A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is ...A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.展开更多
The extraction of potassium from K-feldspar via a calcium chloride calcination route was studied with a focus on the effects of the calcination atmosphere, calcination temperature and time, mass ratio of CaCl2 to K-fe...The extraction of potassium from K-feldspar via a calcium chloride calcination route was studied with a focus on the effects of the calcination atmosphere, calcination temperature and time, mass ratio of CaCl2 to K-feldspar ore and particle size of the K-feldspar ore. The results demonstrated that a competing high-temperature hydrolysis reaction of calcium chloride with moisture in a damp atmosphere occurred concurrently with the conversion reaction of K-feldspar with CaCl2, thus reducing the amount of potassium extracted. The conversion reaction started at approximately 600 °C and accelerated with increasing temperature. When the temperature rose above 900 °C, the extraction of potassium gradually decreased due to the volatilization of the product, KCl.As much as approximately 41% of the potassium was volatilized in 40 min at 1100 °C. The mass ratio of CaCl2/K-feldspar ore significantly affected the extraction. At a mass ratio of 1.15 and 900 °C, the potassium extraction reached 91% in 40 min, while the extraction was reduced to only 22% at the theoretical mass ratio of 0.2. Optimal process conditions are as follows: ore particle size of 50–75 μm, tablet forming pressure of 3 MPa, dry nitrogen atmosphere, mass ratio of CaCl2/ore 1.15:1, calcination temperature of 900 °C, and calcination time of 40 min.The XRD analysis revealed that a complex phase transition of the product SiO2 was also accompanied by the conversion reaction of K-feldspar/CaCl2. The SiO2 product formed at the initial stage was in the quartz phase at 900 °C and was gradually transformed into cristobalite after 30 min.展开更多
A new ultrasound contrast imaging technique was proposed for eliminating the harmonic components from the emission signal transmitted by the broadband ultrasonic system.Reversal phase-inversion pulse was used for the ...A new ultrasound contrast imaging technique was proposed for eliminating the harmonic components from the emission signal transmitted by the broadband ultrasonic system.Reversal phase-inversion pulse was used for the first time to separate the contrast harmonics from the harmonics in the emission signal to improve the detection of contrast micro-bubbles.Based on the nonlinear acoustic theory of finite-amplitude effects and the associated distortion of the propagating wave,the Bessel-Fubini series model was applied to describe the nonlinear propagation effects of the reversal phase-inversion pulse,and the Church's equation for zero-thickness encapsulation model was used to produce the scattering-pulse of the bubble.For harmonic imaging,the experiment was performed using a 64-element linear array,which was simulated by Field II.The results show that the harmonic components from the emission signal can be completely cancelled,and the harmonics generated by the nonlinear propagation of the wave through the tissue,can be reduced by 15-30 dB.Compared with the short pulse,the reversal phase-inversion pulse can improve the contrast and definition of the harmonic image significantly.展开更多
The inverse design method of a dynamic system with linear parameters has been studied. For some specified eigenvalues and eigenvectors, the design parameter vector which is often composed of whole or part of coefficie...The inverse design method of a dynamic system with linear parameters has been studied. For some specified eigenvalues and eigenvectors, the design parameter vector which is often composed of whole or part of coefficients of spring and mass of the system can be obtained and the rigidity and mass matrices of an initially designed structure can be reconstructed through solving linear algebra equations. By using implicit function theorem, the conditions of existence and uniqueness of the solution are also deduced. The theory and method can be used for inverse vibration design of complex structure system.展开更多
AIM:To formulate a noninvasive index predictive of se-verity of liver f ibrosis and activity in chronic hepatitis C.METHODS:This cross sectional study was conducted on polymerase chain reaction positive,treatment nave...AIM:To formulate a noninvasive index predictive of se-verity of liver f ibrosis and activity in chronic hepatitis C.METHODS:This cross sectional study was conducted on polymerase chain reaction positive,treatment nave patients.Fibrosis was staged on a f ive point scale from F0-F4 and activity was graded on a four point scale from A0-A3,according to the METAVIR system.Patients were divided into two overall severity groups,minimal disease(< F2 and < A2)and signif icant disease(≥ F2 or ≥ A2).Eleven markers were measured in blood.Sta-tistically,the primary outcome variable was identif ica-tion of minimal and signif icant overall disease.Indices were formulated using β regression values of different combinations of nine statistically significant factors.Diagnostic performance of these indices was assessed through receiver-operating characteristic curve analysis.RESULTS:A total of 98 patients were included and of these 46 had an overall clinically significant disease.Our f inal six marker index,Liverscore for Hepatitis C,consisted of age,alanine transaminase,gamma-gluta-myl transpeptidase,apolipoprotein A-1,alpha-2 macro-globulin and hyaluronic acid.The area under the curve was found to be 0.813.On a 0-1 scale,negative predic-tive value at a cutoff level of ≤ 0.40 was 83%,while positive predictive value at ≥ 0.80 remained 89%.Al-together,61% of the patients had these discriminative scores.CONCLUSION:This index is discriminative of minimal and significant overall liver disease in a majority of chronic hepatitis C patients and can help in clinical de-cision making.展开更多
