Static-to-kinematic modeling and experimental validation of tendon-driven quasi continuum manipulators with nonconstant subsegment stiffness

Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.

Status quo and factors of depression and anxiety in patients with non-muscle invasive bladder cancer after plasma electrocision

BACKGROUND Bladder cancer is a type of cancer with a high incidence in men.Plasma electrosurgery(PES)is often used in the treatment of bladder cancer.Postoperative complications often cause depression and anxiety in patients after surgery.AIM To investigate the current state of depression and anxiety after PES in patients with non-muscle-invasive bladder cancer and analyze the factors affecting them.METHODS A retrospective study was conducted to compare the baseline data of patients by collecting their medical history and grouping them according to their mental status into negative and normal groups.Logistic regression analysis was used to explore the risk factors affecting the occurrence of anxiety and depression after surgery in patients with bladder cancer.RESULTS Comparative analyses of baseline differences showed that the patients in the negative and normal groups differed in terms of their first surgery,economic status,educational level,and marital status.A logistic regression analysis showed that it affected the occurrence of anxiety in patients with bladder cancer,and the results showed that whether the risk factors were whether or not it was the first surgery,monthly income between 3000 and 3000-6000,secondary or junior high school education level,single,divorced,and widowed statuses.CONCLUSION The risk factors affecting the onset of anxiety and depression in bladder cancer patients after PES are the number of surgeries,economic status,level of education,and marital status.This study provides a reference for the clinical treatment and prognosis of bladder cancer patients in the future.

纳米碳酸钙改性效果的影响因素及评价方法

作为一种粉体材料,改性后的纳米碳酸钙常用于橡胶、造纸、涂料、医药等各个领域。各种应用对纳米碳酸钙的改性效果要求不尽相同。因此,本文从纳米碳酸钙改性效果的角度出发,分析并介绍了纳米碳酸钙的改性工艺和改性剂这两种主要影响因素,归纳了这些影响因素的特点、优缺点及改性机理。此外,本文还介绍了一些常用的评价方法,叙述了相关的影响因素及检测手段。在此基础上,本文还对纳米碳酸钙改性的发展趋势进行了展望,希望能对本领域的从业者有所帮助。

Fine Grained Feature Extraction Model of Riot-related Images Based on YOLOv5

With the rapid development of Internet technology,the type of information in the Internet is extremely complex,and a large number of riot contents containing bloody,violent and riotous components have appeared.These contents pose a great threat to the network ecology and national security.As a result,the importance of monitoring riotous Internet activity cannot be overstated.Convolutional Neural Network(CNN-based)target detection algorithm has great potential in identifying rioters,so this paper focused on the use of improved backbone and optimization function of You Only Look Once v5(YOLOv5),and further optimization of hyperparameters using genetic algorithm to achieve fine-grained recognition of riot image content.First,the fine-grained features of riot-related images were identified,and then the dataset was constructed by manual annotation.Second,the training and testing work was carried out on the constructed dedicated dataset by supervised deep learning training.The research results have shown that the improved YOLOv5 network significantly improved the fine-grained feature extraction capability of riot-related images compared with the original YOLOv5 network structure,and the mean average precision(mAP)value was improved to 0.6128.Thus,it provided strong support for combating riot-related organizations and maintaining the online ecological environment.

Calibration of the DAMPE Plastic Scintillator Detector and its on-orbit performance

The DArk Matter Particle Explorer(DAMPE) is a space-borne apparatus for detecting the highenergy cosmic-ray-like electrons, γ-rays, protons and heavy ions. The Plastic Scintillator Detector(PSD)is the top-most sub-detector of the DAMPE. The PSD is designed to measure the charge of incident highenergy particles and it also serves as a veto detector for discriminating γ-rays from charged particles. In this paper, a PSD on-orbit calibration procedure is described, which includes the five steps of pedestal, dynode correlation, response to minimum-ionizing particles, light attenuation function and energy reconstruction.A method for reconstructing the charge of incident high energy cosmic-ray particles is introduced. The detection efficiency of each PSD strip is verified to be above 99.5%; the total efficiency of the PSD for charged particles is above 99.99%.

