Configuration and Kinematics of a 3-DOF Generalized Spherical Parallel Mechanism for Ankle Rehabilitation

The kinematic equivalent model of an existing ankle-rehabilitation robot is inconsistent with the anatomical structure of the human ankle,which influences the rehabilitation effect.Therefore,this study equates the human ankle to the UR model and proposes a novel three degrees of freedom(3-DOF)generalized spherical parallel mechanism for ankle rehabilitation.The parallel mechanism has two spherical centers corresponding to the rotation centers of tibiotalar and subtalar joints.Using screw theory,the mobility of the parallel mechanism,which meets the requirements of the human ankle,is analyzed.The inverse kinematics are presented,and singularities are identified based on the Jacobian matrix.The workspaces of the parallel mechanism are obtained through the search method and compared with the motion range of the human ankle,which shows that the parallel mechanism can meet the motion demand of ankle rehabilitation.Additionally,based on the motion-force transmissibility,the performance atlases are plotted in the parameter optimal design space,and the optimum parameter is obtained according to the demands of practical applications.The results show that the parallel mechanism can meet the motion requirements of ankle rehabilitation and has excellent kinematic performance in its rehabilitation range,which provides a theoretical basis for the prototype design and experimental verification.

Kinematic deformation and intensity assessment of the 2021 Maduo M_(S)7.4 earthquake in Qinghai revealed by high-frequency GNSS

Rapid acquisition of the kinematic deformation field and seismic intensity distribution of large earthquakes is crucial for postseismic emergency rescue,disaster assessment,and future seismic risk research.The advancement of GNSS observation and data processing makes it play an important role in this field,especially the high-frequency GNSS.We used the differential positioning method to calculate the 1 HZ GNSS data from 98 sites within 1000 km of the M_(S)7.4 Maduo earthquake epicenter.The kinematic deformation field and the distribution of the seismic intensity by using the peak ground velocity derived from displacement waveforms were obtained.The results show that:1)Horizontal coseismic response deformation levels ranging from 25 mm to 301 mm can be observed within a 1000 km radius from the epicenter.Coseismic response deformation on the east and west sides shows bilateral asymmetry,which markedly differs from the symmetry presented by surface rupture.2)The seismic intensity obtained through high-frequency GNSS and field investigations exhibits good consistency of the scope and orientation in the high seismic intensity area,although the former is generally slightly smaller than the latter.3)There may exist obstacles on the eastern side of the seismogenic fault.The Maduo earthquake induced a certain tectonic stress loading effect on the western Kunlun Pass-Jiangcuo fault(KPJF)and Maqin-Maqu segment,resulting in higher seismic risk in the future.

Kinematics ofmandibular advancement devices(MADs):Why do some MADs move the lower jaw backward duringmouth opening?

Mandibular advancement devices(MADs)are widely used treatments for obstructive sleep apnea.MADs function by advancing the lower jaw to open the upper airway.To increase patient comfort,most patients allow the mouth to be opened.However,not all systems maintain the lower jaw in a forward position during mouth opening,which results in the production of a retrusion that favors the collapse of the upper airway.Furthermore,the kinematic behavior of the mechanism formed by the mandible-device assembly depends on jaw morphology.This means that,during mouth opening,some devices cause lower jaw protrusion in some patients,but cause its retraction in others.In this study,we report the behavior of well-known devices currently on themarket.To do so,we developed a kinematic model of the lower jawdevice assembly.Thismodelwas validated for all devices analyzed using a high-resolution camera system.Our results show that some of the devices analyzed here did not produce the correct behavior during patient mouth opening.

