Type Synthesis of Self-Alignment Parallel Ankle Rehabilitation Robot with Suitable Passive Degrees of Freedom

The current parallel ankle rehabilitation robot(ARR)suffers from the problem of difficult real-time alignment of the human-robot joint center of rotation,which may lead to secondary injuries to the patient.This study investigates type synthesis of a parallel self-alignment ankle rehabilitation robot(PSAARR)based on the kinematic characteristics of ankle joint rotation center drift from the perspective of introducing"suitable passive degrees of freedom(DOF)"with a suitable number and form.First,the self-alignment principle of parallel ARR was proposed by deriving conditions for transforming a human-robot closed chain(HRCC)formed by an ARR and human body into a kinematic suitable constrained system and introducing conditions of"decoupled"and"less limb".Second,the relationship between the self-alignment principle and actuation wrenches(twists)of PSAARR was analyzed with the velocity Jacobian matrix as a"bridge".Subsequently,the type synthesis conditions of PSAARR were proposed.Third,a PSAARR synthesis method was proposed based on the screw theory and type of PSAARR synthesis conducted.Finally,an HRCC kinematic model was established to verify the self-alignment capability of the PSAARR.In this study,93 types of PSAARR limb structures were synthesized and the self-alignment capability of a human-robot joint axis was verified through kinematic analysis,which provides a theoretical basis for the design of such an ARR.

Risk assessment of high-speed railway CTC system based on improved game theory and cloud model

Purpose-In order to solve the problem of inaccurate calculation of index weights,subjectivity and uncertainty of index assessment in the risk assessment process,this study aims to propose a scientific and reasonable centralized traffic control(CTC)system risk assessment method.Design/methodologylapproach-First,system-theoretic process analysis(STPA)is used to conduct risk analysis on the CTC system and constructs risk assessment indexes based on this analysis.Then,to enhance the accuracy of weight calculation,the fuzzy analytical hierarchy process(FAHP),fuzzy decision-making trial and evaluation laboratory(FDEMATEL)and entropy weight method are employed to calculate the subjective weight,relative weight and objective weight of each index.These three types of weights are combined using game theory to obtain the combined weight for each index.To reduce subjectivity and uncertainty in the assessment process,the backward cloud generator method is utilized to obtain the numerical character(NC)of the cloud model for each index.The NCs of the indexes are then weighted to derive the comprehensive cloud for risk assessment of the CTC system.This cloud model is used to obtain the CTC system's comprehensive risk assessment.The model's similarity measurement method gauges the likeness between the comprehensive risk assessment cloud and the risk standard cloud.Finally,this process yields the risk assessment results for the CTC system.Findings-The cloud model can handle the subjectivity and fuzziness in the risk assessment process well.The cloud model-based risk assessment method was applied to the CTC system risk assessment of a railway group and achieved good results.Originality/value-This study provides a cloud model-based method for risk assessment of CTC systems,which accurately calculates the weight of risk indexes and uses cloud models to reduce uncertainty and subjectivity in the assessment,achieving effective risk assessment of CTC systems.It can provide a reference and theoretical basis for risk management of the CTC system.

规划设计学中的调查分析法14—数量化Ⅰ类(Quantification Theory Type Ⅰ)

回归及重回归分析和预测,被广泛地应用于各个行业中。但是,有些相当于回归分析中的说明变数,不是数量数据,而是非数量数据,例如:影响入园人数的因素有星期(平日、休日)、天气状况(晴天、阴天、雨雪天等)、季节(春、夏、秋、冬)等。这些因素因为不是“量”的数据,所以不能用回归或重回归等方法进行分析和预测,但这种情况在规划设计的调查中经常出现,所以数量化Ⅰ类,可以帮助人们进行与回归分析和预测相同的分析,这是十分有效的一种分析方法。

Type Synthesis Method for the Translational Decoupled Parallel Mechanism Based on Screw Theory

Coupling is the significant characteristic of parallel mechanism,while it is just the coupling that brings about much difficulty for the configuration design,theoretical analysis and the development of the control system of the parallel mechanism. And recently,the research on the decoupled parallel mechanism becomes one of the research hot points in the mechanism fields. In this paper,a type synthesis method for the translational decoupled parallel mechanism( TDPM) is proposed based on the screw theory. To achieve the decoupling characteristics of the translational parallel mechanism,the translational decoupled criterion for type synthesis of the branches are presented in this paper. According to this criterion and the realization conditions of rotational degree of freedom of the mechanism proposed former,a large number of branches for the TDPM are obtained. Taking the three degrees of freedom( DOFs) TDPM as an example,the process of type synthesis is discussed in detail. Using this proposed type synthesis method,a serial of translational decoupled parallel mechanisms, including but not limited to all the existing typical 3-DOF TDPMs, are obtained, which identifies the correctness and effective of the method. The contents of this paper provide a reference and possess significant theoretical meanings for the synthesis and development of the novel decoupled parallel mechanisms.

