The accurate estimation of the end-effector’s pose in large operating spaces is the key for the mobile manipulator to realize efficient manufacturing of large and complex components. We propose a novel pose tracking method in large-range using visual fiducial markers, and further propose the layout optimization method for the encoded fiducial markers. A metric named orientational dilution of precision (ODOP) is proposed to evaluate the magnification of the pose estimation error compared with the measurement error of the coded fiducial markers. The distribution pattern of the coded markers is analyzed based on ODOP, and the square-shaped layout is determined to be a satisfactory distribution pattern for the minimum positioning unit of markers, and the side length of the square-shaped layout is further selected. The simulations and experiments prove the effectiveness of the ODOP index. Finally, the square-shaped layout and the designed distribution density for positioning coded markers are adopted to realize the high-precision measurement of large components by the mobile manipulator.
Phototherapy, a type of photoresponsive regulation of biological activities, together with additional stimuli-responsive features, offers significant potential for enhancing the precision and efficacy of cancer treatments. To achieve tumor-specific therapeutics, numerous studies have focused on the development of smart phototherapeutic nanomaterials (PNMs) that can respond to endogenous pathological characteristics (e. g., mild acidity, the overproduction of glutathione, the overproduction of hydrogen peroxide, the overexpression of specific surface receptors, etc.) present in the tumor and/or exogenous stimuli. Such responsiveness can effectively improve the physicochemical properties, cellular uptake, tumor-targeting performance, and pharmacokinetic profile of PNMs. Herein, we will systematically discuss recent advances in this field. Moreover, potential challenges and future directions in the development of stimuli-responsive PNMs are also presented to support the development of this emerging cutting-edge research area. 相似文献