Clinical Study on the Treatment of Low Anal Fistula in Infants and Young Children by Anal Gland Excision and Virtual Hanging Procedure

Objective:To compare the efficacy of anal adenectomy with virtual hanging wire and anal fistulotomy in the treatment of low anal fistula in infants and children.Methods:60 children with low anal fistula who were admitted to our hospital from October 2021 to March 2022 and met the inclusion criteria were randomly divided into two groups of 30 cases each;the treatment group was treated with anal adenectomy and virtual hanging wire surgery,and the control group was treated with anal fistula resection.The clinical efficacy after treatment was compared.Results:The total effective rate of both groups was 96.67%and the difference between the two groups was not statistically significant(P>0.05).The postoperative pain score of the treatment group was lower than that of the control group(P<0.05).The length of hospitalization and healing time of the treatment group was lower than that of the control group(P<0.05).The anal function of the patients in both groups was normal,and there was no adverse reaction.Conclusion:Anal gland excision and virtual hanging surgery for the treatment of low anal fistula in infants and children have the advantages of mild pain,reduced length of hospitalization,short healing time,and better patient experience as compared to anal fistula excision.

Optimal measurement configurations for kinematic calibration of six-DOF serial robot

An optimal measurement pose number searching method was designed to improve the pose selection method.Several optimal robot measurement configurations were added to an initial pre-selected optimal configuration set to establish a new configuration set for robot calibration one by one.The root mean squares (RMS) of the errors of each end-effector poses after being calibrated by these configuration sets were calculated.The optimal number of the configuration set corresponding to the least RMS of pose error was then obtained.Calibration based on those poses selected by this algorithm can get higher end-effector accuracy,meanwhile consumes less time.An optimal pose set including optimal 25 measurement configurations is found during the simulation.Tracking errors after calibration by using these poses are 1.54,1.61 and 0.86 mm,and better than those before calibration which are 7.79,7.62 and 8.29 mm,even better than those calibrated by the random method which are 2.22,2.35 and 1.69 mm in directions X,Y and Z,respectively.

Controllability and observability of networked control systems with time-varying delays

The controllability and observability of networked control systems are studied. Aiming at the networked control system with time-varying delay, the sufficient and necessary conditions for complete controllability and complete observability of the system are presented, respectively. Because of Markov characteristic of the network-induced delay, in terms of stochastic theory, a sufficient and necessary condition for completely mean value controllability of networked control systems is obtained. Further, the conditions that the controllability and observability of networked control systems are equivalent to the initial time-invariant system are given. Controllability and observability realization indexes are also discussed, respectively. The numerical example demonstrates the effectiveness of the proposed theory.

Residual index for measurement configuration optimization in robot kinematic calibration

To improve the efficiency and accuracy of kinematic calibration,the selection of measurement configurations is an important issue.In previous research,optimal measurement configurations mainly are selected by maximizing observability indices.However,the traditional observability indices only focus on the identification efficiency of the error parameters,while the purpose of robot kinematic calibration is to improve accuracy.To solve the inconsistency of the purpose between the observability index and calibration,the concept of the residual index to represent the residual distribution of the end effector after robot kinematic calibration with the measurement noise is proposed.Based on the quadratic form minimization of residuals,this article defines a specific residual index,O^(r),which is dimensionless and strictly better with the increase of measurement configurations.The indices are used to select measurement configurations in the kinematic calibration of a 5-DOF 2UPU/SP-RR hybrid robot,and the calibration results show that the proposed residual index is better than the traditional indices in the accuracy and stability of the end effector residual.

Partition-based Network Equivalent Method for Power System Subsynchronous Oscillation Analysis

Given large-scale modern power systems with pow er electronic converters,the numerical simulation with subsyn chronous oscillation(SSO)faces great challenges in engineering practice due to sharply enlarged modeling scale and high com putational burden.To reduce the modeling scale,network parti tion and equivalent becomes a vital technique in numerical sim ulations.Although several methods have been developed for net work equivalent,a generally accepted rule for network parti tion is still required.This paper proposes that the system can be partitioned into three parts,i.e.,the internal,the middle,and the external subsystems,in which the internal subsystem consists of all power electronic components,the middle subsys tem includes those selected AC dynamic components with de tailed models,and the remaining components and buses consti tute the external subsystem.The external subsystem is further represented by an equivalent RLC network determined by the frequency dependent network equivalent(FDNE)method.In the proposed method,the observability index and the electrical distance index are used to identify the interface between the middle and the external subsystems.Case studies based on a modified Hydro-Quebec system are used to verify the effective ness of the proposed method.

ON THE OBSERVABILITY OF FREE BOOLEAN NETWORKS VIA THE SEMI-TENSOR PRODUCT METHOD

This paper investigates the observabihty of free Boolean networks by using the semi-tensor product method,and presents some new results.First,the concept of observability for free Boolean networks is proposed,based on which and the algebraic form of Boolean networks,a kind of observabihty matrix is constructed.Second,by the observability matrix,a new necessary and sufficient condition is given for the observability of Boolean networks.Third,the concept of observabihty index for observable Boolean networks is defined,and an algorithm is established to calculate the observability index.Finally,a practical example of D.Melanogaster segmentation polarity gene networks is studied to support our new results.The study of the illustrative example shows that the new results obtained in this paper are very effective in investigating the observability of free Boolean networks.