A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of...A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.展开更多
目的:髋关节置换术是治疗髋部骨折和股骨头坏死最主要的手术方法。肢体功能恢复是反映手术疗效和患者生活质量的一个重要标准,术后康复锻炼对肢体功能恢复至关重要。奥塔戈运动(Otage exercise programme,OEP)是一项安全、有效、实用及...目的:髋关节置换术是治疗髋部骨折和股骨头坏死最主要的手术方法。肢体功能恢复是反映手术疗效和患者生活质量的一个重要标准,术后康复锻炼对肢体功能恢复至关重要。奥塔戈运动(Otage exercise programme,OEP)是一项安全、有效、实用及经济的康复运动,已被证实可预防患者跌倒,提升肢体功能、步行能力、下肢力量等。本研究旨在探讨OEP对老年股骨颈骨折髋关节置换术患者肢体功能康复的效果。方法:将符合纳入和排除标准的77例老年股骨颈骨折髋关节置换术患者作为研究对象,随机分为对照组(n=39)和干预组(n=38)。对照组给予常规康复训练,干预组在常规康复训练的基础上实施OEP。在干预前、出院时、出院后12周采用计时起立行走测试时间(time get up and go test,TGUT)、5次坐立测试时间(five times sit to stand test,FTSST)、10 m步行测试时间(10-meter walking test,10MWT)、髋关节功能量表(Harris Hip Score,HHS)、日常活动能力量表的Barthel指数(Barthel index)、中文版简易健康调查表(the Mos 36-Item Short Form Health Survey,SF-36)进行评价。结果:干预前,2组TGUT、FTSST、10MWT、HHS评分、Barthel指数、SF-36评分差异均无统计学意义(均P>0.05);出院时,两组TGUT差异无统计学意义(P>0.05),但对照组FTSST和10MWT均长于干预组(均P<0.05),对照组HHS评分、Barthel指数、SF-36评分均低于干预组(均P<0.05);出院后12周,干预组TGUT、FTSST、10MWT、HHS评分、Barthel指数、SF-36评分均优于对照组(均P<0.05)。结论:OEP能够有效促进老年股骨颈骨折髋关节置换术患者肢体功能和髋关节功能恢复,提高日常活动能力和生活质量,适合在临床推广使用。展开更多
基金This research was funded by National Natural Science Foundation of China(No.62063006)Guangxi Science and Technology Major Program(No.2022AA05002)+2 种基金Key Laboratory of AI and Information Processing(Hechi University),Education Department of Guangxi Zhuang Autonomous Region(No.2022GXZDSY003)Guangxi Key Laboratory of Spatial Information and Geomatics(Guilin University of Technology)(No.21-238-21-16)Innovation Project of Guangxi Graduate Education(No.YCSW2023352).
文摘A Rapid-exploration Random Tree(RRT)autonomous detection algorithm based on the multi-guide-node deflection strategy and Karto Simultaneous Localization and Mapping(SLAM)algorithm was proposed to solve the problems of low efficiency of detecting frontier boundary points and drift distortion in the process of map building in the traditional RRT algorithm in the autonomous detection strategy of mobile robot.Firstly,an RRT global frontier boundary point detection algorithm based on the multi-guide-node deflection strategy was put forward,which introduces the reference value of guide nodes’deflection probability into the random sampling function so that the global search tree can detect frontier boundary points towards the guide nodes according to random probability.After that,a new autonomous detection algorithm for mobile robots was proposed by combining the graph optimization-based Karto SLAM algorithm with the previously improved RRT algorithm.The algorithm simulation platform based on the Gazebo platform was built.The simulation results show that compared with the traditional RRT algorithm,the proposed RRT autonomous detection algorithm can effectively reduce the time of autonomous detection,plan the length of detection trajectory under the condition of high average detection coverage,and complete the task of autonomous detection mapping more efficiently.Finally,with the help of the ROS-based mobile robot experimental platform,the performance of the proposed algorithm was verified in the real environment of different obstacles.The experimental results show that in the actual environment of simple and complex obstacles,the proposed RRT autonomous detection algorithm was superior to the traditional RRT autonomous detection algorithm in the time of detection,length of detection trajectory,and average coverage,thus improving the efficiency and accuracy of autonomous detection.
文摘目的:髋关节置换术是治疗髋部骨折和股骨头坏死最主要的手术方法。肢体功能恢复是反映手术疗效和患者生活质量的一个重要标准,术后康复锻炼对肢体功能恢复至关重要。奥塔戈运动(Otage exercise programme,OEP)是一项安全、有效、实用及经济的康复运动,已被证实可预防患者跌倒,提升肢体功能、步行能力、下肢力量等。本研究旨在探讨OEP对老年股骨颈骨折髋关节置换术患者肢体功能康复的效果。方法:将符合纳入和排除标准的77例老年股骨颈骨折髋关节置换术患者作为研究对象,随机分为对照组(n=39)和干预组(n=38)。对照组给予常规康复训练,干预组在常规康复训练的基础上实施OEP。在干预前、出院时、出院后12周采用计时起立行走测试时间(time get up and go test,TGUT)、5次坐立测试时间(five times sit to stand test,FTSST)、10 m步行测试时间(10-meter walking test,10MWT)、髋关节功能量表(Harris Hip Score,HHS)、日常活动能力量表的Barthel指数(Barthel index)、中文版简易健康调查表(the Mos 36-Item Short Form Health Survey,SF-36)进行评价。结果:干预前,2组TGUT、FTSST、10MWT、HHS评分、Barthel指数、SF-36评分差异均无统计学意义(均P>0.05);出院时,两组TGUT差异无统计学意义(P>0.05),但对照组FTSST和10MWT均长于干预组(均P<0.05),对照组HHS评分、Barthel指数、SF-36评分均低于干预组(均P<0.05);出院后12周,干预组TGUT、FTSST、10MWT、HHS评分、Barthel指数、SF-36评分均优于对照组(均P<0.05)。结论:OEP能够有效促进老年股骨颈骨折髋关节置换术患者肢体功能和髋关节功能恢复,提高日常活动能力和生活质量,适合在临床推广使用。
