ABSTRACT
Robot arm motion control is a fundamental aspect of robot capabilities, with arm reaching ability serving as the foundation for complex arm manipulation tasks. However, traditional inverse kinematics-based methods for robot arm reaching struggle to cope with the increasing complexity and diversity of robot environments, as they heavily rely on the accuracy of physical models. In this paper, we introduce an innovative approach to robot arm motion control, inspired by the cognitive mechanism of inner rehearsal observed in humans. The core concept revolves around the robot's ability to predict or evaluate the outcomes of motion commands before execution. This approach enhances the learning efficiency of models and reduces the mechanical wear on robots caused by excessive physical executions. We conduct experiments using the Baxter robot in simulation and the humanoid robot PKU-HR6.0 II in a real environment to demonstrate the effectiveness and efficiency of our proposed approach for robot arm reaching across different platforms. The internal models converge quickly and the average error distance between the target and the end-effector on the two platforms is reduced by 80% and 38%, respectively.
ABSTRACT
OBJECTIVE: To explore the methods to detect and intervene children's late-onset hearing loss early which are suitable for basic-level hospitals. METHOD: Udiology and imaging diagnosis had been given to the children who passed the newborn hearing screening but showed auditory behavior disorders in the growth process, and individualized interventions were given according to the results of diagnosis. Seven children with high risk for hereditary deafness were sent to superior hospital and had molecular screening of common mutations of inherited deafness carried out, then corresponding prevention guidance and intervention were given to them. RESULT: Fifty-two cases with late-onset hearing loss or verbal disorders were detected by auditory behavior observations,including 4 cases of auditory neuropathy, 4 cases of unilateral sensorineural deafness, 27 cases of secretory otitis media. 13 cases of bilateral sensorineural deafness and 4 cases of autism. Seven newborns with high risk of hereditary deafness were sent to the Third Affiliated Hospital of Sun Yat-Sen University and received molecular screening of common mutations of inherited deafness. One case with GJB2 compound heterozygous mutations was detected and followed up to 4 years old, he was found bilateral moderate hearing loss and accepted the hearing aids at 2 years old. Mitochondrial DNA 1555 a > G heterogeneity mutation in 2 cases and GJB2 235 delC single heterozygous mutations in 3 cases, no mutation in 1 case, all these 6 cases have been followed-up until now, their hearing are normal. CONCLUSION: Children's auditory behavior observations and the superior hospitals referral performing high risk individual screening for newborns with high risk for hereditary deafness can detect children's late-onset hearing loss in time, this model is suitable for basic-level hospitals.
