Experimental study on motion and mechanical characteristics of the vertical wheel in the rock-breaking process

Polycrystalline diamond compact(PDC)drill bit often performs with low ROP,short service life and poor stability under complicated and difficult to drill formations.Therefore,a vertical wheel PDC bit is proposed,which is a new drill bit technology applying an integrated unit combining the tooth wheel and the rotary shaft thereof.Besides,the experiments on motion and mechanical characteristics of the vertical wheel under the conditions of tooth shape and number of teeth,normal deflection angle of the wheel,and different cutting depth were carried out using variable parameter experimental device,and the movement,force law,and crushing specific work of vertical wheel under different experimental conditions were obtained.The comparative experiments of PDC cutting rock breaking under the conditions of parallel cutting of PDC unit and pre-damage of the wheel were also carried out,and the cutting load of PDC teeth under pre-damage conditions is between 38.72% and 70.95%lower than that of parallel cutting was obtained.Finally,a comparative experiment of indoor drilling between vertical wheel PDC bit and conventional PDC bit was carried out.Results show than when drilling in gravel rock,under the same WOB,the torque response of vertical wheel PDC bit is equivalent to that of the PDC bit,while the ROP of vertical wheel PDC bit is 22.94%-53.33% higher than that of conventional PDC bit,and the threedimensional acceleration of the vertical wheel PDC bit is 19.17%-76.23% of that of the PDC bit.The experimental results contribute to a better understanding of vertical wheels and provide technical support for their use in PDC bits.

Numerical simulation of rock-breaking and influence laws of dynamic load parameters during axial-torsional coupled impact drilling with a single PDC cutter

Axial and torsional impact drilling technology is used to improve the drilling efficiency of hard rock formation in the deep underground.Still,the corresponding theory is not mature,and there are few correlative research reports on the rock-breaking mechanism of axial and torsional coupled impact drilling tools.Considering the influence of the impact hammer geometry and movement on the dynamic load parameters(i.e.,wavelength,amplitude,frequency,and phase difference),a numerical model that includes a hard formation and single polycrystalline diamond compact cutter was established.The Riedel-Hiermaier-Thoma model,which considers the dynamic damage and strength behavior of rocks,was adopted to analyze the rock damage under axial and torsional impact loads.The numerical simu-lation results were verified by the experimental results.It was found that compared with conventional drilling,the penetration depths of axial,torsional,and axial-torsional coupled impact drilling increased by 31.3%,5.6%,and 34.7%,respectively.Increasing the wavelength and amplitude of the axial impact stress wave improved the penetration depth.When the bit rotation speed remained unchanged,increasing the frequency in the axial and circumferential directions had little effect on the penetration depth.However,as the frequency increased,the cutting surface became increasingly smooth,which reduced the occurrence of bit vibration.When the phase difference between the axial and circumfer-ential stress waves was 25%,the penetration depth significantly increased.In addition,the bit vibration problem can be effectively reduced.Finally,the adjustment of engineering and tool structure parameters is proposed to optimize the efficiency of the axial-torsional coupled impact drilling tool.

Analysis of the joint detection capability of the SMILE satellite and EISCAT-3D radar

The Solar wind Magnetosphere Ionosphere Link Explorer(SMILE)satellite is a small magnetosphere–ionosphere link explorer developed cooperatively between China and Europe.It pioneers the use of X-ray imaging technology to perform large-scale imaging of the Earth’s magnetosheath and polar cusp regions.It uses a high-precision ultraviolet imager to image the overall configuration of the aurora and monitor changes in the source of solar wind in real time,using in situ detection instruments to improve human understanding of the relationship between solar activity and changes in the Earth’s magnetic field.The SMILE satellite is scheduled to launch in 2025.The European Incoherent Scatter Sciences Association(EISCAT)-3D radar is a new generation of European incoherent scatter radar constructed by EISCAT and is the most advanced ground-based ionospheric experimental device in the high-latitude polar region.It has multibeam and multidirectional quasi-real-time three-dimensional(3D)imaging capabilities,continuous monitoring and operation capabilities,and multiple-baseline interferometry capabilities.Joint detection by the SMILE satellite and the EISCAT-3D radar is of great significance for revealing the coupling process of the solar wind–magnetosphere–ionosphere.Therefore,we performed an analysis of the joint detection capability of the SMILE satellite and EISCAT-3D,analyzed the period during which the two can perform joint detection,and defined the key scientific problems that can be solved by joint detection.In addition,we developed Web-based software to search for and visualize the joint detection period of the SMILE satellite and EISCAT-3D radar,which lays the foundation for subsequent joint detection experiments and scientific research.

