采用37.5■锦纶开发多功能弹力Legging面料

文章以37.5■锦纶科技纱线4.4 tex/34 f消光DTY为主纱,夹入2.2 tex黑氨纶材料,采用双面互锁的织造方式,开发出一款集抗菌、凉感、远红外、吸湿速干、防紫外线功能为一体的多功能弹力Legging针织面料。详细介绍该面料的原料选择、织造工艺以及染整工艺,并对面料的基本性能进行测试。结果表明,该面料具有较好的多项功能以及优良的包覆性能,可以满足女子多场景的运动与穿着舒适性的相关需求。

Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization

Galloping cheetahs,climbing mountain goats,and load hauling horses all show desirable locomotion capability,which motivates the development of quadruped robots.Among various quadruped robots,hydraulically driven quadruped robots show great potential in unstructured environments due to their discrete landing positions and large payloads.As the most critical movement unit of a quadruped robot,the limb leg unit(LLU)directly affects movement speed and reliability,and requires a compact and lightweight design.Inspired by the dexterous skeleton–muscle systems of cheetahs and humans,this paper proposes a highly integrated bionic actuator system for a better dynamic performance of an LLU.We propose that a cylinder barrel with multiple element interfaces and internal smooth channels is realized using metal additive manufacturing,and hybrid lattice structures are introduced into the lightweight design of the piston rod.In addition,additive manufacturing and topology optimization are incorporated to reduce the redundant material of the structural parts of the LLU.The mechanical properties of the actuator system are verified by numerical simulation and experiments,and the power density of the actuators is far greater than that of cheetah muscle.The mass of the optimized LLU is reduced by 24.5%,and the optimized LLU shows better response time performance when given a step signal,and presents a good trajectory tracking ability with the increase in motion frequency.

基于CFD和热阻网络法的C型舱LEG船温度场分析及热应力计算

为解决C型舱LEG船进行温度场计算时,CFD方法难以计入结构细节以及热阻网络法处理热对流精度较低的问题,提出将2种方法相结合的船体结构温度场计算方法。在CFD计算时,只考虑主要结构,将计算结果作为热阻网络法的输入,而在热阻网络法中考虑结构细节。实船计算结果显示,该方法高效可靠,避免了2种方法的缺点,可以合理地求解船体结构的温度场,是一种工程上实用的方法。计算还表明,对于温度梯度大的关键结构区域,结构强度评估需要考虑热应力。

A molecular toolkit to boost functional genomic studies in transformation-recalcitrant vegetable legumes

Dear Editor Legumes,the second-largest family of crops,contribute over one-third of human dietary proteins.Soybean(Glycine max L.),common bean(Phaseolus vulgaris L.),pea(Pisum sativum L.),and cowpea(Vigna unguiculata L.)are among the most widely culti-vated crop legumes for grain and vegetable and are essential for food security globally.

Inverted Modelling:An Effective Way to Support Motion Planning of Legged Mobile Robots

This paper presents an effective way to support motion planning of legged mobile robots—Inverted Modelling,based on the equivalent metamorphic mechanism concept.The difference from the previous research is that we herein invert the equivalent parallel mechanism.Assuming the leg mechanisms are hybrid links,the body of robot being considered as fixed platform,and ground as moving platform.The motion performance is transformed and measured in the body frame.Terrain and joint limits are used as input parameters to the model,resulting in the representation which is independent of terrains and particular poses in Inverted Modelling.Hence,it can universally be applied to any kind of legged robots as global motion performance framework.Several performance measurements using Inverted Modelling are presented and used in motion performance evaluation.According to the requirements of actual work like motion continuity and stability,motion planning of legged robot can be achieved using different measurements on different terrains.Two cases studies present the simulations of quadruped and hexapod robots walking on rugged roads.The results verify the correctness and effectiveness of the proposed method.

