我的长“手臂”

我用力一挥球拍，“啪”，羽毛球在接拍上一弹，径直往天上蹿，哈哈，看妈妈怎么接我的球，

Assembly fabrication of linkers on glass surface and their effect on DNA synthesis and hybridization

Linkers were assembled on a glass surface based on the hydrolysis and condensation of 3-glycidoxy￣propyltrimethoxysilane (GPS). After the assembly of GPS, four approaches were tried to open the ending epoxide group of GPS or to further elongate the linkers. The effect of these approaches on DNA in situ synthesis and hybridization was investigated. For the spacing of the synthesis initiation sites, the wettability of the support and the length of the linking group that attaches the initiation site to the surface have direct influences on the yield of coupling reactions and the subsequent hybridization events. X-ray photoelectron spectroscopy (XPS) and mean contact angles of deionized water of the above slides were measured to assess the linker's characteristics in each procedure. It was proved that the glass slides were successfully modified and became excellent supports for the oligonucleotides synthesis. In addition, it proved best for the in situ oligonucleotides synthesis that a glass slide was in turn treated with ethylenediamine, glutaradehyde, ethanolamine and sodium borohydride solution at ambient temperature after silanized with GPS.

Karyotypic evolution in family Hipposideridae (Chiroptera, Mammalia) revealed by comparative chromosome painting, G- and C-banding

Comparing to its sister-family （Rhinolophidae）, Hipposideridae was less studied by cytogenetic approaches. Only a few high-resolution G-banded karyotypes have been reported so far, and most of the conclusions on the karyotypic evolution in Hipposideridae were based on conventional Giemsa-staining. In this study, we applied comparative chromosome painting, a method of choice for genome-wide comparison at the molecular level, and G- and C-banding to establish comparative map between five hipposiderid species from China, using a whole set of chromosome-specific painting probes from one of them （Aselliscus stoliczkanus）. G-band and C-band comparisons between homologous segments defined by chromosome painting revealed that Robertsonian translocations, paracentric inversions and heterochromatin addition could be the main mechanism of chromosome evolution in Hipposideridae. Comparative analysis of the conserved chromosomal segments among five hipposiderid species and outgroup species suggests that bi-armed chromosomes should be included into the ancestral karyotype of Hipposideridae, which was previously believed to be exclusively composed of acrocentric chromosomes.

ADAPTIVE FUZZY CONTROL FOR ROBOT ARM MANIPULATOR WITH 5-DOF

To control the robot and track the designed trajectory with uncertain disturbances in a specified precision range, an adaptive fuzzy control scheme for the robot arm manipulator is discussed. The controller output error method （COEM） is used to design the adaptive fuzzy controller. A few or all of the parameters of the controller are adjusted by using the gradient descent algorithm to minimize the output error. COEM is adopted in the adaptive control system for the robot arm manipulator with 5-DOF. Simulation results show the effectiveness of the method and the real time adjustment of the parameters.

Principles of the roof cut short-arm beam mining method (110 method) and its mining-induced stress distribution

Since the 1960 s, mining science and technology in China has experienced two technical innovations, i.e.the ‘‘Masonry Beam Theory(MBT)" and ‘‘Transfer Rock Beam Theory(TRBT)". Based on those theories, the conventional mining method(being called the 121 mining method) was established, consisting of excavating two tunnels with a pillar left for mining a working panel. However, with increasing mining depth,engineering geological disasters in the underground caverns have been frequently encountered. In addition, the use of the coal-pillar mining results in a large amount of coal resources unexploited. In order to address the problems above, the ‘‘Roof Cut Short-Arm Beam Theory(RCSBT), being called the 110 mining method)" was proposed by He Manchao in 2008. The 110 mining method features the mining of one coal seam panel, excavating necessarily only one roadway tunnel and leaving no pillars. Realization of the 110 mining method includes the following steps:(1) directional pre-splitting roof cutting,(2) supporting the roof by using high Constant Resistance Large Deformation bolt/cable(CRLD), and(3) blocking gangue by hydraulic props. This paper presents an overview of the principles, techniques and application of the 110 mining method. Special emphasis is placed on the numerical simulation of the geostress distribution found in the mining panel using the 110 method compared to that of the 121 method. In addition, the stress distribution on the ‘‘short beam" left by the roof cutting when performing the 110 method was also investigated using both numerical simulation and theoretical formulation.

