冲突:文学话语与政治话语

20世纪三十年代左翼文学建立了新的属于无产阶级文学的话语空间。尽管此时“左”倾话语已经成为一种主流权威话语 ,但在任何社会中 ,话语不可能只是一种声音 ,一种完全和谐一致的声音。“自由人”与“第三种人”对于“左”倾话语的批评就昭示了这一来自异端的抗议。左翼文学与“自由人”、“第三种人”的论争是政治话语与文学话语之间的冲突 ,不同于权力政治或实践政治的对抗和冲突 ,然而这一冲突共同支撑了三十年代的文学时空 ,双方在客观上形成张力 ,防范着不被同化 ,也防范着走向极端 。

An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.

A High-Precision US-Guided Robot-Assisted HIFU Treatment System for Breast Cancer

Breast cancer is the most commonly diagnosed cancer in women. A strong treatment candidate is high- intensity focused ultrasound （HIFU）, a non-invasive therapeutic method that has already demonstrated its promise. To improve the precision and lower the cost of HIFU treatment, our group has developed an ultrasound （US）-guided, five-degree-of-freedom （DOF）, robot-assisted HIFU system. We constructed a fully functional prototype enabling easy three-dimensional （3D） US image reconstruction, target seg-mentation, treatment path generation, and automatic HIFU irradiation. The position was calibrated using a wire phantom and the coagulated area was assessed on heterogeneous tissue phantoms. Under the US guidance, the centroids of the HIFU-ahlated area deviated by less than 2 mm from the planned treatment region. The overshoot around the planned region was well below the tolerance of clinical usage. Our system is considered to he sufficiently accurate for breast cancer treatment.

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

Human Nature, Personality, and Human Freedom in Feng Qi＇s On Wisdom

In creating his theory of wisdom, Feng Qi emphasizes that Chinese Marxist philosophy should move from the theory of knowledge to a discourse on wisdom and concentrate on Chinese people＇s living world and life existence, so as to provide a spiritual home for the Chinese people and thereby highlight the importance of human nature, personality, and human freedom in Chinese Marxist philosophy. In researching human nature, he expatiates on the problems of mind （xin） and human nature （xing）, natural instincts （tian xing） and virtues （de xing）, and general character and individual character; in emphasizing personality, he puts forward the idea that the ideal personality is ＂free personality as a member of ordinary people;＂ in probing into the problems of human freedom, he explains how to get freedom from the basis of practical materialism. This philosophical inquiry enriches Chinese Marxist philosophy＇s researches into the understanding of humanity and the connection of philosophy with the living world, which opens up a new area of development in the sinicization of Marxist philosophy.

Kinematics and dynamics analysis of a three-degree-of-freedom parallel manipulator

Kinematics and dynamics analyses were performed for a spatial 3-revolute joint-revolute joint-clylindric pair(3-RRC) parallel manipulator.This 3-RRC parallel manipulator is composed of a moving platform,a base platform,and three revolute joint-revolute joint-column pair chains which connect the moving platform and the base platform.Firstly,kinematics analysis for 3-RRC parallel manipulator was conducted.Next,on the basis of Lagrange formula,a simply-structured dynamic model of 3-RRC parallel manipulator was derived.Finally,through a calculation example,the variation of motorial parameters of this 3-RRC parallel manipulator,equivalent moment of inertia,driving force/torque and energy consumption was discussed.The research findings have important significance for research and engineering projects such as analyzing dynamic features,mechanism optimization design and control of 3-RRC parallel manipulator.

Hypotheses of ＂Harmonious Man＂： The Humanity Upgrade of Management and It＇s Sustainability Significance

Hypotheses of humanity is the logical premise and foundation of institution design and perfect. ＂Political man＂ had boosted the sprout of ancient democracy polity, ＂economic man＂ has accelerated the development of market economy in immediate and modern times, ＂free man＂ described the blueprint of future society, and ＂harmonious man＂ will promote the construction of harmonious society and the development of management to conducting oneself so as to serve others. The article explains the theory headstream, abstract ways, basic intension and sustainability effect to the hypotheses of＂harmonious man＂.

Synchronous tracking control of 6-DOF hydraulic parallel manipulator using cascade control method

The synchronous tracking control problem of a hydraulic parallel manipulator with six degrees of freedom (DOF) is complicated since the inclusion of hydraulic elements increases the order of the system.To solve this problem,cascade control method with an inner/outer-loop control structure is used,which masks the hydraulic dynamics with the inner-loop so that the designed controller takes into account of both the mechanical dynamics and the hydraulic dynamics of the manipulator.Furthermore,a cross-coupling control approach is introduced to the synchronous tracking control of the manipulator.The position synchronization error is developed by considering motion synchronization between each actuator joint and its adjacent ones based on the synchronous goal.Then,with the feedback of both position error and synchronization error,the tracking is proven to guarantee that both the position errors and synchronization errors asymptotically converge to zero.Moreover,the effectiveness of the proposed approach is verified by the experimental results performed with a 6-DOF hydraulic parallel manipulator.

