Investigation of the Effect of the Force Arm on the Bending Capability of Prestressed Glulam Beam

Prestress enables the Glulam beam could make full use of the compression strength,and then increase the span,but it still could not reduce all drawbacks,such as cross-section weakening and small force arm.To avoid slotting and ensure suitable tension and compression couple,one kind of novel anchor has been proposed,which could meet the bearing capacity requirement.And then the bending test of prestressed Glulam beams with a geometric scale ratio of 1:2 was simulated,to investigate the effect of the force arm on bending capacities,failure modes,and deformation performance.Results show that increasing the force arm could improve the ultimate bending per-formance of the beam significantly,and the anchor arm length has a certain effect on the performance,but it is not obvious.Finally,based on Finite element method analysis,the practice design suggestions have been offered.

Rationale and design of the cardiorespiratory fitness and hospitalization events in armed forces study in Eastern Taiwan

AIM To investigate the association between cardiorespiratory fitness and hospitalization events in a cohort of large voluntary arm forces in Taiwan. METHODS The cardiorespiratory fitness and hospitalization events in armed forces(CHIEF) is a retrospective cohort consisting of more than 4000 professional military members aged 18-50 years in Eastern Taiwan. All participants received history taking, physical examination, chest radiography, 12-lead electrocardiography, blood tests for cell counts and fasting glucose, lipid profiles, uric acid, renal function and liver function in the Hualien Armed Forces General Hospital during 2014. In addition, participants were required to undergo two indoor resistant exercise tests including 2-min push-up and 2-min sit-up, both scored by infrared sensing, and one outdoor endurance 3000-m none weight-bearing running test, the main indicator of cardiorespiratory fitness in the Military Physical Training and Testing Center in Eastern Taiwan in 2014. RESULTS Hospitalization events for cardiovascular disease, acute kidney injury, rhabdomyolysis, severe infectious disease, acute psychiatric illness, diabetes, orthopedic surgery and mortality will be identified in the National Insurance Research Database for 10 years. CONCLUSION CHIEF will be among the largest Eastern Asian armed forces cohort, in which physical status was strictly evaluated to follow up the hospitalization events for severe illness.

Stigma and its impact on the families of former soldiers of the German Armed Forces: An exploratory study

Background: Military families who have a family member with a mental illness see themselves confronted with many demands. Stigmatization is one of these challenges. Stigmatization affects not only the individual who suffers from a mental illness but also other family members via stigma by association and vicarious stigma. Stigma by association occurs when mental illness stigma spills over to individuals associated with an individual with a mental illness. Vicarious stigma describes the suffering of family members when they note the impact of stigma on their relative with mental illness. As a societal phenomenon, stigma plays out in social interactions and might therefore influence the social networks of families. It is also associated with healthcare utilization.Methods: Narrative interviews were conducted with 15 family members(partners, spouses, parents and children) of former soldiers of the German Armed Forces with a service-induced mental illness. The transcribed interview data were analyzed using a thematic analysis approach, in which codes were formed and emerging themes were systemized. Relationships between stigma, the families’ reactions to it, its effects on their social relationships and its interference with their healthcare utilization were analyzed.Results: This study provides a detailed description of how relatives of former German soldiers with mental health problems experience stigma by association and vicarious stigma. Their perceptions are shown in a model that describes stigma-related attitudes, reactions to them and their effects on the social relationships of former soldiers’ families. These families felt stigmatized because of the former soldiers’ mental illness(mental illness stigma) and the military context in which it occurred(former soldier stigma). They reacted with nondisclosure, anger, acceptance and self-blame. Stigma was associated with smaller and weaker social networks that were characterized by social exclusion, self-segregation and conflicts with extended family, friends and colleagues. Stigma also affected the families’ healthcare utilization.Conclusions: Urgently needed anti-stigma campaigns, particularly in the civilian context, should address the stigmatization of both mental illness and the military participation of the families affected. They should consider the needs of both former soldiers with a mental illness and their families.