Case Studies of the Microphysical and Kinematic Structure of Summer Mesoscale Precipitation Clouds over the Eastern Tibetan Plateau

Three cases of microphysical characteristics and kinematic structures in the negative temperature region of summer mesoscale cloud systems over the eastern Tibetan Plateau(TP)were investigated using X-band dual-polarization radar.The time-height series of radar physical variables and mesoscale horizontal divergence δderived by quasi-vertical profiles(QVPs)indicated that the dendritic growth layer(DGL,-20°C to-10°C)was ubiquitous,with large-value zones of K_(DP)(specific differential phase),Z_(DR)(differential reflectivity),or both,and corresponded to various dynamic fields(ascent or descent).Ascents in the DGL of cloud systems with vigorous vertical development were coincident with large-value zones of Z_(DR),signifying ice crystals with a large axis ratio,but with no obvious large values of K_(DP),which differs from previous findings.It is speculated that ascent in the DGL promoted ice crystals to undergo further growth before sinking.If there was descent in the DGL,a high echo top corresponded to large values of K_(DP),denoting a large number concentration of ice crystals;but with the echo top descending,small values of K_(DP) formed.This is similar to previous results and reveals that a high echo top is conducive to the generation of ice crystals.When ice particles fall to low levels(-10℃ to 0℃),they grow through riming,aggregation,or deposition,and may not be related to the kinematic structure.It is important to note that this study was only based on a limited number of cases and that further research is therefore needed.

An approach for determination of lateral limit angle in kinematic planar sliding analysis for rock slopes

Planar sliding is one of the frequently observed types of failure in rock slopes.Kinematic analysis is a classic and widely used method to examine the potential failure modes in rock masses.The accuracy of planar sliding kinematic analysis is significantly influenced by the value assigned to the lateral limit angleγlim.However,the assignment ofγlim is currently used generally based on an empirical criterion.This study aims to propose an approach for determining the value ofγlim in deterministic and probabilistic kinematic planar sliding analysis.A new perspective is presented to reveal thatγlim essentially influences the probability of forming a potential planar sliding block.The procedure to calculate this probability is introduced using the block theory method.It is found that the probability is correlated with the number of discontinuity sets presented in rock masses.Thus,different values ofγlim for rock masses with different sets of discontinuities are recommended in both probabilistic and deterministic planar sliding kinematic analyses;whereas a fixed value ofγlim is commonly assigned to different types of rock masses in traditional method.Finally,an engineering case was used to compare the proposed and traditional kinematic analysis methods.The error rates of the traditional method vary from 45%to 119%,while that of the proposed method ranges between 1%and 17%.Therefore,it is likely that the proposed method is superior to the traditional one.

Kinematic-mapping-model-guided analysis and optimization of 2-PSS&1-RR circular-rail parallel mechanism for fully steerable phased array antennas

This paper presents a systematic methodology for analyzing and optimizing an innovative antenna mount designed for phased array antennas, implemented through a novel 2-PSS&1-RR circular-rail parallel mechanism. Initially, a comparative motion analysis between the 3D model of the mount and its full-scale prototype is conducted to validate effectiveness. Given the inherent complexity, a kinematic mapping model is established between the mount and the crank-slider linkage, providing a guiding framework for subsequent analysis and optimization. Guided by this model, feasible inverse and forward solutions are derived, enabling precise identification of stiffness singularities. The concept of singularity distance is thus introduced to reflect the structural stiffness of the mount. Subsequently, also guided by the mapping model, a heuristic algorithm incorporating two backtracking procedures is developed to reduce the mount's mass. Additionally, a parametric finite-element model is employed to explore the relation between singularity distance and structural stiffness. The results indicate a significant reduction(about 16%) in the antenna mount's mass through the developed algorithm, while highlighting the singularity distance as an effective stiffness indicator for this type of antenna mount.

