Research status and development tendency of unmanned aerial vehicles for casualty evacuation / 医疗卫生装备

Objective To explore the application of unmanned aerial vehicles (UAVs) technology for casualty evacuation in disaster rescue.Methods The research status of casualty evacuation using unmanned aerial vehicles was described in the disaster medical rescue,and several UAVs involved in casualty evacuation were introduced.According to different dynamic structures,casualty evacuation UAVs were divided into four types,such as traditional rotor helicopter,multi-rotor aircraft,ducted fan aircraft,compound aircraft.Meanwhile,the load capacity and flight speed of involved UAVs were analyzed.Results The advantages of casualty evacuation UAVs in the previous researches related were summarized,with the problems and technical difficulty discussed.Furthermore,the development tendencies of casualty evacuation UAVs were predicted.Conclusion Casualty evacuation UAVs can transport the wounded to the professional medical institutions outside of the disaster scene instead of rescue crews,to reduce the casualty rate of rescuers and avoid secondary damage of the injured personnel,with accurate point to point casualty evacuation.

SLAM and path planning of mobile robot in ROS framework / 医疗卫生装备

Objective To realize SLAM and path planning of mobile robot to solve the problem of real-time data association in the process of moving and to update the computational complexity of the state covariance matrix.Methods The mathematical model of SLAM was built,and FastSlam algorithm based on particle filter,A* and dynamic window approach (DWA) were used to prepare gmapping function package in the ROS framework.Results The motion simulation,path planning and dynamic obstacle avoidance of mobile robot in the ROS framework were realized.Conclusion By using ROS platform,mobile robots can execute path planning efficiently while completing self-localization and map building.

Vision-based human detection in wounded search task / 医疗卫生装备

Objective To design a vision-based detection method for rotated human bodies to fulfill unmanned wounded search in the rescue operation.Methods HOG (histogram of oriented gradient) which was the most successful visual feature in pedestrian detection was involved in,and the human detection in the wounded search task was realized by multi-directional detection.Furthermore,two human bodies datasets were established by imitating the views of unmanned ground vehicle (UGV)and unmanned aerial vehicle (UAV).Results The application to the two datasets proved the method's feasibility in UGV and UAV.Conclusion The method is robust to the in-plane rotations and out-plane rotations of human bodies,which is of vital significance to promote the efficiency of the wounded searching and rescuing.

Visual terrain classification for mobile robot using bag of words / 医疗卫生装备

Objective To design a visual terrain classification algorithm to facilitate the robot to make appropriate movement strategy by perceiving the surrounding environment.Methods Bag of words (BOW) and support vector machine (SVM) were used to develop a simple and effective terrain classification algorithm.The BOW model involved in feature extraction,codebook generation and feature coding.The mid-level feature developed by BOW model was then fed into SVM classifier to obtain the terrain classification result.Results The quadruped robot platform was applied to performing visual terrain classification experiment in the natural environment.The test environment included floor,asphalt,sand and grass.Good experimental results were achieved,and the classification accuracy was above 90％ (the beat was 97.54％ for grass).Conclusion The algorithm can effectively and accurately distinguish all kinds of terrains,with high accuracy and good stability.The key frame selection method needs researching in the future.

Grasp torque control based on experiential learning and haptic feedback / 医疗卫生装备

Objective To propose a grasp torque control based on experimental learning and haptic feedback to facilitate the manipulator in dexterous manipulation.Methods An experience database was built firstly,and then the object was recognized by tactile feedback in the grasp task.If the object had been experitentially grasped,the torque was output based on the database.In case a new object was grasped,the optimal output torque was calculated by iterative learning.Results The experiment showed that the robot hand could find the experiential output torque quickly when encountering the object in database and calculate the torque by iterative learning to achieve grasp task.Conclusion The experiential database grows up when the robot hand learns more and more experience.It can fast output torque like human in the grasp task.

Design of a medical device information collection system for mobile operating rooms / 军事医学

ObjectiveTo realize the information integration of medical devices with different interfaces and nonstandard communication protocols in the mobile operating room .Methods There were three steps involved in the procedure:classi-fied the common medical equipment , designed three communication methods for different interfaces and developed an infor -mation collection system for mobile operating room .Results This system can acquire information from various medical de-vices and display the data and waveforms in real time .Conclusion The solution in the paper can facilitate the information acquisition for doctors during the operation and improve the efficiency and informationization level of the operating room .

Design of microenvironment temperature control system of plateau surgical shelters / 军事医学

Plateau environment has a wide range of diurnal temperatures and thin air. The surgical shelter needs to resist the huge temperature shock and work in harsh environments, placing higher noise immunity requirements on the microenvironment temperature control system. The traditional microenvironment control of surgical treatment shelters mostly use instrument display and switch control, with a high failure rate and functional dispersion. We have designed a plateau microenvironment temperature control system with PLC as the control center and the touch screen as the Human Machine Interface so that real-time monitoring and control of temperature is achieved and the plateau temperature shock is resisted while the heater fuel ratio can be adjusted properly to adapt to plateau environment. This paper describes the control system hardware, software and algorithm design in detail.

Rescue robot research:origin, development and future / 军事医学

During rescue operations in case of armed conflicts in cities , terrorist attacks and public health emergencies , rescuers are always in danger .For this reason, search for and rescue robots have been used to search and evacuate the wounded .They have also become a hot issue in current robotics technology research ,promising a wide range of applications in civilian and military fields .This paper outlines the origin of rescue robot research ,course of development and classifica-tion, focuses on the developments of and future research of the U .S army on evacuation and rescue robots ,and finally pres-ents the problems and key technical difficulties facing the development of such robots .This paper is interded to improve re-search methods and design theories of rescue robotics .

Finite element modeling and model analys is of stretcher base of field ambulance / 医疗卫生装备

Based on the structure characteristics of the stretcher base of WCY2000field ambulance,this paper sets up a finite element analysis model with twotypes of beam elements.The accuracies under twotypes of elements are discussed and model method of the same structure is presented.

The finite element modeling and model analysis of the teleconsulting vehicle compartment / 医疗卫生装备

To fulfill the plane-beam junction, this paper applies the simplified finite element modeling to the plane-beam composite structures. The finite element modeling of the teleconsulting vehicle compartment and its model analysis are performed. The results show that the finite element model can improve the design of the compartment and lays a foundation for the realization of the engineerization and sequencing of compartment dynamic strength design.