In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion....In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop(compliance loop)is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.展开更多
Assessing the radiographic features of knee osteoarthritis (OA), especially joint space narrowing, is important for evaluating disease progression. The purpose of this study was to quantitatively analyze joint space...Assessing the radiographic features of knee osteoarthritis (OA), especially joint space narrowing, is important for evaluating disease progression. The purpose of this study was to quantitatively analyze joint space narrowing by measuring 2 new variables: the average joint space width (aJSW) and the articulate angle (AA) on X-ray films, and to evaluate the relationship between the 2 variables, knee function and OA symptoms. Methods Using the web-based radiology viewer (Cedara I-ReachTM 4.1.1), we measured the 2 variables in 50 knees of 41 patients with knee OA participating in the Shanghai OA Study. We also evaluated the Kellgren-Lawrence (K-L) grade, the Western Ontario and McMaster Universities OA Index (WOMAC), and additional questionnaire in OA knees. The study was approved by the ethics committee of Shanghai Ninth People's Hospital (No. 2009-28). Results The aJSW correlated with the K-L grade (r=-0.57, P 〈0.001), kneeling (r=-0.29, P=0.04), sitting cross-legged on the floor (r=-0.31, P=0.03), WOMAC pain (r=-0.31, P=0.03), WOMAC disability (r=-0.35, P=0.01), pain while squatting (r=-0.37, P=0.01), and defecating in a squatting position (r=-0.39, P= 0.01). The AA correlated with defecating in a squatting position (r=0.29, P=0.05), WOMAC disability (r=0.30, P=0.04) and K-L grade (r=0.44, P=0.003). The K-L grade also correlated with pain while squatting (r=-0.40, P=0.005) and defecating in a squatting position (r=-0.34, P=0.02), WOMAC pain (r=0.30, P=0.04), and WOMAC disability (r=0.30, P=0.04). Conclusions The aJSW closely correlated with knee OA symptoms and function scores, and was more sensitive to knee OA related disabilities than K-L grade and the AA. The aJSW could be used as a new variable for knee OA evaluation.展开更多
Advanced microfluidic technology was used to examine the microscopic viscous and inertial effects evolution of water flow in rock joints. The influence of void space on fluid flow behaviour in rock joints under differ...Advanced microfluidic technology was used to examine the microscopic viscous and inertial effects evolution of water flow in rock joints. The influence of void space on fluid flow behaviour in rock joints under different flow velocities was experimentally investigated at the micro scale. Using advanced fabrication technology of microfluidic device, micro flow channels of semicircular, triangular, rectangular and pentagonal cavities were fabricated to simulate different void space of rock joints, respectively. Using the fluorescence labelling approach, the trajectory of water flow was captured by the microscope digital camera when it passed over the cavity under different flow velocities. The flow tests show that the flow trajectory deviated towards the inside of the cavity at low flow velocities. With the increase in flow velocity, this degree of flow trajectory deviation decreased until there was no trajectory deviation for flow in the straight parallel channel. The flow trajectory deviation initially reduced from the void corner near the entrance. At the same time, a small eddy appeared near the void corner of the entrance. The size and intensity of the eddy increased with the flow velocity until it occupied the whole cavity domain. The gradual reduction of flow trajectory near the straight parallel channel and the growth of eddy inside the cavity reflect the evolution of microscopic viscous and inertial forces under different flow velocities.The eddy formed inside the cavity does not contribute to the total flow flux, but the running of the eddy consumes flow energy. This amount of pressure loss due to voids could contribute to the nonlinear deviation of fracture fluid flow from Darcy's law. This study contributes to the fundamental understanding of non-Darcy's flow occurrence in rock joints at the micro scale.展开更多
The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stif...The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stiffness of joint system, which is neither total pin assumption nor perfect fix condition, is very important to apply to the real single layer space one. Therefore, the purpose of this work was to investigate the buckling behavior of single layer space structure, using the development of the upgraded stiffness matrix for the joint rigidity. To derive tangential stiffness matrix, a displacement function was assumed using translational and rotational displacement at the node. The geometrical nonlinear analysis was simulated not only with perfect model but also with imperfect one. As a result, the one and two free nodal numerical models were investigated using derived stiffness matrix. It was figured out that the buckling load increases in proportion to joint rigidity with rise-span ratio. The stability of numerical model is very sensitive with the initial imperfection, responding of bifurcation in the structure.展开更多
