An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent...An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.展开更多
Background： Cardiac pacing is a proven and effective treatment used worldwide with a low incidence of complications depending on the patient group. Late lead perforation is a rare complication without a standard trea...Background： Cardiac pacing is a proven and effective treatment used worldwide with a low incidence of complications depending on the patient group. Late lead perforation is a rare complication without a standard treatment. Case summary： We report a case of a 98-year old woman submitted to pacemaker implantation due to symptomatic second-degree atrio-ventricular block. After two days she returned to the hospital with thoracic pain and was diagnosed with RV （right ventricular） lead perforation. She was submitted to cardiac surgery with lead extraction and RV repair. Discussion： There are two major types of complications after pacemaker implantation, mechanical and infection. Reported perforation rates after pacemaker implantation range from 0.1%-0.8%. While acute lead perforation is very well described, late lead perforation is only described in case reports with a low rate of tamponade or death. Management of subacute or delayed RV lead perforation is not well defined due to very limited data. Question remains on whether to extract the lead or not.展开更多
The characteristics of coal seam development,and the prospects of a favorable coal-forming area,were evaluated for the Liaohe Basin located in China.The Number 3 and Number 9 coal seam thickness series from 60 nearly ...The characteristics of coal seam development,and the prospects of a favorable coal-forming area,were evaluated for the Liaohe Basin located in China.The Number 3 and Number 9 coal seam thickness series from 60 nearly equally spaced bores in the Eastern depression of the Liaohe Basin were examined by a rescaled range analysis.The results indicate that the Hurst exponents of the Number 3 and Number 9 coal seam thickness series are 0.69 and 0.68,respectively.This suggests the presence of persistence.As the bore spacing increases the Hurst exponent of the Number 3 series gradually decreases（H changes from 0.69 to 0.52） and shifts from persistence to randomness.The Hurst exponent of the Number 9 thickness data gradually increases（H changes from 0.68 to 0.91） and always shows the characteristic of persistence.A combination of geological characteristics and the series data allow the conclusion that it is more suitable for the Number 9 coal seam to form in the Northeastern part of the Eastern depression than the Number 3 coal seam.展开更多
In this paper, we propose the novel method of complex least squares adjustment （CLSA） to invert vegetation height accurately using single-baseline polarimetric synthetic aperture radar interferometry （PollnSAR） da...In this paper, we propose the novel method of complex least squares adjustment （CLSA） to invert vegetation height accurately using single-baseline polarimetric synthetic aperture radar interferometry （PollnSAR） data. CLSA basically estimates both volume-only coherence and ground phase directly without assuming that the ground-to-volume amplitude radio of a particular polarization channel （e.g., HV） is less than -10 dB, as in the three-stage method. In addition, CLSA can effectively limit errors in interferometric complex coherence, which may translate directly into erroneous ground-phase and volume-only coherence estimations. The proposed CLSA method is validated with BioSAR2008 P-band E-SAR and L-band SIR-C PollnSAR data. Its results are then compared with those of the traditional three-stage method and with external data. It implies that the CLSA method is much more robust than the three-stage method.展开更多
Electromigration in porous media is enhanced by a new type of electrokinetic processing. Compared with a single -oriented electric field, a continuously reoriented electric field was proven to sharply enhance mass tra...Electromigration in porous media is enhanced by a new type of electrokinetic processing. Compared with a single -oriented electric field, a continuously reoriented electric field was proven to sharply enhance mass transport of several heavy metals in kaolin. The initial concentration of the metals was: Cd: 250 mg/kg; Cu: 250 mg/kg; Ni: 250 mg/kg; Zn: 900 mg/kg. Electric field reorientation was obtained by the use of a fixed anode and a cathode that rotated at different frequencies (0, 0.25, 1.00, 1.25, 2.00, 5.00 and 10.00 r/m). Mass transport evidently increased from 0 r/m to 1.25 r/m, and then decreased as the rotation speed reached 10 r/m. From 0 r/m to 1.25 r/m, mass transport increased 2.87 times for Cd, 3.17 times for Cu, 2.11 times for Ni, and 4.13 times for Zn. We suggest that continuous reorientation of the electric field facilitates the advance of ions through kaolin pores, minimizing the retardation effect caused by media tortuosity.展开更多
基金National Science and Technology Major Project(No.2009ZX04014-023)
文摘An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.