It is better to use a simple configuration to enhance the matched-field inversion method based on a horizontal line applicability of ocean environment inversion in shallow water. A array (HLA) is used to retrieve th...It is better to use a simple configuration to enhance the matched-field inversion method based on a horizontal line applicability of ocean environment inversion in shallow water. A array (HLA) is used to retrieve the variation of sound speed profile. The performance of the inversion method is verified in the South China Sea in June, 2010. An HLA laid at bottom was used to receive signals from a bottom-mounted transducer. Inverted mean sound speed profiles from 9-hour long acoustic signals are in good agreement with measurements from two temperature chains at the sites of the source and receiver. The results show that an HLA can be used to monitor the variability of shallow-water sound speed profile.展开更多
Let E and F be Banach spaces and f non-linear C1 map from E into F. The main result isTheorem 2.2, in which a connection between local conjugacy problem of f at x0E and a localfine property of f'(x) at x0(see the ...Let E and F be Banach spaces and f non-linear C1 map from E into F. The main result isTheorem 2.2, in which a connection between local conjugacy problem of f at x0E and a localfine property of f'(x) at x0(see the Definition 1.1 in this paper) are obtained. This theoremincludes as special cases the two known theorems: the finite rank theorem and Berger's Theoremfor non-linear Fredholm operators. Moreover, the thcorem gives rise the further results for somenon-linear semi-Fredholm maps and for all non-linear semi-Wedholm maps when E and F areHilbert spaces. Thus Theorem 2.2 not only just unifies the above known theorems but alsoreally generalizes them.展开更多
Objective: To investigate the effects of curcumin on release of cytochrome c and expressions of Bcl-2, Bax, Bad, Bcl-xL, caspase-3, poly ADP-ribose polymerase (PARP), and survivin of HT-29 cells. Methods: HT-29 ce...Objective: To investigate the effects of curcumin on release of cytochrome c and expressions of Bcl-2, Bax, Bad, Bcl-xL, caspase-3, poly ADP-ribose polymerase (PARP), and survivin of HT-29 cells. Methods: HT-29 cells were treated with curcumin (0-80 μmol/L) for 24 h. The release of cytochrome c from the mitochondria and the apoptosis-related proteins Bax, Bcl-2, Bcl-xL, Bad, caspase-3, PARP, and survivin were determined by Western blot analysis and their mRNA expressions by reverse transcriptase-polymerase chain reaction (RT-PCR). Results: Curcumin significantly induced the growth inhibition and apoptosis of HT-29 cells. A decrease in expressions of Bcl-2, Bcl-xL and survivin was observed after exposure to 10-80 μmol/L curcumin, while the levels of Bax and Bad increased in the curcumin-treated cells. Curcumin also induced the release of cyto- chrome c, the activation ofcaspase-3, and the cleavage of PARP in a dose-dependent manner. Conclusion: These data suggest that curcumin induced the HT-29 cell apoptosis possibly via the mitoehondria-mediated pathway.展开更多
Soybean transformation by ovary-drip was improved by optimizing the length of the transformation pathway by cutting the styles. These modifications facilitated soybean transformation manipulation and improved transfor...Soybean transformation by ovary-drip was improved by optimizing the length of the transformation pathway by cutting the styles. These modifications facilitated soybean transformation manipulation and improved transformation reproducibility and efficiency. Using a linear minimal gus gene cassette as the foreign DNA, a maximum transformation frequency of 11% was obtained in flowers of the soybean cultivar ‘Liaodou 14’ with their styles mostly removed, whereas removal of only the stigma, partial style cutting and partial ovary cutting gave transformation frequencies of 0%, 1%, and 2%, respectively. An average transformation frequency of 8.2% was obtained when 619 flowers from three soybean cultivars (‘Liaodou 14’, ‘Liaodou 13’, and ‘Tiefeng 29’) were transformed by this optimized method. Southern blotting analysis showed that the gus reporter gene (encoding β-glucuronidase) was stably inherited with a simple pattern. Reverse transcription-polymerase chain reaction (RT-PCR) and GUS staining confirmed the expression of the gus gene in transgenic plants.展开更多
基金Supported by National Natural Science Foundation of China (No. 50375106) andKey Laboratory of Intelligent Manufacturing at Shantou University Grant (No. Imstu-2002-11).
