The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of compu...The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.展开更多
In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantag...In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.展开更多
Numerous studies currently compare the lipid metabolism in patients with cardiovascular disease(CVD)and healthy individuals to identify lipid markers for predicting CVD.In this study,multidimensional mass spectrometry...Numerous studies currently compare the lipid metabolism in patients with cardiovascular disease(CVD)and healthy individuals to identify lipid markers for predicting CVD.In this study,multidimensional mass spectrometry-based shotgun lipidomics was used to examine the serum lipidomics of participants in a clinical randomized controlled feeding trial undergoing olive oil(OO),camellia seed oil(CSO),and soybean oil(SO)dietary interventions.189 lipid molecules are identified,including 14 species of phosphatidylinositol,45 species of ethanolamine glycerols(PE),47 species of choline glycerophospholipids(PC),39 species of triacylglycerols(TAG),18 species of lysophosphatidylcholine,and 26 species of sphingomyelin.After screening,10 lipid markers are found,among which 18:2 fatty acid(FA),16:1 FA,C54:4/C55:11,C54:3/C55:10,and C52:3/C53:10 in TAG pool,p18:0/20:0 and a18:0/18:1 in PC pool,and p18:1/20:4 in PE pool have differential regulation in the SO group compared to OO and CSO.The d16:0/18:1 in PC pool and C52:2/C53:9 in TAG pool are differentially regulated by OO and CSO.The C52:2/C53:9 in TAG pool has a significant negative correlation with aspartate aminotransferase(r=-0.363,P=0.048)and high-density lipoprotein cholesterol(r=-0.519,P<0.01).This study provides a reference for researching the effect of dietary fat on blood lipid metabolism.展开更多
基金This project is supported by National 863 plan(No.512-9804-02)Robotics Laboratory,Chinese Academy of Sciences Foundation, China
文摘The design method of a 6-axis force robot's transducer based on the Stewartplatform is detailed. For this purpose, the sensitivity isotropy evaluation criteria of thetransducer are defined, and by the aid of computer, the relationships between the criteria and theparameters of all the transducers based on the Stewart platform are investigated within thegeometric model of the solution space, which can provide the theoretical background for the optimalconstruction design of the 6-axis force transducer related to the sensitivity isotropy.
基金Project supported by the Second Stage of Brain Korea 21 Projectssupported by Basic Science Research Program through the National Research Foundation of Korea (NRF)funded by the Ministry of Education,Science and Technology (2011-0013902)
文摘In general, the orientation interpolation of industrial robots has been done based on Euler angle system which can result in singular point （so-called Gimbal Lock）. However, quaternion interpolation has the advantage of natural （specifically smooth） orientation interpolation without Gimbal Lock. This work presents the application of quatemion interpolation, specifically Spherical Linear IntERPolation （SLERP）, to the orientation control of the 6-axis articulated robot （RS2） using LabVIEW and RecurDyn. For the comparison of SLERP with linear Euler interpolation in the view of smooth movement （profile） of joint angles （torques）, the two methods are dynamically simulated on RS2 by using both LabVIEW and RecurDyn. Finally, our original work, specifically the implementation of SLERP and linear Euler interpolation on the actual robot, i.e. RS2, is done using LabVIEW motion control tool kit. The SLERP orientation control is shown to be effective in terms of smooth joint motion and torque when compared to a conventional （linear） Euler interpolation.
基金funded by the“Pioneer”and“Leading Goose”R&D Program of Zhejiang Province(2023C02044)the Key Research and Development Program for Science and Technology Projects of Zhejiang Province(2017C02003)The funding sources played no role in the study design,study implementation,data analysis,or manuscript preparation.Science and Technology Projects of Zhejiang Province(2017C02003).
文摘Numerous studies currently compare the lipid metabolism in patients with cardiovascular disease(CVD)and healthy individuals to identify lipid markers for predicting CVD.In this study,multidimensional mass spectrometry-based shotgun lipidomics was used to examine the serum lipidomics of participants in a clinical randomized controlled feeding trial undergoing olive oil(OO),camellia seed oil(CSO),and soybean oil(SO)dietary interventions.189 lipid molecules are identified,including 14 species of phosphatidylinositol,45 species of ethanolamine glycerols(PE),47 species of choline glycerophospholipids(PC),39 species of triacylglycerols(TAG),18 species of lysophosphatidylcholine,and 26 species of sphingomyelin.After screening,10 lipid markers are found,among which 18:2 fatty acid(FA),16:1 FA,C54:4/C55:11,C54:3/C55:10,and C52:3/C53:10 in TAG pool,p18:0/20:0 and a18:0/18:1 in PC pool,and p18:1/20:4 in PE pool have differential regulation in the SO group compared to OO and CSO.The d16:0/18:1 in PC pool and C52:2/C53:9 in TAG pool are differentially regulated by OO and CSO.The C52:2/C53:9 in TAG pool has a significant negative correlation with aspartate aminotransferase(r=-0.363,P=0.048)and high-density lipoprotein cholesterol(r=-0.519,P<0.01).This study provides a reference for researching the effect of dietary fat on blood lipid metabolism.