Acute effect of foot strike patterns on in vivo tibiotalar and subtalar joint kinematics during barefoot running

Background:Foot kinematics,such as excessive eversion and malalignment of the hindfoot,are believed to be associated with running-related injuries.The maj ority of studies to date show that different foot strike patterns influence these specific foot and ankle kinematics.However,technical deficiencies in traditional motion capture approaches limit knowledge of in vivo joint kinematics with respect to rearfoot and forefoot strike patterns(RFS and FFS,respectively).This study uses a high-speed dual fluoroscopic imaging system(DFIS)to determine the effects of different foot strike patterns on 3D in vivo tibiotalar and subtalar joints kinematics.Methods:Fifteen healthy male recreational runners underwent foot computed tomography scanning for the construction of 3-dimensional models.A high-speed DFIS(100 Hz)was used to collect 6 degrees of freedom kinematics for participants’tibiotalar and subtalar joints when they adopted RFS and FFS in barefoot condition.Results:Compared with RFS,FFS exhibited greater internal rotation at 0%-20%of the stance phase in the tibiotalar joint.The peak internal rotation angle of the tibiotalar joint under FFS was greater than under RFS(p<0.001,Cohen’s d=0.92).RFS showed more dorsiflexion at 0%-20%of the stance phase in the tibiotalar joint than FFS.RFS also presented a larger anterior translation(p<0.001,Cohen’s d=1.28)in the subtalar joint at i nitial contact than FFS.Conclusion:Running with acute barefoot FFS increases the internal rotation of the tibiotalar joint in the early stance.The use of high-speed DFIS to quantify the movement of the tibiotalar and subtalar joint was critical to revealing the effects of RF S and FFS during running.

Kinematic calibration under the expectation maximization framework for exoskeletal inertial motion capture system

This study presents a kinematic calibration method for exoskeletal inertial motion capture (EI-MoCap) system with considering the random colored noise such as gyroscopic drift.In this method, the geometric parameters are calibrated by the traditional calibration method at first. Then, in order to calibrate the parameters affected by the random colored noise, the expectation maximization (EM) algorithm is introduced. Through the use of geometric parameters calibrated by the traditional calibration method, the iterations under the EM framework are decreased and the efficiency of the proposed method on embedded system is improved. The performance of the proposed kinematic calibration method is compared to the traditional calibration method. Furthermore, the feasibility of the proposed method is verified on the EI-MoCap system. The simulation and experiment demonstrate that the motion capture precision is significantly improved by 16.79%and 7.16%respectively in comparison to the traditional calibration method.

Evaluation of slope stability through rock mass classification and kinematic analysis of some major slopes along NH-1A from Ramban to Banihal, North Western Himalayas

The network of Himalayan roadways and highways connects some remote regions of valleys or hill slopes,which is vital for India’s socio-economic growth.Due to natural and artificial factors,frequency of slope instabilities along the networks has been increasing over last few decades.Assessment of stability of natural and artificial slopes due to construction of these connecting road networks is significant in safely executing these roads throughout the year.Several rock mass classification methods are generally used to assess the strength and deformability of rock mass.This study assesses slope stability along the NH-1A of Ramban district of North Western Himalayas.Various structurally and non-structurally controlled rock mass classification systems have been applied to assess the stability conditions of 14 slopes.For evaluating the stability of these slopes,kinematic analysis was performed along with geological strength index(GSI),rock mass rating(RMR),continuous slope mass rating(CoSMR),slope mass rating(SMR),and Q-slope in the present study.The SMR gives three slopes as completely unstable while CoSMR suggests four slopes as completely unstable.The stability of all slopes was also analyzed using a design chart under dynamic and static conditions by slope stability rating(SSR)for the factor of safety(FoS)of 1.2 and 1 respectively.Q-slope with probability of failure(PoF)1%gives two slopes as stable slopes.Stable slope angle has been determined based on the Q-slope safe angle equation and SSR design chart based on the FoS.The value ranges given by different empirical classifications were RMR(37-74),GSI(27.3-58.5),SMR(11-59),and CoSMR(3.39-74.56).Good relationship was found among RMR&SSR and RMR&GSI with correlation coefficient(R 2)value of 0.815 and 0.6866,respectively.Lastly,a comparative stability of all these slopes based on the above classification has been performed to identify the most critical slope along this road.