Teaching people to fish: Research on the Cultivation of Contemporary College Students’ Innovative Entrepreneurship

With the rapid development of China’s economy and society,the concept of innovation is deeply rooted in the hearts of the people,and the construction of an innovative country is imminent.As a cradle of cultivating talents,how to effectively enhance college students’awareness of innovation and entrepreneurship,how to effectively improve college students’innovation and entrepreneurship,and how to effectively cultivate college students’ability to innovate and innovate is very important and urgent.Innovative entrepreneurship as a complex social giant system,training contemporary college students’awareness of innovation and entrepreneurship is the key.Based on the idea of"granting people and fishing"and applying practice as the purpose,this paper starts with the analysis of the current situation of the cultivation of college students’innovation and entrepreneurship awareness,the goal of cultivating contemporary college students’awareness of innovation and entrepreneurship,and the basic strategy for cultivating innovation and entrepreneurship awareness.

后缘开槽型超燃冲压发动机凹腔燃烧室及其促燃特性实验研究

为了改善传统的二维梯形凹腔在促进混合和燃烧方面的效果,本文提出了一种在凹腔后缘设置开槽的三维凹腔,并在超声速模型燃烧室中进行了研究.在直连式实验台上开展实验,对传统的二维梯形凹腔(基线)和后缘开槽凹腔进行了对比.结果表明,后缘开槽凹腔增强了沿燃烧室的燃烧。具体而言,凹腔附近的压力在燃料喷注压力较低时增加6.1%,在燃料喷注压力较高时增加12.7%.基于准一维分析,后缘开槽凹腔的燃烧效率提高了20%以上。对于后缘开槽凹腔,燃烧面积和火焰基底位置受喷注压力的影响小于基线情况.与此同时,后缘开槽凹腔的火焰稳定能力较基线构型更优。凹腔交换面积增加、长深比增大以及开槽诱导的横向流动和流向涡可能是增强混合和燃烧的主要原因.

孤独症儿童脑电与眼动追踪研究

孤独症谱系障碍(ASD)是一种复杂脑发育障碍,儿童时期是孤独症问题行为诊断和干预的关键时间窗.本研究基于脑电和眼动追踪来探索孤独症儿童和正常儿童的发展规律.实验1为脑电发展研究,共招募351名年龄范围为3~9岁的儿童(孤独症组:80名,健康对照组:271名),记录静息态脑电,通过Pwelch方法对儿童脑电进行相对功率谱分析,并建立线性模型探索年龄和诊断组别主效应.结果发现,随着年龄的增长,孤独症儿童慢波波段相对功率谱的发展趋势和正常组具有相似的下降趋势,但是在alpha波段,孤独症儿童的发展趋势与正常儿童存在着显著偏差.实验2为眼动注视模式研究,共招募了293儿童(孤独症组:104名,健康对照组:189名),以一岁作为间隔对孤独症儿童兴趣区域注视时间统计分析,发现孤独症儿童注视共同注意缺失,而更多注意视频材料中的背景和身体部分.经研究表明,脑电神经振荡活动和眼动注意特征可用于儿童发展的客观发育评价,并能揭示脑电特征和注视行为模式随年龄变化的规律,有助于孤独症儿童的早期识别.

Visual inspection of aircraft skin:Automated pixel-level defect detection by instance segmentation

Skin defect inspection is one of the most significant tasks in the conventional process of aircraft inspection.This paper proposes a vision-based method of pixel-level defect detection,which is based on the Mask Scoring R-CNN.First,an attention mechanism and a feature fusion module are introduced,to improve feature representation.Second,a new classifier head—consisting of four convolutional layers and a fully connected layer—is proposed,to reduce the influence of information around the area of the defect.Third,to evaluate the proposed method,a dataset of aircraft skin defects was constructed,containing 276 images with a resolution of 960×720 pixels.Experimental results show that the proposed classifier head improves the detection and segmentation accuracy,for aircraft skin defect inspection,more effectively than the attention mechanism and feature fusion module.Compared with the Mask R-CNN and Mask Scoring R-CNN,the proposed method increased the segmentation precision by approximately 21%and 19.59%,respectively.These results demonstrate that the proposed method performs favorably against the other two methods of pixellevel aircraft skin defect detection.