The Swiss Public Opinion Towards the Tasks of the Swiss Armed Forces and the Constitutional Role

After the Cold War, all European armed forces have transformed to be prepared for the new geopolitical environment and have taken new tasks. Since then, the European armed forces are more active in international conflict management. Whereas most of the European states have suspended the conscription, the Swiss Armed Forces still hold on conscription. However, the Swiss Armed Forces have changed also. The reform ＂Armee 95＂ in 1995 and the reform ＂Armee XXI＂ in 2004 have transformed the Swiss Armed Forces and extended their range of tasks. Which of these tasks are legitimated by the Swiss population？ To answer this question, the Swiss population had been interviewed about the tasks of the Swiss Armed Forces as part of the study ＂Sicherheit 2016＂. The tasks which the Swiss population mentioned are displayed in this paper with regard to the transformation process classified and discussed. The evaluation shows that 93% of the interviewees have named one of Switzerland＇s constitutional duties （defense, support of the civilian authorities, and promotion of peace within an international context） as the most important task of the Swiss Armed Forces. Mainly the national defense order and the subsidiary support of the civilian authorities are approved by the Swiss population.

The effects of 12 weeks of functional strength training on muscle strength,volume and activity upon exposure to elevated Gz forces in high-performance aircraft personnel

Background:Technological advancements in modern military and acrobatic jet planes have resulted in extraordinary psychophysiological loads being exerted upon flying personnel,including inducing neck and back pain.The purpose of this study was to examine the effects of 12 weeks of functional strength training on 1)the volume and strength of the neck and shoulder muscles and 2)muscular activity upon exposure to helmets of different masses and elevated Gz forces in a long-arm centrifuge in high-performance aircraft personnel.Methods:Eighteen participants underwent 12 weeks of functional strength training(n=12)or the control protocol(n=6)without additional strength training.Pre-and post-intervention tests included evaluations of isometric strength of the head extensor muscles,flexion,and lateral flexion and rotation,as well as magnetic resonance imaging(MRI)to measure the volume of the m.sternocleidomastoideus,m.trapezius,and deep neck muscles.Furthermore,during a long-arm centrifuge(+1.4 and+3Gz)protocol,the muscular activity levels of the m.sternocleidomastoideus,m.trapezius and m.erector spinae muscles were assessed without a flight helmet,with a helmet,and with a helmet and night vision goggles.Each participant’s perception of muscular strain was noted immediately after the long-arm centrifuge protocol.Results:The maximal isometric strength in all exercises and muscle volumes increased in the training group but not the control group(P<0.05).Relative muscle activity(%MVC)with a helmet decreased after the intervention in the training but not the control group(P=0.01).Relative muscle activity while wearing a helmet and night vision goggles was higher after intervention in the control group than in the training group(P<0.01).The perceived muscular strain of the neck muscles induced by the long-arm centrifuge did not differ between the groups.Conclusions:Twelve weeks of functional strength training improves the maximal isometric strength and volume of neck and shoulder muscles and leads to lower relative muscle activation upon exposure to elevated Gz forces in a long-arm centrifuge.

Umbilical cord mesenchymal stem cell transplantation for the treatment of Duchenne muscular dystrophy

Due to their relative abundance,stable biological properties and excellent reproductive activity,umbilical cord mesenchymal stem cells have previously been utilized for the treatment of Duchenne muscular dystrophy,which is a muscular atrophy disease.Three patients who were clinically and pathologically diagnosed with Duchenne muscular dystrophy were transplanted with umbilical cord mesenchymal stem cells by intravenous infusion,in combination with multi-point intramuscular injection.They were followed up for 12 months after cell transplantation.Results showed that clinical symptoms significantly improved,daily living activity and muscle strength were enhanced,the sero-enzyme,electromyogram,and MRI scans showed improvement,and dystrophin was expressed in the muscle cell membrane.Hematoxylin-eosin staining of a muscle biopsy revealed that muscle fibers were well arranged,fibrous degeneration was alleviated,and fat infiltration was improved.These pieces of evidence suggest that umbilical cord mesenchymal stem cell transplantation can be considered as a new regimen for Duchenne muscular dystrophy.