BACKGROUND The role of occlusal factors on the occurrence of temporomandibular joint disorders(TMDs)is still unclear and it is tricky for orthodontists to treat malocclusions in patients with TMDs.We report the case o...BACKGROUND The role of occlusal factors on the occurrence of temporomandibular joint disorders(TMDs)is still unclear and it is tricky for orthodontists to treat malocclusions in patients with TMDs.We report the case of the second orthodontic treatment of an adult female with Class II division 2 malocclusion associated with TMD.With the removal of anterior occlusal interference,TMD symptoms were alleviated and cone beam computed tomography(CBCT)images showed the bilateral condyles shifted forward.CASE SUMMARY This case report presented an orthodontic retreatment of an adult female with TMD and mandibular backward positioning based on CBCT examination and Joint Space Index(JSI)analysis.The left and right JSI values of-38.5 and-52.6 indicated that the position of bilateral condyles had posterior displacement.Ten years prior to this evaluation,she underwent orthodontic treatment resulting in the extraction of two upper premolars and one lower central incisor.The joint symptoms,including pain and sounds,were alleviated along with verified mandibular forward repositioning by extraction of another lower central incisor.CONCLUSION Mandibular backward positioning could be associated with TMD.JSI analysis based on CBCT is a convenient way to examine condylar positions quantitatively.展开更多
当干扰信号的空域和极化域特征与目标信号相似时,采用空极化域联合抗干扰技术在消除干扰的同时也会抑制目标信号,导致干扰对消后信干噪比(signal to interference plus noise ratio,SINR)低于雷达系统需求,从而形成干扰对消盲区。针对...当干扰信号的空域和极化域特征与目标信号相似时,采用空极化域联合抗干扰技术在消除干扰的同时也会抑制目标信号,导致干扰对消后信干噪比(signal to interference plus noise ratio,SINR)低于雷达系统需求,从而形成干扰对消盲区。针对这一现象,通过在空域、极化域与空极化域分别建立交替极化阵列对消盲区模型,推导了对消盲区位置和大小的数学表达式,从而给出了交替极化阵列对消盲区的数学表征方法。进而分析了交替极化阵列对消盲区的分布规律与影响因素,研究发现阵元间距能够显著影响交替极化阵列对消盲区的分布,在相同条件下交替极化阵列对消盲区大于共点极化阵列对消盲区,结果表明交替极化阵列虽然通过减少天线数目降低了设备成本,但增大了阵列的对消盲区。然后,对消盲区模型进行了数值仿真,仿真结果验证了理论分析。最后,利用信道模拟器搭建了实验平台,信道模拟实验测得的对消盲区与理论值基本一致,再次证明了分析结论的有效性。展开更多
Cape Stone Forest is a group of granite rock pillars(pedestal rocks) towering over Shilin Lake, on the southern shore of Shantou Bay in eastern Guangdong, China. The rock pillars were previously identified as sea stac...Cape Stone Forest is a group of granite rock pillars(pedestal rocks) towering over Shilin Lake, on the southern shore of Shantou Bay in eastern Guangdong, China. The rock pillars were previously identified as sea stacks because they have marine notch-like concave sidewalls at their base, and more importantly, the lake is immediately adjacent to the bay, which is exposed to the open sea. However, rock pillars similar in shape and size can also be found at the top of Queshi Mountain, which is only about 300 meters northwest of the lake and about 85 meters above sea level. Therefore, the marine origin of Cape Stone Forest is seriously questioned. In this study, 3D imagery and drone technology were used to collect data in the investigations without direct manual measurements in the water or on the mountain. It shows that the concave sidewalls of the rock pillars in the lake and on the mountains occur at different heights and are exposed to different directions, while a natural sea stack on Mayu Island at the mouth of Shantou Bay has a horizontal notch parallel to the sea level, although the granite rock of the sea stack is the same as that of the lake and the mountains. The eastern side of the island, where the sea stack is located, is exposed to the open sea but blocks large waves for the rock pillars in the lake. Therefore, the origin of Cape Stone Forest cannot be explained by wave-based mechanisms. The only satisfactory explanation that takes into account all the field evidence is that the narrow rock pillars of the lake and mountain were formed by chemical weathering that penetrated closely the spaced joints of the granite rock, and the notch-like concave sidewalls were formed by more effective chemical weathering at the base of the pillars.展开更多
基金Supported by the National High Technology Research and Development Program of China(863 Program)(2011AA041002)
文摘In the realm of quadruped robot locomotion,compliance control is imperative to handle impacts when negotiating unstructured terrains.At the same time,kinematic tracking accuracy should be guaranteed during locomotion.To meet both demands,ajoint space compliance controller is designed,so that compliance can be achieved in stance phase while position tracking performance can be guaranteed in swing phase.Unlike operational space compliance control,the joint space compliance control method is easy to implement and does not depend on robot dynamics.As for each joint actuator,high performance force control is of great importance for compliance design.Therefore,a nonlinear PI controller based on feedback linearization is proposed for the hydraulic actuator force control.Besides,an outer position loop(compliance loop)is closed for each joint.Experiments are carried out to verify the force controller and compliance of the hydraulic actuator.The robot leg compliance is assessed by a virtual prototyping simulation.