Kinematics Analysis Based on Screw Theory of a Humanoid Robot

A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.

Personal Communication Freedom as a Problem and a Research Project

This paper considers the integrated concept of personal communication freedom which did not appear earlier in the scientific literature as independent object of research. The author puts forward some hypotheses concerning the maintenance and the humanistic importance of communication freedom. The special attention is given to a category of the person which unites in it so-called writers, readers and all other people who have been not included in process of a mass communication. As a result of the theoretical analysis, he offers the program of complex research of this phenomenon and construction of model of mass communications which should be based on an ideal of personal freedom and should reflect national-cultural features of the social environment. In particular, it is a question of national-cultural model of media in Russia.

A Comparative Analysis of Causes of Tom＇s and Eliza＇s Different Fates in Uncle Tom＇s Cabin

Since African-Americans were transported to America, more than three hundred years have passed. During the tragic and bitter period of time, African-Americans never stopped their efforts to achieve their freedom. Through the description of two kinds of heroines, Uncle Tom and Eliza, Harriet Beecher Stowe tells us： Tom, who was resigned to bad conditions, obedient to the slave-owner, was doomed to death while Eliza who dared to revolt slavery gained a new life and freedom. To some extent, Uncle Tom＇s Cabin played an active function to advance social development, especially in the movement of abolitionist and the American Civil War. The present paper focuses on the analysis of the causes of the different fates belonging to Tom and Eliza respectively from the perspectives of the external cause and internal cause and their own characters.

Children＇s Problem Behaviors During Free Time as an Incentive for the Increase in Social Risks and Health Risks

Since children, as a rule, have more free time than adults, it is adults＇ responsibility to provide children with a chance to spend the time of relaxation, play, and fun in a beneficial way. Unfortunately, children＇s spare time is nowadays very frequently organized for the sake of brushing up children＇s knowledge, skills, and competences, which is accomplished by means of escalating extra-curriculum activities. When expressed by teacher and parents, these ambition-related attitudes pave the way for the disappearance of children＇s personal interests and motivations to perform complicated tasks which are perceived as unwanted or obscure by the affected children themselves. This form of adults＇ behavior may lead to the feelings of frustration, stress, demotivation, or rebellion on behalf of their children. The said emotional states, especially in relation to the lack of spontaneous play, give rise to serious psychic dysfunctions, and the instability of children＇s psychic balance. It may also pave the way for various forms of destructive behavior that mostly characterize children of younger school age who are about to start schooling.

On the existential freedom of The French Lieutenant＇s Woman

There is no doubt that The French Lieutenant＇s Woman, written by John Fowles, should be among the list of the most controversial, outstanding and distinguished postmodern literary works in 1970s. As a writer greatly influenced by Existentialism, Fowles endows the book tremendous vitality, that is, the vigor of philosophy, which differentiates the work from the other common postmodern ones. This quality is reflected on the theme of freedom to a great extent. In the following part, the author mainly discusses about certain principles of existentialism which yield such great impact on Fowles, and the theme of existentialistic freedom is to be analyzed through the approach of the artful characterization and postmodem writing techniques.

Experimental Investigation of the Effect of Bow Profiles on Resistance of an Underwater Vehicle in Free Surface Motion

In this paper, towing tank experiments are conducted to study the behavior of flow on a model of the underwater vehicle with various shapes of bows, i.e. tango and standard bows in free surface motion tests. The total resistances for different Froude numbers are considered experimentally. The towing tank is equipped with a trolley that can operate in through 0.05-6 m/s speed with ±0.02 m/s accuracy. Furthermore, the study is done on hydrodynamic coefficients i.e. total, residual and friction resistance coefficients, and the results are compared. Finally, the study on flow of wave fields around bows is done and wave filed around two bows are compared. The Froude number interval is between 0.099 and 0.349. Blockage fraction for the model is fixed to 0.005 3. The results showed that the residual resistance of the standard bow in 0.19 to 0.3 Froude number is more than the tango bow in surface motion which causes more total resistance for the submarine. Finally, details of wave generated by the bow are depicted and the effects of flow pattern on resistance drag are discussed.

