The hoisting form in which the payload is hung on the hook by two rigging ropes is widely used in the industry, but it also results in the complex double pendulum dynamic of the bridge crane, making the anti-swing trajectory planning full of challenges.In this paper, based on the concept of the equivalent rope length, an equivalent single pendulum
Esophageal xanthoma is a rare lesion which is an asymptomatic small yellowish polyp, and most of the reported cases were solitary lesion.Histologically, aggregations of foam cells wuh722222ale6l4 are found under the papillary hypertrophic squamous epithelium and the foam cells express CD68.The etiology of esophageal xanthoma is unknown.The focal ir
We describe the case of a 69-year-old woman who presented with submassive pulmonary embolism without viqua-f4 overt shock, but with significant signs of right ventricular failure and dyspnea on minimal exertion.She was managed using a point-of-care ultrasound and pulmonary artery pressure-guided approach in order to minimize total thrombolytic dose