Joint space compliance control for a hydraulic quadruped robot based on force feedback

In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop（compliance loop）is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.

New variables for measuring joint space width to evaluate knee osteoarthritis

Assessing the radiographic features of knee osteoarthritis （OA）, especially joint space narrowing, is important for evaluating disease progression. The purpose of this study was to quantitatively analyze joint space narrowing by measuring 2 new variables： the average joint space width （aJSW） and the articulate angle （AA） on X-ray films, and to evaluate the relationship between the 2 variables, knee function and OA symptoms. Methods Using the web-based radiology viewer （Cedara I-ReachTM 4.1.1）, we measured the 2 variables in 50 knees of 41 patients with knee OA participating in the Shanghai OA Study. We also evaluated the Kellgren-Lawrence （K-L） grade, the Western Ontario and McMaster Universities OA Index （WOMAC）, and additional questionnaire in OA knees. The study was approved by the ethics committee of Shanghai Ninth People＇s Hospital （No. 2009-28）. Results The aJSW correlated with the K-L grade （r=-0.57, P 〈0.001）, kneeling （r=-0.29, P=0.04）, sitting cross-legged on the floor （r=-0.31, P=0.03）, WOMAC pain （r=-0.31, P=0.03）, WOMAC disability （r=-0.35, P=0.01）, pain while squatting （r=-0.37, P=0.01）, and defecating in a squatting position （r=-0.39, P= 0.01）. The AA correlated with defecating in a squatting position （r=0.29, P=0.05）, WOMAC disability （r=0.30, P=0.04） and K-L grade （r=0.44, P=0.003）. The K-L grade also correlated with pain while squatting （r=-0.40, P=0.005） and defecating in a squatting position （r=-0.34, P=0.02）, WOMAC pain （r=0.30, P=0.04）, and WOMAC disability （r=0.30, P=0.04）. Conclusions The aJSW closely correlated with knee OA symptoms and function scores, and was more sensitive to knee OA related disabilities than K-L grade and the AA. The aJSW could be used as a new variable for knee OA evaluation.

Orthodontic retreatment of an adult woman with mandibular backward positioning and temporomandibular joint disorder:A case report

BACKGROUND The role of occlusal factors on the occurrence of temporomandibular joint disorders(TMDs)is still unclear and it is tricky for orthodontists to treat malocclusions in patients with TMDs.We report the case of the second orthodontic treatment of an adult female with Class II division 2 malocclusion associated with TMD.With the removal of anterior occlusal interference,TMD symptoms were alleviated and cone beam computed tomography(CBCT)images showed the bilateral condyles shifted forward.CASE SUMMARY This case report presented an orthodontic retreatment of an adult female with TMD and mandibular backward positioning based on CBCT examination and Joint Space Index(JSI)analysis.The left and right JSI values of-38.5 and-52.6 indicated that the position of bilateral condyles had posterior displacement.Ten years prior to this evaluation,she underwent orthodontic treatment resulting in the extraction of two upper premolars and one lower central incisor.The joint symptoms,including pain and sounds,were alleviated along with verified mandibular forward repositioning by extraction of another lower central incisor.CONCLUSION Mandibular backward positioning could be associated with TMD.JSI analysis based on CBCT is a convenient way to examine condylar positions quantitatively.

3D-SPACE序列对显示膝关节前交叉韧带的价值分析

目的通过与膝关节常规序列对比研究,探讨3D-SPACE序列(三维自旋回波序列)结合三维重建技术对显示膝关节前交叉韧带(anterior cruciate ligament,ACL)的价值。方法选取30例正常志愿者(年龄24～70岁,平均年龄约48岁),分别行膝关节MRI常规序列扫描、3D-SPACE序列扫描以及三维重建。采用双盲法判断MRI常规图像和SPACE图像对前交叉韧带的显示情况。结果 MRI常规扫描ACL矢状面一幅图像显示完整16例,连续两幅图像显示完整14例。3D-SPACE图像矢状面30例ACL均能在一幅图像上完整显示。两种扫描方式下对前交叉韧带的显示效果有统计学差异(P<0.01)。结论 3D-SPACE序列结合三维重建技术可以完整显示前交叉韧带的形状结构,提高韧带的显示率。

Joint Angle Correction in Rheumatoid Arthritis and Its Reliability Analysis Based on Phase Dispersion Quantification

Background: Rheumatoid arthritis is a form of autoimmune disease characterized by synovitis that can ultimately cause joint deformities and impaired functioning. The cartilage destruction is one of the most important indicators for diagnosis and treatment of rheumatoid arthritis, and it is radiographically manifested as joint space narrowing. Issue: In the literature, the joint space narrowing progression between a baseline and its follow-up finger joint images can be quantified by using image registration algorithm. We found that the inconsistencies of joint angles may lead to characteristic mismatches and thus severely affect the accuracy of joint space narrowing quantifications. Methods: In this work, we introduce a rotation invariant phase only correlation in joint space narrowing quantification for the joint angle correction. Further, we propose a confidence index to quantify the quantification reliability of phase only correlation based on phase dispersion in phase difference spectrum. Conclusion: In our clinical experiments, the proposed quantification method can effectively overcome and manage the mismatch due to the inconsistency of joint angles. Additionally, the confidence index shows a high consistency with the joint space narrowing progression examinations manually done by a trained radiologist and one radiological technologist.

