A Comparative Study on Two English Versions of "Cai Wei" From the Perspective of Lefevere's Manipulation Theory

"Cai Wei",an ancient Chinese poem from a poetry collection called Shi Jing,has been translated into English by many people,while those English versiom differ.According to Andre Lefevere's Manipulation Theory,the three main factors that manipulate translation are patronage,ideology,arid poetics.This translation theory can be well applied in the analysis and appreciation of English versions of"Cai Wei".The factors that manipulate the two versiom,respectively translated by Xu Yuanchong and Ezra Pound,can be located through detailed analyses and comparison between the chosen versions from the perspective of the Manipulation Theory.More specifically,it is Xu's readers,personal experiences,traditional Chinese philosophy and ideology,as well as the theories of the former Chinese translators that constitute the major manipulating factors that influenced his Chinese-oriented translation;for Pound,his English-oriented translation was affected by his avantgarde readers,Ernest Fenollosa and imagism.

Optimization Algorithm for Operation Comfortability of Master Manipulator of Minimally Invasive Surgery Robot

To evaluate the operation comfortability in the master-slave robotic minimally invasive surgery(MIS), an optimal function was built with two operation comfortability decided indices, i.e., the center distance and volume contact ratio. Two verifying experiments on Phantom Desktop and Micro Hand S were conducted. Experimental results show that the operation effect at the optimal relative location is better than that at the random location, which means that the optimal function constructed in this paper is effective in optimizing the operation comfortability.

Effect of Wei’s triple nine needling therapy on flash visual evoked potentials in rats with traumatic optic neuropathy

Objective:To investigate the effect of Wei’s triple nine needling therapy on the N2-P2 wave of the flash visual evoked potential(FVEP)in rats of the of the transverse directional pulling model.Methods:Thirty-six Wistar rats were randomly grouped,nine were in normal control group without any treatment,and the remaining 27 were surgically modelled in the right eyes.Eighteen of these rats were randomly divided into a Wei’s triple nine needling therapy group and a model group of nine rats each after the TON model was made using the transverse quantitative retraction method.The other 9 rats were sham-operated,and only the optic nerve was exposed without retraction.On the next day of modelling,the Wei’s triple nine needling therapy group was treated with Wei’s triple nine needling therapy for 20 minutes/1 time/1 day for 14 days.The model group,sham-operated group and normal control group were not intervened.Wei's triple nine acupoints were represented as follows:1st link:"Jingming"(BL1)and"Chengqi"(ST1);2nd link:"Sizhukong"(SJ23)penetrating"Taiyang"(EX-HN5);and the third:"Fengchi"(GB 20)and"Taichong"(LV3).The FVEP of each group was observed on 1d,7d and 14d.The FVEP of each group was observed on 1d,7d and 14d.Results:Compared with the model group,the N2 wave latency and P2 wave latency were shortened in the Wei’s triple nine needling therapy on 1d(P<0.05,P<0.01);on 7d,their N2 wave latency was shortened(P<0.01)and the N2-P2 wave amplitude was increased compared with the model group(P<0.05);on 14d,their P2 wave latency was shortened(P<0.05)and the N2-P2 wave amplitude was increased.There was no statistical difference in N2 wave latency,P2 wave latency and N2-P2 wave amplitude in the sham-operated group on 1d,7d and 14d(P>0.05).The delayed N2 and P2 wave latencies in the model group did not improve from 1d to 14d(P>0.05)and the amplitude decreased throughout,showing a significant difference on 14d compared to 1d(P<0.05).In contrast,the N2 wave latency in Wei’s triple nine needling therapy group was not significantly different until 7d to 14d(P<0.05);its P2 wave latency,although significantly delayed from 1d to 7d(P<0.05),recovered on 14d and reached a level that was not statistically different from 1d and 7d(P>0.05).There was also no significant decrease in N2-P2 wave amplitude between 1d and 14d in Wei’s triple nine needling therapy group(P>0.05).Conclusion:In this experiment,the TON rat model was successfully established by the transverse quantitative retraction method,and the treatment of TON rats with Wei’s triple nine needling therapy reduced the P2 wave delay of the FVEP electrophysiological signal and increased the N2-P2 amplitude,which had a certain positive effect on the repair of optic nerve injury,probably related to its effect of improving the conduction function of the optic nerve and protecting the retinal ganglion cells that had not been degenerated and necrosed.

