Simulation Platform of Underwater Quadruped Walking Robot Based on MotionGenesis Kane 5.3 and Central Pattern Generator

It will still in lack of a simulation platform used to learn the walking of underwater quadruped walking robot. In order to alleviate this shortage,a simulation platform for the underwater quadruped walking robot based on Kane dynamic model and CPG-based controller is constructed. The Kane dynamic model of the underwater quadruped walking robot is processed with a commercial package MotionGenesis Kane 5. 3. The forces between the feet and ground are represented as a spring and damper. The relation between coefficients of spring and damper and stability of underwater quadruped walking robot in the stationary state is studied. The CPG-based controller consisted of Central Pattern Generator( CPG) and PD controller is presented,which can be used to control walking of the underwater quadruped walking robot. The relation between CPG parameters and walking speed of underwater quadruped walking robot is investigated. The relation between coefficients of spring and damper and walking speed of underwater quadruped walking robot is studied. The results show that the simulation platform can imitate the stable walking of the underwater quadruped walking robot.

风药治疗抑郁症作用机制探究

抑郁症是一种严重危害人类健康的精神障碍性疾病,属中医“郁证”范畴,其发病机制复杂,西医学中有单胺类神经递质学说、神经-内分泌学说、炎症反应学说等,中医以肝气失调为基本病机。目前的抗抑郁药物普遍存在有效率低、成瘾性大、不良反应严重等问题,而中药因其多靶点、多途径以及整体辨证等作用特点对抑郁症的治疗效果尤为显著。以往对中药治疗抑郁症的研究多停留在疏肝解郁药,本文从张元素“药类法象”理论入手,对“风药”一类治疗抑郁症的可行性进行分析,认为风药可以调达肝气、发散火郁、通达血脉、开通玄府从而治疗郁证;通过网络药理学和文献检索,发现风药可以通过抗炎、抗氧化应激、调节神经递质、保护神经元的药理学机制治疗抑郁症。希望通过本文为临床治疗抑郁症提供新的选药组方思路。

基于肝肺关系理论探讨肺癌和抑郁共病的病机治法

肺癌和抑郁共病是指患者在患肺癌的同时具有抑郁情绪的疾病状态。本研究从脏腑整体观出发,论述肝与肺生理上密切相连、协同作用;病理上相互累及、一损俱损。肺癌和抑郁共病的病位主要在肺和肝,可涉及脾、肾等脏;不论肺癌导致抑郁还是抑郁引起肺癌,基本病机不离肝肺气机失调,精血津液运行不畅成痰成瘀,邪盛正虚恶性循环,终使患者身心削减;肺癌和抑郁共病主要证型有肺虚肝郁血瘀证、肺虚肝郁痰湿证、肝郁痰火壅肺证、肺虚肝郁脾弱证,分别治以补肺疏肝祛瘀法、补肺疏肝化痰法、疏肝清肺化痰法、补肺疏肝健脾法。

证候动物模型研制的现状、瓶颈与发展路径探讨

证候动物模型是中医研究的重要实验手段,模型研制的理论、构建流程、评价方法等方面已初步具备了发展的基础条件,但现有模型仍存在中医特色不强、造模方法不成熟、缺少公认评价方法等问题。对证候本质的把握、种属间表征的差异、宏观表征与微观指标的关联等关键科学问题成为制约证候动物模型成功研制的瓶颈。应加强临床基础研究,阐释证候现代内涵;基于药(方)效和现代临床数据,建立证候动物模型评价规范;通过造模因素效应的动态、系统的研究,探索复合因素造模;建立中医证候动物模型表型库,明确模型病理过程。从基础证候模型研制入手进行协同攻关,才能取得突破性进展。

SIRT1对大鼠血管平滑肌细胞衰老的影响

目的:研究沉默信息调节因子1(SIRT1)对血管平滑肌细胞衰老的影响。方法:分离培养大鼠血管平滑肌细胞,取对数生长期细胞分为对照组、血管紧张素Ⅱ(AngⅡ)组、AngⅡ+Lv-NC组、AngⅡ+Lv-SIRT1组,用100 nmoL/L的AngⅡ诱导血管平滑肌细胞衰老,AngⅡ+Lv-NC和AngⅡ+Lv-SIRT1组血管平滑肌细胞分别转染阴性对照慢病毒载体和SIRT1过表达慢病毒载体,对照组细胞仅常规培养。采用qRT-PCR和Western blot检测细胞中SIRT1的表达。β-半乳糖苷酶染色检测细胞衰老情况,Western blot检测细胞中衰老相关蛋白P21、P53表达,PI单染法检测细胞周期变化。结果:衰老诱导后的血管平滑肌细胞β-半乳糖苷酶阳性率升高,细胞中P21、P53蛋白表达水平升高,G0/G1期细胞比例增多(P<0.05)。过表达SIRT1能够降低衰老诱导条件下血管平滑肌细胞β-半乳糖苷酶的阳性率,减少细胞中P21、P53蛋白表达,降低G0/G1期细胞比例(P<0.05)。结论:SIRT1能够抑制AngⅡ诱导的血管平滑肌细胞衰老。

