Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of i...Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.展开更多
High heat dissipation is required for miniaturization and increasing the power of electronic systems.Pool boiling is a promising option for achieving efficient heat dissipation at low wall superheat without the need f...High heat dissipation is required for miniaturization and increasing the power of electronic systems.Pool boiling is a promising option for achieving efficient heat dissipation at low wall superheat without the need for moving parts.Many studies have focused on improving heat transfer efficiency during boiling by modifying the surface of the heating element.This paper presents an experimental investigation on improving pool boiling heat transfer using an open microchannel.The primary goal of this work is to investigate the impact of the channel geometry characteristics on boiling heat transfer.Initially,rectangular microchannels were prepared on a circular copper test piece with a diameter of 20 mm.Then,the boiling characteristics of these microchannels were compared with those of a smooth surface under saturated conditions using deionized water.In this investigation,a wire-cutting electrical discharge machine(EDM)machine was used to produce parallel microchannels with channel widths of 0.2,0.4,and 0.8 mm.The fin thicknesses were 0.2,0.4,and 0.6 mm,while the channel depth remained constant at 0.4 mm.The results manifested that the surface featuring narrower fins and broader channels achieved superior performance.The heat transfer coefficient(HTC)was enhanced by a maximum of 248%,and the critical heat flux(CHF)was enhanced by a maximum of 101%compared to a plain surface.Eventually,the obtained results were compared with previous research and elucidated a good agreement.展开更多
AIM:To investigate intra-operator variability of semiquantitative perfusion parameters using dynamic contrast-enhanced ultrasonography(DCE-US),following bolus injections of SonoVue.METHODS:The in vitro experiments w...AIM:To investigate intra-operator variability of semiquantitative perfusion parameters using dynamic contrast-enhanced ultrasonography(DCE-US),following bolus injections of SonoVue.METHODS:The in vitro experiments were conducted using three in-house sets up based on pumping a fluid through a phantom placed in a water tank.In the in vivo experiments,B16F10 melanoma cells were xenografted to five nude mice.Both in vitro and in vivo,images were acquired following bolus injections of the ultrasound contrast agent SonoVue(Bracco,Milan,Italy) and using a Toshiba Aplio ultrasound scanner connected to a 2.9-5.8 MHz linear transducer(PZT,PLT 604AT probe)(Toshiba,Japan) allowing harmonic imaging("Vascular Recognition Imaging") involving linear raw data.A mathematical model based on the dye-dilution theory was developed by the Gustave Roussy Institute,Villejuif,France and used to evaluate seven perfusion parameters from time-intensity curves.Intra-operator variability analyses were based on determining perfusion parameter coefficients of variation(CV).RESULTS:In vitro,different volumes of SonoVue were tested with the three phantoms:intra-operator variability was found to range from 2.33% to 23.72%.In vivo,experiments were performed on tumor tissues and perfusion parameters exhibited values ranging from 1.48% to 29.97%.In addition,the area under the curve(AUC) and the area under the wash-out(AUWO) were two of the parameters of great interest since throughout in vitro and in vivo experiments their variability was lower than 15.79%.CONCLUSION:AUC and AUWO appear to be the most reliable parameters for assessing tumor perfusion using DCE-US as they exhibited the lowest CV values.展开更多
目的:应用磁共振动态增强(DCE-MRI)半定量参数评估子宫肌瘤射频治疗的疗效。方法:回顾性分析2015年1月—2020年4月大庆油田总医院经射频治疗的52例子宫肌瘤患者的临床资料。术前及术后行磁共振动态增强检查,测量达峰时间(time to peak,T...目的:应用磁共振动态增强(DCE-MRI)半定量参数评估子宫肌瘤射频治疗的疗效。方法:回顾性分析2015年1月—2020年4月大庆油田总医院经射频治疗的52例子宫肌瘤患者的临床资料。术前及术后行磁共振动态增强检查,测量达峰时间(time to peak,TTP)、最大浓度(maximum concentration,MAX Conc)、时间—浓度曲线下面积(area under the time concentration curve,AUC)及最大斜率(maximum slope,MAX Slope),并利用四组参数对病灶进行疗效评估。结果:TTp、MAX Conc、AUC、MAX Slope比较,差异有统计学意义(Z=-4.025、-5.929、-6.011、-5.646,P<0.05)。结论:磁共振动态增强半定量参数TTp、MAX Conc、AUC、MAX Slope在术后疗效评估中具有重要意义,可作为有效的评估手段。展开更多
由于油层非均质性强,井间、层间、层内差异大,均一化设计注入方案满足不了所有井的需要,更满足不了所有层的需要,因此需从单井入手。在ZN区块PⅠ5~PⅡ10层段选取三类油层中渗透率级别为0.5~0.7μm^(2)的三类井组为研究对象,研究该井组...由于油层非均质性强,井间、层间、层内差异大,均一化设计注入方案满足不了所有井的需要,更满足不了所有层的需要,因此需从单井入手。在ZN区块PⅠ5~PⅡ10层段选取三类油层中渗透率级别为0.5~0.7μm^(2)的三类井组为研究对象,研究该井组驱替段塞前段注入参数界限。通过改变聚合物黏度、注入速度和段塞大小设计了不同注入方案。使用数值模拟方法对比各个注入方案,综合考虑开发效果、经济效益以及注入压力情况等因素,确定聚合物最优注入黏度、段塞大小和注入速度分别为33 m Pa·s、0.25 PV和0.16 PV·a^(-1);与常规水驱相比,采收率提高了14.24%,优化结果更好地指导了现场变流度聚合物驱的实施。展开更多
基金Supported by National Key Research and Development Program of China(Grant No.2022YFF0708903)Ningbo Municipal Key Technology Research and Development Program of China(Grant No.2022Z006)Youth Fund of National Natural Science Foundation of China(Grant No.52205043)。
文摘Exoskeletons generally require accurate dynamic models to design the model-based controller conveniently under the human-robot interaction condition.However,due to unknown model parameters such as the mass,moment of inertia and mechanical size,the dynamic model of exoskeletons is difficult to construct.Hence,an enhanced whale optimization algorithm(EWOA)is proposed to identify the exoskeleton model parameters.Meanwhile,the periodic excitation trajectories are designed by finite Fourier series to input the desired position demand of exoskeletons with mechanical physical constraints.Then a backstepping controller based on the identified model is adopted to improve the human-robot wearable comfortable performance under cooperative motion.Finally,the proposed Model parameters identification and control are verified by a two-DOF exoskeletons platform.The knee joint motion achieves a steady-state response after 0.5 s.Meanwhile,the position error of hip joint response is less than 0.03 rad after 0.9 s.In addition,the steady-state human-robot interaction torque of the two joints is constrained within 15 N·m.This research proposes a whale optimization algorithm to optimize the excitation trajectory and identify model parameters.Furthermore,an enhanced mutation strategy is adopted to avoid whale evolution’s unsatisfactory local optimal value.