文摘Background： Cardiac pacing is a proven and effective treatment used worldwide with a low incidence of complications depending on the patient group. Late lead perforation is a rare complication without a standard treatment. Case summary： We report a case of a 98-year old woman submitted to pacemaker implantation due to symptomatic second-degree atrio-ventricular block. After two days she returned to the hospital with thoracic pain and was diagnosed with RV （right ventricular） lead perforation. She was submitted to cardiac surgery with lead extraction and RV repair. Discussion： There are two major types of complications after pacemaker implantation, mechanical and infection. Reported perforation rates after pacemaker implantation range from 0.1%-0.8%. While acute lead perforation is very well described, late lead perforation is only described in case reports with a low rate of tamponade or death. Management of subacute or delayed RV lead perforation is not well defined due to very limited data. Question remains on whether to extract the lead or not.
基金supported by National Basic Research Program of China(No.2007CB209503)
文摘The characteristics of coal seam development,and the prospects of a favorable coal-forming area,were evaluated for the Liaohe Basin located in China.The Number 3 and Number 9 coal seam thickness series from 60 nearly equally spaced bores in the Eastern depression of the Liaohe Basin were examined by a rescaled range analysis.The results indicate that the Hurst exponents of the Number 3 and Number 9 coal seam thickness series are 0.69 and 0.68,respectively.This suggests the presence of persistence.As the bore spacing increases the Hurst exponent of the Number 3 series gradually decreases（H changes from 0.69 to 0.52） and shifts from persistence to randomness.The Hurst exponent of the Number 9 thickness data gradually increases（H changes from 0.68 to 0.91） and always shows the characteristic of persistence.A combination of geological characteristics and the series data allow the conclusion that it is more suitable for the Number 9 coal seam to form in the Northeastern part of the Eastern depression than the Number 3 coal seam.
基金supported by the National Basic Research Program of China(Grant No.2013CB733303)National Natural Science Foundation of China(Grant Nos.41274010,41371335)supported by PA-SB ESA EO Project Campaign of"Development of methods for Forest Biophysical Parameters Inversion Using POLIn SAR Data"(Grant No.ID.14655)
文摘In this paper, we propose the novel method of complex least squares adjustment （CLSA） to invert vegetation height accurately using single-baseline polarimetric synthetic aperture radar interferometry （PollnSAR） data. CLSA basically estimates both volume-only coherence and ground phase directly without assuming that the ground-to-volume amplitude radio of a particular polarization channel （e.g., HV） is less than -10 dB, as in the three-stage method. In addition, CLSA can effectively limit errors in interferometric complex coherence, which may translate directly into erroneous ground-phase and volume-only coherence estimations. The proposed CLSA method is validated with BioSAR2008 P-band E-SAR and L-band SIR-C PollnSAR data. Its results are then compared with those of the traditional three-stage method and with external data. It implies that the CLSA method is much more robust than the three-stage method.
基金Project supported by the Ministry of Education of China(No. 708060)the Cultivation Fund of the Key Scientific and Technical Innovation Projectthe Program for New Century Excellent Talents in University, Ministry of Education (No. NCET-08-0508),China
文摘Electromigration in porous media is enhanced by a new type of electrokinetic processing. Compared with a single -oriented electric field, a continuously reoriented electric field was proven to sharply enhance mass transport of several heavy metals in kaolin. The initial concentration of the metals was: Cd: 250 mg/kg; Cu: 250 mg/kg; Ni: 250 mg/kg; Zn: 900 mg/kg. Electric field reorientation was obtained by the use of a fixed anode and a cathode that rotated at different frequencies (0, 0.25, 1.00, 1.25, 2.00, 5.00 and 10.00 r/m). Mass transport evidently increased from 0 r/m to 1.25 r/m, and then decreased as the rotation speed reached 10 r/m. From 0 r/m to 1.25 r/m, mass transport increased 2.87 times for Cd, 3.17 times for Cu, 2.11 times for Ni, and 4.13 times for Zn. We suggest that continuous reorientation of the electric field facilitates the advance of ions through kaolin pores, minimizing the retardation effect caused by media tortuosity.
