel;determining whether the received GT-UAV data is transmitted according to an Acknowledgment (ACK) protocol; andtransmitting an acknowledgment signal over the wireless channel to the ground terminal in response to the received GT-UAV data being determined to be transmitted according to the ACK protocol.2. The method of claim 1 , further comprising attempting to receive the GT-UAV data claim 1 , and upon making an unsuccessful attempt claim 1 , again attempting to receive the GT-UAV data.3. The method of claim 1 , further comprising determining a status of the UAV and transmitting the status to the ground terminal.4. The method of claim 3 , wherein the status indicates whether the UAV is behaving normally or abnormally.5. The method of claim 1 , further comprising determining a status of one or more UAV functional modules and transmitting data regarding the status to the ground terminal.6. The method of claim 5 , wherein the status indicates whether the UAV functional module is behaving normally or abnormally.7. The method of ...

Configuration Marker Design and Detection for Instrument Tracking

The present disclosure relates to systems, methods, and tools for tool tracking using image-derived data from one or more tool-located references features. In some embodiments, an associated medical system includes a tool having a distal end that is insertable into a patient body, a stereo image capture device insertable into the patient body so that the stereo image capture device captures a stereo image of at least a portion of the a two-dimensional marker at least partially surrounding a portion of the tool, and a processor coupled to the image capture device and configured to determine a pose of the tool by processing the stereo image. Associated methods and tools are also provided. 1. A medical system comprising:a tool having a distal end that is insertable into a patient body, wherein the distal end includes a two-dimensional marker at least partially surrounding a portion of the tool;a stereo image capture device insertable into the patient body so that the stereo image capture device captures a stereo image of at least a portion of the two-dimensional marker; anda processor coupled to the image capture device and configured to determine a pose of the tool by processing the stereo image.2. The medical system of claim 1 , wherein the two-dimensional marker completely encircles the portion of the tool.3. The medical system of claim 1 , wherein the two-dimensional marker includes more than one instance of a repeating pattern.4. The medical system of claim 3 , wherein the instances of the repeating pattern are disposed at 120 degree intervals around the portion of the tool.5. The medical system of claim 4 , wherein the instances of the repeating pattern are identical.6. The medical system of claim 1 , wherein the two-dimensional marker includes features that are aligned with a longitudinal axis of the portion of the tool.7. The medical system of claim 1 , wherein the two-dimensional marker includes localization features that allow the portion of the tool to be ...

SYSTEMS AND METHODS FOR USING REGISTERED FLUOROSCOPIC IMAGES IN IMAGE-GUIDED SURGERY

A method performed by a computing system comprises receiving a fluoroscopic image of a patient anatomy while a portion of a medical instrument is positioned within the patient anatomy. The fluoroscopic image has a fluoroscopic frame of reference. The portion has a sensed position in an anatomic model frame of reference. The method further comprises identifying the portion in the fluoroscopic image and identifying an extracted position of the portion in the fluoroscopic frame of reference using the identified portion in the fluoroscopic image. The method further comprises registering the fluoroscopic frame of reference to the anatomic model frame of reference based on the sensed position of the portion and the extracted position of the portion. 141-. (canceled)42. A medical system comprising:an instrument including an instrument shape sensor;a display system; and receive an anatomic model of a patient anatomy, wherein an area of interest is identified in the anatomic model;', 'receive shape sensor data from the instrument shape sensor while the instrument is positioned within the patient anatomy and registered to the anatomic model; and', 'determine a fluoroscopic image plane for display on the display system based on the received shape sensor data and the area of interest., 'a processing unit including one or more processors, wherein the processing unit is configured to43. The medical system of claim 42 , wherein the instrument shape sensor is positioned at a distal tip portion of the instrument and the processing unit is configured to determine the fluoroscopic image plane for display by:determining a pose of the distal tip portion of the instrument from the received shape sensor data; anddetermining a distance between the distal tip portion of the instrument and the area of interest.44. The medical system of claim 43 , wherein the processing unit is configured to determine the fluoroscopic image plane for display by determining the fluoroscopic image plane in ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 1. A multi-rotor unmanned aerial vehicle (UAV) , comprising:one or more electrical components disposed in a body of the UAV and adapted to facilitate operation of the UAV, said one or more electrical components selected from a group comprising a power source, flight control module, inertial measurement unit (IMU), and GPS receiver; anda magnetometer attached onto a landing stand at a position sufficiently distal from the one or more electrical components to effect a reduction of interference from said one or more electrical components, wherein the landing stand extends away from the body of the UAV and is configured to bear weight of the UAV when the UAV is not airborne.2. The UAV of claim 1 , wherein the magnetometer is a compass.3. The UAV of claim 1 , further comprising a plurality of rotor blades.4. The UAV of claim 1 , further comprising a carrier for supporting a payload device.5. The UAV of claim 4 , wherein the payload device is a camera.6. The UAV of claim 4 , wherein the payload device is located between a pair of landing stands.7. The UAV of claim 1 , wherein the one or more electrical components comprises the GPS receiver claim 1 , and wherein magnetometer is at least 3 cm away from the GPS receiver.8. The UAV of claim 1 , wherein the body of the UAV comprises an upper housing member and a lower housing member that are removably coupled to form a cavity of the body claim 1 , within which the one or more electrical components are disposed.9. The UAV of claim 1 , wherein the body is connected to one or more branch housing members.10. The UAV of claim 9 , wherein the one or ...

AUGMENTED STEREOSCOPIC VISUALIZATION FOR A SURGICAL ROBOT USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUOROESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE

An endoscope with a stereoscopic optical channel is held and positioned by a robotic surgical system. A capture unit captures (1) a visible first image and (2) a visible second image combined with a fluorescence second image from the light. An intelligent image processing system receives (1) the visible first image and (2) the visible second image combined with the fluorescence second image and generates at least one fluorescence image of a stereoscopic pair of fluorescence images and a visible second image. An augmented stereoscopic display system outputs a real-time stereoscopic image including a three-dimensional presentation including in one eye, a blend of the at least one fluorescence image of a stereoscopic pair of fluorescence images and one of the visible first and second images; and in the other eye, the other of the visible first and second images. 118-. (canceled)19. A surgical system comprising: 'an optical channel for transporting light from tissue;', 'an endoscope held and positioned by the surgical system, the endoscope comprising (1) at a first time, a first frame from the light, the first frame being a first visible image, the first visible image comprising a first plurality of visible color component images; and', '(2) at a second time different from the first time, a second frame from the light, the second frame being a combination image, the combination image being a combination of a second visible image and a first fluorescence image, the combination image comprising a second plurality of color component images, wherein one color component image of the second plurality of color component images includes a combination of the first fluorescence image and a visible color component image and the other color component images of the second plurality of color component images are visible color component images; and, 'a capture unit coupled to the optical channel, the capture unit being configured to capture a fluorescence image with artifacts ...