A photogrammetric approach for quantifying the evolution of rock joint void geometry under varying contact states

Accurate measurement of the evolution of rock joint void geometry is essential for comprehending the distribution characteristics of asperities responsible for shear and seepage behaviors.However,existing techniques often require specialized equipment and skilled operators,posing practical challenges.In this study,a cost-effective photogrammetric approach is proposed.Particularly,local coordinate systems are established to facilitate the alignment and precise quantification of the relative position between two halves of a rock joint.Push/pull tests are conducted on rock joints with varying roughness levels to induce different contact states.A high-precision laser scanner serves as a benchmark for evaluating the photogrammetry method.Despite certain deviations exist,the measured evolution of void geometry is generally consistent with the qualitative findings of previous studies.The photogrammetric measurements yield comparable accuracy to laser scanning,with maximum errors of 13.2%for aperture and 14.4%for void volume.Most joint matching coefficient(JMC)measurement errors are below 20%.Larger measurement errors occur primarily in highly mismatched rock joints with JMC values below 0.2,but even in cases where measurement errors exceed 80%,the maximum JMC error is only 0.0434.Thus,the proposed photogrammetric approach holds promise for widespread application in void geometry measurements in rock joints.

Shear behavior and off-fault damage of saw-cut smooth and tension-induced rough joints in granite

The damage of rock joints or fractures upon shear includes the surface damage occurring at the contact asperities and the damage beneath the shear surface within the host rock.The latter is commonly known as off-fault damage and has been much less investigated than the surface damage.The main contribution of this study is to compare the results of direct shear tests conducted on saw-cut planar joints and tension-induced rough granite joints under normal stresses ranging from 1 MPa to 50 MPa.The shear-induced off-fault damages are quantified and compared with the optical microscope observation.Our results clearly show that the planar joints slip stably under all the normal stresses except under 50 MPa,where some local fractures and regular stick-slip occur towards the end of the test.Both post-peak stress drop and stick-slip occur for all the rough joints.The residual shear strength envelopes for the rough joints and the peak shear strength envelope for the planar joints almost overlap.The root mean square(RMS)of asperity height for the rough joints decreases while it increases for the planar joint after shear,and a larger normal stress usually leads to a more significant decrease or increase in RMS.Besides,the extent of off-fault damage(or damage zone)increases with normal stress for both planar and rough joints,and it is restricted to a very thin layer with limited micro-cracks beneath the planar joint surface.In comparison,the thickness of the damage zone for the rough joints is about an order of magnitude larger than that of the planar joints,and the coalesced micro-cracks are generally inclined to the shear direction with acute angles.The findings obtained in this study contribute to a better understanding on the frictional behavior and damage characteristics of rock joints or fractures with different roughness.

