目的观察过敏性紫癜性肾炎(HSPN)患儿刺激系膜细胞-足细胞轴及直接刺激足细胞对细胞增殖及肿瘤坏死因子(TNF)-α分泌的影响,从而探讨在HSPN发病机制中IgA1引起足细胞损伤的作用机制。方法采用层析法获得HSPN患儿及健康儿童血清单聚体IgA...目的观察过敏性紫癜性肾炎(HSPN)患儿刺激系膜细胞-足细胞轴及直接刺激足细胞对细胞增殖及肿瘤坏死因子(TNF)-α分泌的影响,从而探讨在HSPN发病机制中IgA1引起足细胞损伤的作用机制。方法采用层析法获得HSPN患儿及健康儿童血清单聚体IgA1(mIgA1),并热聚合为聚合IgA1(aIgA1),分别采用HSPN患儿aIgA1与系膜细胞共培养上清(aIgA1-MES上清组)、HSPN患儿的aIgA1(HSPN组)及健康儿童的aIgA1(健康儿童组)刺激足细胞,三组均采用50、100、250μg/mL三种浓度的aIgA1;并设不含aIgA1的阴性对照组。采用噻唑蓝(MTT)法检测刺激24 h及48 h足细胞的增殖情况;收集培养48 h的细胞培养基上清,用酶聚免疫吸附测定(ELISA)法测定TNF-α的水平。对比分析不同浓度的aIgA1对细胞增殖和TNF-α分泌水平的影响。结果 24 h MTT结果显示,aIgA1-MES上清组刺激足细胞在aIgA1浓度为100、250μg/mL的aIgA1中OD值明显低于阴性对照组(P<0.05),HSPN组及健康儿童组aIgA1直接刺激足细胞不能对细胞增殖产生影响(P>0.05);48 h MTT结果显示,IgA1-MES上清组在三种aIgA1浓度下足细胞OD值明显低于阴性对照组(P<0.05),HSPN组及健康儿童组直接刺激足细胞不能对细胞增殖产生影响(P>0.05);三种aIgA1浓度的aIgA1-MES上清组刺激足细胞分泌TNF-α含量较阴性对照组明显升高(P<0.01),三种aIgA1浓度的HSPN组及健康儿童组TNF-α含量与阴性对照组比较,差异无统计学意义(P>0.05)。结论 HSPN患儿aIgA1不能直接刺激足细胞造成细胞损伤,而是通过系膜细胞-足细胞轴抑制足细胞的增殖,并诱导足细胞分泌TNF-α水平增加。展开更多
目的调查2型糖尿病患者的步态、足型、足轴角度、足底压力等生物力学特点。方法 2013.12~2015.03年在我院内分泌科住院的303例2型糖尿病患者纳入研究。足底被分为10个区域,第1趾(T_1)、2~5趾(T_2~5)、第1跖骨(M1)、第2跖骨(M2)、第3跖骨...目的调查2型糖尿病患者的步态、足型、足轴角度、足底压力等生物力学特点。方法 2013.12~2015.03年在我院内分泌科住院的303例2型糖尿病患者纳入研究。足底被分为10个区域,第1趾(T_1)、2~5趾(T_2~5)、第1跖骨(M1)、第2跖骨(M2)、第3跖骨(M3)、第4跖骨(M4)、第5跖骨(M5)、中足(MF)、足跟内侧(HM)、足跟外侧(HL)。收集一般资料及使用Foot Scan步态系统收集压力峰值、足轴角度、足弓指数、支撑时相数据。按照不同因素进行分组,比较组间的足底压力,组间比较采用独立样本t检验或卡方检验或方差分析进行统计分析。结果(1)左足底各区域压力大小排序:M3>M2>M4>HM>HL>M1>M5>T_1>ML>T_2-5;右足底各区域压力大小排序:M3>M2>HM>M4>HL>M1>M5>T_1>ML>T_2-5。比较左右足各区域的足底压力,右足的M1的压力峰值较左足高(4.90±2.64 vs 5.58±2.86,P<0.05),左足M3、M4、M5、MF的压力峰值均比右足高(12.61±4.12 vs 10.46±3.20;9.73±4.00 vs 7.74±2.96;4.58±2.50 vs 3.68±1.91;2.75±1.26 vs 2.51±1.18,均P<0.05)。将总足底压力≥70 N/cm^2定义为高危足,则左足高危足占34%,右足为17.7%。除外右足过轻组,随着BMI增大高危足比例显著增加;(2)支撑相的整足接触阶段延长,离地阶段缩短;与右足对比,左足弓指数大(28.1±3.9 vs 24.5±3.7,P<0.05),低弓足多(49.5%vs 11.55%,P<0.05),正常足弓少(46.53%vs 74.58%,P<0.05),高足弓少(3.96%vs 11.55%,P<0.05)。与正常足弓对比,左侧高弓足组的总足底压力升高(49.5%vs 11.55%,P<0.05);右足足轴角度比左足大(18.1±9.2 vs 22.5±10.4,P<0.05);(3)男性双侧总足底压力均比女性大(左,67.6±13.8 vs 61.5±12.5;右:62.5±11.9 vs 56.7±10.5,P<0.05)(P<0.05)。按年龄分组,<50组、50~60组、61~70组、>70组各组总足底压力随着年龄增大而下降。不同病程、糖化血红蛋白和足轴角度分组间的总足底压力差异无统计学无意义(P>0.05)。结论糖尿病患者的足部生物力学明显改变,这些因素与足底压力异常相关,其中支撑相的整足接触阶段延长,离地阶段缩短,足型畸形率明显增加,足轴角度较大。另外,超重及肥胖的患者高危足比例增加。所以,对糖尿病患者进行减压时应充分考虑糖尿病患者多方面生物力学特点。超重及肥胖患者进行减压的同时减轻体重有利于预防溃疡出现。展开更多