Method and System for Hand Presence Detection in a Minimally Invasive Surgical System

In a minimally invasive surgical system, a hand tracking system tracks a location of a sensor element mounted on part of a human hand. A system control parameter is generated based on the location of the part of the human hand. Operation of the minimally invasive surgical system is controlled using the system control parameter. Thus, the minimally invasive surgical system includes a hand tracking system. The hand tracking system tracks a location of part of a human hand. A controller coupled to the hand tracking system converts the location to a system control parameter, and injects into the minimally invasive surgical system a command based on the system control parameter. 118-. (canceled)19. A method comprising:determining whether a hand position is within a threshold distance from a position of a master tool grip of a surgical system, the hand position being a position of at least part of a human hand, the determining being by a controller of the surgical system, and the determining being based on the hand position and the position of the master tool grip;permitting movement of a slave surgical instrument if the determining determines the hand position is within the threshold distance from the position of the master tool grip, the permitting being by the controller, the movement of the slave surgical instrument being based on movement of the master tool grip; andinhibiting the movement of the slave surgical instrument if the determining determines the hand position is not within the threshold distance from the position of the master tool grip, the inhibiting being by the controller.20. The method of claim 19 , wherein the hand position comprises an index finger position.21. The method of claim 19 , wherein the determining further comprises:mapping the hand position to a first position in a common coordinate frame; andmapping the position of the master tool grip to a second position in the common coordinate frame.22. The method of claim 21 , wherein the ...

APPARATUS AND METHOD OF FAST COMMUTATION FOR MATRIX CONVERTER-BASED RECTIFIER

A method of commutation in a matrix rectifier from an active vector to a zero vector includes two steps. A method of commutation in a matrix rectifier from a zero vector to an active vector includes three steps. 1. A method of performing commutation in a matrix rectifier from an active vector to a zero vector , the matrix rectifier includes:first, second, and third phases; and{'sub': ij', '1j', '2j, 'uni-directional switches S, where i=1, 2 and j=1, 2, 3, 4, 5, 6 and where uni-directional switches Sand Sare connected together to define first, second, third, fourth, fifth, and sixth bi-directional switches; wherein'}first ends of the first, third, and fifth bidirectional switches are connected together to provide a positive-voltage node;first ends of the second, fourth, and sixth bidirectional switches are connected together to provide a negative-voltage node;second ends of the first and fourth bidirectional switches are connected to the first phase;second ends of the third and sixth bidirectional switches are connected to the second phase;second ends of the fifth and second bidirectional switches are connected to the third phase;{'sub': 1m', '1n', '2m', '2n', 'pq, 'a zero vector is defined by either uni-directional switches Sand Sswitched on or uni-directional switches Sand Sswitched on, where (m, n)=(1, 4), (3, 6), (5, 2), and by all other uni-directional switches Sswitched off, where p≠m and q≠n; and'}{'sub': 1m', '1n', '2m', '2n', 'pq, 'an active vector is defined by either uni-directional switches Sand Sswitched on or uni-directional switches Sand Sswitched on, where m=1, 3, 5; n=2, 4, 6; and m, n are not connected to the same phase, and by all other uni-directional switches Sswitched off, where p≠m and q≠n;'}Sectors I, II, III, IV, V, and VI are defined by using active vectors with (a, b)=(1, 6), (1, 2), (3, 2), (3, 4), (5, 4), and (5, 6);the method comprising: [{'sub': 1m', '1n, 'claim-text': [{'sub': '1x', 'in Sectors I, III, V, turning on uni-directional ...

Position detection and monitoring

An apparatus includes a controller that controls a motor including multiple motor windings. To determine motor position, the controller is operative to supply current through the multiple windings of the motor. The multiple windings are coupled to a rotor of the motor. While supplying the current to the motor windings, the controller monitors a magnitude of the current supplied through the windings of the motor. Based on measured inductance associated with the motor as determined from the monitored current through the windings, the controller determines a (rotational) position of the rotor.

CURRENT MONITORING AND AMPLIFIER GAIN CONTROL

An apparatus includes a controller that controls operation of an amplifier. The amplifier receives a sample voltage produced by a resistive path; the sample voltage from the resistive path is indicative of a magnitude of current through a motor winding. The controller selects a gain setting to apply to the amplifier based on one or more conditions. The selected gain setting is selected amongst multiple possible gain settings. Subsequent to selection, via application of the selected gain setting to the amplifier, and based on an output of the amplifier, the controller monitors a magnitude of the current through the motor winding. According to one configuration, the amplifier adjusts the magnitude of the selected gain setting depending on one or more parameters such as the magnitude of the current through the motor winding, a selected operational range of controlling current through the motor winding, etc. 1. An apparatus comprising: i) select a gain setting amongst multiple gain settings;', 'ii) apply the selected gain setting to an amplifier, the amplifier operative to receive a sample voltage produced by a resistive path, the sample voltage indicative of a magnitude of current through a motor winding; and', 'iii) monitor a magnitude of the current through the motor winding based on an output of the amplifier., 'a controller operative to2. The apparatus as in claim 1 , wherein the controller is further operative to vary the selected gain of the amplifier depending on the magnitude of the current being supplied by the motor winding through the resistive path.3. The apparatus as in claim 1 , wherein the controller is further operative to control a magnitude of the current through the motor winding via control input received from a user operating a tool including the motor winding.4. The apparatus as in claim 1 , wherein the controller is further operative to:i) receive a current limit value indicating a maximum amount of current in which to drive the motor winding, ...