Synthesis of Z-scheme g-C3N4 nanosheets/Ag3PO4 photocatalysts with enhanced visible-light photocatalytic performance for the degradation of tetracycline and dye

Graphene-like C3N4/Ag3PO4 photocatalysts are synthesized by calcination and solutions precipitating method.The obtained g-C3N4/Ag3PO4 composites display excellent photocatalytic activity for the degradation of methylene orange(MO),rhodamine B(RhB)and tetracycline(TC)under visible light irradiation.The solutions containing RhB(10 mg/L)and MO(10 mg/L)can be efficiently degraded within15 min and 30 min.Especially,nearly 80%of TC(50 mg/L)is degraded within 20 min.which are much better than those of pure g-C3N4 nanosheets and Ag3PO4,implying that strong interaction and reasonable energy band alignment in the contact interface can effectively transfer the carries.Furthermore,the g-C3N4/Ag3PO4 composites exhibit the improved stability,and only a slight decrease is observed after three recycling runs.Moreover,the impact of inorganic ions and PH values on the degradation performance is rather small.The Z-scheme photocatalytic mechanism of the g-C3N4/Ag3PO4 composites based on the active species trapping experimental is proposed.This work demonstrates the promising applications of the g-C3N4/Ag3PO4 composites in environmental issues.

Stimuli-responsive nanocarriers for bacterial biofilm treatment

Bacterial biofilm infections have been threatening the human’s life and health globally for a long time because they typically cause chronic and persistent infections.Traditional antibiotic therapies can hardly eradicate biofilms in many cases,as biofilms always form a robust fortress for pathogens inside,inhibiting the penetration of drugs.To address the issues,many novel drug carriers emerged as promising strategies for biofilm treatment.Among them,stimuli-responsive nanocarriers have attracted much attentions for their intriguing physicochemical properties,such as tunable size,shape and surface chemistry,especially smart drug release characteristic.Based on the microenvironmental difference between biofilm infection sites and normal tissue,many stimuli,such as bacterial products accumulating in biofilms(enzymes,glutathione,etc.),lower pH and higher H_(2)O_(2)levels,have been employed and proved in favor of“on-demand”drug release for biofilm elimination.Additionally,external stimuli including light,heat,microwave and magnetic fields are also able to control the drug releasing behavior artificially.In this review,we summarized recent advances in stimuli-responsive nanocarriers for combating biofilm infections,and mainly,focusing on the different stimuli that trigger the drug release.

One-step Synthesis of Shape-controllable Gold Nanoparticles and Their Application in Surface-enhanced Raman Scattering

Gold nanoparticles （NPs） of various shapes were synthesized by a one-step method at ambient temperature in the presence of NaCl. 2-mercaptosuccinic acid （MSA） was used as both reducing agent and stabilizing agent. The shapes of gold NPs were controllable by simply tuning S/Au ratio （S is from MSA molecule, and S/Au ratio is controlled by tuning the volume of added MSA solution）, and triangle, polygonal and spherical nanoparticles were obtained. This result suggested a new way to consider the effects of MSA on the growth of nanoparticles, which showed that MSA is a strong capping agent and facilitates more uniform growth of nanoparticles in every dimension. And other important factors on nanoparticles growth including NaCl and temperature were discussed. Furthermore, a typical probe molecule, 4-aminothiophenol （4-ATP） was used to test the surface-enhanced Raman scattering （SERS） activity of these gold NPs and the results indicated good Raman activity on these substrates. And the enhancement factor （EF） at 1078 cm^- 1 （a1） was estimated to be as large as 6.3 × 10^4 and 5.5 × 10^4 for triangular plates and truncated particles, respectively.

Ethacrynic acid targets GSTM1 to ameliorate obesity by promoting browning of white adipocytes

Dear Editor,Obesity is caused by an imbalance between energy intake and expenditure,and has become a global epidemic with over 650 million adults affected.Adipose tissues in mammals are composed of white adipose tissue(WAT)and classical brown adipose tissue(BAT),and their balance is highly related to the occurrence of obesity.The browning of white adipocytes results in“beige”or“brite”adipocytes,which appear functionally similar to classical brown adipocytes,and can be detected in WAT deposits of animals that have been exposed to cold or other inducers(Fu et al.,2015).