Verbs of creation in English and Chinese demonstrate asymmetries in its projection to double-object construction. But underling the projection process there is a uniform operation mechanism, namely that the configurat...Verbs of creation in English and Chinese demonstrate asymmetries in its projection to double-object construction. But underling the projection process there is a uniform operation mechanism, namely that the configuration is affected by the interaction between the Meaning Assignment Principle (MAP), the Distance Principle of Iconicity (DPI) and the Lexical Feature Constraints (LFC), among which MAP and DPI are inviolable due to its cross-linguistic universality. Once LFC is violated, there must be compensation on the part of DPI, otherwise, the verb of creation in question would be unacceptable to double-object construction.展开更多
A numerical code called RFPA-Dynamics was used to study the rockburst mechanism under dynamic load based on coupled static-dynamic analysis.The results show that dynamic disturbance has a very distinct triggering effe...A numerical code called RFPA-Dynamics was used to study the rockburst mechanism under dynamic load based on coupled static-dynamic analysis.The results show that dynamic disturbance has a very distinct triggering effect on rockburst.Under the dynamic load,rockburst is motivated by tensile stress formed by the overlapping of dynamic waves in the form of instantaneous open and cutting through of cracks in weak planes and pre-damaged areas.Meanwhile,the orientation of joint sets has an obvious leading effect on rockburst locations.Finally,a higher initial static stress state before dynamic loading can cause more pre-damaged area,thus leading to a larger rockburst scope.展开更多
TGF-β is a multifunctional cytokine that regulates many aspects of cellular function, including periosteal mesenchymal cell proliferation, differentiation. This experiment is to study its effects on bone defect repai...TGF-β is a multifunctional cytokine that regulates many aspects of cellular function, including periosteal mesenchymal cell proliferation, differentiation. This experiment is to study its effects on bone defect repair. A rabbit radial bone defect model was used to evaluate the effect of TGF-β, which was extracted and purified from bovine blood platelets, on the healing of a large segmental osteoperiosteal defect. A 1. 5-centimeter segmental defect was created in the mid-upper part of the radial shaft of adult rabbits. The defect was filled with implant containing TGF-β that consisted of carrier and bovine TGF-β. Limbs served as controls received carrier alone. The defectswere examined radiographically and histologically at 4, 8,12 , 16 and 20 weeks after implantation. The results showed that in TGF-β implant group . the defect areas at 12 weeks post operation were bridged by uniform new bone and the cut ends of cortex could not be seen;while in control group, the defects remained clear. Only a small amount of new bone formed as a cap on the cut bone ends. In the experimental group, new lamellar and woven bone formed in continuity with the cut ends of the cortex. An early medullar canal appears to be forming and contained normal-appearancing marrow elements; while the control group displayed entirely fibrous tissue within the defect site. Remnants of the cancellous bone carrier were observed in the control specimen. These data demonstrate that exogenous TGF-β initiate osteogenesis and stimulate the bone defects repair in animal model.展开更多
AIM;Oxidative stress participates in the cell carcinogenesis by inducing DNA mutations.Our aim was to assess whether ascorbic acid,an antioxidant,could have a role in preventing ROS(Reactive Oxygen Species)generation ...AIM;Oxidative stress participates in the cell carcinogenesis by inducing DNA mutations.Our aim was to assess whether ascorbic acid,an antioxidant,could have a role in preventing ROS(Reactive Oxygen Species)generation in experimental gastric carcinoma in a rat model. METHODS:Experimental gastric cancer was induced in twelve Wistar male rats(weighting 250-350 g)by profound duodeno-gastric reflux throught split gastrojenunostomy.The rats were allocated to the following groups:Group Ⅰ(n=6) was the control;Group Ⅱ(n=6)which was mantained with daily intake of tape water with Vitamin C(30 mg/Kg).After 6 or 12 months,samples of gastric tumor or non tumor mucosa were taken from the anastomosis of both groups. Oxidative stress was measured by superoxide quantification through lucigenin-amplified chemiluminescence base and by staining with Nitrobluetetrazolium.The histopathologic confirmation of adenocarcinoma was made by eosin- hemathoxilin method. RESULTS:The intestinal type of gastric adenocarcinoma was microscopically identified in all animals of group Ⅰ whereas only 3 rats of group Ⅱ showed an adenocarcinoma without macroscopic evidence of them.The cancers were located in the anastomosis in all cases.Basal luminescence from tumor gastric tissue generated 38.4±6.8 count per minute/mg/×10~6(mean±SD)and 14.9±4.0 count per minute/mg/×10~6,respectively,in group Ⅰ and Ⅱ animals(P <0.05).The Nitrobluetetrazolium method showed intense staining in tumor tissues but not in non neoplasic mucosa. CONCLUSION:Experimental gastric tumors seem to produce more reactive oxygen species than non neoplasic gastric tissue.The reduction of oxidative stress and gastric tumor incidence in rats were induced by the intake of ascorbic acid.Therefore,it may have a role in the prevention of gastric carcinoma. Oliveira CPMS Kassab P Lopasso FP Souza HP Janiszewski M Laurindo FRM Iriya K Laudanna AA.Protective effect of ascorbic acid in experimental gastric cancer:reduction of oxidative stress.World J Gastroenterol 2003;9(3):446-448 http://www.wjgnet.com/1007-9327/9/446.htm展开更多