Systems and Methods of Registration Compensation in Image Guided Surgery

A method performed by a computing system comprises receiving shape information for an elongate flexible portion of a medical instrument. The medical instrument includes a reference portion movably coupled to a fixture having a known pose in a surgical reference frame. The fixture includes a constraint structure having a known constraint structure location in the surgical reference frame. The elongate flexible portion is coupled to the reference portion and is sized to pass through the constraint structure. The method further includes receiving reference portion position information in the surgical reference frame; determining an estimated constraint structure location in the surgical reference frame from the reference portion position information and the shape information; determining a correction factor by comparing the estimated constraint structure location to the known constraint structure location; and modifying the shape information based upon the correction factor.

METHODS AND DEVICES FOR TABLE POSE TRACKING USING FUDICIAL MARKERS

Methods and systems for registering a manipulator assembly and independently positionable surgical table are provided herein. In one aspect, methods include reading a fiducial marker on the surgical table with a sensor associated with the manipulator assembly and localizing the manipulator assembly and surgical table with respect to a common reference frame. Methods may further include translating a 3D configuration of the surgical table to a 2D frame of reference so as to estimate a 3D pose of the surgical table relative the manipulator assembly for use in coordinating movements therebetween. 115-. (canceled)16. A tele-surgical system , the system comprising:a manipulator assembly;a surgical table disposed in proximity to the manipulator assembly, the surgical table having one or more fiducial markers; anda sensor that is configured to read the one or more fiducial markers of the surgical table when the surgical table is positioned within close proximity of the manipulator assembly.17. The system of claim 16 , wherein the surgical table is positionable along one or more degrees of freedom (DOFs).18. The system of claim 16 , wherein the sensor comprises a camera of the manipulator assembly.19. The system of claim 16 , wherein the one or more fiducial markers include a barcode claim 16 , an RFID tag claim 16 , a light claim 16 , or any combination thereof.20. The system of claim 16 , wherein the one or more fiducial markers are fixedly attached and/or formed in select portions of the surgical table.21. The system of wherein the one or more fiducial markers are fixedly attached and/or formed in select portions and locations in a particular orientation relative to the surgical table such that a pose of the surgical table relative to a ground plane is determinable from reading of at least one of the one or more fiducial markers.22. The system of claim 16 , wherein the one or more fiducial markers comprise one or more 2D barcodes extending about a base of the surgical ...

UNMANNED AERIAL VEHICLE AND OPERATIONS THEREOF

The present invention provides methods and apparatus for unmanned aerial vehicles (UAVs) with improved reliability. According to one aspect of the invention, interference experienced by onboard sensors from onboard electrical components is reduced. According to another aspect of the invention, user-configuration or assembly of electrical components is minimized to reduce user errors. 1. A multi-rotor unmanned aerial vehicle (UAV) , comprising:a central body comprising an upper housing member and a lower housing member, the upper housing member and the lower housing member forming a central cavity, wherein the central cavity is configured to house one or more electrical components (1) configured to control the operation of the UAV, and (2) comprising at least a flight control module; andone or more branch housing members extending from the central body, the one or more branch housing members each comprising an upper branch housing member and a lower branch housing member,wherein the one or more branch housing members are configured to support one or more actuator assemblies configured to effect movement of the UAV in response to communications from the flight control module,wherein the upper branch housing member and the lower branch housing members are configured to extend to a length at least to support the one or more actuator assemblies, andwherein the one or more upper branch housing members and the upper housing member form an integral upper body portion, the one or more lower branch housing members and the lower housing member form an integral lower body portion, and the integral upper body portion and the integral lower body portion are removably coupled to form a hollow body portion comprising the central cavity.2. The UAV of claim 1 , further comprising a magnetometer at a distance of at least 3 cm from the one or more electrical components.3. The UAV of claim 2 , wherein the magnetometer is at a distance of no more than 0.5 m away from the one or more ...

INTERCHANGEABLE MOUNTING PLATFORM

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object. 1. A platform for interchangeably mounting a payload to a base support , the platform comprising:a support assembly configured to be coupled to the payload via a first coupling and configured to control a spatial disposition of the payload; anda mounting assembly that is (a) coupled to the support assembly and (b) configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object, wherein the second coupling is a quick release coupling enabling the plurality of types of base supports to be manually coupled and decoupled from the mounting assembly.2. The platform of claim 1 , wherein the mounting assembly is configured to be interchangeably coupled via the quick release coupling to the aerial vehicle and the base adapter mounted onto the movable object.3. The platform of claim 1 , wherein the support assembly is electrically coupled to the payload.4. The platform of claim 1 , wherein the mounting assembly is electrically coupled to the base support.5. The platform of claim 1 , wherein the first and second couplings enable transmission of data between the payload and the base support.6. The platform of claim 5 , wherein the data comprises payload data provided by the payload to the base support.7. The platform of claim 5 , wherein the data comprises control signals provided by the base ...

SURGICAL SYSTEM INCLUDING A NON-WHITE LIGHT GENERAL ILLUMINATOR

A system may control an illuminator to illuminate a surgical site with non-white light and control a camera to capture light reflected from the surgical site. The camera may separate the captured light into a plurality of color components. The plurality of color components may be captured by the camera as a plurality of sets of pixels of a frame in a video stream, and each set of the plurality of sets of pixels may be in a different color channel of the camera. The system may further control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream. 1. A system comprising:a memory storing instructions; and control an illuminator to illuminate a surgical site with non-white light;', 'control a camera to capture light reflected from the surgical site, the camera being configured to separate the captured light into a plurality of color components, the plurality of color components being captured by the camera as a plurality of sets of pixels of a frame in a video stream, each set of the plurality of sets of pixels being in a different color channel of the camera; and', 'control, based on color component characteristics of the light captured by the camera, the illuminator to configure the non-white light such that each color channel of the camera has an about equal response to the light captured by the camera for a subsequently captured frame in the video stream., 'a processor communicatively coupled to the memory and configured to execute the instructions to2. The system of claim 1 , wherein:the illuminator comprises a plurality of color component illumination sources, andthe configuring of the non-white light comprises weighting an output of each color component illumination source included in the plurality of color component illumination ...

