Abstract: A joint assembly, a swing device and a robot are provided. The joint assembly includes a movable part defining a movable groove and a rotating part. The rotating part includes a rotating body being a spherical shape. The rotating body is rotatably received in the movable groove to adapt to the movable part. The rotating part defines an air hole with an air inlet and an air outlet. The air inlet is configured to receive introduced air, and the air outlet is configured to expel the air to the movable groove.

Abstract: A method is provided and includes acquiring a digital slide comprising objects of at least two sizes, the objects including a first object of a first size and a second object of a second size different from the first size, for each of the first object and the second object, acquiring images of a corresponding object in at least two scales based on the digital slide, where the acquired images of the corresponding object in the at least two scales include an image of a larger scale and an image of a smaller scale, the image of the larger scale having a smaller image size and a higher image resolution than the image of the smaller scale, and determining, from the images of the corresponding object in the at least two scales, an image having an image size that corresponds to a size of the corresponding object.

Abstract: A control method utilizing a PID controller includes detecting the position of an object and obtaining the position deviation by comparison with a predetermined position value, detecting the vibration of the object and obtaining a vibration value, adjusting the control parameters of the PID controller by analyzing the position deviation, the vibration value, and a predetermined performance of the PID controller, and the PID controller responding to the adjusted control parameters.

Abstract: A control method utilizing a PID controller includes detecting the position of an object and obtaining the position deviation by comparison with a predetermined position value, detecting the vibration of the object and obtaining a vibration value, adjusting the control parameters of the PID controller by analyzing the position deviation, the vibration value, and a predetermined performance of the PID controller, and the PID controller responding to the adjusted control parameters.