Bianchi type I in f(T) gravitational theories

A tetrad field that is homogeneous and anisotropic which contains two unknown functions A（t） and B（t） of cosmic time is applied to the field equations of f（T）, where T is the torsion scalar, T = T~μ_（νρ）S_μ^（νρ）. We calculate the equation of continuity and rewrite it as a product of two brackets, the first is a function of f（T） and the second is a function of the two unknowns A（t） and B（t）. We use two different relations between the two unknown functions A（t） and B（t） in the second bracket to solve it. Both of these relations give constant scalar torsion and solutions coincide with the de Sitter one. So,another assumption related to the contents of the matter fields is postulated. This assumption enables us to drive a solution with a non-constant value of the scalar torsion and a form of f（T） which represents ΛCDM.

DEGREE THEORY FOR MULTIVALUED (S) TYPE MAPPINGS AND FIXED POINT THEOREMS

The main purpose of this paper is devoted to generalizing the results of Browder[1,2]This paper consists of four parts. In the first part, we introduce the concepts of multivalued (S) and (S), type mappings and the concepts of the limits of multivalued (S) and (S) + type mappings. These kinds of mappings contain many monotone type mappings, such as maximal monotone mapping, bounded pseudo-monotone mapping and bounded generalized pseudo-monotone mapping, as its special cases. In the second part we define the pseudo-degree for (S) type mapping and the degree for (S)+ type mapping. These two kinds of degrees are all the generalizations of the degree defined by Browder[1,2] As applications, we utilize the degree theory presented in part 2 to study the existence of solutions for the multivalued operator equations (see part 3) and to obtain some new fixed point theorems in part 4.

A Linguistic and Stylistic Analysis of the Chinese Translation of Obama's Speech at the First Meeting of the Strategic and Economic Dialogue between the United States and China——Through the Lens of Reiss' s Text Type Theory

According to Reiss’s Text Type theory,a key part of the functionalist approach in translation studies,the source text can be assigned to a text type and to a genre.In making this assignment,the translator can decide on the hierarchy of postulates which has to be observed during target-text production(Mona,2005).This essay intends to conduct a linguistic and stylistic analysis of the Chinese translation of Obama’s speech to explore the general approach of the translator(if there is one),by comparing the respective results of the two analyses from the perspective of Katharina Reiss’s Text Type theory.In doing so,critical judgments will accordingly be made as to whether such an approach is justifiable or not.

Group of Weakly Continuous Operators Associated to a Generalized Schrödinger Type Homogeneous Model

In this work, we prove the existence and uniqueness of the solution of the generalized Schrödinger type homogeneous model in the periodic distributional space P’. Furthermore, we prove that the solution depends continuously respect to the initial data in P’. Introducing a family of weakly continuous operators, we prove that this family is a group of operators in P’. Then, with this family of operators, we get a fine version of the existence and dependency continuous theorem obtained. Finally, we give some remarks derived from this study.

A DONNELL TYPE THEORY FOR FINITE DEFLECTION OF STIFFENED THIN CONICAL SHELLS COMPOSED OF COMPOSITE MATERIALS

A Donnell type theory is developed for finite deflection of closely stiffened truncated laminated composite conical shells under arbitrary loads by using the variational calculus and smeared-stiffener theory. The most general bending-stretching coupling and the effect of eccentricity of stiffeners are considered. The equilibrium equations, boundary conditions and the equation of compatibility are derived. The new equations of the mixed-type of stiffened laminated composite conical shells are obtained in terms of the transverse deflection and stress function. The simplified equations are also given for some commonly encountered cases.

Bianchi Type-V Cosmological Model with Linear Equation of State in Brans-Dicke Theory of Gravitation

A Bianchi type-V space time is considered with linear equation of state in the scalar tensor theory of gravitation proposed by Brans and Dicke. We use the assumption of constant deceleration parameter and power law relation between scalar field øand scale factor R to find the solutions. Some physical and kinematical properties of the model are also discussed.