肝移植后缺血性胆管炎超声造影到达时间成像分析的初步研究

目的探讨超声造影到达时间成像(P-MFI)在肝移植后缺血性胆管炎诊断中的应用价值。方法收集38例临床确诊的缺血性胆管炎(ITBL)病例,60例肝移植术后正常病例,12例健康对照组,分别对各组病例进行肝脏的超声造影检查,并对图像进行后处理,得到P-MFI图像。观察比较各组到达时间图像特征,2名医师对超声造影动态图像及到达时间成像进行诊断信心评分。结果健康对照组图像与肝移植术后正常组特征:肝动脉首先显影为红色,胆管壁与门静脉管壁紧随其后:颜色多为黄绿色或绿色,最后是门静脉与大部分肝实质显影为深蓝或紫色,胆管壁显示清晰。缺血性胆管炎组特征:肝动脉首先显影为红色,门静脉壁随后显影,为黄色或绿色,胆管壁随后显影为绿色(4例),见零星点状绿色显示(6例),颜色显示为稀疏深蓝或紫色(14例),胆管壁无颜色填充(14例),大部分病例胆管壁显影较晚,充填不完整。门静脉及肝实质显影,多为蓝色或蓝紫色。对于ITBL组,两位医师对超声造影与P-MFI的诊断评分均具有统计学差异(0.000,0.000);对照组中两位医师对超声造影与P-MFI的诊断评分均无统计学差异(0.050,0.083)。诊断ITBL敏感性,特异度及准确性由68.4%、100%、89.1%提高至89.5%、100%、96.4%(医师1),由57.9%、94.4%、97.2%提高至89.5%、97.2%、94.5%(医师2)。两位评价者一致性较高(Kappa=0.811)。结论超声造影到达时间成像技术融合时间参数,更直观、清晰的显示组织、病变的血流灌注情况,大大丰富了超声造影的临床应用范围、超声造影必将在临床发挥更大的作用。

基于IG-CPSO-BP的水工钢闸门安全等级识别

为提高BP神经网络对水工钢闸门安全等级识别的速度和精度,构建基于信息增益(IG)和混沌粒子群优化(CPSO)算法优化BP神经网络的水工钢闸门安全等级评估模型。该模型利用IG算法精简水工钢闸门安全等级评估的特征指标,避免冗余变量干扰,提升模型的训练速度;利用CPSO算法优化BP神经网络的初始权重,提高模型的收敛性及对水工钢闸门安全等级的分类能力。经过验证分析,基于IG-CPSO-BP的水工钢闸门安全等级评估模型的评估结果与实际的水工钢闸门安全等级基本吻合,识别精度明显优于IG-BP、IG-GA-BP、IG-PSO-BP模型。

闪锌矿微生物浸出过程溶解动力学研究进展

锌是国民经济建设中重要的战略性矿产资源,具有不可替代的重要作用。随着低品位难处理矿产资源种类和产量的不断增加,以及资源开发带来的环境污染问题日益突出,生物浸出技术由于具备工艺流程简单、无污染、能够处理低品位矿石等优点,在该类型矿产资源中得到了广泛应用。闪锌矿作为主要的含锌矿物之一,在生物浸出过程中存在反应周期长、溶解动力学缓慢等问题,亟待突破。重点介绍了“收缩核模型”在闪锌矿动力学方面的应用,阐述了浸矿细菌的种类、Fe^(2+)浓度、温度等因素对矿物溶解过程的影响,揭示了生物浸出体系下影响矿物溶解动力学的速度控制步骤及关键因素,并对闪锌矿微生物浸出溶解动力学的研究方向进行了展望。

Modeling and Control of Head of the Underwater Snake-like Robot Swimming

In order to solve oscillation of head of the underwater snake-like robot,the Central Pattern Generator( CPG)-based control scheme with head-controller was presented. The Kane dynamic model was constructed to be processed with a commercial package MotionGenesis Kane 5. 3,to which the proposed control scheme was applied. The relation between CPG parameters and orientation offset of head was investigated. The target orientation of head-controller was calculated through a convenient method. The advantage of this control scheme is that the head of the underwater snake-like robot remains in the forward direction during swimming. To prove the feasibility of the proposed methodology,two basic motion patterns,swimming along the straight line and swimming along the curved path,had been implemented in our simulation platform. The results showed that the simulation platform can imitate the swimming of the underwater snake-like robot and the head of the underwater snake-like robot remains in a fixed orientation directed towards the target. The oscillation of head's orientation is inhibited effectively.