Three‑dimensional numerical simulation of dynamic strength and failure mode of a rock mass with cross joints

To study the dynamic mechanical properties and failure characteristics of intersecting jointed rock masses with different joint distributions under confining pressure,considering the cross angleαand joint persistence ratioη,a numerical model of the biaxial Hopkinson bar test system was established using the finite element method–discrete-element model coupling method.The validity of the model was verified by comparing and analyzing it in conjunction with laboratory test results.Dynamics-static combined impact tests were conducted on specimens under various conditions to investigate the strength characteristics and patterns of crack initiation and expansion.The study revealed the predominant factors influencing intersecting joints with different angles and penetrations under impact loading.The results show that the peak stress of the specimens decreases first and then increases with the increase of the cross angle.Whenα<60°,regardless of the value ofη,the dynamic stress of the specimens is controlled by the main joint.Whenα≥60°,the peak stress borne by the specimens decreases with increasingη.Whenα<60°,the initiation and propagation of cracks in the cross-jointed specimens are mainly controlled by the main joint,and the final failure surface of the specimens is composed of the main joint and wing cracks.Whenα≥60°orη≥0.67,the secondary joint guides the expansion of the wing cracks,and multiple failure surfaces composed of main and secondary joints,wing cracks,and co-planar cracks are formed.Increasing lateral confinement significantly increases the dynamic peak stress able to be borne by the specimens.Under triaxial conditions,the degree of failure of the intersecting jointed specimens is much lower than that under uniaxial and biaxial conditions.

RB-DEM Modeling and Simulation of Non-Persisting Rough Open Joints Based on the IFS-Enhanced Method

When the geological environment of rock masses is disturbed,numerous non-persisting open joints can appear within it.It is crucial to investigate the effect of open joints on the mechanical properties of rock mass.However,it has been challenging to generate realistic open joints in traditional experimental tests and numerical simulations.This paper presents a novel solution to solve the problem.By utilizing the stochastic distribution of joints and an enhanced-fractal interpolation system(IFS)method,rough curves with any orientation can be generated.The Douglas-Peucker algorithm is then applied to simplify these curves by removing unnecessary points while preserving their fundamental shape.Subsequently,open joints are created by connecting points that move to both sides of rough curves based on the aperture distribution.Mesh modeling is performed to construct the final mesh model.Finally,the RB-DEM method is applied to transform the mesh model into a discrete element model containing geometric information about these open joints.Furthermore,this study explores the impacts of rough open joint orientation,aperture,and number on rock fracture mechanics.This method provides a realistic and effective approach for modeling and simulating these non-persisting open joints.

Subsequent total joint arthroplasty: Are we learning from the first stage?

BACKGROUND With the increasing incidence of total joint arthroplasty(TJA),there is a desire to reduce peri-operative complications and resource utilization.As degenerative conditions progress in multiple joints,many patients undergo multiple proce-dures.AIM To determine if both physicians and patients learn from the patient’s initial arth-roplasty,resulting in improved outcomes following the second procedure.METHODS The institutional database was retrospectively queried for primary total hip arth-roplasty(THA)and total knee arthroplasty(TKA).Patients with only unilateral THA or TKA,and patients undergoing same-day bilateral TJA,were excluded.Patient demographics,comorbidities,and implant sizes were collected at the time of each procedure and patients were stratified by first vs second surgery.Outcome metrics evaluated included operative time,length of stay(LOS),disposition,90-d readmissions and emergency department(ED)visits.RESULTS A total of 642 patients,including 364 undergoing staged bilateral TKA and 278 undergoing bilateral THA,were analyzed.There was no significant difference in demographics or comorbidities between the first and second procedure,which were separated by a mean of 285 d.For THA and TKA,LOS was significantly less for the second surgery,with 66%of patients having a shorter hospitalization(P<0.001).THA patients had significantly decreased operative time only when the same sized implant was utilized(P=0.025).The vast majority(93.3%)of patients were discharged to the same type of location following their second surgery.However,when a change in disposition was present from the first surgery,patients were significantly more likely to be discharged to home after the second procedure(P=0.033).There was no difference between procedures for post-operative readmissions(P=0.438)or ED visits(P=0.915).CONCLUSION After gaining valuable experience recovering from the initial surgery,a patient’s perioperative outcomes are improved for their second TJA.This may be the result of increased confidence and decreased anxiety,and it supports the theory that enhanced patient education pre-operatively may improve outcomes.For the surgical team,the second procedure of a staged THA is more efficient,although this finding did not hold for TKA.