The Human Ankle-Foot Complex as a Multi-Configurable Mechanism during the Stance Phase of Walking

The objective of this study is to investigate the biomechanical functions of the human ankle-toot complex during the stancephase of walking. The three-dimensional (3D) gait measurement was conducted by using a 3D infrared multi-camera system anda force plate array to record the Ground Reaction Forces (GRF) and segmental motions simultaneously. The ankle-foot complexwas modelled as a four-segment system, connected by three joints: talocrural joint, sub-talar joint and metatarsophalangeal joint.The subject-specific joint orientations and locations were determined using a functional joint method based on the particleswarm optimisation algorithm. The GRF moment arms and joint moments acting around the talocrural and sub-talar joints werecalculated over the entire stance phase. The estimated talocrural and sub-talar joint locations show noticeable obliquity. Thekinematic and kinetic results strongly suggest that the human ankle-foot complex works as a mechanical mechanism with twodifferent configurations in stance phase of walking. These lead to a significant decrease in the GRF moment arms therebyincreasing the effective mechanical advantages of the ankle plantarflexor muscles. This reconfigurable mechanism enhancesmuscle effectiveness during locomotion by modulating the gear ratio of the ankle plantarflexor muscles in stance. This studyalso reveals many factors may contribute to the locomotor function of the human ankle-foot complex, which include not only itsre-configurable structure, but also its obliquely arranged joints, the characteristic heel-to-toe Centre of Pressure (COP) motionand also the medially acting GRF pattern. Although the human ankle-foot structure is immensely complex, it seems that itsconfiguration and each constitutive component are well tuned to maximise locomotor efficiency and also to minimise risk ofinjury. This result would advance our understanding of the locomotor function of the ankle-foot complex, and also the intrinsicdesign of the ankle-foot musculoskeletal structure. Moreover, this may also provide implications for the design of bionicprosthetic devices and the development of humanoid robots.

NOVEL 6-DOF WEARABLE EXOSKELETON ARM WITH PNEUMATIC FORCE-FEEDBACK FOR BILATERAL TELEOPERATION

A particular emphasis is put on a novel wearable exoskeleton arm, ZJUESA, with 6 degrees of freedom, which is used for the robot teleoperation with the force-feedback in the unknown environment. In this external structure mechanism, the 3-revolution-prismatic-spherical （3RPS） parallel mechanism is devised from the concept of the human upper-limb anatomy and applied for the shoulder 3-DOF joint. Meanwhile, the orthogonal experiment design method is introduced for its optimal design. Aiming at enhancing the performance of teleoperation, the force feedback is employed by the pneumatic system on ZJUESA to produce the vivid feeling in addition to the soft control interface. Due to the compressibility and nonlinearity of the pneumatic force feedback system, a novel hybrid fuzzy controller for the precise force control is proposed and realized based on the Mega8 microcontroller units as the units of the distributed control system on ZJUESA. With the results of several experiments for master-slave control with force feedback, the feasibility of ZJUESA system and the effect of its hybrid fuzzy controller are verified.

End Point Force Control of a Flexible Timoshenko Arm

This paper discusses a force control problem for a flexible Timoshenko arm. The effect of shear deformation and the effect of rotary inertia are considered in Timoshenko beam theory. Most of the research about force control of the flexible arm is based on Euler Bernoulli beam theory. There are a few researches about force control of the flexible arm using Timoshenko beam theory. The aim of the force control is to control the contact force at the contact point. To solve this problem, we propose a simple controller using Timoshenko beam theory. Finally, we describe simulation results using a numerical inversion of Laplace transform carried out to investigate the validity of the proposed controller for the force control problem. The results of the time response show the transverse displacement, the angle of deflection, the slider position, the rotational angle and the contact force toward the desired their values.