文摘Assessing the radiographic features of knee osteoarthritis (OA), especially joint space narrowing, is important for evaluating disease progression. The purpose of this study was to quantitatively analyze joint space narrowing by measuring 2 new variables: the average joint space width (aJSW) and the articulate angle (AA) on X-ray films, and to evaluate the relationship between the 2 variables, knee function and OA symptoms. Methods Using the web-based radiology viewer (Cedara I-ReachTM 4.1.1), we measured the 2 variables in 50 knees of 41 patients with knee OA participating in the Shanghai OA Study. We also evaluated the Kellgren-Lawrence (K-L) grade, the Western Ontario and McMaster Universities OA Index (WOMAC), and additional questionnaire in OA knees. The study was approved by the ethics committee of Shanghai Ninth People's Hospital (No. 2009-28). Results The aJSW correlated with the K-L grade (r=-0.57, P 〈0.001), kneeling (r=-0.29, P=0.04), sitting cross-legged on the floor (r=-0.31, P=0.03), WOMAC pain (r=-0.31, P=0.03), WOMAC disability (r=-0.35, P=0.01), pain while squatting (r=-0.37, P=0.01), and defecating in a squatting position (r=-0.39, P= 0.01). The AA correlated with defecating in a squatting position (r=0.29, P=0.05), WOMAC disability (r=0.30, P=0.04) and K-L grade (r=0.44, P=0.003). The K-L grade also correlated with pain while squatting (r=-0.40, P=0.005) and defecating in a squatting position (r=-0.34, P=0.02), WOMAC pain (r=0.30, P=0.04), and WOMAC disability (r=0.30, P=0.04). Conclusions The aJSW closely correlated with knee OA symptoms and function scores, and was more sensitive to knee OA related disabilities than K-L grade and the AA. The aJSW could be used as a new variable for knee OA evaluation.
基金support from the Australian Research Council-linkage Project
文摘Advanced microfluidic technology was used to examine the microscopic viscous and inertial effects evolution of water flow in rock joints. The influence of void space on fluid flow behaviour in rock joints under different flow velocities was experimentally investigated at the micro scale. Using advanced fabrication technology of microfluidic device, micro flow channels of semicircular, triangular, rectangular and pentagonal cavities were fabricated to simulate different void space of rock joints, respectively. Using the fluorescence labelling approach, the trajectory of water flow was captured by the microscope digital camera when it passed over the cavity under different flow velocities. The flow tests show that the flow trajectory deviated towards the inside of the cavity at low flow velocities. With the increase in flow velocity, this degree of flow trajectory deviation decreased until there was no trajectory deviation for flow in the straight parallel channel. The flow trajectory deviation initially reduced from the void corner near the entrance. At the same time, a small eddy appeared near the void corner of the entrance. The size and intensity of the eddy increased with the flow velocity until it occupied the whole cavity domain. The gradual reduction of flow trajectory near the straight parallel channel and the growth of eddy inside the cavity reflect the evolution of microscopic viscous and inertial forces under different flow velocities.The eddy formed inside the cavity does not contribute to the total flow flux, but the running of the eddy consumes flow energy. This amount of pressure loss due to voids could contribute to the nonlinear deviation of fracture fluid flow from Darcy's law. This study contributes to the fundamental understanding of non-Darcy's flow occurrence in rock joints at the micro scale.