SYSTEMS AND METHODS FOR NON-RIGID DEFORMATION OF TISSUE FOR VIRTUAL NAVIGATION OF INTERVENTIONAL TOOLS

A processing system comprises a processor and a memory having computer readable instructions stored thereon. The computer readable instructions, when executed by the processor, cause the system to obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state. The computer readable instructions also cause the system to obtain a reference three dimensional geometric model based on the reference tree and detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor. The computer readable instructions also cause the system to obtain a deformed tree of nodes and linkages based on the detected deformation and create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation. 124-. (canceled)25. A processing system comprising:a processor; and obtain a reference tree of nodes and linkages based on a reference three dimensional volumetric representation of a branched anatomical formation in a reference state;', 'obtain a reference three dimensional geometric model based on the reference tree;', 'detect deformation of the branched anatomical formation due to anatomical motion based on measurements from a shape sensor;', 'obtain a deformed tree of nodes and linkages based on the detected deformation; and', 'create a three dimensional deformation field that represents the detected deformation of the branched anatomical formation., 'a memory having computer readable instructions stored thereon, the computer readable instructions, when executed by the processor, cause the system to26. The processing system of claim 25 , wherein the three dimensional deformation field includes a three dimensional field vector array.27. The processing system of claim 25 , wherein the computer readable instructions claim 25 , when executed by the processor claim 25 , cause the ...

METHOD AND SYSTEM OF HAND SEGMENTATION AND OVERLAY USING DEPTH DATA

In a minimally invasive surgical system, a plurality of video images is acquired. Each image includes a hand pose image. Depth data for the hand pose image is also acquired or synthesized. The hand pose image is segmented from the image using the depth data. The segmented image is combined with an acquired surgical site image using the depth data. The combined image is displayed to a person at a surgeon's console of the minimally invasive surgical system. Processing each of the video images in the plurality video images in this way reproduces the hand gesture overlaid on the video of the surgical site in the display. 1. A method comprising:receiving an acquired video image at a controller, wherein the acquired video image comprises a hand pose image of a hand gesture;segmenting, by the controller, the hand pose image from the acquired video image to obtain a segmented hand pose image, the segmenting comprising a depth threshold process followed directly by a flood fill process, the depth threshold process and the flood fill process each using depth data for pixels in the acquired video image, the depth threshold process processing the acquired video image to eliminate pixels having a depth greater than a maximum depth threshold from the acquired video image to obtain a first modified data frame, the flood fill process receiving the first modified data frame directly from the depth threshold process, and the flood fill processing the received first modified data frame to obtain a hand pose mask;combining, in real time by the controller, the segmented hand pose image with an image of a surgical site to obtain a combined image, wherein the combining comprises using an alpha mask; andsending the combined image from the controller to a display device.2. The method of claim 1 , wherein the acquired video image of the hand gesture comprises an instructional hand gesture associated with surgery.3. The method of claim 2 , wherein the instructional hand gesture instructs how ...

INERTIA MEASUREMENT MODULE FOR UNMANNED AIRCRAFT

The present disclosure relates to an inertia measurement module for an unmanned aircraft, which comprises a housing assembly, a sensing assembly and a vibration damper. The vibration damper comprises a first vibration-attenuation cushion; and the sensing assembly comprises a first circuit board, a second circuit board and a flexible signal line for connecting the first circuit board and the second circuit board. An inertia sensor is fixed on the second circuit board, and the first circuit board is fixed on the housing assembly. The inertia measurement module further comprises a weight block, and the second circuit board, the weight block, the first vibration-attenuation cushion and the first circuit board are bonded together. The present disclosure greatly reduces the influence of the operational vibration frequency of the unmanned aircraft on the inertia sensor and improves the measurement stability of the inertia sensor. 1a second circuit board with an inertia sensor;a first circuit board with a processor to process one or more signals from the inertia sensor;a signal line between the first circuit board and the second circuit board;a weight block comprising a recess, wherein the second circuit board is embedded in the recess of the weight block; anda vibration damper provided to attenuate vibration of the inertia sensor.. An inertia measurement module, comprising: The present disclosure generally relates to the technical field of unmanned aircraft control, and more particularly, to an inertia measurement module for an unmanned aircraft.In the conventional technology, for buffering of an inertia measurement module of an unmanned aircraft, four vibration-attenuation cushions are disposed outside a housing of a control module thereof to form four fulcrums that support the housing of the whole control module. The structure of disposing the vibration-attenuation cushions outside the inertia measurement module for the unmanned aircraft has following drawbacks: (1) the ...

PROVIDING INFORMATION OF TOOLS BY FILTERING IMAGE AREAS ADJACENT TO OR ON DISPLAYED IMAGES OF THE TOOLS

An operator telerobotically controls tools to perform a procedure on an object at a work site while viewing real-time images of the object, tools and work site on a display. Tool information is provided by filtering a part of the real-time images for enhancement or degradation to indicate a state of a tool and displaying the filtered images on the display. 1. A system comprising:an image capture device disposed to capture an image of a work site;a display; and determine whether a tool disposed at the work site is energized;', 'conditioned upon determining that the tool is energized, generate an adjusted part of the image of the work site by adjusting the image of a portion of the tool in the image of the work site so as to create a glowing effect on the portion when displayed on the display; and', 'cause the image of the work site with the adjusted part to be displayed on the display., 'a processor configured to2. The system of claim 1 ,wherein the portion of the tool comprises a working end of the tool.3. The system of claim 1 , 'determine whether the tool is energized by determining whether a working end of the tool is energized for performing electrocautery.', 'wherein the processor is further configured to4. The system of claim 1 ,wherein the image capture device comprises a stereo camera,wherein the display is a stereo viewer, andwherein the image of the work site is a stereo image of the work site.5. A system comprising:an image capture device disposed to capture an image of a work site;a display; and determine whether a tool disposed at the work site is energized;', 'conditioned upon determining that the tool is energized, generate an adjusted part of the image of the work site by adjusting a portion of the tool in the image of the work site so as to create an aura effect on the portion when displayed on the display; and', 'cause the image of the work site with the adjusted part to be displayed on the display., 'a processor configured to6. The system of claim ...

Interchangeable mounting platform

A platform for interchangeably mounting a payload to a base support is provided. In one aspect, the platform comprises: a support assembly configured to be releasably coupled to a payload via a first coupling and configured to control a spatial disposition of the payload; and a mounting assembly configured to be releasably coupled via a second coupling to a plurality of types of base supports selected from at least two of the following: an aerial vehicle, a handheld support, or a base adapter mounted onto a movable object.

