Excavation is one of the broadest activities in the construction industry, often affected by safety and productivity. To address these problems, it is necessary for construction sites to automatically monitor the poses of excavator manipulators in real time. Based on computer vision (CV) technology, an approach, through a monocular camera and marker, was proposed to estimate the pose parameters (including orientation and position) of the excavator manipulator. To simulate the pose estimation process, a measurement system was established with a common camera and marker. Through comprehensive experiments and error analysis, this approach showed that the maximum detectable depth of the system is greater than 11 m, the orientation error is less than 8.5°, and the position error is less than 22 mm. A prototype of the system that proved the feasibility of the proposed method was tested. Furthermore, this study provides an alternative CV technology for monitoring construction machines.

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Alveolar soft-part sarcoma is a rare type of soft tissue malignant tumor. Although the tumor can occur in many parts of the body, primary alveolar soft-part sarcoma of the lung is extremely rare. According to previous literature, only 3 cases of primary alveolar soft-part sarcoma of the lung were reported, and no comprehensive analysis was conducted on these cases. Here, we describe another case of alveolar soft-part sarcoma in the lung, where the negative results of immunohistochemical staining cause extreme difficulty in distinguishing this lesion from other tumors. A 30-year-old Chinese male presented with chest pain and dyspnea. Computed tomography revealed a pulmonary mass, and biopsy results showed vacuolar tumor cells with abundant eosinophilic cytoplasm. A number of immunohistochemical markers were negative, but the tumor cells were positive for TFE3 and ASPSCR1::TFE3 fusion gene. No other tumor masses were found in the patient after whole-body scanning. The final diagnosis was primary alveolar soft-part sarcoma of the lung. Pathologists should consider the possibility of alveolar soft-part sarcoma in lung tumors with typical "organ like" or "acinar like" cell nests, where the tumor cells are large, vacuolated, and the nucleolus is obvious. After excluding metastasis from other sites, TFE3 immunohistochemical staining and ASPSCR1::TFE3 fusion gene detection are recommended for the diagnosis of primary alveolar soft-part sarcoma.

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