文摘目的 评价磁共振3D space序列在膝关节半月板放射状撕裂中的诊断价值,提高对此病的影像认识,为临床诊疗提供帮助。方法 回顾性分析29例经关节镜证实的膝关节半月板放射状撕裂患者的磁共振资料;对比常规磁共振2D序列与3D space序列在半月板放射状撕裂病变中的诊断效能,使用Fisher确切概率法对两种方法诊断半月板放射状撕裂的准确率进行比较。结果 3D space序列和常规2D序列诊断半月板放射状撕裂的准确率分别为96.7%(29/30)、80.0%(24/30),3D space序列诊断准确率高于常规2D序列,差异有统计学意义(P<0.05)。结论 3D space序列在半月板放射状撕裂的诊断中具有较高价值,其诊断效能优于2D序列。
基金Project(12 High-tech Urban C11) supported by High-tech Urban Development Program of Ministry of Land,Transport and Maritime Affairs,Korea
文摘The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stiffness of joint system, which is neither total pin assumption nor perfect fix condition, is very important to apply to the real single layer space one. Therefore, the purpose of this work was to investigate the buckling behavior of single layer space structure, using the development of the upgraded stiffness matrix for the joint rigidity. To derive tangential stiffness matrix, a displacement function was assumed using translational and rotational displacement at the node. The geometrical nonlinear analysis was simulated not only with perfect model but also with imperfect one. As a result, the one and two free nodal numerical models were investigated using derived stiffness matrix. It was figured out that the buckling load increases in proportion to joint rigidity with rise-span ratio. The stability of numerical model is very sensitive with the initial imperfection, responding of bifurcation in the structure.
文摘BACKGROUND The role of occlusal factors on the occurrence of temporomandibular joint disorders(TMDs)is still unclear and it is tricky for orthodontists to treat malocclusions in patients with TMDs.We report the case of the second orthodontic treatment of an adult female with Class II division 2 malocclusion associated with TMD.With the removal of anterior occlusal interference,TMD symptoms were alleviated and cone beam computed tomography(CBCT)images showed the bilateral condyles shifted forward.CASE SUMMARY This case report presented an orthodontic retreatment of an adult female with TMD and mandibular backward positioning based on CBCT examination and Joint Space Index(JSI)analysis.The left and right JSI values of-38.5 and-52.6 indicated that the position of bilateral condyles had posterior displacement.Ten years prior to this evaluation,she underwent orthodontic treatment resulting in the extraction of two upper premolars and one lower central incisor.The joint symptoms,including pain and sounds,were alleviated along with verified mandibular forward repositioning by extraction of another lower central incisor.CONCLUSION Mandibular backward positioning could be associated with TMD.JSI analysis based on CBCT is a convenient way to examine condylar positions quantitatively.
文摘当干扰信号的空域和极化域特征与目标信号相似时,采用空极化域联合抗干扰技术在消除干扰的同时也会抑制目标信号,导致干扰对消后信干噪比(signal to interference plus noise ratio,SINR)低于雷达系统需求,从而形成干扰对消盲区。针对这一现象,通过在空域、极化域与空极化域分别建立交替极化阵列对消盲区模型,推导了对消盲区位置和大小的数学表达式,从而给出了交替极化阵列对消盲区的数学表征方法。进而分析了交替极化阵列对消盲区的分布规律与影响因素,研究发现阵元间距能够显著影响交替极化阵列对消盲区的分布,在相同条件下交替极化阵列对消盲区大于共点极化阵列对消盲区,结果表明交替极化阵列虽然通过减少天线数目降低了设备成本,但增大了阵列的对消盲区。然后,对消盲区模型进行了数值仿真,仿真结果验证了理论分析。最后,利用信道模拟器搭建了实验平台,信道模拟实验测得的对消盲区与理论值基本一致,再次证明了分析结论的有效性。
基金funded by the Natural Science Foundation of China (Grants No. 42171007)。
文摘Cape Stone Forest is a group of granite rock pillars(pedestal rocks) towering over Shilin Lake, on the southern shore of Shantou Bay in eastern Guangdong, China. The rock pillars were previously identified as sea stacks because they have marine notch-like concave sidewalls at their base, and more importantly, the lake is immediately adjacent to the bay, which is exposed to the open sea. However, rock pillars similar in shape and size can also be found at the top of Queshi Mountain, which is only about 300 meters northwest of the lake and about 85 meters above sea level. Therefore, the marine origin of Cape Stone Forest is seriously questioned. In this study, 3D imagery and drone technology were used to collect data in the investigations without direct manual measurements in the water or on the mountain. It shows that the concave sidewalls of the rock pillars in the lake and on the mountains occur at different heights and are exposed to different directions, while a natural sea stack on Mayu Island at the mouth of Shantou Bay has a horizontal notch parallel to the sea level, although the granite rock of the sea stack is the same as that of the lake and the mountains. The eastern side of the island, where the sea stack is located, is exposed to the open sea but blocks large waves for the rock pillars in the lake. Therefore, the origin of Cape Stone Forest cannot be explained by wave-based mechanisms. The only satisfactory explanation that takes into account all the field evidence is that the narrow rock pillars of the lake and mountain were formed by chemical weathering that penetrated closely the spaced joints of the granite rock, and the notch-like concave sidewalls were formed by more effective chemical weathering at the base of the pillars.