Chinese Kites and "Wei's Kite

The kite, the oldest power-free flight vehiclethat human beings have invented, was called kiteeagle in ancient China. The kite eagle is a bird ofthe hawk family who flies against the upward airCurrent by flatting his wings, the very way thatthe kite was invented. It is said that in the ancientpast people dreamed of flying like birds, so

On the Creation Background and the Influence of Wei Zhuang’s Famous Poem:Lament of a Northwestern Woman

Lament of a Northwestern Woman(Qin Fu Yin),composed by Wei Zhuang after the Huangchao uprising,is a long poem that showcases the sufferings of the civilians and embodies the people’s character of the poem,which is the profound empathy and compassion of the poet towards the civilians’plight.The poem was written during the reign of Emperor Xizong of the Tang Dynasty in the year Gengmao(883 AD).2023 is also the year Gengmao,so this poem has existed for a remarkable 1140 years.For over a millennium,this long poem remained submerged in history until the opening of the Dunhuang Grottoes at the turn of the 20th century.The deep compassion and commiseration towards the underprivileged masses conveyed in this long poem are reminiscent of Du Fu’s renowned“Three Poems of Separation.”Moreover,it is widely believed that this poem foretells the decline of the Tang Dynasty.

基于Sigmoid函数的非对称式S型曲线机械臂加减速控制方法

机械臂广泛应用于制造、装配、搬运、码垛等方面,对提高生产力起着重要作用。为减小机械臂在运动过程中的振动和冲击,提高机械臂轨迹执行效率,提出一种非对称式S型曲线加减速控制方法。该方法通过在双段Sigmoid函数中插入直线段,构成加加速度连续的运动学曲线。通过粒子群算法进行参数优化求解,无需反复确认每个时间段的存在性即可求出非对称约束下的曲线参数,并分别在关节空间和笛卡尔空间采用时间同步和位移同步方法使机械臂的运动轨迹更加协调自然。结果表明,相同条件下提出的方法比三角函数方法轨迹执行效率更高且加加速度仅为三角函数方法的55%。与梯形加加速度曲线相比,采用提出的方法规划的运动轨迹可减少35.7%的残余振动,验证了该方法的有效性。

Electroacupuncture Alleviates Memory Deficits in APP/PS1 Mice by Targeting Serotonergic Neurons in Dorsal Raphe Nucleus

Objective Alzheimer’s disease(AD)has become a significant global concern,but effective drugs able to slow down AD progression is still lacked.Electroacupuncture(EA)has been demonstrated to ameliorate cognitive impairment in individuals with AD.However,the underlying mechanisms remains poorly understood.This study aimed at examining the neuroprotective properties of EA and its potential mechanism of action against AD.Methods APP/PS1 transgenic mice were employed to evaluate the protective effects of EA on Shenshu(BL 23)and Baihui(GV 20).Chemogenetic manipulation was used to activate or inhibit serotonergic neurons within the dorsal raphe nucleus(DRN).Learning and memory abilities were assessed by the novel object recognition and Morris water maze tests.Golgi staining,western blot,and immunostaining were utilized to determine EA-induced neuroprotection.Results EA at Shenshu(BL 23)and Baihui(GV 20)effectively ameliorated learning and memory impairments in APP/PS1 mice.EA attenuated dendritic spine loss,increased the expression levels of PSD95,synaptophysin,and brain-derived neurotrophic factor in hippocampus.Activation of serotonergic neurons within the DRN can ameliorate cognitive deficits in AD by activating glutamatergic neurons mediated by 5-HT1B.Chemogenetic inhibition of serotonergic neurons in the DRN reversed the effects of EA on synaptic plasticity and memory.Conclusion EA can alleviate cognitive dysfunction in APP/PS1 mice by activating serotonergic neurons in the DRN.Further study is necessary to better understand how the serotonergic neurons-related neural circuits involves in EA-induced memory improvement in AD.