Mid-term outcomes of a kinematically designed cruciate retaining total knee arthroplasty

BACKGROUND Advances in implant material and design have allowed for improvements in total knee arthroplasty(TKA)outcomes.A cruciate retaining(CR)TKA provides the least constraint of TKA designs by preserving the native posterior cruciate ligament.Limited research exists that has examined clinical outcomes or patient reported outcome measures(PROMs)of a large cohort of patients undergoing a CR TKA utilizing a kinematically designed implant.It was hypothesized that the studied CR Knee System would demonstrate favorable outcomes and a clinically significant improvement in pain and functional scores.AIM To assess both short-term and mid-term clinical outcomes and PROMs of a novel CR TKA design.METHODS A retrospective,multi-surgeon study identified 255 knees undergoing a TKA utilizing a kinematically designed CR Knee System(JOURNEY™II CR;Smith and Nephew,Inc.,Memphis,TN)at an urban,academic medical institution between March 2015 and July 2021 with a minimum of two-years of clinical follow-up with an orthopedic surgeon.Patient demographics,surgical information,clinical outcomes,and PROMs data were collected via query of electronic medical records.The PROMs collected in the present study included the Knee Injury and Osteoarthritis Outcome Score for Joint Replacement(KOOS JR)and Patient-Reported Outcomes Measurement Information System(PROMIS■)scores.The significance of improvements in mean PROM scores from preoperative scores to scores collected at six months and two-years postoperatively was analyzed using Independent Samples t-tests.RESULTS Of the 255 patients,65.5%were female,43.8%were White,and patients had an average age of 60.6 years.Primary osteoarthritis(96.9%)was the most common primary diagnosis.The mean surgical time was 105.3 minutes and mean length of stay was 2.1 d with most patients discharged home(92.5%).There were 18 emergency department(ED)visits within 90 d of surgery resulting in a 90 d ED visit rate of 7.1%,including a 2.4%orthopedic-related ED visit rate and a 4.7%non-orthopedic-related ED visit rate.There were three(1.2%)hospital readmissions within 90 d postoperatively.With a mean time to latest follow-up of 3.3 years,four patients(1.6%)required revision,two for arthrofibrosis,one for aseptic femoral loosening,and one for peri-prosthetic joint infection.There were significant improvements in KOOS JR,PROMIS Pain Intensity,PROMIS Pain Interference,PROMIS Mobility,and PROMIS Physical Health from preoperative scores to six month and two-year postoperative scores.CONCLUSION The evaluated implant is an effective,novel design offering excellent outcomes and low complication rates.At a mean follow up of 3.3 years,four patients required revisions,three aseptic and one septic,resulting in an overall implant survival rate of 98.4%and an aseptic survival rate of 98.8%.The results of our study demonstrate the utility of this kinematically designed implant in the setting of primary TKA.

3-Dimensional Kinematic Comparison of Arm Movements between an Individual with NGLY1 Deficiency and a Neurotypical Individual

NGLY1 Deficiency is an ultra-rare autosomal recessively inherited disorder. Characteristic symptoms include among others, developmental delays, movement disorders, liver function abnormalities, seizures, and problems with tear formation. Movements are hyperkinetic and may include dysmetric, choreo-athetoid, myoclonic and dystonic movement elements. To date, there have been no quantitative reports describing arm movements of individuals with NGLY1 Deficiency. This report provides quantitative information about a series of arm movements performed by an individual with NGLY1 Deficiency and an aged-matched neurotypical participant. Three categories of arm movements were tested: 1) open ended reaches without specific end point targets;2) goal-directed reaches that included grasping an object;3) picking up small objects from a table placed in front of the participants. Arm movement kinematics were obtained with a camera-based motion analysis system and “initiation” and “maintenance” phases were identified for each movement. The combination of the two phases was labeled as a “complete” movement. Three-dimensional analysis techniques were used to quantify the movements and included hand trajectory pathlength, joint motion area, as well as hand trajectory and joint jerk cost. These techniques were required to fully characterize the movements because the NGLY1 individual was unable to perform movements only in the primary plane of progression instead producing motion across all three planes of movement. The individual with NGLY1 Deficiency was unable to pick up objects from a table or effectively complete movements requiring crossing the midline. The successfully completed movements were analyzed using the above techniques and the results of the two participants were compared statistically. Almost all comparisons revealed significant differences between the two participants, with a notable exception of the 3D initiation area as a percentage of the complete movement. The statistical tests of these measures revealed no significant differences between the two participants, possibly suggesting a common underlying motor control strategy. The 3D techniques used in this report effectively characterized arm movements of an individual with NGLY1 deficiency and can be used to provide information to evaluate the effectiveness of genetic, pharmacological, or physical rehabilitation therapies.

