To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with...To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.展开更多
AIM:To evaluate the outcomes and elucidate the failure factors for trabeculectomy with mitomycin C(MMC)in Southwest Chinese patients.METHODS:A retrospective correlational study was conducted on the glaucomatous patien...AIM:To evaluate the outcomes and elucidate the failure factors for trabeculectomy with mitomycin C(MMC)in Southwest Chinese patients.METHODS:A retrospective correlational study was conducted on the glaucomatous patients who underwent initial trabeculectomy with MMC in Southwest Hospital and had been followed up for 1-3y.A complete success for surgery is defined as a postoperative intraocular pressure(IOP)>5 and≤21 mm Hg and 20%reduction of IOP compared to preoperative,without IOP-lowering medications.A qualified success for surgery is defined as the abovementioned postoperative IOP with or without IOP-lowering medications.The primary outcomes were IOP,the number of IOP-lowering medications,and cumulative success rate.The secondary outcomes included best corrected visual acuity(BCVA),mean deviation(MD)of visual field,major complications,and risk factors for surgical failure.RESULTS:A total of 325 eyes of 261 glaucomatous patients had been included in our study.Both the mean IOP and the number of IOP-lowering medications were significantly decreased from 32.9±12.0 to 16.4±5.7 mm Hg(P<0.0001)and 3.0±0.9 to 0.9±1.0(P<0.0001),respectively,at the last visit.The cumulative complete success rate and qualified success rate were 77.8%and 92.0%at 1-year follow-up,and 47.2%and 77.7%at 3-year follow up.There were no significant differences in surgical outcomes between primary angle-closure glaucoma(PACG)and primary open angle glaucoma(POAG).In PACG patients,the success rates of trabeculectomy were comparable with those of phacotrabeculectomy.Hypertension(HR=1.904,P=0.011),encapsulated bleb(HR=2.756,P<0.001),and more preoperative topical medications(HR=2.475,P=0.008)were risk factors for surgical failure.CONCLUSION:The qualified success rate of trabeculectomy with MMC in glaucomatous patients in the cohort is 92.0%at 1-year,and 77.7%at 3-year follow up.Hypertension,encapsulated bleb,and more preoperative topical medications are associated with surgical failure.展开更多
提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以...提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以获得更大调速范围的传动链外特性曲线.使用了Matlab/Simulik等仿真工具进行了理论分析,并且通过PAC System RX3i控制器与iFIX人机交互界面进行了试验分析.结果表明:采用双变量复合控制,可显著提升传动链性能研究范围,优化动力匹配.展开更多
基金Science and Technology Foundation of Jiangxi Province,China(No.TGS2018-01-02)。
文摘To optimize the working time of the flexible polishing industrial robot for watchcases,the polishing efficiency should be improved.Based on the quintic B-spline fitting curve trajectory planning method associated with the optimal time interval and the trajectory point angle,the trajectory route of the flexible polishing industrial robot for case parts was optimized by the Matlab software.The operation time of the flexible polishing industrial robot could reach the optimal level.The joints of the robot can be cooperated with each other to ensure that the motion track of the end-effector of the robot arm is closer to the expected motion track.Based on the Adams software,the obtained trajectory curve of multi-objective optimization was simulated,which verified the trajectory fitted after multi-objective optimization.The angular acceleration and angular plus acceleration curves were improved.Theoretical guidance was carried out for the subsequent experiment by Matlab and Adams simulation analysis.
基金Supported by the National Natural Science Foundation of China(No.81770972)。
文摘AIM:To evaluate the outcomes and elucidate the failure factors for trabeculectomy with mitomycin C(MMC)in Southwest Chinese patients.METHODS:A retrospective correlational study was conducted on the glaucomatous patients who underwent initial trabeculectomy with MMC in Southwest Hospital and had been followed up for 1-3y.A complete success for surgery is defined as a postoperative intraocular pressure(IOP)>5 and≤21 mm Hg and 20%reduction of IOP compared to preoperative,without IOP-lowering medications.A qualified success for surgery is defined as the abovementioned postoperative IOP with or without IOP-lowering medications.The primary outcomes were IOP,the number of IOP-lowering medications,and cumulative success rate.The secondary outcomes included best corrected visual acuity(BCVA),mean deviation(MD)of visual field,major complications,and risk factors for surgical failure.RESULTS:A total of 325 eyes of 261 glaucomatous patients had been included in our study.Both the mean IOP and the number of IOP-lowering medications were significantly decreased from 32.9±12.0 to 16.4±5.7 mm Hg(P<0.0001)and 3.0±0.9 to 0.9±1.0(P<0.0001),respectively,at the last visit.The cumulative complete success rate and qualified success rate were 77.8%and 92.0%at 1-year follow-up,and 47.2%and 77.7%at 3-year follow up.There were no significant differences in surgical outcomes between primary angle-closure glaucoma(PACG)and primary open angle glaucoma(POAG).In PACG patients,the success rates of trabeculectomy were comparable with those of phacotrabeculectomy.Hypertension(HR=1.904,P=0.011),encapsulated bleb(HR=2.756,P<0.001),and more preoperative topical medications(HR=2.475,P=0.008)were risk factors for surgical failure.CONCLUSION:The qualified success rate of trabeculectomy with MMC in glaucomatous patients in the cohort is 92.0%at 1-year,and 77.7%at 3-year follow up.Hypertension,encapsulated bleb,and more preoperative topical medications are associated with surgical failure.
文摘提出了一种新型液压机械复合调速传动链,该传动链包含了一套完整的行星机构,用来实现输出端功率的合流.有别于传统的机械液压无级变速系统,该传动链中与行星机构匹配的两个输入端,通过变频器与变量泵,都能实现转速的独立变化,从而可以获得更大调速范围的传动链外特性曲线.使用了Matlab/Simulik等仿真工具进行了理论分析,并且通过PAC System RX3i控制器与iFIX人机交互界面进行了试验分析.结果表明:采用双变量复合控制,可显著提升传动链性能研究范围,优化动力匹配.