基于多阶增量预测Exp-Golomb算法的冲击波数据压缩

为解决冲击波测试过程中较大数据量的产生与较低的传输速率之间的矛盾,提出基于多阶增量预测的Exp-Golomb算法实现对冲击波数据的压缩。采用时域门限判别法区分瞬态及非瞬态数据,且在原Exp-Golomb算法基础上通过多阶增量预测减小待压缩数据冗余。压缩仿真结果表明,改进算法的压缩率达66.57%(5 psi)、68.98%(50 psi),其中对瞬态数据压缩率达55.94%(5 psi)、56.17%(50 psi)。经过压缩后数据量明显减少。

血压管理与老年退行性心脏瓣膜病的相关性研究

目的:探讨血压控制达标情况对老年退行性心脏瓣膜病(SDHVD)患病率的影响。方法:收集2019年01月~2019年12月我院接受心脏超声心动图检查且年龄≥60岁的高血压患者。按照血压控制情况分为控制组和未控制组,分析SDHVD的患病率及临床特点。结果:4337名高血压患者中,长期血压控制达标2284名,未达标2053名。高血压患者SDHVD患病率46.41%,瓣膜功能损害主要以瓣膜关闭不全为主。血压控制达标组的SDHVD患病率低于未达标组,差异具有统计学意义(P<0.01)。结论:老年高血压患者SDHVD患病率较高,血压控制尽早达标可降低SDHVD患病率。

Description of the Cover Picture

The cover picture is taken from the article "Lateral Dynamic Analysis and Motion Control of a Jet Trencher in Ocean Currents",and it shows a jet trencher working in ocean currents for which the stable trenching operation route is important.The jet trencher is simplified into a single degree of freedom model with restoring and damping force.The nonlinear mathematical model of

Lateral Dynamic Analysis and Motion Control of a Jet Trencher in Ocean Currents

In order to control the lateral motion of a jet trencher which is important for stable trenching operation,the oscillation characteristics of the jet trencher are researched. The jet trencher is simplified into a single degree of freedom model with restoring and damping force. The nonlinear mathematical model of the trencher laterally oscillating in ocean currents is established,and its approximate analytical solution is obtained.Results show that the analytical solution has small differences with numerical solution based on the fourth-order Runge-Kutta method and can effectively describe the underwater oscillation. A double-loop PID controller is designed to control the lateral motion displacement of the trencher to return to the center of the pipeline route which is effective and robust for the propulsion system.

On the Survivability of Self-repairing Control System for a Hybrid Underwater Vehicle

A hybrid remotely operated underwater vehicle( HROV) capable of working to the full ocean depth has been developed. In order for the vehicle to achieve a certain survivability level,a self-repairing control system( SRCS) has been designed. It consists of two basic technologies,fault diagnosis and isolation( FDI) and reconfigurable control. For FDI,a model-based hierarchical fault diagnosis system is designed for the HROV. Then,control strategies which reconfigure the control system at intervals according to information from the FDI system are presented. Combining the two technologies,it can obtain the fundamental frame of SRCS for the HROV. Considering the hazardous underwater environment at the limiting depth and the hybrid operating modes,an assessment of the HROV's survivability is vitally needed before it enters operational service. This paper presents a new definition of survivability for underwater vehicles and develops a simple survivability model for the SRCS. As a result of survivability assessment for the SRCS,we are able to figure out the survivability of SRCS and make further optimization about it. The methodology developed herein is also applicable to other types of underwater vehicles.

Head Orientation Stability of Underwater Snake-Like Robot Swimming

In prior research,the orientation of head of the snake-like robot is changed according to the sinusoidal wave. To solve this problem,we propose Central Pattern Generator( CPG)-based control scheme with head-controller to stabilize the head of the underwater snake-like robot. The advantage of the CPG-based control scheme with head-controller is that the head of the underwater snake-like robot is direct to the target orientation during swimming. The relation between CPG parameters and orientation stability of head is discussed.The adaptation of the proposed method to environment changes is tested. The influences of CPG parameters and hydrodynamic forces on the orientation offset of head are investigated. The target orientation( the input of headcontroller) with an experimental optimization is calculated through a convenient method. To prove the feasibility of the proposed methodology,the different swimming modes have been implemented in our simulation platform.The results show that the oscillation of head's orientation is inhibited effectively,and the proposed method has strong adaptation to environment and CPG parameters changes.

