Design of an Intelligent Robotic Excavator Based on Binocular Visual Recognition Technique

Research on intelligent and robotic excavator has become a focus both at home and abroad, and this type of excavator becomes more and more important in application. In this paper, we developed a control system which can make the intelligent robotic excavator perform excavating operation autonomously. It can recognize the excavating targets by itself, program the operation automatically based on the original parameter, and finish all the tasks. Experimental results indicate the validity in real-time performance and precision of the control system. The intelligent robotic excavator can remarkably ease the labor intensity and enhance the working efficiency.

Effect of visual perception training on binocular visual function reconstruction in patients after strabismus surgery

AIM:To explore the effect of visual perception learning software training(VPT)on binocular visual function reconstruction in children with intermittent exotropia after strabismus surgery.METHODS:Ninety children with intermittent exotropia admitted to our hospital from June 2018 to December 2018 were included,and randomly divided into VPT and control groups.Children in the control group received basic binocular vision training,while those in the VPT group received VPT after strabismus surgery.Tertiary visual function,visual perception function,Newcastle Control Score(NCS),and ocular position retraction rate were compared at 3 and 12mo after the surgery.RESULTS:At 3 and 12mo after the surgery,the proportion of simultaneous perception,binocular fusion version and binocular stereo vision in the VPT group was conspicuously higher than that in the control group(P<0.05).After the vision training,the binocular visual perception functions of children in both groups were significantly improved compared with that before training(P<0.05).Interestingly,the grating sharpness,texture perception and texture motion perception in the VPT group were dramatically better than control group(P<0.01).The NCS in the VPT group was significantly lower than that in the control group(P<0.05).The ocular position retraction rate in the VPT group was significantly lower than that in the control group at 12mo(8.89%vs 26.67%,P=0.03).CONCLUSION:VPT effectively promotes binocular visual function reconstruction in intermittent exotropia children after strabismus surgery and reduces the strabismus severity and ocular position retraction rate.

Impact of binocular visual field loss on driving performance in glaucoma patients

AIM:To evaluate the driving performance in young and middle-aged Chinese glaucoma patients with mild to severe visual field loss compared to those without glaucoma by using a driving simulation test.METHODS:Twenty-nine participants were included in this study:nine patients with glaucoma but pass the binocular Esterman visual field test,ten patients with glaucoma and fail the binocular Esterman visual field test,and ten age-matched healthy controls.A driving simulation test was designed as a frequency-based analysis of a lanekeeping task.The total performance error,the controlresponse amplitude and delay were calculated.RESULTS:Esterman visual field test fail group showed the longest delay of control-response among three groups(P=0.02).And the delay in lane-keeping task was significantly associated with inferior field of better-eye(r=0.51,P=0.004)and integrated visual field(r=0.55,P=0.002).CONCLUSION:Young and middle-aged glaucoma patients with binocular visual field loss suffered from a longer delay of response in driving simulation test,while inferior visual field having more impact than superior visual field.

Clinical efflcacy of botulinum toxin type A on acute acquired comitant esotropia

AIM: To investigate the effects of micro-injection of botulinum toxin A(BTXA) on acute acquired comitant esotropia(AACE). METHODS: A total of 33 AACE patients who underwent BTXA micro-injection at Renmin Hospital of Wuhan University from September 1^(st), 2019 to July 1^(st), 2021 were retrospective analyzed. Esotropia, eye alignment, stereopsis, and complications were examined at baseline(except complications), 1wk, 1, 3, and 6mo after injection. RESULTS: The average angle of deviation before injection was(+20.24±6.80)^(Δ) at near and(+24.76±6.43)^(Δ) at distance, while(+5.15±5.85)^(Δ) at near and(+7.30±6.17)^(Δ) at distance 6mo after treatment(P<0.05). Six months after injection, the stereopsis of patients had improved. The number of patients having no stereopsis(>800 seconds of arc) decreased from 11 to 3. The number of patients having peripheral stereopsis(300-800 seconds of arc), macular stereopsis(70-200 seconds of arc) and central concave stereopsis(≤60 seconds of arc) increased from 10 to 11, 10 to 12, and 2 to 7, respectively. At the follow-ups at 1wk, 1, 3, and 6mo after injection, success rates were 96.97%, 96.97%, 93.94% and 87.88%, respectively. One week after injection, two patients(6.07%) showed subconjunctival hemorrhage;three patients(9.09%) showed limited eye movement and one patient(3.03%) showed mild vertical strabismus. All the symptoms disappeared by the final follow-up.CONCLUSION: Micro-injection of BTXA can reduce diplopia and improve binocular vision function of AACE patients. Furthermore, the operation is relatively safe with few complications, making it an ideal treatment modality for AACE.

Dynamic Visual Image Modeling Based on Mobile RobotSelf- Organizing Network in Internetof Things Perception Layer

The dynamic multichannel binocular visual image modeling is studied based on Internet of Things (IoT) Perception Layer, using mobile robot self-organizing network. By employing multigroup mobile robots with binocular visual system, the real visual images of the object will be obtained. Then through the mobile self-organizing network, a three-dimensional model is rebuilt by synthesizing the returned images. On this basis, we formalize a novel algorithm for multichannel binocular visual three-dimensional images based on fast three-dimensional modeling. Compared with the method based on single binocular visual system, the new algorithm can improve the Integrity and accuracy of the dynamic three-dimensional object modeling. The simulation results show that the new method can effectively accelerate the modeling speed, improve the similarity and not increase the data size.

VISUAL FIELD TOPOGRAPHY AND BINOCULAR RESPONSES IN FROG’S NUCLEUS ISTHMI

Visual responses of 125 units have been extracellularly recorded with glass micropipettesfrom the left nucleus isthmi in the frog Rana nigromaculata, and 101 electrode tip positionsmarked with cobalt staining to reconstruct a visual field map in the nucleus. 80% of the unitsrecorded show ON-OFF responses to a stationary spot of light and many are directionally selec-tive in response to black or white targets moving through their receptive fields. All the cobalt-marked ssots are within the nucleus, indicating that the nucleus isthmus proper is a restrictedpart of the frog visual system. There is a visual field map in the nucleus. The entire contra-lateral hemifield and the nasal 40°of the ipsilateral hemifield project on the nucleus topog-raphically. A cell-free band inside the nucleus is a boundary line separating the contralat-eral hemifield from the ipsilateral one. Dorsal to it is the contralateral field representation.The upper visual field projects on the rostral half of the nucleus and the central and medio-ventral portion of its caudal half. The lower field is represented on the dorsal and lateralpart of the caudal half. Fifteen binocular units have been found from the nucleus, 13 ofwhich arc dominantly activated by the contralateral eye, the other two are almost equallyexcited by either eye. These binocular units are mainly situated in the medulla of the rostralhalf of the nucleus isthmus.