A creating technology of the part forming was discussed and finite volume method(FVM)was used to simulate the forming process of the non-symmetrical axostyle spring core-bar.The results show that the no-even radial fl...A creating technology of the part forming was discussed and finite volume method(FVM)was used to simulate the forming process of the non-symmetrical axostyle spring core-bar.The results show that the no-even radial flange on the top part of the eccentric peachy surface can remarkably block the metal flow and the eccentric peachy can be filled contentedly.Increasing the radius of punch near the inner pocket,the head bulge also can be filled contentedly.The temperature distribution in the part and the forming force,which helps to decide the forming temperature and to select the equipment,was also analyzed.The comparison between the simulation and the experiment result shows that they are accordant.展开更多
The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of...The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.展开更多
文摘目的观察过敏性紫癜性肾炎(HSPN)患儿刺激系膜细胞-足细胞轴及直接刺激足细胞对细胞增殖及肿瘤坏死因子(TNF)-α分泌的影响,从而探讨在HSPN发病机制中IgA1引起足细胞损伤的作用机制。方法采用层析法获得HSPN患儿及健康儿童血清单聚体IgA1(mIgA1),并热聚合为聚合IgA1(aIgA1),分别采用HSPN患儿aIgA1与系膜细胞共培养上清(aIgA1-MES上清组)、HSPN患儿的aIgA1(HSPN组)及健康儿童的aIgA1(健康儿童组)刺激足细胞,三组均采用50、100、250μg/mL三种浓度的aIgA1;并设不含aIgA1的阴性对照组。采用噻唑蓝(MTT)法检测刺激24 h及48 h足细胞的增殖情况;收集培养48 h的细胞培养基上清,用酶聚免疫吸附测定(ELISA)法测定TNF-α的水平。对比分析不同浓度的aIgA1对细胞增殖和TNF-α分泌水平的影响。结果 24 h MTT结果显示,aIgA1-MES上清组刺激足细胞在aIgA1浓度为100、250μg/mL的aIgA1中OD值明显低于阴性对照组(P<0.05),HSPN组及健康儿童组aIgA1直接刺激足细胞不能对细胞增殖产生影响(P>0.05);48 h MTT结果显示,IgA1-MES上清组在三种aIgA1浓度下足细胞OD值明显低于阴性对照组(P<0.05),HSPN组及健康儿童组直接刺激足细胞不能对细胞增殖产生影响(P>0.05);三种aIgA1浓度的aIgA1-MES上清组刺激足细胞分泌TNF-α含量较阴性对照组明显升高(P<0.01),三种aIgA1浓度的HSPN组及健康儿童组TNF-α含量与阴性对照组比较,差异无统计学意义(P>0.05)。结论 HSPN患儿aIgA1不能直接刺激足细胞造成细胞损伤,而是通过系膜细胞-足细胞轴抑制足细胞的增殖,并诱导足细胞分泌TNF-α水平增加。
文摘目的调查2型糖尿病患者的步态、足型、足轴角度、足底压力等生物力学特点。方法 2013.12~2015.03年在我院内分泌科住院的303例2型糖尿病患者纳入研究。足底被分为10个区域,第1趾(T_1)、2~5趾(T_2~5)、第1跖骨(M1)、第2跖骨(M2)、第3跖骨(M3)、第4跖骨(M4)、第5跖骨(M5)、中足(MF)、足跟内侧(HM)、足跟外侧(HL)。收集一般资料及使用Foot Scan步态系统收集压力峰值、足轴角度、足弓指数、支撑时相数据。按照不同因素进行分组,比较组间的足底压力,组间比较采用独立样本t检验或卡方检验或方差分析进行统计分析。结果(1)左足底各区域压力大小排序:M3>M2>M4>HM>HL>M1>M5>T_1>ML>T_2-5;右足底各区域压力大小排序:M3>M2>HM>M4>HL>M1>M5>T_1>ML>T_2-5。比较左右足各区域的足底压力,右足的M1的压力峰值较左足高(4.90±2.64 vs 5.58±2.86,P<0.05),左足M3、M4、M5、MF的压力峰值均比右足高(12.61±4.12 vs 10.46±3.20;9.73±4.00 vs 7.74±2.96;4.58±2.50 vs 3.68±1.91;2.75±1.26 vs 2.51±1.18,均P<0.05)。将总足底压力≥70 N/cm^2定义为高危足,则左足高危足占34%,右足为17.7%。除外右足过轻组,随着BMI增大高危足比例显著增加;(2)支撑相的整足接触阶段延长,离地阶段缩短;与右足对比,左足弓指数大(28.1±3.9 vs 24.5±3.7,P<0.05),低弓足多(49.5%vs 11.55%,P<0.05),正常足弓少(46.53%vs 74.58%,P<0.05),高足弓少(3.96%vs 11.55%,P<0.05)。