A rigid rods model for real-time simulation of cloth is presented, which can be used in e-commerce applications, games or Wirtual Reality environment. The proposed algorithm simplifies the basic mass-spring model by r...A rigid rods model for real-time simulation of cloth is presented, which can be used in e-commerce applications, games or Wirtual Reality environment. The proposed algorithm simplifies the basic mass-spring model by replacing the springs of masses with the rigid rods, and using the Verlet Integration method to calculate the position and velocity of the masses. Compared the efficiency and the effect of sinmulation with other similar systems, this algorithm is faster and realistic for some real-time applications.展开更多
In this experiment, expression of tissue-type plasminogen activator (t-PA) in smooth muscle cells (SMCs) was measured at different intervals after the arterial injury. In the normal iliac arteries, only low levels of ...In this experiment, expression of tissue-type plasminogen activator (t-PA) in smooth muscle cells (SMCs) was measured at different intervals after the arterial injury. In the normal iliac arteries, only low levels of t-PA activity were estimated. t-PA activity in extracts of the iliac arteries increased significantlyat the 4th day after the injury, equivalent to the process that SMCs migrated from the media to the intima,and the t-PA activity was then decreased approximately to the normal level at the 7th day. Coexistent to the above data, results from in situ hybridization showed that the expression of t-PA mRNA in the intima as well as media increased also significantly at the 4th day after the arterial injury, and at the 7th day, tPA mRNA was detected only in those SMCs locating closely adjacent to the internal elastic lamina. These results suggest that t-PA might play an important role in SMC migration following endothelial injury, andantagonism of t-PA expression and/or activity within the vessel wall might be helpful in intervening the de velopment of restenosis following angioplasty.展开更多
We used a potent and specific monoclonal antibody to somatostatin to test the physiologic inhibitory role of the tetradecapeptide somatostatin on pancreatic secretion.Somatostatin immunoneutralization increased both t...We used a potent and specific monoclonal antibody to somatostatin to test the physiologic inhibitory role of the tetradecapeptide somatostatin on pancreatic secretion.Somatostatin immunoneutralization increased both the total amylase and volume of pancreatic secretion.Cholecystokinin-A receptor antagonism abolished the stimulatory effect of somatostatin immunoneutralization.We conclude that somatostatin tonically inhibits pancreatic secretion in fasted rats via inhibition of the release or action of cholecystokinin.Furthermore,the source of these peptides is likely islet delta cells and intrapancreatic neurons,respectively.展开更多
To predict the flow evolution of fish swimming problems,a flow solver based on the immersed boundary lattice Boltzmann method is developed.A flexible iterative algorithm based on the framework of implicit boundary for...To predict the flow evolution of fish swimming problems,a flow solver based on the immersed boundary lattice Boltzmann method is developed.A flexible iterative algorithm based on the framework of implicit boundary force correction is used to save the computational cost and memory,and the momentum forcing is described by a simple direct force formula without complicated integral calculation when the velocity correction at the boundary node is determined.With the presented flow solver,the hydrodynamic interaction between the fish-induced dynamic stall vortices and the incoming vortices in unsteady flow is analyzed.Numerical simulation results unveil the mechanism of fish exploiting vortices to enhance their own hydrodynamic performances.The superior swimming performances originate from the relative movement between the“merged vortex”and the locomotion of the fishtail,which is controlled by the phase difference.Formation conditions of the“merged vortex”become the key factor for fish to exploit vortices to improve their swimming performance.We further discuss the effect of the principal components of locomotion.From the results,we conclude that lateral translation plays a crucial role in propulsion while body undulation in tandem with rotation and head motion reduce the locomotor cost.展开更多
Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing me...Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing mechanism of fluid structure interaction between circulation valve and liquid of hydraulic shock absorber. The fluid mesh distortion was controlled by the CEL language, and the fluid struc^tre interaction mathematical model was established. The finite element model was established by ANSYS CFX software and was analyzed by dynamic mesh technique. The local sensitive computational area was meshed by prismatic grid, which could reduce the negative volume problem during the simulation. The circulation valve and liquid of hydraulic shock absorber were simulated and analyzed under the condition of sinusoidal inlet velocity loads. Flow characteristic and dynamics characteristic were obtained. The pressure distribution and the displacement of circulation value were obtained, and the acceleration curve of circulation valve was simulated and analyzed. The conformity of the final simulation results with the experimental datum indicates that this method is accurate and reliable to analyze the dynamics characteristic between circulation valve and liquid of hydraulic shock absorber, which can provide a theoretical foundation for optimizing hydraulic shock absorber in the future.展开更多
In a newborn rat model of sepsis, the changes of nitric oxide and the protective effects of methylene blue orland dexamethason were investigated. The results revealed that plasma nitric oxide levels were elevated at 6...In a newborn rat model of sepsis, the changes of nitric oxide and the protective effects of methylene blue orland dexamethason were investigated. The results revealed that plasma nitric oxide levels were elevated at 6 h and peaked at 12 h after bacterial challenge. The treatment with methylene or/and dexamethasone was found to blunt hypoglycemia and hyperlacticemia, to reduce the occurrence rate of loss of response to pain, and to prolong the survival time. Moreover, therapy by dexamethasone was shown to decrease the 24 h mortality. The results suggested that nitric oxide play an important role during the course of fatal P. aeruginosa sepsis, but it is clear that the clinical value of nitric oxide and its inhibitors need to be further studied.展开更多
In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is invest...In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.展开更多
XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB (Printed Circuit Board) ass...XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB (Printed Circuit Board) assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.展开更多
In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a...In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.展开更多
The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen th...The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen the weak points. It needs various actions and expressions because of the nature of a puppet. The biggest problem which executes this is the ways to create a system. This thesis proposes motion capture of developed method with solution of this problem. So, we create various contents needed by puppet. In this part, developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture. We lessen the weak points of each method and propoe solution of create motion for pupct by offering more advantages. So we solve difficulties of executing puppet and probable probkans when we execute puppet by using robot. The solution of this thesis is proven by applying control of puppet.展开更多
文摘Verbs of creation in English and Chinese demonstrate asymmetries in its projection to double-object construction. But underling the projection process there is a uniform operation mechanism, namely that the configuration is affected by the interaction between the Meaning Assignment Principle (MAP), the Distance Principle of Iconicity (DPI) and the Lexical Feature Constraints (LFC), among which MAP and DPI are inviolable due to its cross-linguistic universality. Once LFC is violated, there must be compensation on the part of DPI, otherwise, the verb of creation in question would be unacceptable to double-object construction.
基金Project(90401004)supported by the Fundamental Research Funds for the Central Universities of ChinaProjects(20100471465,201104572)supported by China Postdoctoral Science Foundation+1 种基金Project(20091029)supported by Postdoctoral Science Foundation of Liaoning Province,ChinaProjects(50934006,51111130206)supported by the National Natural Science Foundation of China
文摘A numerical code called RFPA-Dynamics was used to study the rockburst mechanism under dynamic load based on coupled static-dynamic analysis.The results show that dynamic disturbance has a very distinct triggering effect on rockburst.Under the dynamic load,rockburst is motivated by tensile stress formed by the overlapping of dynamic waves in the form of instantaneous open and cutting through of cracks in weak planes and pre-damaged areas.Meanwhile,the orientation of joint sets has an obvious leading effect on rockburst locations.Finally,a higher initial static stress state before dynamic loading can cause more pre-damaged area,thus leading to a larger rockburst scope.