INTERCHANGEABLE MOUNTING PLATFORM

An assembly includes a payload configured to obtain sensor data and a mounting platform coupled to the payload via a first coupling and including one or more actuators configured to adjust a spatial disposition of the payload. The assembly is for interchangeably mounting onto a plurality of base supports including a first base support and a second base support. The mounting platform is configured to be releasably coupled via a second coupling to each of the first base support and the second base support. The first base support is configured to control a function of the payload when the mounting platform is coupled to the first base support. 1. An assembly for interchangeably mounting onto a plurality of base supports comprising a first base support and a second base support , the assembly comprising:a payload configured to obtain sensor data; anda mounting platform coupled to the payload via a first coupling, the mounting platform comprising one or more actuators configured to adjust a spatial disposition of the payload, and wherein the mounting platform is configured to be releasably coupled via a second coupling to each of the first base support and the second base support,wherein the first base support is configured to control a function of the payload when the mounting platform is coupled to the first base support.2. The assembly of claim 1 , wherein the first base support is a handheld support member and the second base support is an unmanned aerial vehicle (UAV).3. The assembly of claim 1 , wherein the first base support or the second base support is a base adapter mounted onto a movable object.4. The assembly of claim 1 , wherein the payload is a smartphone.5. The assembly of claim 1 , wherein the mounting platform is configured to establish electrical communication with each of the first base support and the second base support separately when the mounting platform is coupled to the first base support and the second base support via the second coupling claim ...

AERIAL VEHICLE WITH FRAME ASSEMBLIES

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle. 1. An aerial vehicle comprising:a central body;at least two frame assemblies respectively disposed on the central body, each of the at least two frame assemblies having a tube with an inboard portion directly coupled to the central body and an outboard portion directly coupled to a cross bar; anda plurality of propulsion units operable to move the aerial vehicle, wherein each of the at least two frame assemblies supports at least two propulsion units coupled to the cross bar,wherein the tube of each frame assembly is coupled to the cross bar between ends of the cross bar, and is angled upward with relation to the central body to support the cross bar, andwherein each cross bar is substantially parallel to each other, and wherein each cross bar is located on opposing sides of the central body.2. The aerial vehicle of claim 1 , wherein each cross bar forms a substantially straight piece between the at least two propulsion units coupled to the cross bar.3. The aerial vehicle of claim 1 , further comprising a secondary support coupled to the central body and configured to be connected to the cross bar.4. The aerial vehicle of claim 3 , wherein the secondary support is substantially parallel to the tube.5. The aerial vehicle of claim 3 , wherein a length of the tube is ...

AIRCRAFT CONTROL APPARATUS, CONTROL SYSTEM AND CONTROL METHOD

An aircraft control system and control method are disclosed. The system comprises a remote control apparatus with a first control rod and a flight controller associated with an aircraft. The first control rod is configured to move in a first movement direction to control a motion of the aircraft in a first motion direction when an external force is applied on the first control rod and after a withdrawal of the external force, the first control rod returns to a preset position. The remote control apparatus operates to generate one or more control signals corresponding to the withdrawal of the external force. The flight controller controls the aircraft to maintain a flight state based on said control signals and one or more state signals, which are generated based on a measurement of the flight state by a flight controller associated with the aircraft state measurement sensors carried by the aircraft. 1. A control system for controlling an aircraft , comprising: a first control rod configured to control the aircraft to move in a first direction; and', 'a second control rod configured to control the aircraft to move in a second direction, the second direction being different from the first direction,', 'wherein the remote control apparatus operates to generate one or more control signals corresponding to one or more positions of the first control rod and the second control rod, and, 'a remote control apparatus, comprisinga flight controller associated with the aircraft and configured to control the aircraft based on the one or more control signals received from the remote control apparatus and one or more flight state signals detected by the aircraft,wherein the flight controller controls a speed of climb or a speed of descent of the aircraft in proportion to an extent of movement of the first control rod relative to a preset position of the first control rod.2. The control system of claim 1 , wherein:the first control rod returns to the preset position after a ...

BATTERY AND UNMANNED AERIAL VEHICLE WITH THE BATTERY

The disclosure provides a battery which can include a power supply and power supply circuit, the power supply circuit connected to the power supply. The power supply can discharge through the power supply circuit. An electronic switch can control the power-on or off of the power supply, thereby avoiding the generation of sparks during the power on process and allowing for the normal use of the battery and the safety of the aircraft. The disclosure also provides an aircraft having the battery. 119-. (canceled)20. A power supply assembly for an unmanned aerial vehicle (UAV) , comprising:a housing comprising a bottom casing and a cover member, wherein the cover member is positioned to cover an opening of the bottom casing;a power supply configured to power the UAV, wherein the power supply is disposed in the bottom casing;a circuit board positioned inside the housing, wherein the circuit board is electrically connected to the power supply;an input device carried by the circuit board and configured to receive a user input;an electronic switch in electrical communication with the power supply to control a supply of power from the power supply to the UAV, wherein the input device is electrically connected with the electronic switch to control at least one of a switch-on state or a switch-off state of the electronic switch;a power measurement device in electrical communication with the power supply, wherein the power measurement device is configured to calculate at least one of a level of charge or remaining capacity of the power supply; anda connector interface configured to transmit, to the UAV, a signal indicating the level of charge or a remaining capacity of the power supply.21. The power supply assembly of claim 20 , wherein the bottom casing has at least one venting opening.22. The power supply assembly of claim 21 , wherein the bottom casing is configured to be inserted into the UAV claim 21 , and wherein the cover member forms at least a portion of an exterior ...