基于三次S型速度控制算法的移动机械臂末端振动研究

移动机械臂在实际工作环境中,受其自身柔性特征和外部因素的影响而引起机械臂末端的振动,而速度控制是实现机械臂末端抑振的有效手段之一。以UR10机械臂和Husky移动平台组成的移动机械臂为研究对象,针对梯形和S型速度控制算法的不足,提出一种三次S型速度控制算法,通过建立移动机械臂刚柔耦合动力学的理论和仿真模型得到移动机械臂末端的振动位移曲线和加速度变化曲线,验证了三次S型速度控制算法的正确性和抑振效果的有效性。

基于T-S模糊的欠驱动机械臂的平衡控制

针对欠驱动机械臂平衡控制精度低,鲁棒性差,抗干扰空间狭窄,起摆成功率低等问题,提出了一种基于T-S模糊结构和线性调节理论的欠驱动机械臂平衡控制策略,并实现了一种新的起摆-平衡控制方式。首先将系统设定的状态空间分为若干个模糊子空间,通过线性二次型最优理论和线性调节理论,在每个模糊子空间建立局部控制器,保证系统在每个局部子空间中平衡,并最终收敛于给定平衡点,然后使用隶属函数平滑的将各个局部控制器连接起来,最终得到非线性控制对象的模糊平衡控制器,实现了欠驱动机械臂在任意给定点的平衡控制。实验结果表明,所提出的控制策略控制精度高,抗干扰范围大,鲁棒性强,起摆成功率高,并且易于实现,具有较高的推广和应用价值。

柔性臂杆、柔性关节空间机械臂T-S模糊轨迹跟踪及双柔振动并行综合控制

针对存在参数不确定和外界干扰的柔性臂杆、柔性关节空间机械臂追踪期望运动的问题,设计了基于T-S模糊模型的滑模鲁棒控制方案和双柔性振动并行控制方案。首先,设计了关节柔性补偿器以提高系统的等效关节刚度。其次,利用反馈线性化技术建立了系统追踪期望轨迹的误差动力学方程,通过对系统Lyapunov稳定性证明来选择滑模控制参数;简化并改进T-S模糊推理规则,提出了模糊滑模鲁棒控制方法,可解决滑模控制的抖振问题并具有计算量少、控制力矩小的优点。再次,提出了柔性臂杆振动模态的直接反馈控制方案,解决了双柔性并行综合控制的问题。最后,运用逐步仿真的方法,对比仿真结果,证实了所设计轨迹跟踪、双柔性并行综合控制方案的有效性和稳定性。

柔性机械臂T-S模糊模型的辨识及其分析

针对柔性机械臂强非线性、强耦合性及不确定性等特点,利用Takagi-Sugeno模糊模型对柔性机械臂进行了建模。将模型的仿真结果和实验结果进行了对比分析,验证了模型的准确性。

试论汾渭“S”型旋转拉分构造体系及其影响

汾渭地堑系位于我国东部阴山与秦岭纬向带之间,自北向南,由集宁、怀来、大同、蔚县、忻州、太原、晋中、汾渭、天水、礼县、西和、成县等10余个NE向斜列的新生代断陷盆地组成,它们呈“S”形展布,反映华北地块在新生代时期发生了顺时针旋转,使古老地块发生裂解,可称之为“S”型旋转拉分构造体系。这个构造体系对中国东部构造格局和构造发展有广泛和深远的影响,强烈改造了秦岭—大别山纬向构造带和江南地块北缘的构造格局,使新华夏系形成分段特征,启动了华北地块伸展构造发展模式,影响所及直达琉球海沟。无独有偶,亚洲中部俄罗斯、蒙古境内有贝加尔地堑系,由反“S”形分布的新生代断陷盆地组成,它们也发育于古老结晶地块之中,可与之对比,是逆时针旋转的反“S”型旋转拉分构造体系。说明它们是同一类型的旋转构造型式,是古老地块裂解的一种方式。

基于Adams的6R选矸机械臂关节速度规划

设计了一种6R选矸机械臂并提出了一种三次S形加减速控制算法来提高其运动平稳性。首先建立梯形、7段S曲线加减速控制算法,通过分析这2种算法对机器人运动平稳性的影响,提出了一种三次S形加减速控制算法。利用Adams对3种算法进行仿真分析,结果表明新型的S形加减速控制算法在提高6R选矸机械臂的运动平稳性方面更具优势并为6R选矸机械臂后续的运动控制分析和优化奠定了基础。

