A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are descr...A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.展开更多
According to the basic characteristics of the activities of summer monsoon in the South China Sea, a standardized index, sI, has been designed that integrates a dynamic factor (southwesterly component) and a thermodyn...According to the basic characteristics of the activities of summer monsoon in the South China Sea, a standardized index, sI, has been designed that integrates a dynamic factor (southwesterly component) and a thermodynamic factor (OLR) for the indication of summer monsoon in the South China Sea. With the index determined for individual months of June, July and August and the entire summertime from 1975 to 1999, specific months and years are indicated that are either strong or weak in monsoon intensity. The variation is studied for the patterns and sI抯 relationship is revealed with the onset of summer monsoon and the precipitation in Guangdong province and China. The results show that there are quasi-10 and quasi-3-4 year cycles in the interannual variation of the monsoon over the past 25 years. When it has an early (late) onset, the summer monsoon is usually strong (weak). In the strong (weak) monsoon years, precipitation tends to be more (less) in the first raining season of the year but normal or less (normal) in the second, in the province, but it would be more (less) in northeastern China and most parts of the northern China and south of the lower reaches of the Changjiang River and less (more) in the middle and lower reaches of the river, western part of northern China and western China.展开更多
A three-dimensional numerical model was established to simulate the hydrodynamics within an octagonal tank of a recirculating aquaculture system. The realizable k-e turbulence model was applied to describe the flow, t...A three-dimensional numerical model was established to simulate the hydrodynamics within an octagonal tank of a recirculating aquaculture system. The realizable k-e turbulence model was applied to describe the flow, the discrete phase model （DPM） was applied to generate particle trajectories, and the governing equations are solved using the finite volume method. To validate this model, the numerical results were compared with data obtained from a full-scale physical model. The results show that： （1） the realizable k-e model applied for turbulence modeling describes well the flow pattern in octagonal tanks, giving an average relative error of velocities between simulated and measured values of 18% from contour maps of velocity magnitudes; （2） the DPM was applied to obtain particle trajectories and to simulate the rate of particle removal from the tank. The average relative error of the removal rates between simulated and measured values was 11%. The DPM can be used to assess the self-cleaning capability of an octagonal tank; （3） a comprehensive account of the hydrodynamics within an octagonal tank can be assessed from simulations. The velocity distribution was uniform with an average velocity of 15 cm/s; the velocity reached 0.8 m/s near the inlet pipe, which can result in energy losses and cause wall abrasion; the velocity in tank corners was more than 15 cm/s, which suggests good water mixing, and there was no particle sedimentation. The percentage of particle removal for octagonal tanks was 90% with the exception of a little accumulation of 〈5 mm particle in the area between the inlet pipe and the wall. This study demonstrated a consistent numerical model of the hydrodynamics within octagonal tanks that can be further used in their design and optimization as well as promote the wide use of computational fluid dynamics in aquaculture engineering.展开更多
Variation of the surface adhesion force during the formation of octadecyl trichlorosilane (OTS) self-assembled monolayer on a glass substrate surface was investigated by atomic force microscope (AFM). The research sho...Variation of the surface adhesion force during the formation of octadecyl trichlorosilane (OTS) self-assembled monolayer on a glass substrate surface was investigated by atomic force microscope (AFM). The research shows that the hydrophobicity and the adhesion force of the sample surface increases gradually while the substrate surface is covered by OTS molecules as the reaction proceeds. After 15min reaction, a close-packed and smooth OTS self-assembled monolayer could form on the glass substrate surface with an advancing contact angle of 105° and an interfacial energy of 55.79mJ·m-2.展开更多
The kinetics of bulk polymerization of octamethylcyclotetrasiloxane under acid circumstance is studied. A kinetic model is put forward and kinetic parameters are obtained through optimization.
Objective:To observe the clinical efficacy of deep electroacupuncture(EA)at Baliao points in treating stress urinary incontinence(SUI).Methods:A total of 60 female patients with SUI were divided into two groups accord...Objective:To observe the clinical efficacy of deep electroacupuncture(EA)at Baliao points in treating stress urinary incontinence(SUI).Methods:A total of 60 female patients with SUI were divided into two groups according to the order of consultation,with 30 cases in each group.The control group was treated with pelvic floor muscle training.The treatment group was treated with deep EA at Baliao points[Shangliao(BL 31),Ciliao(BL 32),Zhongliao(BL 33)and Xialiao(BL 34)].Results:The total effective rate was 93.3%in the treatment group,versus 33.3%in the control group,and the total effective rate of the treatment group was significantly higher than that of the control group(P<0.05).After treatment,the scores of international consultation on incontinence questionnaire-short form(ICIQ-SF)and the volume of urinary leakage in both groups were lower than those before treatment(all P<0.05),and the ICIQ-SF score and the volume of urinary leakage in the treatment group were lower than those in the control group(both P<0.05).Conclusion:Deep EA at Baliao points with long needles can improve the clinical symptoms in female patients with SUI,and it has a better curative effect than pelvic floor muscle training.展开更多
文摘A design strategy for a research platform of a telepresence telerobot system based on virtual reality technology is put forward. The design frame of the system is described, and its important core techniques are described. An octrees data structure is utilized to build kinematic and dynamic modeling of the virtual simulation environment, Delphi+OpenGL+3DS MAX are adopted to carry through the virtual modeling and visible simulation exploitation of the slave-robot and its environment. Photo-correction is adopted to correct positioning deviation of the virtual geometric model and modeling errors. The cost of software and hardware equipment for the research platform realized is low. The master/slave robot (manipulator) system and all software in the system were designed and manufactured by our research group. The performance of the system has reached the level required for research. An indispensable experiment base is provided for the research of a telepresence telerobot system based on virtual reality technology.