AERIAL VEHICLE WITH FRAME ASSEMBLIES

Systems, devices, and methods for a transformable aerial vehicle are provided. In one aspect, a transformable aerial vehicle includes: a central body and at least two transformable frames assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; an actuation assembly mounted on the central body and configured to pivot the at least two frame assemblies to a plurality of different vertical angles relative to the central body; and a plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the transformable aerial vehicle. 1. (canceled)2. A unmanned aerial vehicle (UAV) comprising:a central body;at least two transformable frame assemblies respectively disposed on the central body, each of the at least two transformable frame assemblies having a proximal portion pivotally coupled to the central body and a distal portion; anda plurality of propulsion units mounted on the at least two transformable frame assemblies and operable to move the UAV;wherein each of the at least two transformable frame assemblies are configured to pivot at the proximal portion through a plurality of vertical angles relative to a yaw axis of the central body, the plurality of vertical angles comprising: (1) a first vertical angle permitting the distal portion of each of the at least two transformable frame assemblies to be even with the central body during at least a portion of a takeoff phase and a landing phase, and (2) a second vertical angle different from the first vertical angle during a flight phase.3. The UAV of claim 2 , wherein the second vertical angle increases claim 2 , relative to the first vertical angle claim 2 , a functional space of a payload coupled to the central body.4. The UAV of claim 2 , wherein the plurality of vertical angles comprises (3) a third vertical angle permitting the at ...

AUGMENTED VISUALIZATION USING A CAPTURED VISIBLE IMAGE COMBINED WITH A FLUORESCENCE IMAGE AND A CAPTURED VISIBLE IMAGE

An exemplary method includes an image processing system Receiving a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components; receiving a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image; creating a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame; creating a third fluorescence image based on the second fluorescence image; and generating, based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system. 1. A method comprising:receiving, by an image processing system, a first frame captured at a first time from light received by an endoscope, the first frame including a first visible image, the first visible image comprising a first plurality of visible color components;receiving, by the image processing system, a second frame captured at a second time different from the first time from light received from the endoscope, the second frame including a combination image, the combination image being a combination of a second visible image and a first fluorescence image;creating, by the image processing system, a second fluorescence image, the second fluorescence image comprising artifacts from the first frame and the second frame;creating, by the image processing system, a third fluorescence image based on the second fluorescence image; andgenerating, by the image processing system based on the third fluorescence image, an image including an artificial fluorescence image for display by a display system.2. The method of claim 1 , wherein the creating of the third fluorescence image based on the ...

Determining position of medical device in branched anatomical structure

Information extracted from sequential images captured from the perspective of a distal end of a medical device moving through an anatomical structure are compared with corresponding information extracted from a computer model of the anatomical structure. A most likely match between the information extracted from the sequential images and the corresponding information extracted from the computer model is then determined using probabilities associated with a set of potential matches so as to register the computer model of the anatomical structure to the medical device and thereby determine the lumen of the anatomical structure which the medical device is currently in. Sensor information may be used to limit the set of potential matches. Feature attributes associated with the sequence of images and the set of potential matches may be quantitatively compared as part of the determination of the most likely match.

GIMBAL

A gimbal includes a rotation assembly. The rotation assembly includes an axis arm, a lock device, and an electric motor configured to drive the axis arm with a first driving force to rotate to a pre-set position, such that the lock device locks the axis arm at the pre-set position, and when the axis arm is at the pre-set position, drive the axis arm with a second driving force to rotate, such that the lock device unlocks the axis arm. 1. A gimbal comprising: an axis arm;', 'a lock device; and', drive the axis arm with a first driving force to rotate to a pre-set position, such that the lock device locks the axis arm at the pre-set position; and', 'when the axis arm is at the pre-set position, drive the axis arm with a second driving force to rotate, such that the lock device unlocks the axis arm., 'an electric motor configured to], 'a rotation assembly including2. The gimbal according to claim 1 , wherein:output values of the first driving force and the second driving force are greater than an output value outputted by the electric motor when the gimbal is in an operation state.3. The gimbal according to claim 2 , wherein:the first driving force and the second driving force are pre-configured to be same.4. The gimbal according to claim 1 , wherein: an elastic member fixed to an electric motor base and including a first limiting structure disposed along an axial direction of the electric motor; and', 'a second limiting structure disposed at a rotation shaft of the electric motor; and, 'the lock device includesthe first limiting structure and the second limiting structure are configured to snap with each other after the electric motor drives the axis arm to rotate to the pre-set position, to prevent the axis arm from further rotating.5. The gimbal according to claim 4 , wherein:the second limiting structure is disposed at a shaft end surface of the rotation shaft of the electric motor, and the elastic member is disposed opposite to the shaft end surface; orthe first ...

STOP DEVICE AND AERIAL VEHICLE USING THE SAME

A stop device includes a motor rotor assembly including a rotating shaft, a first shift lever fixedly connected to the rotating shaft and including a first shifting part configured to rotate around an axis of the rotating shaft to form a first motion trajectory, and a second shift lever rotatably connected to the first shift lever and including a second shifting part partially within the first motion trajectory. The first shifting part is configured to drive the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory. The stop device further includes a motor stator assembly sleeved on the rotating shaft and rotatably connected with the rotating shaft. The motor stator assembly includes a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory. 1. A stop device , comprising:a motor rotor assembly including a rotating shaft;a first shift lever fixedly connected to the rotating shaft, the first shift lever comprising a first shifting part configured to rotate around an axis of the rotating shaft to form a first motion trajectory;a second shift lever rotatably connected to the first shift lever, the second shift lever comprising a second shifting part partially within the first motion trajectory, and the first shifting part being configured to drive the second shifting part to rotate around the axis of the rotating shaft to form a second motion trajectory; anda motor stator assembly sleeved on the rotating shaft and rotatably connected with the rotating shaft, the motor stator assembly comprising a stopping boss located on a periphery of the first motion trajectory and partially within the second motion trajectory,wherein the second shift lever is configured to rotate to drive the second shifting part to contact a first side of the stopping boss when rotating in a first direction and to contact a second side of the stopping boss when rotating in a second ...

BATTERY MANAGEMENT SYSTEM

Systems, methods, and devices of managing a battery assembly used to power an object are provided to discharge a battery assembly for a safe and long-term storage. A controlled self-discharge of the battery assembly may be initiated when the power to the object is turned off for a certain length of time or the battery assembly is not in use for a threshold length of time. The controlled self-discharge may be terminated if the battery assembly reaches a threshold voltage value or the battery is in use again during the self-discharge. 1. An apparatus for discharging a battery assembly used to power at least part of an object , said apparatus comprising:a timer configured to: (1) receive a signal when the power to the object is turned off and initiate timing in response thereto and (2) detect an amount of time elapsed since the power to the object is turned off; andone or more processors individually or collectively configured to: (1) receive a signal from the timer indicative of the amount of time elapsed and (2) generate a signal that initiates a controlled self-discharge of the battery assembly when the amount of time elapsed exceeds a threshold length of time.2. The apparatus of claim 1 , wherein the one or more processors individually or collectively are further configured to receive a signal indicative of a voltage of the battery assembly during the controlled self-discharge of the battery assembly claim 1 , and generate a signal that terminates the controlled self-discharge of the battery assembly when the voltage reaches a threshold voltage value.3. The apparatus of claim 2 , wherein the threshold voltage is configured to enable safe long-term storage of the battery assembly.4. The apparatus of claim 2 , wherein the one or more processors individually or collectively are further configured to generate a signal that enters the battery assembly into a hibernation mode subsequent to terminating the controlled self-discharge of the battery assembly.5. The apparatus ...