Task-Oriented Topology System Synthesis of Reconfigurable Legged Mobile Lander Integrating Active and Passive Metamorphoses

To explore hostile extraterrestrial landforms and construct an engineering prototype,this paper presents the task-oriented topology system synthesis of reconfigurable legged mobile lander(ReLML)with three operation modes from adjusting,landing,to roving.Compared with our preceding works,the adjusting mode with three rotations(3R)provides a totally novel exploration approach to geometrically matching and securely arriving at complex terrains dangerous to visit currently;the landing mode is redefined by two rotations one translation(2R1T),identical with the tried-and-tested Apollo and Chang'E landers to enhance survivability via reasonable touchdown buffering motion;roving mode also utilizes 2R1T motion for good motion and force properties.The reconfigurable mechanism theory is first brought into synthesizing legged mobile lander integrating active and passive metamorphoses,composed of two types of metamorphic joints and metamorphic execution and transmission mechanisms.To reveal metamorphic principles with multiple finite motions,the finite screw theory is developed to present the procedure from unified mathematical representation,modes and source phase derivations,metamorphic joint and limb design,to final structure assembly.To identify the prototype topology,the 3D optimal selection matrix method is proposed considering three operation modes,five evaluation criteria,and two topological subsystems.Finally,simulation verifies the whole task implementation process to ensure the reasonability of design.

Effect of Specific Verbal Instructions on the Identification of Pain Location during a Passive Straight Leg Raise Test

Musculoskeletal pain is common. Because pain is subjective, objectively describing it is crucial. However, pain assessment may cause distress in patients;therefore, physical therapists (PTs) should conduct these tests quickly and accurately. Simple and clear instructions are recommended for pain assessment. However, few studies have provided evidence to support this hypothesis. Correspondingly, this study aimed to confirm the effectiveness of specific verbal instructions for pain location during five consecutive Passive Straight Leg Raise (PSLR) tests. The 28 asymptomatic participants (age 27.4 ± 9.6 years) who provided informed consent received five consecutive PSLR tests: three without and two with specific verbal instructions to ascertain pain intensity, quality, and location. The participants drew pain locations on a body chart and described the pain intensity and quality after each test. All participants were interviewed regarding the differences they noted in the presence and absence of specific verbal instructions. Each pain location was classified into one of ten areas for statistical analysis. The proportion of participants who changed the pain location was compared between the tests using McNemar’s test, and the kappa coefficient was confirmed for consistency of pain location. There was a significant difference in the proportion of participants who changed their pain location between the second and third tests and from the third to the fourth test (McNemar’s test: p = 0.003). Kappa coefficients had low consistency (κ = 0.28) just after receiving the specific verbal instructions in the fourth test compared to the third test. Consistency improved in the fifth test (κ = 0.57);93% of the participants answered that the pain location had become clearer. This study revealed the effects of specific verbal instructions in identifying pain locations. This detailed information may help PTs provide appropriate treatment and contribute to reducing pain in clinical settings.

《内经》“关刺”联合“合谷刺”治疗不宁腿综合征疗效观察

目的 观察《内经》“关刺”联合“合谷刺”治疗不宁腿综合征(restless legs syndrome, RLS)的临床疗效。方法 将100例RLS患者随机分为治疗组(50例,脱落1例)和对照组(50例,脱落2例)。治疗组给予“关刺”联合“合谷刺”治疗,阳陵泉、膝关、丘墟采用关刺法,伏兔、丰隆、漏谷采用合谷刺法;对照组给予假针刺治疗。治疗前后采用国际RLS评定量表(international restless leg syndrome scale, IRLSS)评价患者不宁腿严重程度,采用RLS生活质量量表(RLS quality of Life, RLSQoL)评价患者生活质量,采用失眠严重指数量表(insomnia severity index, ISI)评价患者的睡眠情况,并比较两组临床疗效。结果 治疗组总有效率为91.8%,显著高于对照组的41.7%(P<0.01)。治疗后,治疗组IRLSS评分低于治疗前和对照组(P<0.01),治疗组RLSQoL评分高于治疗前和对照组(P<0.01),治疗组ISI评分低于治疗前和对照组(P<0.01)。对照组治疗前后各项评分比较,差异无统计学意义(P>0.05)。结论 《内经》“关刺”联合“合谷刺”可显著改善RLS患者临床症状,在中医学理论的指导下拓展了《内经》五刺法的临床应用。