Bianchi Type-IX Magnetized Dark Energy Model in Saez-Ballester Theory of Gravitation

The Bianchi type-IX cosmological model with variable ω has been studied in the scalar tensor theory of gravitation proposed by Saez and Ballester [Phys. Lett. A 113: 467, 1985] in the presence and absence of magnetic field of energy densityρb. A special law of variation of Hubble’s parameter proposed by Berman [Nuovo Cimento 74 B, 182, 1983] has been used to solve the field equations. The physical and kinematical properties of the model are also discussed.

Bianchi Type-II, VIII &IX Perfect Fluid Cosmological Models in Brans Dicke Theory of Gravitation

Field equations in the presence of perfect fluid distribution are obtained in a scalar tensor theory of gravitation proposed by Brans and Dicke[1] with the aid of Bianchi type-II, VIII & IX metrics. Exact prefect fluid Bianchi type- IX cosmological model is presented since other models doesn’t exist in Brans-Dicke scalar tensor theory of gravitation. Some physical properties of the model are also discussed.

Bianchi Type-I Anisotropic Universe with Metric Potential in Saez-Ballester Theory of Gravitation

Bianchi Type-I cosmological model in the presence of Saez-Ballester theory gravitation is studied. An exact solution of the field equation is given by considering the cosmological model yield a metric potential included with a real number. The relation between the deceleration parameter and Hubble parameter and average scale factor is used in that cosmological model. The effect of the viscosity on the entropy of the universe is utilized by energy momentum tensor with bulk viscous terms in a conservative manner. We obtained a formula for calculating the entropy of the universe in terms of viscosity and used it to compare to the study. Also, various physical and kinematical properties have been discussed.

气机升降理论内涵及不寐病辨证分型探讨

气机升降理论是“汉派李氏脑病流派”辨治不寐病的核心理论思想,基于气机升降理论将不寐病分为升降太过和升降不及两大类,根据气机运行的部位、气的多少、气机升降出入的不同形式将不寐病分为营卫不和型、脏腑气机失调型、阴阳不交型三大类型;每一类型又有各自不同亚型,共有卫阳虚不敛营阴证、卫气盛夜不入营阴证、卫气入于阴而日不得出于阳证、肝胆气机疏泄失调证、心肾气机上下相济失调证、脾升胃降枢机失调证、阳不入阴证、阳盛阴虚证、阴不潜阳证九种亚型,并表现出各自独有的临床特征。基于气机升降理论的辨证分型法补充完善了现阶段不寐病辨证分型类别,为临床诊治不寐病开拓了新思路。

隧道式锚碇的承载机理及夹持效应指标分析

为了衡量隧道锚夹持效应发挥作用的大小,本文通过分析隧道锚的承载特性,提出用隧道锚的夹持效应系数和峰值承载力作为夹持效应指标,并利用Mohr-Coulomb准则对二者的表达式进行了推导;对普立特大桥隧道锚进行了有限元分析,通过对其应力、塑性区等指标的分析来计算其夹持效应指标来对其适用性和准确性进行验证;对不同位移状态下的夹持效应系数进行分析,并结合位移、荷载、承载力和夹持效应系数对隧道锚的设计提出建议。研究结果表明:公式计算结果、有限元分析结果及现有研究结果间的误差小于10%,所得公式具有良好的适用性和准确性;在荷载不变的情况下,隧道锚的夹持效应系数随着承载力的减小而呈增大趋势,说明适当降低隧道锚的承载力有助于夹持效应发挥作用,隧道锚也更满足其保护环境、资源节约的特点。研究结果可为隧道锚的设计提供依据。