TIME-LAPSE IMAGING CONTROL METHOD AND CONTROL DEVICE, IMAGING SYSTEM, AND STORAGE MEDIUM

A time-lapse imaging control method for controlling an imaging system, the imaging system including a gimbal and an imaging device, the imaging device being mounted on the gimbal. The control method including determining a target feature being tracked by the imaging device, and determining a time-lapse imaging parameter used by the imaging device for recording image data; driving the gimbal to drive the imaging device to move to track the target feature, causing the target feature to be positioned within a range in a preview image; and controlling the imaging device to record a plurality of frames of images including the target feature with the time-lapse imaging parameter. 1. A time-lapse imaging control method for controlling an imaging system , the imaging system including a gimbal and an imaging device , the imaging device being mounted on the gimbal , the method comprising:determining a target feature being tracked by the imaging device, and determining a time-lapse imaging parameter used by the imaging device for recording image data;driving the gimbal to drive the imaging device to move to track the target feature, causing the target feature to be positioned within a range in a preview image; andcontrolling the imaging device to record a plurality of frames of images including the target feature with the time-lapse imaging parameter.2. The control method of claim 1 , further comprising:composing a video based on the plurality of frames of images.3. The control method of claim 2 , wherein composing the video based on the plurality of frames of images includes:combining the plurality of frames of images into the video; or,combining a first predetermined frames of images of the plurality of frames of images into the video in chronological order; or,combining a second predetermined frames of images of the plurality of frames of images into the video in chronological order; or,obtaining a frame of to-be-composed image from the plurality of frames of images by ...

Systems and Methods For Interventional Procedure Planning

A method of deploying an interventional instrument is performed by a processing system. The method comprises receiving an image of an anatomic structure from an imaging probe. The image has an image frame of reference. The imaging probe is extendable distally beyond a distal end of a guide catheter. The distal end of the guide catheter has a catheter frame of reference. The method further includes receiving location data associated with a target structure identified in the image. The received location data is in the image frame of reference. The method further comprises transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference. 1. A method of deploying an interventional instrument , the method performed by a processing system , the method comprising:receiving an image of an anatomic structure from an imaging probe, the image having an image frame of reference, wherein the imaging probe is extendable distally beyond a distal end of a guide catheter, the distal end of the guide catheter having a catheter frame of reference;receiving location data associated with a target structure identified in the image, wherein the received location data is in the image frame of reference;transforming the location data associated with the target structure from the image frame of reference to the catheter frame of reference.2. The method of further comprising:registering the catheter frame of reference to a patient frame of reference andtransforming the location data associated with the target structure from the catheter frame of reference to the image frame of reference.3. The method of further comprising:receiving location data associated with the target structure identified in a patient model anddetermining an offset correction vector between the location data associated with the target structure identified in the image and the location data associated with the target structure identified in a patient ...

OPTIMIZING DATA TRANSFERS IN CLOUD COMPUTING PLATFORMS

In various embodiments, methods and systems for optimizing data transfer are provided. Data transfer optimization is accomplished by a data transfer optimization server. A data transfer session is initiated. The initiation of the data transfer session comprises analyzing transfer parameters for one or more data-source devices. An optimum number of concurrent network calls is calculated for the data transfer session. The calculation is based on the data transfer parameters. At least a portion of the optimum number of concurrent network calls is allocated for executing the data transfer session. The transfer parameters are monitored for changes. The optimum number of concurrent network calls is updated for the data transfer session based on a triggering event associated with the data transfer session. Updating the optimum number of concurrent network calls comprises recalculating the optimum number of concurrent network calls based on the transfer parameters after the trigger event. 1. A system for performing a method for optimizing data transfers , the system comprising: initiating a data transfer session, wherein initiating the data transfer session comprises analyzing transfer parameters for one or more data-source devices;', 'calculating an optimum number of concurrent network calls for the data transfer session based on the transfer parameters;', 'allocating at least a portion of the optimum number of concurrent network calls that execute the data transfer session;', 'monitoring the transfer parameters for changes in the transfer parameters;', 'updating the optimum number of concurrent network calls for the data transfer session based on a triggering event associated with the data transfer session, wherein updating the optimum number of concurrent network call comprises recalculating the optimum number of concurrent network calls based on the transfer parameters., 'a data transfer optimization server configured for2. The system of claim 1 , wherein the data ...

ENVIRONMENT CONTROL SYSTEM

The present application relates to an environment control system. The environment control system is capable of detecting variations of natural environment and artificial environment, and control the use of electronic devices automatically or semi-automatically. Based on collected information stored in a built-in storage module, the environment control system may calculate and learn the user's habit of use with respect to the electronic devices using network connection. 1. A system comprising a first panel and a second panel , a first sensing module configured to collect a parameter relating to a first device;', 'a first processing module configured to control the first device according to the collected parameter;, 'the first panel comprising'}the second panel being configured to work independently of the first panel, the second panel comprising a first physical controller configured to control the first device;the first panel being configured to control the first physical controller, andthe first panel and the second panel being detachably connected.2. The system of claim 1 , the second panel further comprising a current detecting device configured to collect current information and send the current information to the first panel.3. The system of claim 1 , the first physical controller comprising a dimmer.4. (canceled)5. The system of claim 1 , the first panel further comprising an ambient light sensor configured to sense intensity of ambient light.6. (canceled)7. The system of claim 1 , the first panel further comprising a temperature and humidity sensor or a gas composition sensor.8. The system of claim 1 , the first panel further comprising a motion sensor configured to detect speed claim 1 , contour claim 1 , and a distance between an object and a smart switch in a vicinity of the smart switch.9. (canceled)10. The system of claim 1 , the first panel further comprising a gateway.11. The system of claim 1 , the first panel further comprising a first communication ...