与正常足弓对比,左侧高弓足组的总足底压力升高(49.5%vs 11.55%,P<0.05);右足足轴角度比左足大(18.1±9.2 vs 22.5±10.4,P<0.05);(3)男性双侧总足底压力均比女性大(左,67.6±13.8 vs 61.5±12.5;右:62.5±11.9 vs 56.7±10.5,P<0.05)(P<0.05)。按年龄分组,<50组、50~60组、61~70组、>70组各组总足底压力随着年龄增大而下降。不同病程、糖化血红蛋白和足轴角度分组间的总足底压力差异无统计学无意义(P>0.05)。结论糖尿病患者的足部生物力学明显改变,这些因素与足底压力异常相关,其中支撑相的整足接触阶段延长,离地阶段缩短,足型畸形率明显增加,足轴角度较大。另外,超重及肥胖的患者高危足比例增加。所以,对糖尿病患者进行减压时应充分考虑糖尿病患者多方面生物力学特点。超重及肥胖患者进行减压的同时减轻体重有利于预防溃疡出现。
基金Project of Science and Technology Foundation of Shanghai Committee,China(No.04NB14)
文摘A creating technology of the part forming was discussed and finite volume method(FVM)was used to simulate the forming process of the non-symmetrical axostyle spring core-bar.The results show that the no-even radial flange on the top part of the eccentric peachy surface can remarkably block the metal flow and the eccentric peachy can be filled contentedly.Increasing the radius of punch near the inner pocket,the head bulge also can be filled contentedly.The temperature distribution in the part and the forming force,which helps to decide the forming temperature and to select the equipment,was also analyzed.The comparison between the simulation and the experiment result shows that they are accordant.
基金Supported by the National Natural Science Foundation of China(No.51375289)Shanghai Municipal National Natural Science Foundation of China(No.13ZR1415500)the Innovation Fund of Shanghai Education Commission(No.13YZ020)
文摘The pivot turning function of quadruped bionic robots can improve their mobility in unstructured environment.A kind of bionic flexible body mechanism for quadruped robot was proposed in this paper,which is composed of one bionic spine and four pneumatic artificial muscles(PAMs).The coordinated movement of the bionic flexible body and the leg mechanism can achieve pivot turning gait.First,the pivot turning gait planning of quadruped robot was analyzed,and the coordinated movement sequence chart of pivot turning was presented.Then the kinematics modeling of leg side swing and body bending for pivot turning was derived,which should meet the condition of the coordinated movement between bionic flexible body and leg mechanism.The PAM experiment was conducted to analyze its contraction characteristic.The study on pivot turning of the quadruped robot will lay a theoretical foundation for the further research on dynamic walking stability of the quadruped robot in unstructured environment.