文摘TGF-β is a multifunctional cytokine that regulates many aspects of cellular function, including periosteal mesenchymal cell proliferation, differentiation. This experiment is to study its effects on bone defect repair. A rabbit radial bone defect model was used to evaluate the effect of TGF-β, which was extracted and purified from bovine blood platelets, on the healing of a large segmental osteoperiosteal defect. A 1. 5-centimeter segmental defect was created in the mid-upper part of the radial shaft of adult rabbits. The defect was filled with implant containing TGF-β that consisted of carrier and bovine TGF-β. Limbs served as controls received carrier alone. The defectswere examined radiographically and histologically at 4, 8,12 , 16 and 20 weeks after implantation. The results showed that in TGF-β implant group . the defect areas at 12 weeks post operation were bridged by uniform new bone and the cut ends of cortex could not be seen;while in control group, the defects remained clear. Only a small amount of new bone formed as a cap on the cut bone ends. In the experimental group, new lamellar and woven bone formed in continuity with the cut ends of the cortex. An early medullar canal appears to be forming and contained normal-appearancing marrow elements; while the control group displayed entirely fibrous tissue within the defect site. Remnants of the cancellous bone carrier were observed in the control specimen. These data demonstrate that exogenous TGF-β initiate osteogenesis and stimulate the bone defects repair in animal model.
文摘AIM;Oxidative stress participates in the cell carcinogenesis by inducing DNA mutations.Our aim was to assess whether ascorbic acid,an antioxidant,could have a role in preventing ROS(Reactive Oxygen Species)generation in experimental gastric carcinoma in a rat model. METHODS:Experimental gastric cancer was induced in twelve Wistar male rats(weighting 250-350 g)by profound duodeno-gastric reflux throught split gastrojenunostomy.The rats were allocated to the following groups:Group Ⅰ(n=6) was the control;Group Ⅱ(n=6)which was mantained with daily intake of tape water with Vitamin C(30 mg/Kg).After 6 or 12 months,samples of gastric tumor or non tumor mucosa were taken from the anastomosis of both groups. Oxidative stress was measured by superoxide quantification through lucigenin-amplified chemiluminescence base and by staining with Nitrobluetetrazolium.The histopathologic confirmation of adenocarcinoma was made by eosin- hemathoxilin method. RESULTS:The intestinal type of gastric adenocarcinoma was microscopically identified in all animals of group Ⅰ whereas only 3 rats of group Ⅱ showed an adenocarcinoma without macroscopic evidence of them.The cancers were located in the anastomosis in all cases.Basal luminescence from tumor gastric tissue generated 38.4±6.8 count per minute/mg/×10~6(mean±SD)and 14.9±4.0 count per minute/mg/×10~6,respectively,in group Ⅰ and Ⅱ animals(P <0.05).The Nitrobluetetrazolium method showed intense staining in tumor tissues but not in non neoplasic mucosa. CONCLUSION:Experimental gastric tumors seem to produce more reactive oxygen species than non neoplasic gastric tissue.The reduction of oxidative stress and gastric tumor incidence in rats were induced by the intake of ascorbic acid.Therefore,it may have a role in the prevention of gastric carcinoma. Oliveira CPMS Kassab P Lopasso FP Souza HP Janiszewski M Laurindo FRM Iriya K Laudanna AA.Protective effect of ascorbic acid in experimental gastric cancer:reduction of oxidative stress.World J Gastroenterol 2003;9(3):446-448 http://www.wjgnet.com/1007-9327/9/446.htm
基金Science Research Foundation of Beijing Municipal Education Commission(No.KM200310012049)
文摘A rigid rods model for real-time simulation of cloth is presented, which can be used in e-commerce applications, games or Wirtual Reality environment. The proposed algorithm simplifies the basic mass-spring model by replacing the springs of masses with the rigid rods, and using the Verlet Integration method to calculate the position and velocity of the masses. Compared the efficiency and the effect of sinmulation with other similar systems, this algorithm is faster and realistic for some real-time applications.
