The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model....The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the "Ocean Rambler" UWG is studied in this work. A heading control method based on S-surface controller is designed. For the "rudder zero drift" problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified.展开更多
In view of the movable hook structure on zero position,the traditional system could not recognize the zero scale.According to the essential requirements of the measurement,a new system based on machine vision was prop...In view of the movable hook structure on zero position,the traditional system could not recognize the zero scale.According to the essential requirements of the measurement,a new system based on machine vision was proposed.Standard datum planes and standard scales were designed as standard component,and the indication error can be calculated by comparing the standard component and the measured value between zero position and 500 mm scale.The alignment of scribed lines was realized by machine vision,and the float pixel equivalent method was applied in image process.Experimental results prove that this system meets the requirement of national standard steel tape verification regulation,and the repeatability of zero error can reach 0.006 mm after zero calibration.展开更多
To evaluate the bioeompatibility of MIM 316L stainless steel,the percentage of S-period cells were detected by flow cytometry after L929 incubated with extraction of MIM 316L stainless steel,using titanium implant mat...To evaluate the bioeompatibility of MIM 316L stainless steel,the percentage of S-period cells were detected by flow cytometry after L929 incubated with extraction of MIM 316L stainless steel,using titanium implant materials of clinical application as the contrast.Both materials were implanted in animal and the histopathological evaluations were carried out.The statistical analyses show that there are no significant differences between two groups(P>0.05),which demonstrates that MIM 316L stainless steel has a good biocompatibility.展开更多
目的观察阿加曲班对阿替普酶溶栓治疗的早期急性脑梗死患者的临床效果,探求急性脑梗死溶栓后的最佳药物选择及治疗方案。方法将采用阿替普酶溶栓治疗后的早期急性脑梗死患者60例随机分为对照组与试验组各30例。对照组静脉滴注依达拉奉30...目的观察阿加曲班对阿替普酶溶栓治疗的早期急性脑梗死患者的临床效果,探求急性脑梗死溶栓后的最佳药物选择及治疗方案。方法将采用阿替普酶溶栓治疗后的早期急性脑梗死患者60例随机分为对照组与试验组各30例。对照组静脉滴注依达拉奉30 mg/次,2次/d,连续7 d。试验组在对照组基础上静脉滴注阿加曲班,前2 d 60 mg/d,后5 d 20 mg/d。于治疗前、治疗7 d、治疗30 d时采用《脑卒中患者临床疗效评定标准》评价2组治疗效果,采用美国国立卫生研究院卒中量表(the National Institutes of Health Stroke Scale,NIHSS)评估神经功能缺损程度,采用日常生活能力量表(Activity of Daily Living Scale,ADL)评估日常生活质量,应用经颅多普勒超声评估脑血管再通情况。结果治疗后,2组NIHSS评分呈逐渐降低趋势,ADL评分和大脑中动脉血流速度呈逐渐升高趋势,试验组NIHSS评分低于对照组,ADL评分和大脑中动脉血流速度高于对照组,其组间、时点间、组间·时点间交互作用差异均有统计学意义( P < 0.05)。结论与依达拉奉比较,阿加曲班+依达拉奉治疗阿替普酶溶栓后早期急性脑梗死患者,可有效降低神经功能缺损程度,改善日常生活质量和脑血管再通情况,提高治疗效果。展开更多
基金Project(51409061)supported by the National Natural Science Foundation of ChinaProject(QC2016062)supported by the Natural Science Foundation of Heilongjiang Province of China+1 种基金Project(2013M540271)supported by the China Postdoctoral Science FoundationProject(LBH-Z13055)supported by Heilongjiang Postdoctoral Financial Assistance,China
文摘The control system designing of unmanned wave glider(UWG) is challenging since the control system is weak maneuvering, large time-lag and large disturbance, which is difficult to establish accurate mathematical model. The control system for the "Ocean Rambler" UWG is studied in this work. A heading control method based on S-surface controller is designed. For the "rudder zero drift" problem in trials, an improved S-surface control method based on rudder angle compensation is proposed, which can compensate the adverse effects from environmental forces and installation error. The tank test and sea trial results prove that the proposed control method has favorable control performance, and the feasibility and reliability of the designed control system are also verified.
文摘In view of the movable hook structure on zero position,the traditional system could not recognize the zero scale.According to the essential requirements of the measurement,a new system based on machine vision was proposed.Standard datum planes and standard scales were designed as standard component,and the indication error can be calculated by comparing the standard component and the measured value between zero position and 500 mm scale.The alignment of scribed lines was realized by machine vision,and the float pixel equivalent method was applied in image process.Experimental results prove that this system meets the requirement of national standard steel tape verification regulation,and the repeatability of zero error can reach 0.006 mm after zero calibration.
基金Project(2003AA302210)supported by the National Hi-tech Research Prograrm of Chinap.
文摘To evaluate the bioeompatibility of MIM 316L stainless steel,the percentage of S-period cells were detected by flow cytometry after L929 incubated with extraction of MIM 316L stainless steel,using titanium implant materials of clinical application as the contrast.Both materials were implanted in animal and the histopathological evaluations were carried out.The statistical analyses show that there are no significant differences between two groups(P>0.05),which demonstrates that MIM 316L stainless steel has a good biocompatibility.
文摘目的观察阿加曲班对阿替普酶溶栓治疗的早期急性脑梗死患者的临床效果,探求急性脑梗死溶栓后的最佳药物选择及治疗方案。方法将采用阿替普酶溶栓治疗后的早期急性脑梗死患者60例随机分为对照组与试验组各30例。对照组静脉滴注依达拉奉30 mg/次,2次/d,连续7 d。试验组在对照组基础上静脉滴注阿加曲班,前2 d 60 mg/d,后5 d 20 mg/d。于治疗前、治疗7 d、治疗30 d时采用《脑卒中患者临床疗效评定标准》评价2组治疗效果,采用美国国立卫生研究院卒中量表(the National Institutes of Health Stroke Scale,NIHSS)评估神经功能缺损程度,采用日常生活能力量表(Activity of Daily Living Scale,ADL)评估日常生活质量,应用经颅多普勒超声评估脑血管再通情况。结果治疗后,2组NIHSS评分呈逐渐降低趋势,ADL评分和大脑中动脉血流速度呈逐渐升高趋势,试验组NIHSS评分低于对照组,ADL评分和大脑中动脉血流速度高于对照组,其组间、时点间、组间·时点间交互作用差异均有统计学意义( P < 0.05)。结论与依达拉奉比较,阿加曲班+依达拉奉治疗阿替普酶溶栓后早期急性脑梗死患者,可有效降低神经功能缺损程度,改善日常生活质量和脑血管再通情况,提高治疗效果。
