Postoperative hyperglycemia is common in critically ill patients, even in those without a prior history of diabetes mellitus. It is well known that hyperglycemia induced by surgical stress often results in dysregulati...Postoperative hyperglycemia is common in critically ill patients, even in those without a prior history of diabetes mellitus. It is well known that hyperglycemia induced by surgical stress often results in dysregulation of liver metabolism and immune function, impairing postoperative recovery. Current evidence suggests that maintaining normoglycemia postoperatively improves surgical outcome and reduces the mortality and morbidity of critically ill patients. On the basis of these observations, several large randomized controlled studies were designed to evaluate the benefit of postoperative tight glycemic control with intensive insulin therapy. However, intensive insulin therapy carries the risk of hypoglycemia, which is linked to serious neurological events. Recently, we demonstrated that perioperative tight glycemic control in surgical patients could be achieved safely using a closed-loop glycemic control system and that this decreased both the incidence of infection at the site of the surgical incision, without the appearance of hypoglycemia, and actual hospital costs. Here, we review the benefits and requirements of perioperative intensive insulin therapy using a dosed-loop artificial endocrine pancreas system in hepatectomized patients. This novel intensive insulin therapy is safe and effectively improves surgical outcome after hepatic resection.展开更多
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 ...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.展开更多
Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been bui...Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been built using a variety of software, and a forging manipulator mtrltidisciplinary co- simulation model has been also built using a method of simulation models interface. Then the simu- lation and experiment are finished, and the result of the experiment is in good agreement with the re- sult of the simulation. It shows that the co-simulation model established can simulate accurately pa- rameter changes in real time during the moving of the forging manipulator such as displacement, ve- locity and pressure flow, which is of important significance for the optimized design of the forging manipulator system to establish the models.展开更多
This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is ob...This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is observed in different operating systems with and without multitasking environment. The Data Acquisition （DAQ, PLC-812PG） card is used as a hardware interface. From the experiment, it could be seen that in the non real time operating system （Windows）, the delay of the control system is larger than the Soft Real Time OS （Linux）. Further, the authors observed the same control system under Hard Real Time OS （RT-Linux）. At this point, the experiment showed that the real time error （jitter） is minimum in RT-Linux OS than the both of the previous OS. It is because the RT-Linux OS kernel can set the priority level and the control system was given the highest priority. The same experiment was observed under multitasking environment and the comparison of delay was similar to the preceding evaluation.展开更多
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 jo...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.展开更多
Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steer...Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.展开更多
Hepato-pancreato-biliary(HPB) tumors are common in China. However, these tumors are often diagnosed at intermediate/advanced stages because of the lack of a systemic surveillance program in China. This situation creat...Hepato-pancreato-biliary(HPB) tumors are common in China. However, these tumors are often diagnosed at intermediate/advanced stages because of the lack of a systemic surveillance program in China. This situation creates many technical challenges for surgeons and increases the incidence of postoperative complications. Therefore, Dr. Xiao-Ping Chen has made many important technical improvements, such as Chen's hepatic portal occlusion method, the anterior approach for liver resection of large HCC tumors, the modified technique of Belghiti's liver-hanging maneuver, inserting biliary-enteric anastomosis technique, and invaginated pancreaticojujunostomy with transpancreatic U-sutures. These techniques are simple, practical, and easy to learn. Owing to these advantages, complicated surgical procedures can be simplified, and the curative effects are greatly improved. These improved techniques have been widely applied in China and will benefit many additional patients. In this review, we introduce our experience of surgically treating intermediate/advanced hepatocellular carcinoma(HCC), hilar cholangiocarcinoma(HC), and pancreatic carcinoma, mainly focusing on technical innovations established by Dr. Chen in HPB surgery.展开更多
文摘Postoperative hyperglycemia is common in critically ill patients, even in those without a prior history of diabetes mellitus. It is well known that hyperglycemia induced by surgical stress often results in dysregulation of liver metabolism and immune function, impairing postoperative recovery. Current evidence suggests that maintaining normoglycemia postoperatively improves surgical outcome and reduces the mortality and morbidity of critically ill patients. On the basis of these observations, several large randomized controlled studies were designed to evaluate the benefit of postoperative tight glycemic control with intensive insulin therapy. However, intensive insulin therapy carries the risk of hypoglycemia, which is linked to serious neurological events. Recently, we demonstrated that perioperative tight glycemic control in surgical patients could be achieved safely using a closed-loop glycemic control system and that this decreased both the incidence of infection at the site of the surgical incision, without the appearance of hypoglycemia, and actual hospital costs. Here, we review the benefits and requirements of perioperative intensive insulin therapy using a dosed-loop artificial endocrine pancreas system in hepatectomized patients. This novel intensive insulin therapy is safe and effectively improves surgical outcome after hepatic resection.