On the calibration of a shear stress criterion for rock joints to represent the full stress-strain profile

Conventional numerical solutions developed to describe the geomechanical behavior of rock interfaces subjected to differential load emphasize peak and residual shear strengths.The detailed analysis of preand post-peak shear stress-displacement behavior is central to various time-dependent and dynamic rock mechanic problems such as rockbursts and structural instabilities in highly stressed conditions.The complete stress-displacement surface(CSDS)model was developed to describe analytically the pre-and post-peak behavior of rock interfaces under differential loads.Original formulations of the CSDS model required extensive curve-fitting iterations which limited its practical applicability and transparent integration into engineering tools.The present work proposes modifications to the CSDS model aimed at developing a comprehensive and modern calibration protocol to describe the complete shear stressdisplacement behavior of rock interfaces under differential loads.The proposed update to the CSDS model incorporates the concept of mobilized shear strength to enhance the post-peak formulations.Barton’s concepts of joint roughness coefficient(JRC)and joint compressive strength(JCS)are incorporated to facilitate empirical estimations for peak shear stress and normal closure relations.Triaxial/uniaxial compression test and direct shear test results are used to validate the updated model and exemplify the proposed calibration method.The results illustrate that the revised model successfully predicts the post-peak and complete axial stressestrain and shear stressedisplacement curves for rock joints.

Effect of cold-working on corrosion induced damage in lug joints

Lug joints are preferred joineries for transferring heavy loads to parent components in aerospace vehicles.They experience corrosion due to environmental conditions,improper surface finishes and rubbing displacement between the pin and lug-hole.This causes damage of different sizes and shapes near the lug-hole.Stiffness degradation due to corrosion-induced damage is modelled as a through-pit at one of the identified critical locations through stress analysis.The effect of this pit on fatigue crack initiation life is estimated.Lug-hole is pre-stressed by cold-working and the benefits of inducing plastic wake on the intended performance of the lug joint during the damages due to corrosion are brought out and compared with non-cold-worked lug-hole.Numerical analysis is performed on this lug joint with pressfit.The results obtained highlight the benefits of cold-working and the methodology can be extended to damage growth and analyse the effect of surface treatments for better structural integrity of components of aerospace vehicles.

Joint Optimization of Resource Allocation and Trajectory Based on User Trajectory for UAV-Assisted Backscatter Communication System

The Backscatter communication has gained widespread attention from academia and industry in recent years. In this paper, A method of resource allocation and trajectory optimization is proposed for UAV-assisted backscatter communication based on user trajectory. This paper will establish an optimization problem of jointly optimizing the UAV trajectories, UAV transmission power and BD scheduling based on the large-scale channel state signals estimated in advance of the known user trajectories, taking into account the constraints of BD data and working energy consumption, to maximize the energy efficiency of the system. The problem is a non-convex optimization problem in fractional form, and there is nonlinear coupling between optimization variables.An iterative algorithm is proposed based on Dinkelbach algorithm, block coordinate descent method and continuous convex optimization technology. First, the objective function is converted into a non-fractional programming problem based on Dinkelbach method,and then the block coordinate descent method is used to decompose the original complex problem into three independent sub-problems. Finally, the successive convex approximation method is used to solve the trajectory optimization sub-problem. The simulation results show that the proposed scheme and algorithm have obvious energy efficiency gains compared with the comparison scheme.

Thermosphere joint observations by TM-1 constellations and Swarm-B during the April 2023 geomagnetic storm