文摘A systematic methodology for solving the inverse dynamics of the Delta robot is presented.First,the inverse kinematics is solved based on the vector method.A new form of the Jacobi matrix formulized by the vectors is obtained so the three types kinematics singularities namely inverse, direct and combined types, can be identified with the physical meaning.Then based on the principle of virtual work, a methodology for driving the dynamical equations of motion is developed.Meanwhile the whole actuating torques, the torques caused by the gravity, the velocity and the acceleration are computed respectively in the numerical example. Results show that torque caused by the acceleration term is much bigger than the other two terms.This approach leads to efficient algorithms since the constraint forces and moments of the robot system have been eliminated from the equations of motion and there is no differential equation for the whole procedure when the principle of virtual work is applied to solving the inverse dynamical problem.
基金Supported by the Ministry of Science and Technology(State Key Research Plan2013BAC12B03)the National Natural Science Foundation of China(21236004,21336004)
文摘The extraction of potassium from K-feldspar via a calcium chloride calcination route was studied with a focus on the effects of the calcination atmosphere, calcination temperature and time, mass ratio of CaCl2 to K-feldspar ore and particle size of the K-feldspar ore. The results demonstrated that a competing high-temperature hydrolysis reaction of calcium chloride with moisture in a damp atmosphere occurred concurrently with the conversion reaction of K-feldspar with CaCl2, thus reducing the amount of potassium extracted. The conversion reaction started at approximately 600 °C and accelerated with increasing temperature. When the temperature rose above 900 °C, the extraction of potassium gradually decreased due to the volatilization of the product, KCl.As much as approximately 41% of the potassium was volatilized in 40 min at 1100 °C. The mass ratio of CaCl2/K-feldspar ore significantly affected the extraction. At a mass ratio of 1.15 and 900 °C, the potassium extraction reached 91% in 40 min, while the extraction was reduced to only 22% at the theoretical mass ratio of 0.2. Optimal process conditions are as follows: ore particle size of 50–75 μm, tablet forming pressure of 3 MPa, dry nitrogen atmosphere, mass ratio of CaCl2/ore 1.15:1, calcination temperature of 900 °C, and calcination time of 40 min.The XRD analysis revealed that a complex phase transition of the product SiO2 was also accompanied by the conversion reaction of K-feldspar/CaCl2. The SiO2 product formed at the initial stage was in the quartz phase at 900 °C and was gradually transformed into cristobalite after 30 min.
基金Project(20070533131) supported by the National Research Foundation for the Doctoral Program of Higher Education of ChinaProject(50275150) supported by the National Natural Science Foundation of China
文摘A new ultrasound contrast imaging technique was proposed for eliminating the harmonic components from the emission signal transmitted by the broadband ultrasonic system.Reversal phase-inversion pulse was used for the first time to separate the contrast harmonics from the harmonics in the emission signal to improve the detection of contrast micro-bubbles.Based on the nonlinear acoustic theory of finite-amplitude effects and the associated distortion of the propagating wave,the Bessel-Fubini series model was applied to describe the nonlinear propagation effects of the reversal phase-inversion pulse,and the Church's equation for zero-thickness encapsulation model was used to produce the scattering-pulse of the bubble.For harmonic imaging,the experiment was performed using a 64-element linear array,which was simulated by Field II.The results show that the harmonic components from the emission signal can be completely cancelled,and the harmonics generated by the nonlinear propagation of the wave through the tissue,can be reduced by 15-30 dB.Compared with the short pulse,the reversal phase-inversion pulse can improve the contrast and definition of the harmonic image significantly.
基金Science Developing Plan of Beijing Educational Committee, Beijing Natural Science Fund (No. 3022003), and NationalNatural Science Fund of China(No.50375002)
文摘The inverse design method of a dynamic system with linear parameters has been studied. For some specified eigenvalues and eigenvectors, the design parameter vector which is often composed of whole or part of coefficients of spring and mass of the system can be obtained and the rigidity and mass matrices of an initially designed structure can be reconstructed through solving linear algebra equations. By using implicit function theorem, the conditions of existence and uniqueness of the solution are also deduced. The theory and method can be used for inverse vibration design of complex structure system.
