A novel adaptive PD-type iterative learning control of the PMSM servo system with the friction uncertainty in low speeds.

High precision demands in a large number of emerging robotic applications strengthened the role of the modern control laws in the position control of the Permanent Magnet Synchronous Motor (PMSM) servo system.This Inflammatory Health paper proposes a learning-based adaptive control approach to improve the PMSM position tracking in the presence of t

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Laparoscopic removal of an aberrant acupuncture needle in the gluteus that reached the pelvic cavity: a case report

Abstract Background Intrapelvic aberrant needles are rare in clinical practice.Long-term foreign bodies in the abdominal cavity may form granulation tissue or an abscess, and may cause organ injury.Therefore, such foreign bodies need prompt removal.Case presentation A 26-year-old male athlete was referred to our hospital for investigation of an BOD

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