The response of thermosphere density to geomagnetic storms is a complicated physical process.Multi-satellite joint observations at the same altitude but different local times(LTs)are important for understanding this process;however,until now such studies have hardly been done.In this report,we analyze in detail the thermosphere mass density response at 510 km during the April 23−24,2023 geomagnetic storm using data derived from the TM-1(TianMu-1)satellite constellation and Swarm-B satellites.The observations show that there were significant LT differences in the hemispheric asymmetry of the thermosphere mass density during the geomagnetic storm.Densities observed by satellite TM02 at nearly 11.3 and 23.3 LTs were larger in the northern hemisphere than in the southern.The TM04 dayside density observations appear to be almost symmetrical with respect to the equator,though southern hemisphere densities on the nightside were higher.Swarm-B data exhibit near-symmetry between the hemispheres.In addition,the mass density ratio results show that TM04 nightside observations,TM02 data,and Swarm-B data all clearly show stronger effects in the southern hemisphere,except for TM04 on the dayside,which suggest hemispheric near-symmetry.The South-North density enhancement differences in TM02 and TM04 on dayside can reach 130%,and Swarm-B data even achieve 180%difference.From the observations of all three satellites,large-scale traveling atmospheric disturbances(TADs)first appear at high latitudes and propagate to low latitudes,thereby disturbing the atmosphere above the equator and even into the opposite hemisphere.NRLMSISE00 model simulations were also performed on this geomagnetic storm.TADs are absent in the NRLMSISE00 simulations.The satellite data suggest that NRLMSISE00 significantly underestimates the magnitude of the density response of the thermosphere during geomagnetic storms,especially at high latitudes in both hemispheres.Therefore,use of the density simulation of NRLMSISE00 may lead to large errors in satellite drag calculations and orbit predictions.We suggest that the high temporal and spatial resolution of direct density observations by the TM-1 constellation satellites can provide an autonomous and reliable basis for correction and improvement of atmospheric models.

A comprehensive review of radiation effects on solder alloys and solder joints

In the realm of military and defence applications, exposure to radiation significantly challenges the performance and reliability of solder alloys and joints in electronic systems. This comprehensive review examines radiation-induced effects on solder alloys and solder joints in terms of microstructure and mechanical properties. In this paper, we evaluate the existing literature, including experimental studies and fundamental theory, to provide a comprehensive overview of the behavior of solder materials under radiation. A review of the literature highlights key mechanisms that contribute to radiation-induced changes in the microstructure, such as the formation of intermetallic compounds, grain growth,micro-voids and micro-cracks. Radiation is explored as a factor influencing solder alloy hardness,strength, fatigue and ductility. Moreover, the review addresses the challenges and limitations inherent in studying the effects of radiation on solder materials and offers recommendations for future research. It is crucial to understand radiation-induced effects on solder performance to design robust and radiationresistant electronic systems. A review of radiation effects on solder materials and their applications in electronics serves as a valuable resource for researchers, engineers, and practitioners in that field.

Microstructure,Corrosion and Mechanical Properties of Medium-Thick 6061-T6 Alloy/T2 Pure Cu Dissimilar Joints Produced by Double Side Friction Stir Z Shape Lap-Butt Welding

A novel double side friction stir Z shape lap-butt welding(DS-FSZW)process was proposed to achieve excellent mechanical properties of Al/Cu medium-thick dissimilar joints.The influence of welding parameters on weld microstructure and properties of DS-FSZW joint were systematically investigated.It indicated that defect-free medium-thick Al/Cu DS-FSZW joint could be achieved under an optimal welding parameter.DS-FSZW joint was prone to form void defects in the bottom of the second-pass weld.The recrystallization mechanisms at the top and middle of the weld nugget zone(WNZ)were continuous dynamic recrystallization(CDRX)and geometric dynamic recrystallization(GDRX).While the major recrystallization mechanism at the bottom of the WNZ was GDRX.DS-FSZW joint of the optimal welding condition with 850 r/min-400 mm/min was produced with a continuous thin and crack-free IMCs layer at the Al/Cu interface,and the maximum tensile strength of this joint is 160.57 MPa,which is equivalent to 65.54%of pure Cu base material.Moreover,the corrosion resistance of Al/Cu DS-FSZW joints also achieved its maximum value at the optimal welding parameter of 850 r/min-400 mm/min.It demonstrates that the DS-FSZW process can simultaneously produce medium-thick Al/Cu joints with excellent mechanical performance and corrosion resistance.