磁共振3D space序列在膝关节半月板放射状撕裂中的诊断价值

目的 评价磁共振3D space序列在膝关节半月板放射状撕裂中的诊断价值,提高对此病的影像认识,为临床诊疗提供帮助。方法 回顾性分析29例经关节镜证实的膝关节半月板放射状撕裂患者的磁共振资料;对比常规磁共振2D序列与3D space序列在半月板放射状撕裂病变中的诊断效能,使用Fisher确切概率法对两种方法诊断半月板放射状撕裂的准确率进行比较。结果 3D space序列和常规2D序列诊断半月板放射状撕裂的准确率分别为96.7%(29/30)、80.0%(24/30),3D space序列诊断准确率高于常规2D序列,差异有统计学意义(P<0.05)。结论 3D space序列在半月板放射状撕裂的诊断中具有较高价值,其诊断效能优于2D序列。

Simultaneous effects of joint spacing and joint orientation on the penetration rate of a single disc cutter

This paper describes the influence of joint spacing and joint orientation on the penetration rate of a Tunnel Boring Machine （TBM） disc cutter as modeled by the Discrete Element Method （DEM）. The input data for the siLmulations were obtained from the sandstone along the AIborz tunnel that is currently being excavated in Iran using a 5.2 m diameter open TBM. Three joint spacings, 150, 200, and 300 mm, were modeled together with seven values of joint orientation; 0°, 15°, 30°, 45°, 60°, 75°, and 90°. The results show that the penetration increases when joint orientation increases from 0° to 75°, but it decreases as the joint orientation increases further from 75° to 90°. This is true for each joint spacing. In addition, for a given joint orientation increasing the joint spacing causes the TBM penetration to decrease. The optimum joint orientation, from the viewpoint of TBM penetration, is about 60-75°.

Determining relative block structure rating for rock erodibility evaluation in the case of non-orthogonal joint sets

The most commonly used method for assessing the hydraulic erodibility of rock is Annandale's method.This method is based on a correlation between the erosive force of flowing water and the capacity of rock resistance. This capacity is evaluated using Kirsten's index, which was initially developed to evaluate the excavatability of earth materials. For rocky material, this index is determined according to certain geomechanical factors related to intact rock and rock mass, such as compressive strength of intact rock, rock block size, discontinuity shear strength and relative block structure. To quantify the relative block structure, Kirsten(1982) developed a mathematical expression that accounts for the shape and orientation of the blocks relative to the direction of flow. Kirsten's initial concept for assessing the relative block structure considers that the geological formation is mainly fractured by two joint sets forming an orthogonally fractured system. An adjusted concept is proposed to determine the relative block structure when the fractured system is non-orthogonal where the angle between the planes of the two joint sets is greater or less than 90°. An analysis of the proposed relative block structure rating shows that considering a non-orthogonally fractured system has a significant effect on Kirsten's index and, as a consequence, on the assessment of the hydraulic erodibility of rock.

Motion planning for redundant prismatic-jointed manipulators in the free-floating mode

This paper investigates the motion planning of redundant free-floating manipulators with seven prismatic joints. On the earth, prismatic-jointed manipulators could only position their end-effectors in a desired way. However, in space, the end-effectors of free-floating manipulators can achieve both the desired orientation and desired position due to the dynamical coupling between manipulator and satellite movement, which is formally expressed by linear and angular momentum conservation laws. In this study, a tractable algorithm particle swarm optimization combined with differential evolution （PSODE） is provided to deal with the motion planning of redundant free-floating prismatic-jointed manipulators, which could avoid the pseudo inverse of the Jacobian matrix. The polynomial functions, as argument in sine functions are used to specify the joint paths. The co- efficients of the polynomials are optimized to achieve the desired end-effector orientation and position, and simulta- neously minimize the unit-mass-kinetic energy using the redundancy. Relevant simulations prove that this method pro- vides satisfactory smooth paths for redundant free-floating prismatic-jointed manipulators. This study could help to recognize the advantages of redundant prismatic-jointed space manipulators.