Adichie＇s Purple Hibiscus and the Issue of Feminism in African Novel

Adichie＇s Purple Hibiscus is a feminist work that challenges the dehumanizing tendencies of the menfolk as evident in the character of Mama （Beatrice Achike） who eventually exposed the African conception of an ideal woman who keeps dumb even in the face of humiliation, victimization, and brutality so as to be perceived as a good woman. We will make a resounding case to portray that Achike belongs to the category of liberal feminism. However, as events unfolds, she was forced by situations beyond her control to respond and go radical in order to crush anything that stands in her way to happiness. Efforts will be made to show how African women are rated based on the real and good women as represented by Ifeoma and Beatrice Achike respectively. This essay in exploring the different tenets of feminism will acknowledge that radical feminism is an off shoot of violence. We shall argue that radical feminism is a radical reaction to dehumanization, humiliation, and violence. This study seeks to address the issue of feminism and how characters subject to series of humiliation that leads to a radical approach to gain their freedom.

Dry Stone Masonry Ductility During an Earthquake

Stone structures with dry joints, that is, without mortar, have shown a surprising behavior when earthquakes occur. An example of this behavior is the perennially of the so-called Inca wall in Peru, which despite having suffered several earthquakes over time has remained stable without collapsing. This article presents the research carried out on stone masonry wails with dry joint, without mortar, subject to a seismic action. In order to understand the behavior of the masonry without mortar, it designs a Grid mode/ of Finite Elements. From the results, it is concluded that these walls with a certain thickness have ductility that allows them to withstand high displacement and rotation values, thus accommodating the movement of the earth subject to an earthquake. The individual stone blocks move relative to each other through rotations and displacements, which are processed in the free joints of any mortar. The joints work as energy sinks. The free movements in the joints dissipate the energy transmitted by the earthquake, not causing in this way the rupture of the stone blocks. The goal of this article is to understand the p importance of lack of mortar in the seismic behavior of the mansonry.

Novel Hyper-Redundant Manipulator-. Design, Study and Experiment

A novel hyper-redundant manipulator named RT1 is designed and studied. The unique feature of RT1 is all degrees of freedom (DOF) are actuated with only one motor via special designed hinge bar universal joints. The mechanisms of RT1 are introduced in detail. Some experiments are carried out in order to test the movability and adaptability of the manipulator. RT1 is actuated by pulse string and acts discretely. The discrete working space of RT1 is described and the parameter optimization for kinematical redundancy resolution is studied also. The optimization criterion is altering the design parameter as little as possible during manipulator's motion from the initial position to the expected position. An optimization example is given that is realized with Matlab optimize tool-box.

Capital and Aesthetics＂ How Could People＇s Freedom be Possible under Modem Conditions？

In the age where capital becomes the most dominant, the most manipulating power, the current aesthetics has to face and solve the problems such as ＂capital versus aesthetics＂, ＂matter nature versus mind nature＂, ＂society versus culture＂ and has to answer the follow-up question--＂How could people＇s freedom be possible in modem conditions？＂ The reflections and criticism on ＂capital modernity＂ by Marx, Weber and Simmel all directly pointed to the issues of people＇s value and the settlement of their spirit in the Age of Capital. Meanwhile, the salvation of the ＂aesthetic modernity＂ makes up the proper meaning of the solution in many thinkers＇ mind to the predicament of the age. In this sense, the reflections on the Zeitgeist in the Age of Capital is certainly included in the pursuit of aesthetic freedom in this age.

Political Frustration, Trauma, and Self-therapy from Nature： Life and Freedom

When ancient Chinese literatus suffered political frustration, they generally experienced tremendous emotional and psychological traumas. These traumas are entangled with disappointment, anger, fear, grief, desolation, and other emotions. In most cases, the literatus would turn to nature for relaxation and freedom, composing a lot of literatures in an attempt to reflect on the meaning of life. In this paper, I will analyze the written works of Qu Yuan, the Seven Sages in the Bamboo Grove （~tJ~$qS~）, Liu Zongyuan, and Su Shi after they suffered political frustration to： （1） describe how their emotions changed; （2） illustrate how they built relationships between nature and self to relieve their frustrations; （3） clarify during these reflecting processes how they actually experienced the transformation and pursued the meaning of life; and （4） illuminate the significance of these pursuits, not only in spurring the boom of literal naturalism, but also in passing on the message for the current era with the joint crises of humans and the environment, to heal the earth and free themselves.

Development of Five-Finger Multi-DoF Myoelectric Hands with a Power Allocation Mechanism

To be used as five-fingered myoelectric hands in daily living, robotic hands must be lightweight with the size of human hands. In addition, they must possess the DoFs （degrees of freedom） and high grip force similar to those of human hands. Balancing these requirements involves a trade-off; ideal robotic hands have yet to sufficiently satisfy both requirements. Herein, a power allocation mechanism is proposed to improve the grip force without increasing the size or weight of robotic hands by using redundant DoFs during pinching motions. Additionally, this mechanism is applied to an actual five-fingered myoelectric hand, which produces seven types of motions necessary for activities of daily living and realizes a -60% improvement in fingertip force, allowing three fingers to pinch objects exceeding 1 kg.