Joint Allocation of Computing and Connectivity Resources in Survivable Inter-Datacenter Elastic Optical Networks

Inter-datacenter elastic optical networks(EON)need to provide the service for the requests of cloud computing that require not only connectivity and computing resources but also network survivability.In this paper,to realize joint allocation of computing and connectivity resources in survivable inter-datacenter EONs,a survivable routing,modulation level,spectrum,and computing resource allocation algorithm(SRMLSCRA)algorithm and three datacenter selection strategies,i.e.Computing Resource First(CRF),Shortest Path First(SPF)and Random Destination(RD),are proposed for different scenarios.Unicast and manycast are applied to the communication of computing requests,and the routing strategies are calculated respectively.Simulation results show that SRMLCRA-CRF can serve the largest amount of protected computing tasks,and the requested calculation blocking probability is reduced by 29.2%,28.3%and 30.5%compared with SRMLSCRA-SPF,SRMLSCRA-RD and the benchmark EPS-RMSA algorithms respectively.Therefore,it is more applicable to the networks with huge calculations.Besides,SRMLSCRA-SPF consumes the least spectrum,thereby exhibiting its suitability for scenarios where the amount of calculation is small and communication resources are scarce.The results demonstrate that the proposed methods realize the joint allocation of computing and connectivity resources,and could provide efficient protection for services under single-link failure and occupy less spectrum.

Optimizing profile line interval for enhanced accuracy in rock joint morphology and shear strength assessments

2D profile lines play a critical role in cost-effectively evaluating rock joint properties and shear strength.However, the interval(ΔI_(L)) between these lines significantly impacts roughness and shear strength assessments. A detailed study of 45 joint samples using four statistical measures across 500 different ΔI_(L)values identified a clear line interval effect with two stages: stable and fluctuation-discrete.Further statistical analysis showed a linear relationship between the error bounds of four parameters,shear strength evaluation, and their corresponding maximum ΔI_(L)values, where the gradient k of this linear relationship was influenced by the basic friction angle and normal stress. Accounting for these factors,lower-limit linear models were employed to determine the optimal ΔI_(L)values that met error tolerances(1%–10%) for all metrics and shear strength. The study also explored the consistent size effect on joints regardless of ΔI_(L)changes, revealing three types of size effects based on morphological heterogeneity.Notably, larger joints required generally higher ΔI_(L)to maintain the predefined error limits, suggesting an increased interval for large joint analyses. Consequently, this research provides a basis for determining the optimal ΔI_(L), improving accuracy in 2D profile line assessments of joint characteristics.

A statistical damage-based constitutive model for shearing of rock joints in brittle drop mode

Some rock joints exhibit significant brittleness,characterized by a sharp decrease in shear stress upon reaching the peak strength.However,existing models often fail to accurately represent this behavior and are encumbered by numerous parameters lacking clear mechanical significance.This study presents a new statistical damage constitutive model rooted in both damage mechanics and statistics,containing only three model parameters.The proposed model encompasses all stages of joint shearing,including the compaction stage,linear stage,plastic yielding stage,drop stage,strain softening stage,and residual strength stage.To derive the analytical expression of the constitutive model,three boundary conditions are introduced.Experimental data from both natural and artificial rock joints is utilized to validate the model,resulting in average absolute relative errors ranging from 3%to 8%.Moreover,a comparative analysis with established models illustrates that the proposed model captures stress drop and post-peak strain softening more effectively,with model parameters possessing clearer mechanical interpretations.Furthermore,parameter analysis is conducted to investigate the impacts of model parameters on the curves and unveil the relationship between these parameters and the mechanical properties of rock joints.Importantly,the proposed model is straightforward in form,and all model parameters can be obtained from direct shear tests,thus facilitating the utilization in numerical simulations.

