In order to improve the capability of dynamic obstacle recognition for indoor mobile robot,a method uf dynamic obstacle recognition based on three-dimensional vision is presented.At first,with the help of human's guiding,a rough map of indoor local environment is obtained by multi sensor information fusion Next,indoor obstacles are recognized by recovery to 3D information after acquiring the information of obstacles.Finally,the disposal for emergent obstacles is discussed.

OBJECTIVE To observe the variations of the function of endothelial cell and coronary artery resistance(CAR) during heart arrest with warm blood cardioplegia with or without aprotinin.METHODS 40 patients suffered rheumatic heart disease were selected randomly.20 of them were administered aprotinin during extracorporeal circulation(ECC) as group B(study group),others without apotinin as group A(control group).The blood samples were taken at aortic clamping,30min,60min after aortic clamping,and end warm blood perfusion.The tissue-plasminogen activator(t-PA),the qlatelet granulate membrane protein 140(GMP140) and the 6-keto-PGF1α(6-K-F1α),circulating endothelial cell(CEC)were observed.The pressure and flux were recorded during warm blood cardioplegia.RESULTS ECC led CEC to increase,which peaked at 60min after aortic crossclamp.The EC related proteins increased at that time,but the peak of 6-K-F1 in group A delayed than that in group B.CAR of group B was significantly lower than that of group B at 60 min after aortic crossclamp.CONCLUSION ECC leads to excessive activation,injury and dysfunction of EC,while aprotinin can attenuate this process.