Investigation of the mechanism of action of Sanwu Huangqin Tang in the treatment of restless leg syndrome based on network pharmacology,molecular docking technology and molecular dynamics simulation

Background:Through the use of network pharmacology and molecular docking approaches,this study will examine the pharmacological effects of Sanwu Huangqin Tang on restless legs syndrome in order to better understand the mechanism of action of Traditional Chinese medicine(TCM)on RLS.Method:Utilise the TCMSP database to collect and select the drug components of Sanwu Huangqin Tang,and the Uniprot database to identify pertinent targets;RLS-related disease targets were obtained from GeneCards,DrugBank,and OMIM databases;and STRING and Cytoscape 3.9.1 software were used to generate an interaction network.KEGG pathway analysis and GO enrichment analysis were performed utilizing the DAVID database.Use Autodock for analyzing the relationships between targets and core components.Result:By using a network pharmacology approach,83 active ingredients and 50 drug-disease intersecting targets were derived for Sanwu Huangqin Tang.The molecular docking results showed that the drug components had strong affinity with the average target targets.Conclusions:This study provides new insights into the mechanism through which Traditional Chinese Medicine(TCM)treats Restless Legs Syndrome(RLS).Furthermore,it lays the foundation for additional research into the mechanism of treatment for RLS through the intervention that addresses various targets and pathways using the active ingredients identified by Sanwu Huangqin Tang.

海派家具中腿的形制分析及再设计

自上海开埠以来,在西方生活方式的影响下,海派家具创新性地融入西洋家具的功能、风格和装饰。相比于明式家具,海派家具的腿部造型吸纳了欧洲洛可可、巴洛克的装饰风格,引进了机械化的生产方式,具有了中西合璧的特色。文章首先对明式家具与海派家具的腿部造型进行比较分析,从符号学的视角对海派家具腿部造型进行解读;其次从材料、技术、文化3个维度对影响海派家具的腿部造型因素进行了探讨;最后运用黄金比例设计法则探索点、线、面的造型表达,对海派家具的腿形进行再设计,以期能对现代家具的腿部造型设计提供一些参考。

明清家具一腿三牙结构部件类型与匠意研究

通过书籍、博物馆、拍卖会等渠道收集统计了52例具有一腿三牙结构部件的明清家具,根据一腿三牙结构部件中角牙的造型,将一腿三牙结构部件分为A类型、B类型和C类型。分类的目的是为了更好地探讨构件与构件之间的关系,分析出不同类型构造规律、构造原理以及蕴含的匠意。经探究得出,一腿三牙部件在家具中的构造原理为受力解力、加固稳定以及家具顺纹而做遵循木材的物理力学性能。此外,总结了一腿三牙结构部件所蕴含的美学内涵、线脚艺术以及其中的榫卯结构。研究结果有助于深化对一腿三牙部件的认识,同时为研究明清家具中的结构部件提供新思路。

下肢锻炼装置在青少年特发性脊柱侧凸患者术后直腿抬高训练中的应用效果研究

目的:分析应用团队自主研发的下肢锻炼装置对青少年特发性脊柱侧凸患者术后直腿抬高训练效果的影响,为临床实践提供依据。方法:采用方便抽样的方法,纳入2021年1月至2022年12月入住北京市某三级甲等医院骨科且符合纳入和排除标准的青少年特发性脊柱侧凸患者为研究对象,共计119例,按随机数字表法分为实验组62例、对照组57例。对照组使用传统的宣教方法,责任护士指导并督促患者进行直腿抬高训练;实验组在此基础上,责任护士使用下肢锻炼装置对患者进行直腿抬高训练的指导和督促,比较两组研究对象直腿抬高训练的完成情况及效果。结果:实验组的直腿抬高训练完成率及准确率更高,患者术后首次排气时间更短,患者功能锻炼满意度更高,差异均有统计学意义(P<0.05)。结论:下肢锻炼装置能够明显提高青少年特发性脊柱侧凸患者术后直腿抬高训练的完成率及准确性,促进患者术后胃肠功能恢复,有效提高患者满意度。