文摘In this experiment, expression of tissue-type plasminogen activator (t-PA) in smooth muscle cells (SMCs) was measured at different intervals after the arterial injury. In the normal iliac arteries, only low levels of t-PA activity were estimated. t-PA activity in extracts of the iliac arteries increased significantlyat the 4th day after the injury, equivalent to the process that SMCs migrated from the media to the intima,and the t-PA activity was then decreased approximately to the normal level at the 7th day. Coexistent to the above data, results from in situ hybridization showed that the expression of t-PA mRNA in the intima as well as media increased also significantly at the 4th day after the arterial injury, and at the 7th day, tPA mRNA was detected only in those SMCs locating closely adjacent to the internal elastic lamina. These results suggest that t-PA might play an important role in SMC migration following endothelial injury, andantagonism of t-PA expression and/or activity within the vessel wall might be helpful in intervening the de velopment of restenosis following angioplasty.
文摘We used a potent and specific monoclonal antibody to somatostatin to test the physiologic inhibitory role of the tetradecapeptide somatostatin on pancreatic secretion.Somatostatin immunoneutralization increased both the total amylase and volume of pancreatic secretion.Cholecystokinin-A receptor antagonism abolished the stimulatory effect of somatostatin immunoneutralization.We conclude that somatostatin tonically inhibits pancreatic secretion in fasted rats via inhibition of the release or action of cholecystokinin.Furthermore,the source of these peptides is likely islet delta cells and intrapancreatic neurons,respectively.
基金supported by the Priority Academic Program Development of Jiangsu Higher Education Institutions(PAPD)。
文摘To predict the flow evolution of fish swimming problems,a flow solver based on the immersed boundary lattice Boltzmann method is developed.A flexible iterative algorithm based on the framework of implicit boundary force correction is used to save the computational cost and memory,and the momentum forcing is described by a simple direct force formula without complicated integral calculation when the velocity correction at the boundary node is determined.With the presented flow solver,the hydrodynamic interaction between the fish-induced dynamic stall vortices and the incoming vortices in unsteady flow is analyzed.Numerical simulation results unveil the mechanism of fish exploiting vortices to enhance their own hydrodynamic performances.The superior swimming performances originate from the relative movement between the“merged vortex”and the locomotion of the fishtail,which is controlled by the phase difference.Formation conditions of the“merged vortex”become the key factor for fish to exploit vortices to improve their swimming performance.We further discuss the effect of the principal components of locomotion.From the results,we conclude that lateral translation plays a crucial role in propulsion while body undulation in tandem with rotation and head motion reduce the locomotor cost.
基金Project(51275542) supported by the National Natural Science Foundation of Chinaproject(CDJXS12110010) supported by the Fundamental Research Funds for the Central Universities of China
文摘Based on the working principle and the damping characteristic of hydraulic shock absorber, a fluid structure interaction method was presented, which was used to analyze the microcosmic and high-frequency processing mechanism of fluid structure interaction between circulation valve and liquid of hydraulic shock absorber. The fluid mesh distortion was controlled by the CEL language, and the fluid struc^tre interaction mathematical model was established. The finite element model was established by ANSYS CFX software and was analyzed by dynamic mesh technique. The local sensitive computational area was meshed by prismatic grid, which could reduce the negative volume problem during the simulation. The circulation valve and liquid of hydraulic shock absorber were simulated and analyzed under the condition of sinusoidal inlet velocity loads. Flow characteristic and dynamics characteristic were obtained. The pressure distribution and the displacement of circulation value were obtained, and the acceleration curve of circulation valve was simulated and analyzed. The conformity of the final simulation results with the experimental datum indicates that this method is accurate and reliable to analyze the dynamics characteristic between circulation valve and liquid of hydraulic shock absorber, which can provide a theoretical foundation for optimizing hydraulic shock absorber in the future.
文摘In a newborn rat model of sepsis, the changes of nitric oxide and the protective effects of methylene blue orland dexamethason were investigated. The results revealed that plasma nitric oxide levels were elevated at 6 h and peaked at 12 h after bacterial challenge. The treatment with methylene or/and dexamethasone was found to blunt hypoglycemia and hyperlacticemia, to reduce the occurrence rate of loss of response to pain, and to prolong the survival time. Moreover, therapy by dexamethasone was shown to decrease the 24 h mortality. The results suggested that nitric oxide play an important role during the course of fatal P. aeruginosa sepsis, but it is clear that the clinical value of nitric oxide and its inhibitors need to be further studied.