The Influence of the Gentry on Rural Political Construction

Based on some former studies of Chinese rural society, this paper summerizes the achievements and limitations of general Chinese rural studies and then proposes a social operation model in rural areas which is dominated by the squires. It uses some specific historical data and discoveries of feild sduty to further examine the profound influence of the squires on rural politcal construction in three different aspects： the model of clan and religion, the role as inter-mediator and the growth of basic armed forces. The study found that this special social group played a center role in Chinese rural political system from ancient to modem times, particularly, the research considers the decline of the squire society since the establishment of the new government in 1949. In the end, this paper points out the cultural guiding significance of this social model in the study to the rural construction in contemporay China by predicting the possiblity of renaissance

Study on a 7-DOF anthropomorphic weld arm

A kind of new obstacle space expression is proposed in this paper, in which a virtual force field (VFF) is built. Using the torque and joint optimization acted by the virtual force field on the anthropomorphic weld arm, the real-time selection of a redundant join (R-joint) is done and its equivalent virtual torque is obtained, thus the redundant joint can be controlled with whose force feedback. An inverse kinematics solution of a 6-DOF robot is applied to other six joints of the arm. Simulation experiments indicate the new inverse kinematics solution has perfect collision avoidance effect, and it is well simplified. Therefore, it can be applied to a welding task in complex operation space.

基于改进粒子群算法的机械手抓取力自整定模糊PID控制

为提高欠驱动机械手在易碎零件分拣过程中的稳定性,通过改进粒子群算法,给出一种优化其抓取性能的模糊PID控制算法。首先,分析欠驱动机械手抓取力控制系统的特性,提出粒子群算法与模糊PID抓取力控制系统相结合的具体策略。其次,将动态惯性权重等方法引入粒子群算法中,以提高其迭代速度并防止其陷入局部最优。在此基础上,利用改进后的粒子群算法优化模糊PID控制器的相关参数,实现了对模糊规则权重及量化因子的在线自整定,解决了PID参数无法动态调整的问题。最后,对其进行仿真分析。结果表明:该控制算法可以在0.8 s内达到稳定抓取力,稳态误差小于0.2%,扰动整定时间为0.262 s,系统的瞬态响应速度、控制精度以及稳定性均有明显提高。

5-DOF上肢康复机械臂交互式康复训练控制策略

设计一种5-DOF穿戴式偏瘫上肢康复机械臂系统,提出被动和主动两阶段的交互式康复训练控制策略。在被动训练中,根据偏瘫患者上肢单侧受损的特点,提取偏瘫患者的健侧上肢4块肌肉的表面肌电信号(Surface electromyogram,sEMG)作为康复机械臂的控制信号,利用AR参数模型和BP神经网络来理解患者的运动意图,驱动机械臂辅助患侧上肢实现特定的康复训练动作。在主动训练中,通过实时获取各关节力矩信号来判断人体上肢的运动所产生的作用力方向与大小,并利用比例控制器和运动学雅可比逆矩阵控制康复臂末端速度、驱动各关节运动。试验结果证明了提出方法的正确性和有效性。

预测抓握力和振动传递的手-臂系统生物动力学模型

针对手-臂的振动问题,提出了一种手-臂混合模型来计算不同抓握力下叉车方向盘传递给手-臂的振动。该模型由肩膀、上臂、前臂和手组成,通过具有刚度和阻尼的关节连接。手部模型包含手掌和五个手指,每个手指的远端、近端和掌指端通过旋转关节相互连接,在手指关节上施加力矩来模拟抓握手柄时的主动肌肉力。通过调整模型材料参数以匹配手和手臂在抓握手柄时的接触压力和振动。将标定后的模型应用于某叉车方向盘对手臂系统振动传递率进行预测,结果表明所建立的考虑抓握力和手与手柄接触条件的模型能够预测车辆驾驶员手臂系统的振动传递。

基于力引导的空间舱外双臂机器人遥操作同步过程优化

为提高空间舱外双臂机器人遥操作同步过程中操作效率,提出了一种基于力引导的遥操作同步过程优化方法。通过改进的蒙特卡洛法对双臂机器人协作的工作空间进行分析,提出了一种最优协作位置预测方法,并通过力引导方式,辅助引导遥操作双臂到达最优协作位置。实验结果表明:相比于只有视觉反馈的遥操作过程,同步过程优化后到达同步工作状态的时间减少了84.26%,同步过程通过的路径长度缩短了35.43%;对比运动学引导方法,各项指标方差更小,稳定性更强。

