State Estimation for Quadruped Robots on Non-Stationary Terrain via Invariant Extended Kalman Filter and Disturbance Observer.

Quadruped robots possess significant mobility in complex and uneven terrains due to their outstanding stability and flexibility, making them highly suitable in rescue missions, environmental monitoring, and smart agriculture. With the increasing use of quadruped robots in more demanding scenarios, ensuring accurate and stable state estimation in complex environments has become particularly important. Existing state estimation algorithms relying on multi-sensor fusion, such as those using IMU, LiDAR, and visual data, often face challenges on non-stationary terrains due to issues like foot-end slippage or unstable contact, leading to significant state drift.

A Comprehensive Survey on Visual Perception Methods for Intelligent Inspection of High Dam Hubs.

There are many high dam hubs in the world, and the regular inspection of high dams is a critical task for ensuring their safe operation. Traditional manual inspection methods pose challenges related to the complexity of the on-site environment, the heavy inspection workload, and the difficulty in manually observing inspection points, which often result in low efficiency and errors related to the influence of subjective factors. Therefore, the introduction of intelligent inspection technology in this context is urgently necessary.

[Research progress of resorption of lumbar disc herniation].

Objective: To summarize the research progress of resorption of lumbar disc herniation (RLDH).

Methods: The literature on RLDH at home and abroad in recent years was reviewed to summarize its influencing factors, pathogenesis, imaging findings, and predictive effect, as well as its influence on the treatment selection of lumbar disc herniation (LDH).

Results: The main mechanism of RLDH is the combined effect of inflammatory response and neovascularization.

Coupling electro-dewatering and low-temperature air-drying for efficient dewatering of sludge.

This study investigated the effects of electro-dewatering on subsequent low-temperature drying at various potentials and the characteristics of low-temperature air-drying sludge were explored through experiments and multi-physical modeling. Experimental results showed that the extracellular polymeric substance (EPS) content in the sludge was reduced during electro-dewatering process, even the species of organic matter was changed, as well as the dewatered cake tend to form many seepage channels, crack and a certain number of holes. These changes in the properties and structure were conducive to the subsequent low-temperature drying process.

Soluble metal ions migration and distribution in sludge electro-dewatering.

In this study, the effects of electro-dewatering technology applied to high-salt industrial sludge dewatering performance were investigated, in terms of ions migrations and distributions by model simulation and layered tests. The simulation results of Na and K migrations were consistent with layered experiments during electro-dewatering, where Na ions migrated faster than K ions. More than 80% Na ions were removed by electromigration, which would be useful in subsequent sludge utilization.