软腔体柔性机械臂的T-S模糊建模与控制

针对柔性机械臂强非线性、强耦合性及不确定性的特点,利用Takagi-Sugeno模糊模型其规则前件是模糊变量,而规则后件的结论是输入输出线性函数的特点,对柔性机械臂进行了建模。在验证了模型准确性的基础上,进行了广义预测控制方法的研究,最后,对比分析了广义预测控制和传统PID控制,实验结果表明,基于T-S模糊模型的广义预测控制能很好的实现对柔性机械臂的控制。为柔性机械臂的模糊建模和进一步研究提供了理论指导及重要的前提条件。

一种基于S-R-S构型特点的正交冗余机械臂避障规划方法

针对正交冗余机械臂避障规划问题,提出了一种基于S-R-S构型特点的避障规划新方法。该方法将正交7自由度冗余机械臂构型等效为S-R-S(球副-转动副-球副)构型,并依据S-R-S构型特点将避障规划分为肘部笛卡尔位置规划、第2根臂杆规划、末端工具规划3个部分。引入Bézier曲线完成肘部和末端工具在球面的避障规划,第2根臂杆的避障规划依据避障最大运动能力调整完成。通过Schunk-Lwa4D正交冗余机械臂避障规划实验,验证了提出的基于S-R-S构型特点的避障规划新方法的有效性和可行性。

推拿手法对家兔骨骼肌失神经支配后雪旺氏细胞S-100蛋白表达的影响

目的通过观察推拿家兔骨骼肌失神经支配后肌湿重、雪旺氏细胞S-100蛋白表达水平,探讨推拿手法对受损神经及失神经支配骨骼肌的影响。方法新西兰家兔120只,分为正常对照组、模型组、神经生长因子(NGF)治疗组、手法治疗组,每组30只,分别于手法干预2周、3周、1个月、2个月、4个月后,每组各取6只家兔,称量腓肠肌肌湿重,计算术侧与健侧的肌湿重比值;测定雪旺氏细胞S-100蛋白表达水平。结果(1)腓肠肌肌湿重比:与模型组比较,手法治疗组各时间点均增加[2周:(0.72±0.05)%比(0.53±0.01)%,3周:(0.55±0.04)%比(0.41±0.03)%,1个月:(0.55±0.99)%比(0.40±0.03)%,2个月:(0.49±0.03)%比(0.38±0.05)%,4个月:(0.50±0.03)%比(0.38±0.05)%,P均<0.05]。手法治疗组4个月时则显著高于NGF治疗组[(0.50±0.03)%比(0.42±0.02)%,P<0.05]。(2)雪旺氏细胞S-100蛋白表达:手法治疗组在各时期均高于模型组[2周:(27.00±6.29)比(10.33±1.51),3周:(33.17±5.27)比(20.83±3.87),1个月(51.00±4.56)比(21.17±4.62),2个月:(75.83±9.66)比(30.67±3.27),4个月:(116.67±3.10)比(53.17±7.52),P均<0.05]。手法治疗组在1个月、2个月均高于NGF治疗组[1个月:(51.00±4.56)比(32.83±4.12),2个月:(75.83±9.66)比(47.00±5.06),P均<0.05]。结论推拿手法可以延缓周围神经损伤后骨骼肌萎缩、变性,促进损伤神经的修复。

3SPS－PRPS并联型机器人机构位置正解分析

本文提出由三支ＳＰＳ和一支ＰＲＰＳ运动链连接上下平台的并联型机器人机构的位置正解分析方法．以上平台顶点坐标为输出变量建立起几何约束方程组，通过消元推导出一元八次多项式的输入输出方程．

软腔体柔性机械臂的T-S模糊建模方法的研究

提出一种利用T-S模糊模型的柔性机械臂建模方法;柔性机械臂是一个高度复杂、高度非线性、高度耦合的非线性时变系统,而模糊模型本质上是一种非线性模型,可以任意精度逼近任何非线性系统;利用减法聚类算法离线辨识了T-S模型的前件参数,同时利用最小二乘法求得了T-S模型的后件参数;最后将模型的仿真结果和实验结果进行了对比分析,验证了模型的准确性;由此表明,柔性机械臂T-S模糊建模方法是有效的,它具有模糊模型的特点,可以任意精度逼近任何非线性系统,为柔性机械臂的模糊建模和下一步研究提供了理论指导及重要的前提条件。