基于“筋骨平衡”理论针刺推拿疗法治疗椎动脉型颈椎病的临床观察

目的浅析椎动脉型颈椎病(cervical spondylotic vertebral arteriopathy,CSA)患者实施基于“筋骨平衡”理论针刺推拿疗法对其中医症状积分、颈性眩晕症状与功能评估量表(cervical vertigo symptom and function assessment scale,ESCV)评分、颈椎曲度及脑血流参数的影响。方法选择该院2019年12月—2021年12月就诊的CSA患者86例实施研究,随机数字表法分作观察组与对照组,各43例;其中对照组脱落2例,剔除1例,共完成40例;观察组脱落1例,剔除1例,共完成41例;对照组予以常规牵引疗法,观察组予以基于“筋骨平衡”理论针刺推拿疗法;比较两组治疗前与治疗后中医症状积分、ESCV评分、颈椎曲度及脑血流参数的变化,并对比两组疗效。结果治疗后,观察组中医症状积分皆显著低于对照组(P<0.05)。治疗后,观察组ESCV评分和颈椎曲度皆明显高于对照组(P<0.05)。治疗后,观察组椎底动脉及左、右椎动脉的Vs与Vd水平均显著高于对照组(P<0.05)。观察组总有效率显著高于对照组[95.12%(39/41)vs 80.00%(32/40),P<0.05]。结论基于“筋骨平衡”理论针刺推拿疗法对CSA患者疗效显著,有效改善中医症状积分、ESCV评分以及颈椎曲度,增强脑血流参数。

高职“理论+实践”型专业课分布式教学研究

“理论+实践”型课程是教育部人才培养工作状态数据采集平台中的一类课程,它在高职专业课程体系中占比高;优化“理论+实践”型课程教学安排,确保学生足额、真实参加实践,从而提高教学效果,意义重大。文章提出通过对“理论+实践”型课程采用“场所分布、理实交替”的分布式教学,解决当前教学场所单一带来的教学资源条件利用率不高、课程理论与实践教学不易监控、教学效果不佳等问题;通过完善专业教学进程计划表、增加“执行单位”栏,推动课程建设与实施向院外分布,有助于在适应市场变化的情况下优化专业设置,解决跨院系开设新专业和组建专业群的难题;通过课程专用教室建设,确保课程分布式教学顺利实施。

基于络病理论的辛香通络方治疗气滞血瘀型痛经的临床效果

目的评估自拟辛香通络方治疗气滞血瘀型痛经的临床效果。方法选取2021年12月至2022年12月收治的90例气滞血瘀型痛经患者为研究对象,随机将其分为辛香通络方组和对照组,各45例。辛香通络方组接受辛香通络方治疗,对照组接受散结镇痛胶囊治疗。比较两组的治疗效果。结果辛香通络方组的治疗总有效率为93.33%,明显高于对照组的77.78%,差异具有统计学意义(P<0.05)。结论辛香通络方治疗气滞血瘀型痛经效果显著,具有明显的优势。

基于ERK/p38 MAPK信号通路探究解毒活血汤治疗Ⅲ型前列腺炎的作用机制

目的探究解毒活血汤调控ERK/p38 MAPK信号通路治疗Ⅲ型前列腺炎的作用机制。方法采用去势手术+苯甲酸雌二醇(EB)诱导慢性前列腺炎大鼠模型。36只SD大鼠随机分为空白组(生理盐水,4 mL·kg^(-1))、模型组(生理盐水,4 mL·kg^(-1))、阳性药物对照组(前列康片混悬液,4 mL·kg^(-1))、解毒活血汤低(4 mL·kg^(-1))、中(8mL·kg^(-1))、高剂量组(12 mL·kg^(-1)),每组6只,所有实验动物连续给药30 d。苏木精-伊红(HE)染色观察各组大鼠组织病理学变化;免疫组化法、RT-PCR、Western Blot技术检测相关炎症因子及蛋白表达水平。结果与正常对照组相比,慢性前列腺炎大鼠前列腺组织增生及水肿明显、炎症浸润增加,而阳性药物对照组及解毒活血汤各剂量组大鼠前列腺组织病变减轻或消失、炎症浸润减少,且与解毒活血汤剂量成正比;免疫组化表示模型组p38、P-p38、STAT3、P-STAT3表达较高,阳性药物对照组、不同剂量解毒活血汤组的p38、P-p38、STAT3、P-STAT3表达呈下降趋势,且均低于模型组。RT-PCR结果显示阳性药物对照组及解毒活血汤低、中、高剂量组均能降低大鼠前列腺组织中TNF-α、IL-2、IL-6的表达水平;Western Blot检测提示大鼠疾病发生进展过程中p38、P-p38、P-ERK1/2、STAT3、P-STAT3呈高表达状态,解毒活血汤能够降低其表达,从而降低相关炎症因子的过度激活。结论解毒活血汤能够抑制ERK/p38 MAPK信号通路的过度激活,从而降低IL-2、IL-6、TNF-α等炎症因子的表达,以改善前列腺组织炎症反应。