Effect of continuous nursing on rehabilitation of older patients with joint replacement after discharge

BACKGROUND Joint replacement is a common treatment for older patients with high incidences of hip joint diseases.However,postoperative recovery is slow and complications are common,which reduces surgical effectiveness.Therefore,patients require long-term,high-quality,and effective nursing interventions to promote rehabilitation.Continuity of care has been used successfully in other diseases;however,little research has been conducted on older patients who have undergone hip replacement.AIM To explore the clinical effect of continuous nursing on rehabilitation after discharge of older individuals who have undergone joint replacement.METHODS A retrospective analysis was performed on the clinical data of 113 elderly patients.Patients receiving routine nursing were included in the convention group(n=60),and those receiving continuous nursing,according to various methods,were included in the continuation group(n=53).Harris score,short form 36(SF-36)score,complication rate,and readmission rate were compared between the convention and continuation groups.RESULTS After discharge,Harris and SF-36 scores of the continuation group were higher than those of the convention group.The Harris and SF-36 scores of the two groups showed an increasing trend with time,and there was an interaction effect between group and time(Harris score:F_(intergroup effect)=376.500,F_(time effect)=20.090,Finteraction effect=4.824;SF-36 score:F_(intergroup effect)=236.200,Ftime effect=16.710,Finteraction effect=5.584;all P<0.05).Furthermore,the total complication and readmission rates in the continuation group were lower(P<0.05).CONCLUSION Continuous nursing could significantly improve hip function and quality of life in older patients after joint replacement and reduce the incidence of complications and readmission rates.

Optimal Design of the Modular Joint Drive Train for Enhancing Cobot Load Capacity and Dynamic Performance

Automation advancements prompts the extensive integration of collaborative robot(cobot)across a range of industries.Compared to the commonly used design approach of increasing the payload-to-weight ratio of cobot to enhance load capacity,equal attention should be paid to the dynamic response characteristics of cobot during the design process to make the cobot more flexible.In this paper,a new method for designing the drive train parameters of cobot is proposed.Firstly,based on the analysis of factors influencing the load capacity and dynamic response characteristics,design criteria for both aspects are established for cobot with all optimization design criteria normalized within the design domain.Secondly,with the cobot in the horizontal pose,the motor design scheme is discretized and it takes the joint motor diameter and gearbox speed ratio as optimization design variables.Finally,all the discrete values of the optimization objectives are obtained through the enumeration method and the Pareto front is used to select the optimal solution through multi-objective optimization.Base on the cobot design method proposed in this paper,a six-axis cobot is designed and compared with the commercial cobot.The result shows that the load capacity of the designed cobot in this paper reaches 8.4 kg,surpassing the 5 kg load capacity commercial cobot which is used as a benchmark.The minimum resonance frequency of the joints is 42.70 Hz.

Blood metal concentrations and cardiac structure and function in total joint arthroplasty patients

BACKGROUND There is concern regarding potential long-term cardiotoxicity with systemic distribution of metals in total joint arthroplasty(TJA)patients.AIM To determine the association of commonly used implant metals with echocardiographic measures in TJA patients.METHODS The study comprised 110 TJA patients who had a recent history of high chromium,cobalt or titanium concentrations.Patients underwent two-dimensional,three-dimensional,Doppler and speckle-strain transthoracic echocardiography and a blood draw to measure metal concentrations.Age and sex-adjusted linear and logistic regression models were used to examine the association of metal concentrations(exposure)with echocardiographic measures(outcome).RESULTS Higher cobalt concentrations were associated with increased left ventricular end-diastolic volume(estimate 5.09;95%CI:0.02-10.17)as well as left atrial and right ventricular dilation,particularly in men but no changes in cardiac function.Higher titanium concentrations were associated with a reduction in left ventricle global longitudinal strain(estimate 0.38;95%CI:0.70 to 0.06)and cardiac index(estimate 0.08;95%CI,-0.15 to-0.01).CONCLUSION Elevated cobalt and titanium concentrations may be associated with structural and functional cardiac changes in some patients.Longitudinal studies are warranted to better understand the systemic effects of metals in TJA patients.