Effects of core and non-dominant arm strength training on drive distance in elite golfers

Background： Various training schemes have sought to improve golf-related athletic ability. In the golf swing motion, the muscle strengths of the core and arms play important roles, where a difference typically exists in the power of arm muscles between the dominant and non- dominant sides. The purposes of this study were to determine the effects of exercises strengthening the core and non-dominant arm muscles of elite golf players （handicap 〈 3） on the increase in drive distance, and to present a corresponding training scheme aimed at improving golf performance ability. Methods： Sixty elite golfers were randomized into the control group （CG, n = 20）, core exercise group （CEG, n = 20）, and group receiving a combination of muscle strengthening exercises of the non-dominant arm and the core （NCEG, n = 20）. The 3 groups conducted the corresponding exercises for 8 weeks, after which the changes in drive distances and isokinetic strength were measured. Results： Significant differences in the overall improvement of drive distance were observed among the groups （p 〈 0.001）. Enhancement of the drive distance of NCEG was greater than both CG （p 〈 0.001） and CEG （p = 0.001）. Except for trunk flexion, all variables of the measurements of isokinetic strength for NCEG also showed the highest values compared to the other groups. Examination of the correlation between drive distance and isokinetic strength revealed significant correlations of all variables except trunk flexion, wrist extension, and elbow extension. Conclusion： The combination of core and non-dominant arm strength exercises can provide a more effective specialized training program than core alone training for golfers to increase their drive distances.

A novel 5-DOF exoskeletal rehabilitation robot system for upper limbs

A novel 5-DOF exoskeletal rehabilitation robot for upper limbs of hemiplegic patients caused by stroke is proposed in this paper. Its hardware structure is introduced and the control methods are ana- lyzed. To implement intelligent and interactive rehabilitation exercises, motion intention of patients＇ up- per limb is introduced into control methods of rehabilitation exercises. In passive motions, according to the character of unilateral impaired, multi-channels surface electromyogram （sEMG） signals of patients＇ healthy arm muscles are acquired and analyzed to recognize the upper limb motions, then drive the robot and assist paralysis ann＇s rehabilitation exercises. In active-resistant motions, because patients are re- covered with some muscle forces and active motion ability after a rehabilitation period, the terminal force loaded on the robot by an impaired arm are estimated with multi-channel joint torque sensors, according to which, the terminal velocity of the robot is controlled to drive the joint motions with a damp controller.

An effective algorithm for needle tip displacement compensation in robot-assisted percutaneous surgery

This paper presents an automatic compensation algorithm for needle tip displacement in order to keep the needle tip always fixed at the skin entry point in the process of needle orientation in robot-assisted percutaneous surgery. The algorithm, based on a two-degree-of-freedom （2-DOF） robot wrist （not the mechanically constrained remote center of motion （RCM） mechanism） and a 3-DOF robot ann, firstly calculates the needle tip displacement caused by rotational motion of robot wrist in the arm coordinate frame using the robotic forward kinematics, and then inversely compensates for the needle tip displace- ment by real-time Cartesian motion of robot arm. The algorithm achieves the function of the RCM and eliminates many mechanical and virtual constraints caused by the RCM mechanism. Experimental result demonstrates that the needle tip displacement is within 1 inm in the process of needle orientation.

HIT anthropomorphic robotic hand and finger motion control

Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.