文摘High heat dissipation is required for miniaturization and increasing the power of electronic systems.Pool boiling is a promising option for achieving efficient heat dissipation at low wall superheat without the need for moving parts.Many studies have focused on improving heat transfer efficiency during boiling by modifying the surface of the heating element.This paper presents an experimental investigation on improving pool boiling heat transfer using an open microchannel.The primary goal of this work is to investigate the impact of the channel geometry characteristics on boiling heat transfer.Initially,rectangular microchannels were prepared on a circular copper test piece with a diameter of 20 mm.Then,the boiling characteristics of these microchannels were compared with those of a smooth surface under saturated conditions using deionized water.In this investigation,a wire-cutting electrical discharge machine(EDM)machine was used to produce parallel microchannels with channel widths of 0.2,0.4,and 0.8 mm.The fin thicknesses were 0.2,0.4,and 0.6 mm,while the channel depth remained constant at 0.4 mm.The results manifested that the surface featuring narrower fins and broader channels achieved superior performance.The heat transfer coefficient(HTC)was enhanced by a maximum of 248%,and the critical heat flux(CHF)was enhanced by a maximum of 101%compared to a plain surface.Eventually,the obtained results were compared with previous research and elucidated a good agreement.
文摘AIM:To investigate intra-operator variability of semiquantitative perfusion parameters using dynamic contrast-enhanced ultrasonography(DCE-US),following bolus injections of SonoVue.METHODS:The in vitro experiments were conducted using three in-house sets up based on pumping a fluid through a phantom placed in a water tank.In the in vivo experiments,B16F10 melanoma cells were xenografted to five nude mice.Both in vitro and in vivo,images were acquired following bolus injections of the ultrasound contrast agent SonoVue(Bracco,Milan,Italy) and using a Toshiba Aplio ultrasound scanner connected to a 2.9-5.8 MHz linear transducer(PZT,PLT 604AT probe)(Toshiba,Japan) allowing harmonic imaging("Vascular Recognition Imaging") involving linear raw data.A mathematical model based on the dye-dilution theory was developed by the Gustave Roussy Institute,Villejuif,France and used to evaluate seven perfusion parameters from time-intensity curves.Intra-operator variability analyses were based on determining perfusion parameter coefficients of variation(CV).RESULTS:In vitro,different volumes of SonoVue were tested with the three phantoms:intra-operator variability was found to range from 2.33% to 23.72%.In vivo,experiments were performed on tumor tissues and perfusion parameters exhibited values ranging from 1.48% to 29.97%.In addition,the area under the curve(AUC) and the area under the wash-out(AUWO) were two of the parameters of great interest since throughout in vitro and in vivo experiments their variability was lower than 15.79%.CONCLUSION:AUC and AUWO appear to be the most reliable parameters for assessing tumor perfusion using DCE-US as they exhibited the lowest CV values.
文摘目的:应用磁共振动态增强(DCE-MRI)半定量参数评估子宫肌瘤射频治疗的疗效。方法:回顾性分析2015年1月—2020年4月大庆油田总医院经射频治疗的52例子宫肌瘤患者的临床资料。术前及术后行磁共振动态增强检查,测量达峰时间(time to peak,TTP)、最大浓度(maximum concentration,MAX Conc)、时间—浓度曲线下面积(area under the time concentration curve,AUC)及最大斜率(maximum slope,MAX Slope),并利用四组参数对病灶进行疗效评估。结果:TTp、MAX Conc、AUC、MAX Slope比较,差异有统计学意义(Z=-4.025、-5.929、-6.011、-5.646,P<0.05)。结论:磁共振动态增强半定量参数TTp、MAX Conc、AUC、MAX Slope在术后疗效评估中具有重要意义,可作为有效的评估手段。
文摘由于油层非均质性强,井间、层间、层内差异大,均一化设计注入方案满足不了所有井的需要,更满足不了所有层的需要,因此需从单井入手。在ZN区块PⅠ5~PⅡ10层段选取三类油层中渗透率级别为0.5~0.7μm^(2)的三类井组为研究对象,研究该井组驱替段塞前段注入参数界限。通过改变聚合物黏度、注入速度和段塞大小设计了不同注入方案。使用数值模拟方法对比各个注入方案,综合考虑开发效果、经济效益以及注入压力情况等因素,确定聚合物最优注入黏度、段塞大小和注入速度分别为33 m Pa·s、0.25 PV和0.16 PV·a^(-1);与常规水驱相比,采收率提高了14.24%,优化结果更好地指导了现场变流度聚合物驱的实施。