老年帕金森病与不宁腿综合征的相关性及研究进展

老年帕金森(PD)是临床上常见的一种神经系统变性疾病,其与不宁腿综合征(RLS)的相关性一直以来都是临床研究的重点。老年PD、RLS临床表现不完全相同,且RLS也是老年PD的一种临床并发症,二者均存在多巴胺能系统功能异常,在病理学机制、临床症状学、生理学等方面也存在一定的关联。RLS的临床症状及双下肢无自主活动欲望很可能对老年PD患者睡眠及精神状况产生负面影响,进而加重老年PD患者病情,目前尚无治疗RLS的特效药,了解其发病机理、临床发病率及与老年PD相关症状的关联性有助于为RLS的个体化治疗提供帮助。本综述围绕近年来的相关研究文献,分别从发病机制、流行病学调查、临床表现及治疗方面探究老年PD与RLS的相关性。

两桥臂交叉解耦不平衡控制策略研究

由于非不平衡控制策略中没有考虑线电压和相电流的相角差,造成三相电网的有功、无功电流无法完全补偿。为了解决这一问题,根据电压电流相角差,推导出单相补偿器中无功参考补偿电流与负载电流的关系,提出一种两桥臂交叉解耦不平衡控制策略,利用多变量滤波器和交叉解耦双复系数滤波器优化锁相环,精确锁定三相不平衡电网的电压频率和相位,对2个单相背靠背变换器的无功电流分别控制,进而利用两桥臂变换器补偿三相不平衡无功。实验结果验证了所提两桥臂交叉解耦不平衡控制策略,可抑制三相有功不平衡及补偿三相不平衡无功,将三相电流的不平衡度从150.0%降低至2.6%,三相电网功率因数从0.257提升至0.997,减少了三相无功补偿器的开关管个数。

对称悬架混联轮腿机器人结构设计与参数优化

为了实现机器人在地下空间低能耗的灵活运动,文中设计了一种对称悬架混联轮腿机器人,并针对其腿部参数优化问题,提出了一种基于沙猫群算法的性能均衡优化方法(简称均衡优化方法)。结合对称四边形机构与悬架系统,设计了一种对称悬架混联式轮腿结构,并建立其运动学和动力学模型,分析了腿部杆长对单轮腿运动空间和灵活性指标的影响,预优化确定了腿部初始杆长均为0.3 m。在满足轮腿越障规划空间及高灵活性的基础上,为了实现低能耗,建立了轮腿性能均衡优化评价指标,采用均衡优化方法对腿部杆长进行了优化研究。数值计算结果表明:大腿和小腿杆长最优值分别为0.23 m和0.3 m,该轮腿运动能耗为23.18 J,运动空间为0.1322 m2,灵活性指标变化范围为(0.2,1)。优化后灵活性保持不变,运动空间减小了24.54%,能耗降低了22.60%,验证了该方法合理有效,为轮腿机器人的设计与优化提供了一种新的思路。

异形分流管热流道家族注塑模具设计

介绍了某款异形分流管零件热流道注塑模具的设计过程。模具设计中,首先,分析了注塑件的零件特征和生产要求,确定了模具的基本结构方案;再利用Moldflow软件分析模具注塑成型过程,预测零件的成型时间、翘曲变形量、熔接痕位置等,最终完成整套模具的设计。模具采用两板式热流道冷浇口注塑成型,浇口选择潜伏式点浇口形式,开模时自动拉断与注塑件分离;模具定模型腔设计了1个弹性脱模镶件,保证了开模时塑件紧贴型芯侧;模具分型面上共分布了5个侧抽芯滑块结构,由弯销导向并延时开模。对常用型弯销滑块机构进行了改进,将两段式弯销改进为三段式弯销,有效地避免了常用弯销滑块机构容易出现卡死和锁闭不紧的问题。模具经过实际生产验证可知,结构合理可靠,制备得到的零件尺寸精度满足设计要求。

