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According to the rules and requirements of the handling project of the China Engineering Robot Contest, an intelligent handling robot with Freescale KL25 chip as the core controller and capable of automatically identifying multiple colors was designed. Based on the completion of the hardware circuit and mechanical structure, the robot’s trajectory on the field is planned through software programming. Establishing a handling strategy allows the robot to efficiently grasp, transport, and stack objects. The focus is on the infrared tracking module, the color recognition module software design and the robot path planning strategy research. After the completion of the robot construction, through experiments in various links, the total number of loops compared to the traditional handling scheme has increased by about 11.1%, and the running time has been reduced by about 41.5%. The effect is good.

Background Subclinical hypothyroidism is a common condition in patients with heart failure and is defined as elevated serum thyroid hormone (TSH) with normal circulating free thyroxine (FT4). Evidence on the effect of thyroid hormone treatment is lacking. We designed a randomized controlled trial to compare the efficacy and safety of thyroid hormone supplementation in patients with chronic heart failure complicated with subclinical hypothyroidism. Methods/design Eligible participants were identified from the cardiology units of five study centers based on the following criteria: 18 years or older, systolic heart failure with NewYork Heart Association (NYHA) class II–III, left ventricular ejection fraction ≤ 40%, and subclinical hypothyroidism (TSH > 4.78μIU/ml