柔性关节空间机械臂传感容错无模型自适应控制

针对传感信号畸变、丢失等故障状态严重影响空间机械臂控制系统性能的问题,提出基于空间机械臂运动传感器故障观测的无模型自适应容错控制方法。采用动态线性化和递推参数估计思想设计传感故障监测器,实现对传感畸变及数据丢失等故障的判定,并进行运动状态预测估计;建立包含跟踪误差变化率项的无模型自适应控制准则函数,有效惩罚由传感故障引起的参数估计突变问题;设计面向柔性关节空间机械臂的新型传感容错无模型自适应控制(SFT-MFAC)算法。仿真结果表明,在不同传感故障情况下,所提控制策略均能快速准确识别传感故障信息,避免系统瞬时发散,有效延长系统响应时间,增加控制系统的鲁棒性。

全球空间安全治理视域下临近空间飞行监管研究

临近空间作为全球一体化的重要连接点,是实现长期驻空侦察、全球精准打击的军事战略高点。受空天划界论争的影响,临近空间飞行的监管规则仍依附于国内立法,在国际层面尚未实现有效规制和协调。在临近空间法律地位不清、监管主体不明、监管客体不定、监管内容复杂、飞行活动存有争议的情况下,现有国际航空航天法律制度已无法满足调整此类新型利益关系的实践需要。构建针对性的监管制度不仅是行业有序发展的基础,也是确保地面国国防安全和临近空间资源有序开发利用的重要保障。在国内立法层面,中国可参鉴《临近空间管制公约(草案)》的相关条款,积极推进临近空间融入航空法或航天法的制度设计,或制定单行的临近空间法,以国内立法引领国际立法;在国际立法层面,应以国际民用航空组织为主导,通过修订《国际民用航空公约》(又称《芝加哥公约》)相关附件或增设临近空间飞行的新附件标准,推进国际统一规则的构建。

贯通型标准JRC双节理剪切力学及声发射特性研究

节理岩体的抗剪性能是影响工程岩体强度及稳定性的关键因素。基于3D打印技术制作标准JRC节理面模具和固定夹板,采取一体化浇筑方式制备不同节理面间距和不同粗糙度的双节理试样,结合声发射(acousticemission,AE)技术探究不同法向应力条件下粗糙双节理岩体剪切力学特性和破坏演化特征。结果表明:剪切应力-剪切位移曲线形态受节理粗糙度和法向应力共同影响。随JRC和法向应力的增加,剪切应力软化程度加重;法向应力较大时,峰后阶段剪切应力存在多次突降现象,突降值随法向应力的增加而增大。峰值剪切强度出现在双节理间岩石夹层断裂时刻,随JRC和法向应力的增加呈增大趋势,随节理面间距增加呈减小趋势。AE结果表明:岩石夹层断裂时刻AE能量大幅突增,AE能量峰值稍滞后于剪切应力峰值,随法向应力的增加,AE能量峰值和累积AE能量值增大;AE定位点空间上集中于岩石夹层部分,时间上频发于200~600 s内,随节理面间距的增加,AE定位点的集中范围扩大。

Torque Control Algorithm and Its Simulation of Capturing a Moving Target for Free Flying Space Robots

Torque control algorithm and its simulation of capturing a moving target for Free Flying Space Robots(FFSR) are discussed in this paper. The efficient recursive algorithm of joint driven torque for FFSR is developed. The torque control algorithm combined with Resolved Motion Rate Contro(RMRC) based on Generalized Jacobian Matrix(GJM) for capturing a moving target is proposed. The computer simulation verifies the effectiveness of the proposed algorithm.

面向战区联合作战的空间需求响应任务规划

针对战区联合作战中的空间需求响应问题,描述了面向战区联合作战的空间需求响应任务规划的背景;从空间资源能力、空间需求响应机制、空间需求响应效益和代价等方面,分析了空间需求响应任务规划所需考虑的主要因素;定义并描述了任务规划模型,设计了任务规划计算方法,并结合战区联合作战实际进行了案例仿真与分析,验证了模型和方法的有效性,为战区联合作战中空间需求的有效响应提供了理论和方法支撑。