超声参数-造影剂到达时间成像在肝移植术后缺血性胆管炎中的诊断价值

目的探讨超声参数-造影剂到达时间成像(P-MFI)技术在肝移植术后缺血性胆管炎(ITBL)中的诊断价值。方法回顾性分析2015年1月1日至2017年12月31日随访期间在中山大学附属第三医院确诊ITBL的25例肝移植受者(ITBL组)临床资料,选取同期肝移植术后随访中移植肝功能正常受者作为对照组(33例)。由2名分别具有8、2年腹部超声诊断经验的医师(医师1和医师2)采用双盲法,分别对所有病例进行超声造影及P-MFI诊断信心评分。采用成组t检验比较ITBL组与对照组年龄以及医师1和医师2对两组受者超声造影和P-MFI诊断信心评分。采用卡方检验或Fisher确切概率法比较两组受者性别、胆管吻合方式、原发病以及医师1和医师2对两组受者P-MFI诊断信心评分差异。采用Kappa检验评价医师1和医师2的诊断一致性。P<0.05为差异有统计学意义。结果两组受者年龄、性别、胆管吻合方式和原发病等一般资料差异均无统计学差异(P均>0.05)。ITBL组和对照组受者平均P-MFI编辑时间分别为(8.2±1.8)s和(6.8±1.9)s,差异具有统计学意义(t=-2.516,P<0.05)。对照组动脉首先显影,为红色;随后胆管壁与门静脉管壁显影(几乎为同一时段),胆管壁显影清晰,20例为黄绿色或绿色,9例为绿色和蓝色混合,4例为蓝色与紫色相间;最后为门静脉与肝实质显影,颜色多为蓝色和紫色。ITBL组动脉首先显影,为红色;随后门静脉和肝实质显影,门静脉壁为黄色或绿色,门静脉及肝实质为蓝色或蓝色与紫色相间;最后胆管壁显影,胆管壁显影较晚且不清晰,其中8例颜色充填较好,为绿色,4例为零星点状绿色,10例为稀疏深蓝或紫色,3例无颜色填充。医师1超声造影和P-MFI平均诊断信心评分分别为(4.4±0.5)分和(4.8±0.3)分,差异有统计学意义(t=25.35,P<0.05)。ITBL组和对照组分别有22、5例P-MFI诊断信心评分高于超声造影,两组差异有统计学意义(χ^2=50.088,P<0.05)。医师2超声造影和P-MFI平均诊断信心评分分别为(4.2±0.6)分和(4.7±0.5)分,差异有统计学意义(t=22.52,P<0.05);ITBL组和对照组分别有20、6例P-MFI诊断信心评分高于超声造影,两组差异有统计学意义(χ^2=40.798,P<0.05)。两位阅片者对于ITBL组和对照组受者评判一致性分别为较好和一般(Kappa值=0.706和0.455)。结论P-MFI技术可更直观、清晰显示胆管壁、肝脏血管及肝实质血流灌注情况,能为肝移植术后并发ITBL的诊断提供更丰富的信息,增强检查者的诊断信心。

阻断性压力与病态工作狂的关系:一个有调节的中介模型

为探讨阻断性压力对工作狂的作用机制,并进一步考察工作使命感的调节作用,采用问卷调查法对职场员工进行施测,并借助相关分析、层级回归分析等统计方法对调查数据进行处理分析。结果表明:阻断性压力能正向预测病态工作狂;强迫式激情在阻断性压力与病态工作狂的关系中起中介作用;阻断性压力对病态工作狂的直接预测作用,及强迫式激情在二者关系中的中介作用均会受到工作使命感的调节。因此,职场情境下阻断性压力是病态工作狂的重要预测源,企业可通过加强工作使命感以缓解员工产生强迫式激情,降低病态工作狂产生的可能性。

自发性高血压大鼠主动脉对前列腺素H_2反应的增加先于前列腺素H合酶1表达的变化(英文)

AIM: To determine the expression of PGH synthase-1and the sensitivity of vascular smooth muscle to PGH_2in the aorta from the SHR at an age when noendothelium-dependent contractions to acetylcholine areobserved under control conditions. METHODS: Allexperiments were performed in parallel on aortas from20-wk-old SHR and Wistar-Kyoto normotensive rats(WKY). Rings, with or without endothelium, weresuspended in conventional organ chambers for therecording of changes in isometric force. Theexpression of PGH Synthase-1 was evaluated by