基金State Key Laboratory of Robotics and System(HIT) in China(No.SKLRS-2009-MS-02)
文摘In this paper,according to the old people's physical characteristics and their technical requirements for comfort and mastery when operating the robot,a control approach driven by tactile and slip senses is investigated to control the elderly-assistant & walking-assistant robot. First,on the basis of the proposed driving control system program of tactile and slip,a detection system of tactile and slip senses are designed. Based on the tactile and slip feature representation and extraction,an improved classification and recognition method is proposed which combines K-nearest neighbor (KNN) algorithm and K-means algorithm. And then,a robot control system based on TMS320F2812 is designed in this paper,including its hardware and software design. Then,a moving control method including the fuzzy adaptive control algorithm is presented for the walking-assistant robot to realize some different moving properties. At last,by the experimental verification in the walking-assistant robot,the research results show that the tactile and slip senses detection and recognition method is effective,and the whole control system has good feasibility and adaptability.
文摘XY table automated assembly machines ensure time saving and quality improving in the electronics industry. Recently, due to the need of higher operation speeds and lighter machines in PCB (Printed Circuit Board) assembly, a challenging problem has arisen which is the table positioning vibration. The high speed with the machine flexibility, make the positioning vibration inevitable although the inner control. The positioning vibration is to be reduced otherwise the machine becomes useless. Firstly, the machine is modeled, the positioning vibration is formulated, and then analyzed. Secondly, using the analysis, three direct control methods are identified to decrease the positioning vibration, they are based on the kinematics, dynamics, and operation of the machine. Thirdly, the methods are examined numerically to evaluate their efficiency. Lastly, the identified methods are discussed to conclude on their application. The results are a real contribution in the vibration control of XY table automated assembly machines, which is classified as industrial knowhow.
基金supported by the National Natural Science Foundation of China(No.52077100)the Aviation Science Foundation(No.201958052001)
文摘In order to improve the frequency response and anti-interference characteristics of the smart electromechanical actuator(EMA)system,and aiming at the force fighting problem when multiple actuators work synchronously,a multi input multi output(MIMO)position difference cross coupling control coordinated strategy based on double‑closed-loop load feedforward control is proposed and designed.In this strategy,the singular value method of return difference matrix is used to design the parameter range that meets the requirements of system stability margin,and the sensitivity function and the H_(∞)norm theory are used to design and determine the optimal solution in the obtained parameter stability region,so that the multi actuator system has excellent synchronization,stability and anti-interference.At the same time,the mathematical model of the integrated smart EMA system is established.According to the requirements of point-to-point control,the controller of double-loop control and load feedforward compensation is determined and designed to improve the frequency response and anti-interference ability of single actuator.Finally,the 270 V high-voltage smart EMA system experimental platform is built,and the frequency response,load feedforward compensation and coordinated control experiments are carried out to verify the correctness of the position difference cross coupling control strategy and the rationality of the parameter design,so that the system can reach the servo control indexes of bandwidth 6 Hz,the maximum output force 20000 N and the synchronization error≤0.1 mm,which effectively solves the problem of force fighting.
基金supported bythe Ministry of Knowledge Economy,Korea,the ITRC(Information Technology Research Center)support program(No.NIPA-2009-(C1090-0902-0007))
文摘The paper aims to execute puppet without restrictions by controling puppet using robot. We controling puppet in the same way as the present puppet, but we perform this by robot. It offers more advantages and lessen the weak points. It needs various actions and expressions because of the nature of a puppet. The biggest problem which executes this is the ways to create a system. This thesis proposes motion capture of developed method with solution of this problem. So, we create various contents needed by puppet. In this part, developed method means a mixed method on the basis of optical system and magnetic system used mainly for the present method of motion capture. We lessen the weak points of each method and propoe solution of create motion for pupct by offering more advantages. So we solve difficulties of executing puppet and probable probkans when we execute puppet by using robot. The solution of this thesis is proven by applying control of puppet.