基金 Research on the Formation Mechanism and Prediction Theory of Severe Climate Disasters in China (G1998040900(I))
文摘According to the basic characteristics of the activities of summer monsoon in the South China Sea, a standardized index, sI, has been designed that integrates a dynamic factor (southwesterly component) and a thermodynamic factor (OLR) for the indication of summer monsoon in the South China Sea. With the index determined for individual months of June, July and August and the entire summertime from 1975 to 1999, specific months and years are indicated that are either strong or weak in monsoon intensity. The variation is studied for the patterns and sI抯 relationship is revealed with the onset of summer monsoon and the precipitation in Guangdong province and China. The results show that there are quasi-10 and quasi-3-4 year cycles in the interannual variation of the monsoon over the past 25 years. When it has an early (late) onset, the summer monsoon is usually strong (weak). In the strong (weak) monsoon years, precipitation tends to be more (less) in the first raining season of the year but normal or less (normal) in the second, in the province, but it would be more (less) in northeastern China and most parts of the northern China and south of the lower reaches of the Changjiang River and less (more) in the middle and lower reaches of the river, western part of northern China and western China.
基金Supported by the Application Research Project of Post-Doctoral Researchers in Qingdao(No.ZQ51201415037)the Modern Agriculture Industry System Construction of Special Funds(No.CARS-50-G10)+1 种基金the Special Project about Independent Innovation and Achievement Transformation of Shandong Province(No.2014ZZCX07102)the Key R&D Program of Jiangsu Province(No.BE2015328)
文摘A three-dimensional numerical model was established to simulate the hydrodynamics within an octagonal tank of a recirculating aquaculture system. The realizable k-e turbulence model was applied to describe the flow, the discrete phase model （DPM） was applied to generate particle trajectories, and the governing equations are solved using the finite volume method. To validate this model, the numerical results were compared with data obtained from a full-scale physical model. The results show that： （1） the realizable k-e model applied for turbulence modeling describes well the flow pattern in octagonal tanks, giving an average relative error of velocities between simulated and measured values of 18% from contour maps of velocity magnitudes; （2） the DPM was applied to obtain particle trajectories and to simulate the rate of particle removal from the tank. The average relative error of the removal rates between simulated and measured values was 11%. The DPM can be used to assess the self-cleaning capability of an octagonal tank; （3） a comprehensive account of the hydrodynamics within an octagonal tank can be assessed from simulations. The velocity distribution was uniform with an average velocity of 15 cm/s; the velocity reached 0.8 m/s near the inlet pipe, which can result in energy losses and cause wall abrasion; the velocity in tank corners was more than 15 cm/s, which suggests good water mixing, and there was no particle sedimentation. The percentage of particle removal for octagonal tanks was 90% with the exception of a little accumulation of 〈5 mm particle in the area between the inlet pipe and the wall. This study demonstrated a consistent numerical model of the hydrodynamics within octagonal tanks that can be further used in their design and optimization as well as promote the wide use of computational fluid dynamics in aquaculture engineering.
基金Partially supported by Scientific Research Foundation for Returned Overseas Chinese Scholars,State Education Committee.
文摘Variation of the surface adhesion force during the formation of octadecyl trichlorosilane (OTS) self-assembled monolayer on a glass substrate surface was investigated by atomic force microscope (AFM). The research shows that the hydrophobicity and the adhesion force of the sample surface increases gradually while the substrate surface is covered by OTS molecules as the reaction proceeds. After 15min reaction, a close-packed and smooth OTS self-assembled monolayer could form on the glass substrate surface with an advancing contact angle of 105° and an interfacial energy of 55.79mJ·m-2.
文摘The kinetics of bulk polymerization of octamethylcyclotetrasiloxane under acid circumstance is studied. A kinetic model is put forward and kinetic parameters are obtained through optimization.
文摘Objective:To observe the clinical efficacy of deep electroacupuncture(EA)at Baliao points in treating stress urinary incontinence(SUI).Methods:A total of 60 female patients with SUI were divided into two groups according to the order of consultation,with 30 cases in each group.The control group was treated with pelvic floor muscle training.The treatment group was treated with deep EA at Baliao points[Shangliao(BL 31),Ciliao(BL 32),Zhongliao(BL 33)and Xialiao(BL 34)].Results:The total effective rate was 93.3%in the treatment group,versus 33.3%in the control group,and the total effective rate of the treatment group was significantly higher than that of the control group(P<0.05).After treatment,the scores of international consultation on incontinence questionnaire-short form(ICIQ-SF)and the volume of urinary leakage in both groups were lower than those before treatment(all P<0.05),and the ICIQ-SF score and the volume of urinary leakage in the treatment group were lower than those in the control group(both P<0.05).Conclusion:Deep EA at Baliao points with long needles can improve the clinical symptoms in female patients with SUI,and it has a better curative effect than pelvic floor muscle training.
