Experimental Characterization of Operation of a Waist-Trunk System with Parallel Manipulators

An extensive research activity has been focused on the upper and lower limbs of humanoid robots. However, due to mechanical design difficulties and complex control of multi-body system, the torso of humanoid robot is somehow a neglected or simplified design part. In this paper, operation performance of a new waist-trunk system as torso for humanoid robots is presented through results of lab experimental tests. The proposed waist-trunk system is composed of two 3 DOFs （degrees of freedom） parallel manipulators, which are connected in a serial chain architecture. A prototype is built by using two prototypes of CaPaMan （Cassino Parallel Manipulator）, which are convenient stiff architectures with easy-operation characteristics. Experimental tests are carried out with the aims to imitate lateral-bending and transverse-rotation movements of human torso. Operation performances like displacements, accelerations, and actuation torque are measured for a performance evaluation and design characterization of the used manipulator solution imitating human torso. Experimental test results are illustrated and discussed to show the practical operation feasibility of the proposed architecture and the operation characteristics of the built prototype.

浅静脉干及其滋养血管放射自显影动物实验研究

目的 :探讨浅静脉干滋养血管在皮瓣成活中的作用。 方法 :在 6头白色家猪的腹部设计以腹壁浅静脉为轴 ,蒂在近心端的局部皮瓣 ,按静脉干的处理不同分成实验组 (皮瓣内包含浅静脉及其周围组织 )和对照组 (将浅静脉干及其周围0 .5 cm内的软组织在蒂部结扎后切断 )。用 99m Tc标记红细胞 ,然后 ECT检测分析。 结果 :术后 2 h实验组与对照组皮瓣蒂部出现少许散在性放射核素影像 ;术后 4h实验组皮瓣中远端出现放射性核素影像 ,而对照组仅蒂部影像增多 ,术后 6 h实验组皮瓣绝大部分区域出现放射性核素影像 ,对照组皮瓣远端始终未记录到放射性核素影像。 结论

树干注药法防治春尺蛾试验研究

为了有效防治春尺蛾,明确树干注药法对春尺蛾幼虫的防治效果,笔者选用5%啶虫脒乳油、40%氧乐果乳油、30%乙酰甲胺磷乳油和10%吡虫啉可湿性粉剂4种常用高效内吸传导性药剂,配置成不同浓度,采取树干打孔注药法进行防治春尺蛾幼虫药效试验。试验表明,树干打孔注射4种药剂对春尺蛾幼虫均有一定防治效果,40%氧乐果原液和30%乙酰甲胺磷原液防治效果最好,处理后3天、7天防治效果分别达到74.6%和75.33%、99.31%和100%,与其他药剂处理存在极显著差异。