一种丁腈橡胶手套生产陶瓷手模加工用喷麻机A gunning machine for processing nitrile rubber gloves and ceramic hand molds本实用新型公开了一种丁腈橡胶手套生产陶瓷手模加工用喷麻机,涉及到丁腈橡胶手套生产技术领域,包括底板与...一种丁腈橡胶手套生产陶瓷手模加工用喷麻机A gunning machine for processing nitrile rubber gloves and ceramic hand molds本实用新型公开了一种丁腈橡胶手套生产陶瓷手模加工用喷麻机,涉及到丁腈橡胶手套生产技术领域,包括底板与喷麻机构,喷麻机构固定设置于底板顶部前侧,底板顶部后侧设置横向驱动机构,横向驱动机构中的滑块顶部固定设置有喷麻机构,横向驱动机构带动喷麻机构水平方向上左右移动,旋转式供气机构中的空心转杆端部固定设置有充气式承载机构,充气式承载机构中的手型气囊可在充气后对丁腈橡胶手套进行张紧。本实用新型利用充气式承载机构中未充气的手型气囊对丁腈手套进行承载.展开更多
Abstract The possibility of QQqq heavy-light four-quark bound states has been analyzed by means of the chiral SU（3） quark model, where Q is the heavy quark （c or b） and q is the light quark （u, d, or s）. We obt...Abstract The possibility of QQqq heavy-light four-quark bound states has been analyzed by means of the chiral SU（3） quark model, where Q is the heavy quark （c or b） and q is the light quark （u, d, or s）. We obtain a bound state for the bbnn configuration with quantum number JR=1^＋, I = 0 and for the ccnn （JR=1^＋, I=O） configuration, which is not bound but slightly above the D^＊ D^＊ threshold （n is u or d quark）. Meanwhile, we also conclude that a weakly bound state in bbnn system can also be found without considering the ehiral quark interactions between the two light quarks, yet its binding energy is weaker than that with the chiral quark interactions.展开更多
The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected hapt...The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid.展开更多
In order to solve the problem of real-time soft tissue torsion simulation in virtual surgeries,a torsion model based on coil spring is proposed to actualize real-time interactions and applications in virtual surgeries...In order to solve the problem of real-time soft tissue torsion simulation in virtual surgeries,a torsion model based on coil spring is proposed to actualize real-time interactions and applications in virtual surgeries. The proposed model is composed of several connected coil springs in series. The sum of torsion deformation on every coil is equivalent to the soft tissue surface deformation. The calculation of the model is simple because the method for calculating the torsion deformation for each coil spring is the same. The virtual surgery simulation system is established on PHANTOM OMNI haptic device based on the Open GL 3 D graphic interface and VC + + software,and it is used to simulate the torsion deformation of virtual legs and arms. Experimental results show that the proposed model can effectively simulate the torsion deformation of soft tissue while being of real-time performance and simplicity,which can well meet requirements of virtual operation simulations.展开更多
A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the mode...A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.展开更多
文摘一种丁腈橡胶手套生产陶瓷手模加工用喷麻机A gunning machine for processing nitrile rubber gloves and ceramic hand molds本实用新型公开了一种丁腈橡胶手套生产陶瓷手模加工用喷麻机,涉及到丁腈橡胶手套生产技术领域,包括底板与喷麻机构,喷麻机构固定设置于底板顶部前侧,底板顶部后侧设置横向驱动机构,横向驱动机构中的滑块顶部固定设置有喷麻机构,横向驱动机构带动喷麻机构水平方向上左右移动,旋转式供气机构中的空心转杆端部固定设置有充气式承载机构,充气式承载机构中的手型气囊可在充气后对丁腈橡胶手套进行张紧。本实用新型利用充气式承载机构中未充气的手型气囊对丁腈手套进行承载.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.10475087 and 10775146
文摘Abstract The possibility of QQqq heavy-light four-quark bound states has been analyzed by means of the chiral SU（3） quark model, where Q is the heavy quark （c or b） and q is the light quark （u, d, or s）. We obtain a bound state for the bbnn configuration with quantum number JR=1^＋, I = 0 and for the ccnn （JR=1^＋, I=O） configuration, which is not bound but slightly above the D^＊ D^＊ threshold （n is u or d quark）. Meanwhile, we also conclude that a weakly bound state in bbnn system can also be found without considering the ehiral quark interactions between the two light quarks, yet its binding energy is weaker than that with the chiral quark interactions.
基金Supported by the National High Technology Research and Development Programme of China(2013AA010803,2009AA01Z311,2009AA01Z314)the National Natural Science Foundation of China(61304205,61075068,61203316)+1 种基金the open funding project of State Key Laboratory of Virtual Reality Technology and Systems,Beihang University,Jiangsu Ordinary University Science Research Project(11KJB460006)Innovation and Entrepreneurship Training Project of College Students(201210300022,12CX023,201310300092)
文摘The modelling and simulation of deformable objects is a challenging topic in the field of haptic rendering between human and virtual environment.In this paper,a novel and efficient layered rhombus-chain-connected haptic deformation model based on physics is proposed for an excellent haptic rendering.During the modelling,the accumulation of relative displacements in every chain structure unit in each layer is equal to the deformation on the virtual object surface,and the resultant force of corresponding springs is equivalent to the external force.The layered rhombus-chain-connected model is convenient and fast to calculate,and can satisfy real-time requirement due to its simple nature.Simulation experiments in virtual human liver based on the proposed model are conducted,and the results demonstrate that our model provides stable and realistic haptic feeling in real time.Meanwhile,the display result is vivid.
基金Supported by the National Natural Science Foundation of China(No.61502240,61502096,61304205,61773219)the Natural Science Foundation of Jiangsu Province(No.BK20141002,BK20150634)
文摘In order to solve the problem of real-time soft tissue torsion simulation in virtual surgeries,a torsion model based on coil spring is proposed to actualize real-time interactions and applications in virtual surgeries. The proposed model is composed of several connected coil springs in series. The sum of torsion deformation on every coil is equivalent to the soft tissue surface deformation. The calculation of the model is simple because the method for calculating the torsion deformation for each coil spring is the same. The virtual surgery simulation system is established on PHANTOM OMNI haptic device based on the Open GL 3 D graphic interface and VC + + software,and it is used to simulate the torsion deformation of virtual legs and arms. Experimental results show that the proposed model can effectively simulate the torsion deformation of soft tissue while being of real-time performance and simplicity,which can well meet requirements of virtual operation simulations.
文摘A mathematical model was developed combining the dynamics of an Euler-Bernoulli beam, described by the assumed-mode method and hydraulic circuit dynamics. Only one matrix, termed drive Jacobian, was needed in the modeling of interaction between hydraulic circuit and flexible manipulator mechanism. Furthermore, a new robust controller based on mentioned above dynamic model was also considered to regulate both flexural vibrations and rigid body motion. The proposed controller combined sliding mode and backstepping techniques to deal with the nonlinear system with uncertainties. The sliding mode control was used to achieve an asymptotic joint angle and vibration regulation by providing a virtual force while the backstepping technique was used to regulate the spool position of a hydraulic valve to provide the required control force. Simulation results are presented to show the stabilizing effect and robustness of this control strategy.