Growth and maturity of Chiromantes dehaani in the Dazhi River estuary

Chiromantes dehaani, as one of the dominant species in intertidal regions of the Yangtze estuary, plays an important role in the ecosystem. To study allometry and maturity in different phases, morphological data had been collected from October in 2009 to September in 2010. Morphologic data such as carapace, cheliped and abdomen were processed by cluster and piecewise linear regression analyses. Discriminat function and logistic curves were built to determine different phases and sizes at 50% maturity, respectively. The results showed that the cheliped width in males and abdomen width in females both presented obvious allometry. The sizes of 50% morphometric maturity occurred at 16.36 mm and 18.22 mm carapace width in males and females, respectively. The life history of males could be divided into three phases while that of females only had two phases according to different growth rates. A significant change in allometry of juvenile males with a break point was detected at 11.78 mm carapace width; carapace width of juvenile and adult females overlapped in a range of 13.04 - 18.64 mm. The crabs attained 50% physiological maturity at the size of 17.50 mm and 17.20 mm for females and males, respectively. For male, the size of morphological maturity was larger than that of physiological maturity, which was opposite to that of female.

Fuzzy Logic Control of a Robotic Manipulator for Obstacles Avoidance

This work presents a Fuzzy Logic Controller （FLC） assigned to control a robotic arm motion while avoiding the obstacles that may face the robotic arm in its movement from the initial point to the final point in an optimized manner, in addition to avoid the singularity phenomenon, and without any exceeding of the physical constraints of the robot arm. A real platform （5 DOF ＂Degree Of Freedom＂ Lab Volt 5150 Robotic Arm） is used to carry this work practically, in addition to providing it by a vision sensor, where a new approach is proposed to inspect the robot work environment using a designed integrated MATLAB program having the ability to recognize the changeable locations of each of the robotic arm＇s end-effector, the goal, and the multi existed obstacles through a recorded film taken by a webcam, then these information will be treated using the FLC where its outputs represent the values that must be delivered to the robot to adopt them in its next steps till reaching to the goal in collision-free movements. The experimental results showed that the developed robotic ann travels successfully from Start to Goal where a high percentage of accuracy in arriving to Goal was achieved, and without colliding with any obstacle ensuring the harmonization between the theoretical part and the experimental part in achieving the best results of controlling the robotic arm＇s motion.

Mechanism Design of Palletizing Robot Based on Translating Cam Principle

Palletizing robot technology has been applied more and more extensively in logistics automation field.But there are some limitations in the current single-arm palletizing robot that it cannot do effective work in the process of moving back to the taking-end and the mechanical arm has so many freedoms that its control system is relatively complex.Based on the translating cam principle,a novel palletizing robot is designed.The horizontal movement of the palletizing mechanical arm is controlled by changeable outer slides,and the vertical movement is controlled by partitioned up-and-down spindles.To improve palletizing efficiency,the single palletizing mechanical arm is changed into multi-arm.Moreover,to improve its kinematic properties,the acceleration operating performance,joint driving force and palletizing trajectory are optimized through the multi-objective delaminating sequence method.According to the optimization results,the 3D model of the multi-arm palletizing robot is built in Pro/E,and the kinematic simulation is made.The simulation results show that the novel mechanism and optimization parameters are rational and feasible.This novel palletizing robot has the advantages of cam mechanism,so it simplifies the driving mode of palletizing movement and can lower the requirements for controlling system.At the same time,it can increase palletizing efficiency further by adding mechanical arms.

System design of a dexterous lightweight robot arm with remote control

This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.

Development of a Multi-DOF Robotic Controller for Academic Purposes

This article presents the development of a robotic controller for technical training, academic teaching, and research. The controller was designed to interact from 1 to 6 DOF （degrees of freedom） serial robotic arms, actuated by brushed DC （direct current） servomotors equipped with incremental encoders. Controller architecture is based on four components： a processor, a reconfigurable FPGA （field-programmable gate array）, measurement I/O hardware and software. Functionality of the robotic controller has been proved by means of the interaction with an SCARA （selective compliance assembly robot arm）. The proposed controller presents the potential to teach technical courses （like robotics, control, electronics and programming） and to implement and validate advanced control algorithms.

