Contrast enhancement boost improves the image quality of CT angiography derived from 80-kVp cerebral CT perfusion data.

Rationale And Objective: To investigate the impact of the contrast enhancement boost (CE-boost) technique on the image quality of CT angiography (CTA) derived from 80-kVp cerebral CT perfusion (CTP) data, and to compare it with conventional CTA as well as other currently employed methods for enhancing CTA images, such as CTA and CTA extracted from CTP.

Materials And Methods: The data of forty-seven patients who underwent CTP at 80 kVp were retrospectively collected. Four sets of images: CTA, CTA, CTA, and CE-boost images.

Single Sequential Trajectory Optimization with Centroidal Dynamics and Whole-Body Kinematics for Vertical Jump of Humanoid Robot.

High vertical jumping motion, which enables a humanoid robot to leap over obstacles, is a direct reflection of its extreme motion capabilities. This article proposes a single sequential kino-dynamic trajectory optimization method to solve the whole-body motion trajectory for high vertical jumping motion. The trajectory optimization process is decomposed into two sequential optimization parts: optimization computation of centroidal dynamics and coherent whole-body kinematics.

High-precision dynamic torque control of high stiffness actuator for humanoids.

The high stiffness actuator (HSA), applied to each joint of an electrical driven humanoid robot, can directly affect the motion performance of the torque-controlled humanoid robots. For high control performance of HSA, a high-precision dynamic torque control (HDTC) is proposed. The HDTC consists of two phases: (1) A novel dynamic current control is used to linearize high stiffness actuator torque control system, which can estimate and compensate the nonlinear coupling parts; (2) An enhanced internal model control is designed to ensure high tracking accuracy in the system containing noisy torque signal and even numerical differentiation signals.