A Novel Three-SPR Parallel Platform for Vessel Wave Compensation

A wave compensation platform based on 3-SPR parallel platform is designed for marine ships with a dynamic positioning system.It can compensate for the heave, rolling, and pitching movement of a vessel under level 4 sea state.The forward kinematics of the mechanism is used to draw the central point position workspace and the attitude workspace of th

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Primary hepatic pregnancy

A 25-year-old G2P1L1 woman with 18-week pregnancy presented with right hypochondriac pain and vomiting for the past 1 week.She had borderline vitals and a diffusely tender abdomen.Ultrasound revealed a live 18-week fetus attached to the undersurface of the liver with moderate ascites.Laparotomy was carried out which revealed 500 cc of hemoperitoneu

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