优秀男子短距离速度滑冰运动员起跑技术的运动学特征及训练启示

目的:起跑是决定短距离速度滑冰运动成绩的关键技术,基于AI三维动作捕捉系统探究该项目起跑技术的运动学特征。方法:以国内8名高水平男子短距离速度滑冰运动员为测试对象,测试起跑预备姿势、起动和疾跑前6步的时间、空间、角度和速度参数。结果:1)时间参数中起动时是决定起跑实效性的核心指标(r=0.951),反应时和单步时间次之;2)空间位置参数中起动结束后的步幅、疾跑第2步和第4步的步幅与步宽以及疾跑第5步和第6步的身体重心高度与起跑实效性表现出高负相关(r>|0.5|),HCOM/H表现出起动过程略有降低,疾跑第1步迅速升高而后趋于平稳;3)空间角速参数中后稳定角、起动和疾跑初期蹬冰角、躯干角与起跑实效性表现出高正相关(r>0.5),膝角的蹬伸幅度在93°~148°变化;4)起动和疾跑前4步的速度与起跑实效性表现出高负相关(r>|0.5|),速度达到6.79 m/s时出现从滑跑向滑行技术转化过渡点。结论:起跑表现出“单侧发力、多向运动、非稳定支撑”的动作模式特征,疾跑第5~6步是从滑跑向滑行技术的过渡期。启示:陆冰结合训练中加强快速反应能力与动作速度训练,静力性力量、快速力量与爆发力训练,平衡与稳定控制能力训练,最佳动作协同模式训练以及下肢肌肉韧带刚性训练,有助于提升起跑运动表现。

2023年度奶牛产业与技术发展报告

本文从生产现状、市场与贸易、加工与消费、技术研发等角度对2023年中国奶业发展进行了分析,同时指出中国与奶业发达国家产业素质的差距点,为中国奶业发展提出技术和政策建议。

光谱技术在果品无损检测中的应用研究进展

介绍了常用的果品无损检测方法,包括电子鼻法、X射线计算机断层成像法、机械方法、磁共振(核磁共振)成像光谱学法、拉曼光谱学法、近红外光谱技术等;重点综述了高光谱成像技术在无损检测水果结构特性、生化成分和安全性等方面的研究进展,以期为水果品质的无损检测研究提供参考。

合作研发与技术交易谁更有利于技术融合:以人工智能多层专利网络为例

技术融合能够显著提高企业创新能力,是产业融合的基础。合作研发和技术交易是常见的技术创新模式。为探究不同创新模式下的技术融合影响因素,以人工智能产业为例构建组织-技术多层网络模型,从技术异质性和创新能力异质性两个维度探究不同创新模式下组织合作伙伴异质性对技术融合的影响。研究表明,在合作研发模式下,技术异质性、创新能力异质性有利于技术融合;在技术交易模式下,创新能力异质性有利于技术融合,技术异质性不利于技术融合。