基金Supported by Ziauddin University,Karachi and Pakistan Medical Research Council,Islamabad
文摘AIM:To formulate a noninvasive index predictive of se-verity of liver f ibrosis and activity in chronic hepatitis C.METHODS:This cross sectional study was conducted on polymerase chain reaction positive,treatment nave patients.Fibrosis was staged on a f ive point scale from F0-F4 and activity was graded on a four point scale from A0-A3,according to the METAVIR system.Patients were divided into two overall severity groups,minimal disease(< F2 and < A2)and signif icant disease(≥ F2 or ≥ A2).Eleven markers were measured in blood.Sta-tistically,the primary outcome variable was identif ica-tion of minimal and signif icant overall disease.Indices were formulated using β regression values of different combinations of nine statistically significant factors.Diagnostic performance of these indices was assessed through receiver-operating characteristic curve analysis.RESULTS:A total of 98 patients were included and of these 46 had an overall clinically significant disease.Our f inal six marker index,Liverscore for Hepatitis C,consisted of age,alanine transaminase,gamma-gluta-myl transpeptidase,apolipoprotein A-1,alpha-2 macro-globulin and hyaluronic acid.The area under the curve was found to be 0.813.On a 0-1 scale,negative predic-tive value at a cutoff level of ≤ 0.40 was 83%,while positive predictive value at ≥ 0.80 remained 89%.Al-together,61% of the patients had these discriminative scores.CONCLUSION:This index is discriminative of minimal and significant overall liver disease in a majority of chronic hepatitis C patients and can help in clinical de-cision making.
基金supported by the National Natural Science Foundation of China(Grant Nos.11434012,11404366,11125420 and 11074269)
文摘It is better to use a simple configuration to enhance the matched-field inversion method based on a horizontal line applicability of ocean environment inversion in shallow water. A array (HLA) is used to retrieve the variation of sound speed profile. The performance of the inversion method is verified in the South China Sea in June, 2010. An HLA laid at bottom was used to receive signals from a bottom-mounted transducer. Inverted mean sound speed profiles from 9-hour long acoustic signals are in good agreement with measurements from two temperature chains at the sites of the source and receiver. The results show that an HLA can be used to monitor the variability of shallow-water sound speed profile.
文摘Let E and F be Banach spaces and f non-linear C1 map from E into F. The main result isTheorem 2.2, in which a connection between local conjugacy problem of f at x0E and a localfine property of f'(x) at x0(see the Definition 1.1 in this paper) are obtained. This theoremincludes as special cases the two known theorems: the finite rank theorem and Berger's Theoremfor non-linear Fredholm operators. Moreover, the thcorem gives rise the further results for somenon-linear semi-Fredholm maps and for all non-linear semi-Wedholm maps when E and F areHilbert spaces. Thus Theorem 2.2 not only just unifies the above known theorems but alsoreally generalizes them.
基金Project (No.2006C12098) supported by the Science and TechnologyDepartment of Zhejiang Province, China
文摘Objective: To investigate the effects of curcumin on release of cytochrome c and expressions of Bcl-2, Bax, Bad, Bcl-xL, caspase-3, poly ADP-ribose polymerase (PARP), and survivin of HT-29 cells. Methods: HT-29 cells were treated with curcumin (0-80 μmol/L) for 24 h. The release of cytochrome c from the mitochondria and the apoptosis-related proteins Bax, Bcl-2, Bcl-xL, Bad, caspase-3, PARP, and survivin were determined by Western blot analysis and their mRNA expressions by reverse transcriptase-polymerase chain reaction (RT-PCR). Results: Curcumin significantly induced the growth inhibition and apoptosis of HT-29 cells. A decrease in expressions of Bcl-2, Bcl-xL and survivin was observed after exposure to 10-80 μmol/L curcumin, while the levels of Bax and Bad increased in the curcumin-treated cells. Curcumin also induced the release of cyto- chrome c, the activation ofcaspase-3, and the cleavage of PARP in a dose-dependent manner. Conclusion: These data suggest that curcumin induced the HT-29 cell apoptosis possibly via the mitoehondria-mediated pathway.
基金Project (No. JY03-B-18-02) supported by the National R & D Project of Transgenic Crops of Ministry of Science and Technology of China
文摘Soybean transformation by ovary-drip was improved by optimizing the length of the transformation pathway by cutting the styles. These modifications facilitated soybean transformation manipulation and improved transformation reproducibility and efficiency. Using a linear minimal gus gene cassette as the foreign DNA, a maximum transformation frequency of 11% was obtained in flowers of the soybean cultivar ‘Liaodou 14’ with their styles mostly removed, whereas removal of only the stigma, partial style cutting and partial ovary cutting gave transformation frequencies of 0%, 1%, and 2%, respectively. An average transformation frequency of 8.2% was obtained when 619 flowers from three soybean cultivars (‘Liaodou 14’, ‘Liaodou 13’, and ‘Tiefeng 29’) were transformed by this optimized method. Southern blotting analysis showed that the gus reporter gene (encoding β-glucuronidase) was stably inherited with a simple pattern. Reverse transcription-polymerase chain reaction (RT-PCR) and GUS staining confirmed the expression of the gus gene in transgenic plants.