Shop-Floor Controller Based on RT-Middleware Technology

Nowadays the flexible configuration of manufacturing cells becomes to an important requirement especially at small and medium sized companies. This method can make the production fast and effective at small series or frequent manufacturing changes. The shop-floor control method, presented in this paper, offers a solution for the facing problem of fast and easy reconfiguration. The hardware of the controller designed modular with software components for online configuration. This solution allows sensor integration on different levels for every part of the manufacturing cell. With unified programming language and the machine specific controllers （post-processing） the cells can be defined easily by different types of human-machine interaction. The shop-floor control architecture is implemented and validated on an Adept SCARA （selective compliance assembly robot arm） robot. The robot is driven by standalone, low-level, interchangeable, software and hardware components.

Effects of sexual reproduction of the inferior competitor Brachionus calyciflorus on its fitness against Brachionus angularis

Sexual reproduction adversely affects the population growth of cyclic parthenogenetic animals. The density-dependent sexual reproduction of a superior competitor could mediate the coexistence. However, the cost of sex may make the inferior competitor more vulnerable. To investigate the effect of sexual reproduction on the inferior competitor, we experimentally paired the competition of one Brachionus angularis clone against three Brachionus ealyciflorus clones. One of the B. calyciflorus clones showed a low propensity for sexual reproduction, while the other two showed high propensities. The results show that all B. calyciflorus clones were excluded in the competition for resources at low food level. The increased food level promoted the competition persistence, but the clones did not show a clear pattern. Both the cumulative population density and resting egg production increased with the food level. The cumulative population density decreased with the mixis investment, while the resting egg production increased with the mixis investment. A trade-off between the population growth and sexual reproduction was observed in this research. The results indicate that although higher mixis investment resulted in a lower population density, it would not determinately accelerate the exclusion process of the inferior competitor. On the contrary, higher mixis investment promoted resting egg production before being excluded and thus promised a long- term benefit. In conclusion, our results suggest that mixis investment, to some extent, favored the excluded inferior competitor under fierce competition or some other adverse conditions.

CLINICAL OBSERVATION ON 219 CASES OF ARM-NUMBNESS TREATED BY ACUPUNCTURE AT THE EXPERIENTIAL POINT BILING

The authors found an experiential point, called ’Biling (臂灵)’, in the treatment of arm-numbness due to various causes. 219 cases of patients were thus treated with good therapeutic effect as reported in the following.

Application of camera calibrating model to space manipulator with multi-objective genetic algorithm

The multi-objective genetic algorithm(MOGA) is proposed to calibrate the non-linear camera model of a space manipulator to improve its locational accuracy. This algorithm can optimize the camera model by dynamic balancing its model weight and multi-parametric distributions to the required accuracy. A novel measuring instrument of space manipulator is designed to orbital simulative motion and locational accuracy test. The camera system of space manipulator, calibrated by MOGA algorithm, is used to locational accuracy test in this measuring instrument. The experimental result shows that the absolute errors are [0.07, 1.75] mm for MOGA calibrating model, [2.88, 5.95] mm for MN method, and [1.19, 4.83] mm for LM method. Besides, the composite errors both of LM method and MN method are approximately seven times higher that of MOGA calibrating model. It is suggested that the MOGA calibrating model is superior both to LM method and MN method.

Double floating arm injury in a child： a case report and review of the literature

The combination of ipsilateral humeral fractures at three different levels namely proximal, shaft and supracondyle has been rarely defined in the literature. We present a case report on such a complex injury in a 10-year- old child after falling down from the second floor of his house while playing. To the best of our knowledge, no such case report exists in the English literature. We define it as ＂double floating arm＂ injury. Firstly, shaft of humerus was open reduced and fixed with 4.5 mm narrow dynamic com- pression plate. Then closed reduction and pinning of the supracondylar humerus under an image intensifier was obtained. Open reduction using deltopectoral approach to the proximal humerus was done and the fracture was fixed with three K-wires. Ipsilateral multiple fractures in children often result from high energy trauma. Immediate reduction and fixation is required. Usually surgeons need to treat simple fractures firstly, which makes the subsequent treat- ment of complex fractures easier.