基于虚拟力反馈的7-DOF仿人臂逆运动学求解方法

提出一种新型障碍空间描述法。利用其构成的虚拟力场对仿人臂产生的扭矩及关节优化 ,实时选择一个冗余关节并求等效虚拟扭矩 ,以其构成力反馈控制该冗余关节。将 6自由度逆运动学解法用于仿人臂其余 6个关节。仿真试验结果表明 ,这种新型逆运动学解法具有理想的避障效果 ,同时简化了逆动力学的求解 。

统战工作与中共东江抗日武装的发展(1938—1940)

华南抗战初期,中共东江抗日武装能在远离中共中央、缺乏武装基础的条件下迅速崛起,与中共在此期间对国民党当局所开展的统战工作密不可分。统战工作一方面推动了东江部队的发展,另一方面也使一些中共干部独立自主领导武装的意识受到削弱。反共高潮蔓延至广东后,国共之间原有的合作关系逐渐被打破。中共东江抗日武装曾努力维护与国民党方面的统战关系,但最终在国民党军的围攻下被迫东移海陆丰。中共在东移中虽遭受严重损失,但也推动着部队对此前的统战工作进行反思,并最终放弃与国民党军的原有关系,确定了在东江敌后开展独立自主的抗日游击战争路线。

概率预测强化学习下非结构环境机械臂变阻抗力跟踪控制

针对非结构环境下末端实时移动机械臂阻抗控制力跟踪问题,通过动态调节阻尼系数以应对接触环境的不确定性。为确保阻抗策略的高效搜索,利用机械臂与接触环境交互产生状态-动作序列构建概率预测模型(PPM)。学习过程中,机械臂仅需与非结构接触环境进行少量交互即可获得最优变阻抗策略,这使得该过程在真实机械臂上直接训练成为可能。仿真实验表明,在几种非结构环境下,所提出的方法使力跟踪动态和稳态性能均明显优于传统阻抗控制和自适应变阻抗控制。

基于自抗扰控制的机械臂末端力/位置控制

针对机械臂末端力/位置控制问题,提出一种基于自抗扰控制(ADRC)的间接力/位置混合阻抗控制方案,将间接力/位置混合控制与阻抗控制相结合,在机械臂未与环境接触时采用位置控制,在与环境接触后切换为间接力控制,并体现出阻抗特性。该方案将混合阻抗控制与ADRC相结合,根据机械臂与环境接触时的阻抗模型建立ADRC控制器,并将阻抗参数视为系统总扰动的一部分,利用扩张状态观测器进行估计补偿,实现在无需计算阻抗参数的情况下使间接力/位置混合阻抗控制器在面对扰动时有较好的稳定性和鲁棒性。完成二自由度机械臂模型的仿真,并与传统阻抗控制器进行了比较,结果验证了所提出的基于ADRC的间接力/位置混合阻抗控制方案的有效性。

基于机器视觉与力控的发动机弯管焊缝自动化打磨系统研究

某系列尺寸不一的弯管由2部分在中间对焊而成,目前多采用人工方式进行弯管内壁焊缝的打磨,存在打磨质量与标准不一、效率低和劳动强度大等问题。为此,设计并实现了一种基于机器视觉技术和力控的发动机弯管焊缝自动化打磨系统。利用工业相机模组正对弯管两侧端面并拍摄图像,经图像处理算法处理计算得到弯管两侧端面焊缝起始位置坐标。机械臂根据该坐标调整打磨轨迹并搭载浮动主轴,保持打磨力的恒定并对焊缝不规则区域进行补偿,实现基于位置控制和力控的打磨自适应调整。试验结果表明,系统整体打磨合格率为96.03%,相比人工打磨效率提升95.90%。系统可以在较少人工的参与和干预下完成弯管焊缝的自动化打磨,具有良好的稳定性和使用柔性,并且允许弯管存在一定的变形。