身痛逐瘀汤加味联合盐酸普拉克索片治疗痰瘀痹阻型不宁腿综合征的临床观察

目的观察身痛逐瘀汤加味联合盐酸普拉克索片治疗痰瘀痹阻型不宁腿综合征(RLS)患者的临床疗效。方法将50名痰瘀痹阻型RLS患者按照随机数字表法分为2组,对照组25例予盐酸普拉克索片治疗,治疗组25例在对照组基础上联合身痛逐瘀汤加味治疗。2组均治疗1周为1个疗程,治疗2个疗程后统计疗效,比较2组治疗前后国际RLS严重程度评分量表(IRLS)评分、匹兹堡睡眠质量指数量表(PSQI)评分及中医症状评分变化情况。结果治疗组总有效率92.00%(23/25),对照组总有效率60.00%(15/25),治疗组总有效率高于对照组(P<0.05)。与本组治疗前比较,2组治疗后IRLS评分、PSQI评分及中医症状评分均降低(P<0.05),且治疗组治疗后IRLS评分、PSQI评分及中医症状评分均低于对照组(P<0.05)。结论身痛逐瘀汤加味联合盐酸普拉克索片治疗痰瘀痹阻型RLS疗效确切,可有效改善患者临床症状及中医症状,改善患者睡眠质量,操作简便,临床疗效显著,安全性良好。

基于装卸顺序的中型机多航段协同配载优化

多航段、多经停的航空货运航班,飞行过程中需要合理控制飞机的重心(CG)位置,保持平衡状态,中转站装卸操作过程中需要避免额外装卸操作,减少时间和劳力浪费,因此,研究多航段航班的协同配载问题具有重要现实意义。根据航空器自身特点与集装器(ULD)装卸顺序,结合各航段飞机装载平衡与过站机场ULD装卸操作要求,通过协调分配各航段ULD和散货位置,建立了中型机联程航班多目标整数线性规划模型。模型考虑了ULD和散货的质量、体积及与舱位的匹配限制,航空器限重、舱位限重、舱位及区域累积限重、上下舱联合限重和CG位置的平衡限制,以及前后航段ULD和散货的连接性约束。根据造成中间机场额外装卸操作的2种原因,基于装卸顺序,提出装卸优化模型,通过ULD的舱内平移,优化了CG,减少了装卸次数。以B757-200F机型为例,在两装一卸、一装两卸和两装两卸3种场景下,采用商用求解器Gurobi,分别针对3种不同目标函数组合进行求解和分析对比。实验表明:所提模型可以有效协调过站货物的额外装卸次数,优化前后两航段的CG位置。

我国法治体系建设中的立法质量评估与分析——基于2020年28省份法学专家的调研数据

从中国特色社会主义法律体系建设进入法治体系建设的新时代,立法质量成为法治建设的重要内容。从法理角度观察,我国立法质量建设不是从无到有的建设,而是提升法律规范性品质的建设,为此要构建一套符合我国法治建设实际的立法质量评估体系。基于详实的问卷调查数据,本评估体系将立法质量判断标准建立在指标得分及指标之间内在逻辑的双重基础之上,改变了以往仅凭指标简单加权平均来评估立法成效的方式,实现了立法整体发展水平和立法中各项要素发展情况的刻度化测评,从而有助于把握立法规律和现状,准确评估当前立法水平,以提升立法的规范性品质。

银质针疗法联合中药熏蒸对颈肩腰腿痛患者疼痛程度、运动功能及血流动力学的影响

目的探讨颈银质针疗法联合中药熏蒸对颈肩腰腿痛患者疼痛程度、运动功能及血流动力学的影响。方法选取医院2019年10月至2021年1月收治的颈肩腰腿痛患者120例,按入院时段分为对照组和观察组,各60例。对照组患者予常规西医方案治疗,观察组患者予银质针联合中药熏蒸方案治疗。结果观察组总有效率为88.33%,显著高于对照组的73.33%(P<0.05);观察组患者的Fugl-Meyer评估量表(FMA)、疼痛数字评定量表(NRS)评分均显著低于对照组(P<0.05);观察组患者的血流动力学指标血浆黏度、红细胞沉降率、红细胞电泳时间均显著低于对照组(P<0.05)。结论银质针疗法联合中药熏蒸治疗颈肩腰腿痛的临床疗效良好,可改善患者的疼痛程度、运动功能及血流动力学指标。