基金Supported by Natural Science Foundation of Shandong Province,China(No.ZR2010EM007)Shandong Province Science and Technology Development Plan(No.2010GGX10402)
文摘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.
基金Supported by the National Natural Science Foundation of China(No.51575471)Collaborative Innovation Program Topics of Heavy Machinery of Yanshan University(2011 Program,No.ZX01-20140400-01)
文摘Based on the characteristics of integrated virtual prototype technology, the mechanical system sub-model, the hydraulic system sub-model and the control system sub-model of a forging manipula- tor system have been built using a variety of software, and a forging manipulator mtrltidisciplinary co- simulation model has been also built using a method of simulation models interface. Then the simu- lation and experiment are finished, and the result of the experiment is in good agreement with the re- sult of the simulation. It shows that the co-simulation model established can simulate accurately pa- rameter changes in real time during the moving of the forging manipulator such as displacement, ve- locity and pressure flow, which is of important significance for the optimized design of the forging manipulator system to establish the models.
文摘This work is to observe the performance of PC based robot manipulator under general purpose （Windows）, Soft （Linux） and Hard （RT Linux） Real Time Operating Systems （OS）. The same open loop control system is observed in different operating systems with and without multitasking environment. The Data Acquisition （DAQ, PLC-812PG） card is used as a hardware interface. From the experiment, it could be seen that in the non real time operating system （Windows）, the delay of the control system is larger than the Soft Real Time OS （Linux）. Further, the authors observed the same control system under Hard Real Time OS （RT-Linux）. At this point, the experiment showed that the real time error （jitter） is minimum in RT-Linux OS than the both of the previous OS. It is because the RT-Linux OS kernel can set the priority level and the control system was given the highest priority. The same experiment was observed under multitasking environment and the comparison of delay was similar to the preceding evaluation.
文摘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.
基金supported by the National Natural Science Foundation of China(Grant Nos.51375007 and 51205191)NUAA Research Funding(Grant No.NS2013015)
文摘Active front steering(AFS)system has been used as a promising technology which improves the steering portability and handing stability of vehicles.It employs a steering motor to realize the functions of variable steering ratio and vehicle stability control.However,it has a serious problem of unexpected reaction hand wheel torque caused by the additional steering angle.In this paper,the optimum hand wheel torque is designed based on the linear tire model.Considering the uncertainty and disturbance of the steering system and vehicle,an H∞controller is developed to make sure the hand wheel torque follows the reference torque accurately and quickly.The simulation shows that the proposed controller can compensate the unnatural reaction torque and provide a good steering feel for the driver.
文摘Hepato-pancreato-biliary(HPB) tumors are common in China. However, these tumors are often diagnosed at intermediate/advanced stages because of the lack of a systemic surveillance program in China. This situation creates many technical challenges for surgeons and increases the incidence of postoperative complications. Therefore, Dr. Xiao-Ping Chen has made many important technical improvements, such as Chen's hepatic portal occlusion method, the anterior approach for liver resection of large HCC tumors, the modified technique of Belghiti's liver-hanging maneuver, inserting biliary-enteric anastomosis technique, and invaginated pancreaticojujunostomy with transpancreatic U-sutures. These techniques are simple, practical, and easy to learn. Owing to these advantages, complicated surgical procedures can be simplified, and the curative effects are greatly improved. These improved techniques have been widely applied in China and will benefit many additional patients. In this review, we introduce our experience of surgically treating intermediate/advanced hepatocellular carcinoma(HCC), hilar cholangiocarcinoma(HC), and pancreatic carcinoma, mainly focusing on technical innovations established by Dr. Chen in HPB surgery.
