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Introduction
The objective of this study was to investigate the clinical significance of minimal residual disease (MRD) monitoring through Wilms tumor 1 (WT1) gene expression and multicolor flow cytometry (FCM) in patients with chronic myelomonocytic leukemia (CMML) after allogeneic hematopoietic stem cell transplantation (allo‐HSCT).
Methods
For this purpose, WT1 gene expression and the CMML‐related...
This paper focuses on the kinematic calibration of a modular reconfigurable robot. To aim at low complexity and high generality, a new calibration method was proposed. Based on the definition of independent modules and the kinematics, the kinematic errors were divided into two categories, and will be calibrated respectively. The first category is the individual module errors, which represent the machining...
A modular robot system is introduced in this paper. The requirements for configuration synthesis are analyzed and classified as hard ones, soft ones and hard-soft ones. The evaluation function is constructed based on the weighted sum of the evaluation results of the specified design requirements. A one-lever Genetic Algorithm (GA) basing on an improved hybrid coding method is presented to carry out...
This paper mainly focuses on the kinematics of multi-branch modular reconfigurable robots. A method of generating the forward kinematics is proposed. Firstly, the robot is divided into joints and links, which are formed dyads subsequently. Secondly, module frames are defined and attached to each connector of modules. Thirdly, based on screw theory and Lie group and Lie algebra, the initial poses and...
To achieve the goal of automatic generation of robot kinematics, a method of topological analysis is proposed. Firstly, based on applying a modularized division method for robots and a module definition, an algorithm of discovering a robot configuration is proposed, and a module database is created. Then, a topological representation with a concept of joint is proposed, and a series of matrices are...
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