基于无人机PPK技术在免像控条件下山区光伏地形图的生产

针对光伏场区高差大、部分区域植被覆盖、通信信号弱的特点,本文提出了一种基于动态后处理技术(PPK)在免像控条件下航测光伏地形图生产的方法。该方法首先在免像控的条件下对航测获取的无人机影像定位测姿系统(POS)数据和点云数据进行PPK解算;然后利用点云后处理、影像空中三角测量、数字微分纠正等技术生成高精度数字高程模型(DEM)和数字正射影像(DOM)成果;最后利用DEM和DOM成果构建三维模型,实现地形图生产。利用两个典型应用实例,验证了该方法可完全满足光伏地形图的精度要求。

船舶模块化建造关键技术研究

随着科学技术的进步和船舶需求量的增长,船舶建造模式逐步进入了以中间产品为导向的模块化建造模式。相比原传统的建造模式,模块化建造模式下增加了大量中间模块舾装及建造的环节,既包含了区域或功能模块的组装成型、进舱安装,又包括大型分段或总段模块的结构建造、预舾装以及合拢的整体过程。船舶模块化建造技术更为复杂。模块化建造技术是实现模块化造船的前提,本文在分析船舶模块主要类型的基础上,研究了船舶模块化建造流程及其关键技术和措施,为提高模块化造船水平提供参考。

国际关系演变的技术政治解释——以美国对华技术博弈为分析视角

传统国际关系研究常常忽视技术在国际关系中的重要影响,仅将技术看作是经济和军事的天然附属。历经数十年的高速发展,技术特别是颠覆性技术深刻嵌入社会政治经济各领域,技术的“杠杆和重塑作用”不断增强,进而重构全球技术竞争模式,引发国际关系的深层次演变。当下,技术竞争呈现出参与门槛高、竞争对抗意识浓、产业链和价值链战略地位空前突出等特点。同时,新技术本身所呈现的颠覆性、快速迭代性和涌现性等特征愈发受到关注。美国对华在新技术领域的“切割和封锁”策略,在瓦解全球技术共享生态的同时,迫使技术竞争的双方主动和被动地进入更激烈的博弈状态,导致全球治理出现新难题,进而给国际关系与国际秩序带来更多不确定性。

基于BIM和物联网技术的智慧工地平台在LNG码头施工中的应用

针对LNG(液化天然气)码头工程施工中存在的安全风险系数大、人员管控要求高、安装难度高、工期进度紧等问题,开展基于BIM和物联网技术在智慧工地平台的研究与应用。通过采用建立BIM技术与物联网技术融合的智慧工地管理方法,深化创建施工BIM模型,结合相应的智能化设备,实现模型与现场数据接入和集成的应用,解决了施工过程管控难、数据信息源集成多、劳务人员现场管理难等典型LNG码头工程施工问题。通过将BIM技术与智慧工地平台在施工阶段融合应用,有效提升了LNG码头工程建设项目的施工质量和技术管理水平。研究旨在为LNG码头领域的工程建设提供有益的经验和借鉴,推动智慧工地平台在该领域的应用和发展。

突破“卡脖子”技术:知识开发模式对企业关键核心技术及其衍生技术的影响

在新一轮科技革命与百年未有之大变局下,我国企业正面临由贸易之争转变为科技实力之争带来的“卡脖子”技术困境。基于突破“卡脖子”技术的现实问题,以中国上市公司发明专利为数据集,分析企业知识开发模式对关键核心技术及其衍生技术的影响。结果表明,内部创新模式与外部创新模式均对企业关键核心技术及其衍生技术突破具有促进作用,但相比之下,外部模式产生的影响更加显著。进一步研究发现,市场竞争强度在知识开发与衍生技术之间起促进作用;选择外部知识开发模式不仅有利于衍生技术数量增长,而且有助于专利质量提高;衍生技术的成果转化会反馈新的关键核心技术突破。研究结论对我国企业高效选择创新路径,实现“卡脖子”技术突破具有重要参考价值。