Objective: To study the role of monocytes in the pathogenesis of genital herpes. Methods: TNF- α and IL-6 levels in 27 cases of genital herpes were detected by enzyme linked immunosorbant assay (ELISA). HLA class Ⅱ ...Objective: To study the role of monocytes in the pathogenesis of genital herpes. Methods: TNF- α and IL-6 levels in 27 cases of genital herpes were detected by enzyme linked immunosorbant assay (ELISA). HLA class Ⅱ antigen expression on monocytes were detected by an alkaline phosphatase anti-alkaline phosphatase method. Results: Compared with normal controls, levels of TNF- a and IL - 6 secreted by monocytes responding to LPS mitogen in vitro were significantly decreased [(3.13 ± 0.44ng/ml) vs (4.68 ± 0.54ng/ml), P<0.05 and (3.32 ± 1.06ng/ml) vs (6.46 ± 1.94ng/ ml), P<0.05, respectively]. HLA class Ⅱ antigen expression on monocytes in the genital herpes group was also significantly decreased [HLA-DR (67.48% ± 1.51%) vs (81.03% ± 1.32%), P<0.01 and HLA-DQ (29.54% ± 1.15%) vs (37.63% ± 1.79%), P <0.01 respectively]. Conclusion: These findings suggest that the decreased monocyte function may contribute to the pathogenesis of genital herpes. Augmenting or inducing monocyte function may be important in the prevention, treatment, and reduction of genital herpes cases.展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robo...A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.展开更多
Aspiration spiral flow type centrifugal flotation machine takes full advantage of centrifugal force field and gravitational field, and strengthens flotation of coal slurry. As a new-type flotation machine of high effi...Aspiration spiral flow type centrifugal flotation machine takes full advantage of centrifugal force field and gravitational field, and strengthens flotation of coal slurry. As a new-type flotation machine of high efficiency, its key component is bubble generator. Which completes the process of ore pulp inflation and liberalization. The design, parameters and working principle of bubble generator provide the design of the same device in similar equipment with reference. The result of industrial operation shows that this machine is of such features as small occupational area, greater concentration ratio, high processing capacity, high efficiency and lower investment etc.展开更多
文摘Objective: To study the role of monocytes in the pathogenesis of genital herpes. Methods: TNF- α and IL-6 levels in 27 cases of genital herpes were detected by enzyme linked immunosorbant assay (ELISA). HLA class Ⅱ antigen expression on monocytes were detected by an alkaline phosphatase anti-alkaline phosphatase method. Results: Compared with normal controls, levels of TNF- a and IL - 6 secreted by monocytes responding to LPS mitogen in vitro were significantly decreased [(3.13 ± 0.44ng/ml) vs (4.68 ± 0.54ng/ml), P<0.05 and (3.32 ± 1.06ng/ml) vs (6.46 ± 1.94ng/ ml), P<0.05, respectively]. HLA class Ⅱ antigen expression on monocytes in the genital herpes group was also significantly decreased [HLA-DR (67.48% ± 1.51%) vs (81.03% ± 1.32%), P<0.01 and HLA-DQ (29.54% ± 1.15%) vs (37.63% ± 1.79%), P <0.01 respectively]. Conclusion: These findings suggest that the decreased monocyte function may contribute to the pathogenesis of genital herpes. Augmenting or inducing monocyte function may be important in the prevention, treatment, and reduction of genital herpes cases.
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
基金Project 20050290011 supported by the Doctoral Program Foundation of the Ministry of Education of China
文摘A humanoid robot is a complex dynamic system for its idiosyncrasy. This paper aims to provide a mathematical and theoretical foundation for the design of the configuration, kinematics analysis of a novel humanoid robot. It has a simplified configuration and design for entertainment purpose. The design methods, principle and mechanism are discussed. According to the design goals of this research, there are ten degrees of freedom in the two bionic arms. Modularization, concurrent design and extension theory methods were adopted in the configuration study and screw theory was introduced into the analysis of humanoid robot kinematics. Comparisons with other methods show that: 1) only two coordinates need to be established in the kinematics analysis of humanoid robot based on screw theory; 2) the spatial manipulator Jacobian obtained by using twist and exponential product formula is succinct and legible; 3) adopting screw theory to resolve the humanoid robot arms kinematics question can avoid singularities; 4) using screw theory can solve the question of specification insufficiency.
文摘Aspiration spiral flow type centrifugal flotation machine takes full advantage of centrifugal force field and gravitational field, and strengthens flotation of coal slurry. As a new-type flotation machine of high efficiency, its key component is bubble generator. Which completes the process of ore pulp inflation and liberalization. The design, parameters and working principle of bubble generator provide the design of the same device in similar equipment with reference. The result of industrial operation shows that this machine is of such features as small occupational area, greater concentration ratio, high processing capacity, high efficiency and lower investment etc.