Environment control system

The present application relates to an environment control system. The environment control system is capable of detecting variations of natural environment and artificial environment, and control the use of electronic devices automatically or semi-automatically. Based on collected information stored in a built-in storage module, the environment control system may calculate and learn the user's habit of use with respect to the electronic devices using network connection.

Estimation of a position and orientation of a frame used in controlling movement of a tool

A system includes a control device, a manipulator configured to support a tool having a tool frame; and at least one processor coupled to the control device and the manipulator. The at least one processor configured to perform a method. The method includes receiving one or more images captured by an image-capturing system, the image-capturing system having an image frame. The tool is visible in the one or more images. The method also includes determining an estimated frame transform based on the one or more images. The estimated frame transform is used in defining an unknown frame transform between the image frame and the tool frame. The method also includes determining, in response to an input received at the control device, an output movement for the tool based on the estimated frame transform. The method also includes causing movement of the tool based on the output movement.

APPARATUS AND METHOD OF FAST COMMUTATION FOR MATRIX CONVERTER-BASED RECTIFIER

A method of commutation in a matrix rectifier from an active vector to a zero vector includes two steps. A method of commutation in a matrix rectifier from a zero vector to an active vector includes three steps. 1. A matrix rectifier comprising:first, second, and third phases; and{'b': 1', '2, 'i': j', 'j, 'uni-directional switches Sij, where i=1, 2 and j=1, 2, 3, 4, 5, 6 and where uni-directional switches Sand Sare connected together to define first, second, third, fourth, fifth, and sixth bi-directional switches; wherein'}first ends of the first, third, and fifth bidirectional switches are connected together to provide a positive-voltage node;first ends of the second, fourth, and sixth bidirectional switches are connected together to provide a negative-voltage node;second ends of the first and fourth bidirectional switches are connected to the first phase;second ends of the third and sixth bidirectional switches are connected to the second phase;second ends of the fifth and second bidirectional switches are connected to the third phase;{'b': 1', '1', '2', '2, 'i': m', 'n', 'm', 'n, 'a zero vector is defined by either uni-directional switches Sand Sswitched on or unidirectional switches Sand Sswitched on, where (m, n)=(1, 4), (3, 6), (5, 2), and by all other uni-directional switches Spq switched off, where p≠m and q≠n;'}{'b': 1', '1', '2', '2, 'i': m', 'n', 'm', 'n, 'an active vector is defined by either uni-directional switches Sand Sswitched on or uni-directional switches Sand Sswitched on, where m=1, 3, 5; n=2, 4, 6; and m, n are not connected to the same phase, and by all other uni-directional switches Spq switched off, where p≠m and q≠n;'}Sectors I, II, III, IV, V, and VI are defined by using active vectors with (a, b)=(1, 6), (1, 2), (3, 2), (3, 4), (5, 4), and (5, 6);commutation from an active vector to a zero vector includes: [{'b': 1', '1, 'i': m', 'n, 'claim-text': [{'b': '1', 'i': 'x', 'in Sectors I, III, V, turning on uni-directional switch S, where x ...

SURGICAL SYSTEM INCLUDING A NON-WHITE LIGHT GENERAL ILLUMINATOR

Non-white light from an endoscope () of a teleoperated surgical system () is used to illuminate a surgical site (). A camera (L) captures an image of the surgical site, and the image is displayed on a monitor (). The non-white light illumination minimizes noise in the images of the surgical site presented on the monitor relative to images captured using white light illumination and displayed on the monitor. 1. An apparatus comprising:a camera configured to separate light entering the camera into sets of pixels, each set of the sets of pixels being in a different color channel of the camera; andan illuminator being configured so that the illuminator outputs non-white light such that each color channel of the camera has an about equal response to the non-white light reflected from a purely reflective surface.2. The apparatus of claim 1 , the illuminator comprising a plurality of color component illumination sources claim 1 , the plurality of color components being configured so that the illuminator outputs the non-white light.3. The apparatus of claim 2 , further comprising:a controller coupled to the plurality of color component illumination sources, the controller being configured to weight the output of each of the plurality of color component illumination sources so that a combination of the outputs of the plurality of color component illumination sources is the non-white light.4. The apparatus of claim 2 , the plurality of color component illumination sources being a plurality of light emitting diodes.5. The apparatus of claim 2 , the plurality of color component illumination sources being a plurality of laser diodes.6. The apparatus of claim 3 , further comprising a spinning wheel coupled to the controller claim 3 , the spinning wheel having a plurality of sections claim 3 , each of the plurality of sections having a color of one of the plurality of color components claim 3 , each of the plurality of sections having a different light attenuation level.7. A ...

SYSTEMS AND METHODS FOR SEGMENTATION OF ANATOMICAL STRUCTURES FOR IMAGE-GUIDED SURGERY

A method for image segmentation comprises receiving volumetric image data for an anatomical region and generating a first volumetric patch from the volumetric image data. The method also comprises generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch and receiving the second volumetric patch as an input to a convolutional neural network. The method also comprises conducting a down-sampling filter process and conducting an up-sampling filter process within the convolutional neural network. 120-. (canceled)21. A method for image segmentation , the method comprising:receiving volumetric image data for an anatomical region;generating a first volumetric patch from the volumetric image data;generating a second volumetric patch from the first volumetric patch by weighting a plurality of volumetric units in the first volumetric patch, wherein weighting at least one of the plurality of volumetric units includes applying a weight based on a distance of the at least one of the plurality of volumetric units from a volumetric unit with a foreground structure classification in the first volumetric patch;receiving the second volumetric patch as an input to a convolutional neural network;within the convolutional neural network, conducting a down-sampling filter process; andwithin the convolutional neural network, conducting an up-sampling filter process.22. The method of wherein weighting at least one of the plurality of volumetric units includes using a multi-scale entropy map providing an indication of structural detail between scale levels.23. The method of wherein weighting at least one of the plurality of volumetric units includes applying a weight based on edge features identified in the multi-scale entropy map.24. The method of wherein weighting at least one of the plurality of volumetric units includes applying a weight based on structure complexity identified in the multi-scale ...