EFFECT OF Z-PINS’ DIAMETER,SPACING AND OVERLAP LENGTH ON CONNECTING PERFORMANCE OF CMC SINGLE LAP JOINT

The effect of through-thickness reinforcement by composite pins （Z-pins） on the static tensile strength and failure mechanisms of the joints made from ceramic matrix composite （CMC） is investigated. Overlap length of the single lap joint is 15 mm, 20 mm, 23 mm, 37 mm, and 60 mm, respectively. The experimental results indicate that the final failure modes of the joints can be divided into two groups, （a） the bond-line stops debonding until crack encounters Z-pins; and then the adherends break at the location of Z-pins, when overlap length is more than 20 mm; （b） the bond-line detaches entirely and Z-pins are drawn from adherends, when overlap length is equal to 15 mm. A simple efficient computational approach is presented for analyzing the benefit of through-thickness pins for restricting failure in the single lap joints. Here, the mechanics problem is simplified by representing the effect of the pins by tractions acting on the fracture surfaces of the cracked bond-line. The tractions are prescribed as functions of the crack displacement, which are available in simple forms that summarize the complex deformations to a reasonable accuracy. The resulting model can be used to track the evolution of complete failure mechanisms, for example, bond-line initial delamination and ultimate failure associated with Z-pin pullout, ultimate failure of the adherends. The paper simulates connecting performance of the single lap joints with different Z-pins＇ diameter, spacing and overlap length; the numerical results agree with the experimental results; the numerical results indicate enlarging diameter and decreasing spacing of Z-pins are in favor of improving the connecting performance of the joints. By numerical analysis method, the critical overlap length that lies between two final failure modes is between 18 mm and 19 mm, when Z-pins＇ diameter and spacing are 0.4 mm, 5 mm, respectively.

Insights and implications from the study on meniscus reconstruction using tendon autograft

This letter addresses the recent study by Zhu et al on the predictive factors for coronal and sagittal graft extrusion length following medial meniscus reconstruction using tendon autografts.The study provides valuable insights into the importance of preoperative joint space width and tunnel positioning as predictors of graft extrusion.Specifically,it found strong correlations between preoperative joint space width and medial,posterior,and mean graft extrusion at both 1 week and 8 months post-operation.Additionally,tunnel edge distance at 1 week postoperation correlated with anterior and posterior graft extrusion.These findings offer critical guidance for improving surgical outcomes.However,the letter highlights the need for further research with larger sample sizes and comparative studies involving different graft types to strengthen these findings and broaden their applicability in clinical settings.The study's contributions to understanding meniscus reconstruction using tendon autografts are acknowledged,along with suggestions for future research directions.

考虑摩擦与间隙的空间机械臂轨迹跟踪控制

以空间机械臂在轨服务的高精度要求为背景,研究不同重力环境下考虑摩擦与间隙的空间机械臂轨迹跟踪控制。以二连杆空间机械臂为研究对象,建立基于轻杆模型的含间隙等效模型,使用Kane方程、力矩平衡原理建立摩擦模型,并运用拉格朗日方程建立机械臂动力学方程,设计无模型控制器。在此基础上分析不同重力环境下摩擦与间隙对机械臂关节驱动力、机械臂末端轨迹跟踪精度的影响,并与比例微分(PD)算法控制的机械臂末端轨迹跟踪效果相比较,验证在不改变控制器参数与结构的条件下,在不同重力环境下无模型控制算法的优越性。

绿色低碳及人本视角下的未来校园空间研究——以东南大学和康奈尔大学研究生联合设计教学课程为例

在城市低碳发展的背景下,积极应对新技术、新发展的挑战,探索校园低碳发展的新路径成为大学校园发展的重要议题。本文通过东南大学和康奈尔大学研究生联合设计教学课程,聚焦大学校园的低碳设计,从绿色低碳及人本视角出发,以东南大学九龙湖校区校园的两个项目为代表案例,综合运用多学科方法和视角,探索校园建筑和环境低碳设计的路径与方法,对在新的时代背景和新的发展趋势之下的未来校园空间进行大胆探索。

基于权值平滑的自适应调零算法研究与实现

在卫星导航定位系统中,由于导航信号的功率较低,在到达地面时极易受到干扰,导致定位失败。自适应零陷技术可以有效地提高卫星导航接收机的抗干扰能力,然而由于常规的空时联合最小功率响应会时常出现零陷抖动,不能有效的对准干扰来向,从而导致接收机的抗干扰性能下降。对于该情况,本文提出对抗干扰算法中的权值进行平滑滤波处理的方法,并且通过仿真验证、FPGA实现、现场实测等手段验证了该算法的可行性。该方法可有效抑制系统权值以及零陷位置的抖动,从而提高抗干扰算法的稳定性和可靠性,对相关工程领域具有一定的参考价值。

四川大学博物馆结构设计重难点分析研究

四川大学博物馆采用钢框架结构体系,并设置屈曲约束支撑改善结构的抗震性能。介绍了四川大学博物馆的结构设计参数及抗震性能目标。针对结构设计中的重难点,开展了屈曲约束支撑的工作机理分析、框架柱计算长度与穿层柱分析、东侧大悬挑空间的相关分析。利用反应谱分析及时程分析探究了屈曲约束支撑工作机理,分析结果表明,屈曲约束支撑能够有效改善钢结构产生塑性铰的状况,起到保护主体钢框架的作用。针对东侧大悬挑空间的功能要求,设计采用了屋顶桁架结合钢拉杆吊挂东侧大楼梯的结构形式,通过结构防连续倒塌分析、楼板应力分析、楼盖舒适度分析、关键节点有限元分析等确保该部位结构设计安全合理。对整体结构受力机理和薄弱部位进行了研究,提出了重点部位的设计原则和加强措施。