Curative Effects of Warming Needle Moxibustion Combined with Manipulation Massage on Cervical Spondylotic Vertebral Arteriopathy and Its Influence on the Cerebral Blood Flow Parameters and Cervical Vertebral Function

OBJECTIVE: To explore the curative effects of warming needle moxibustion combined with manipulation massage on cervical spondylotic vertebral arteriopathy and its influence on the cerebral blood flow and cervical vertebra function. METHODS: A total of 84 patients with cervical spondylotic vertebral arteriopathy admitted to our hospital from February 2016 to June 2017 were selected, and all patients were divided into an observation group (n=42) and a control group (n=42) according to the random number table method. The patients in the control group were given conventional western treatment, and the patients in the observation group were treated with warming needle moxibustion combined with manipulation massage on the basis of the control group. After 4 weeks of treatment, the changes of main clinical symptoms (vertigo, headache, neck and shoulder pain, tinnitus), cervical function (clinical symptoms, clinical examination, daily life action) and cerebral blood flow parameters (average blood flow velocity of left vertebral artery, right vertebral artery and basilar artery) of the 2 groups were observed, and the clinical efficacy of the 2 groups were statistically analyzed. RESULTS: The scores of vertigo, headache, neck and shoulder pain and tinnitus in the 2 groups were all significantly lower than before treatment (P < 0.05), and the clinical symptom scores in the observation group were significantly lower after treatment (P < 0.05);After treatment, the scores of clinical symptoms, clinical examination and daily life action in the 2 groups were significantly higher than those before treatment (P < 0.05), and the increase of cervical vertebral function score in the observation group was better than that in the control group (P < 0.05);The mean blood flow velocity of the left vertebral artery, right vertebral artery and the basilar artery in the 2 groups after treatment were significantly higher than before treatment (P < 0.05), and the increase of the above cerebral blood flow parameters in the observation group were higher than the control group (P < 0.05). The total effective rate was 92.9% in the observation group and 76.2% in the control group after treatment, and the difference between the 2 groups was statistically significant (P < 0.05). CONCLUSION: Warming needle moxibustion combined with manipulation massage can quickly relieve the clinical symptoms of patients with cervical spondylotic vertebral arteriopathy, improve the cervical function and cerebral blood flow parameters, increase the vertebrobasilar artery blood flow, and promote the recovery of the disease.

Technical parameters of drawing and coal-gangue field movements of a fully mechanized large mining height top coal caving working face

Under fully mechanized, large mining height top coal caving conditions, the shield beam slope angle of the support increases due to the enlargement of the top coal breaking and caving space. This results in a change of the caving window location and dimensions and, therefore, the granular coal-gangue movement and flows provide new characteristics during top coal caving. The main inferences we draw are as follows. Firstly, after shifting the supports, the caved top coal layer line and the coal gangue boundary line become steeper and are clearly larger than those under common mining heights. Secondly, during the top coal caving procedure, the speed of the coal-gangue flow increases and at the same drawing interval, the distance between the coal-gangue boundary line and the top beam end is reduced. Thirdly, affected by the drawing ratio, the slope angle of the shield beam and the dimensions of the caving window, it is easy to mix the gangue. A rational drawing interval will cause the coal-gangue boundary line to be slightly behind the down tail boom lower boundary. This rational drawing interval under conditions of large mining heights has been analyzed and determined.

TECHNICAL STABILITY OF NONLINEAR TIME-VARYING SYSTEMS WITH SMALL PARAMETERS

Technical stability:allowing quantitative estimation of trajectory behavior of a dynamical system over a given time interval was considered. Based on a differential comparison principle and a basic monotonicity condition, technical stability relative to certain prescribed state constraint sets of a class of nonlinear time-varying systems with small parameters was analyzed by means of vector Liapunov function method. Explicit criteria of technical stability are established in terms of coefficients of the system under consideration. Conditions under which the technical stability of the system can be derived from its reduced linear time-varying (LTV) system were further examined, as well as a condition for linearization approach to technical stability of general nonlinear systems. Also, a simple algebraic condition of exponential asymptotic stability of LTV systems is presented. Two illustrative examples are given to demonstrate the availability of the presently proposed method.

Adaptive Leader-Follower Consensus Control of Multiple Flexible Manipulators With Actuator Failures and Parameter Uncertainties

In this paper,the leader-follower consensus problem for a multiple flexible manipulator network with actuator failures,parameter uncertainties,and unknown time-varying boundary disturbances is addressed.The purpose of this study is to develop distributed controllers utilizing local interactive protocols that not only suppress the vibration of each flexible manipulator but also achieve consensus on joint angle position between actual followers and the virtual leader.Following the accomplishment of the reconstruction of the fault terms and parameter uncertainties,the adaptive neural network method and parameter estimation technique are employed to compensate for unknown items and bounded disturbances.Furthermore,the Lyapunov stability theory is used to demonstrate that followers’angle consensus errors and vibration deflections in closed-loop systems are uniformly ultimately bounded.Finally,the numerical simulation results confirm the efficacy of the proposed controllers.

Self-adapting control parameters modifieddifferential evolution for trajectoryplanning of manipulators

Control parameters of original differential evolution （DE） are kept fixed throughout the entire evolutionary process. However, it is not an easy task to properly set control parameters in DE for different optiinization problems. According to the relative position of two different individual vectors selected to generate a difference vector in the searching place, a self-adapting strategy for the scale factor F of the difference vector is proposed. In terms of the convergence status of the target vector in the current population, a self-adapting crossover probability constant CR strategy is proposed. Therefore, good target vectors have a lower CFI while worse target vectors have a large CFI. At the same time, the mutation operator is modified to improve the convergence speed. The performance of these proposed approaches are studied with the use of some benchmark problems and applied to the trajectory planning of a three-joint redundant manipulator. Finally, the experiment results show that the proposed approaches can greatly improve robustness and convergence speed.

Effects of Mn on the properties of quenching and partitioning treated sheet steel

Since it has excellent tensile strength, the quenching and partitioning （Q ＆ P） treated steel has been widely acclaimed. Some researched is currently being conducted on Q ＆ P steel, but Q ＆ P techniques and related mechanisms have been mostly research based on conventional transformation-induced plasticity （TRIP） steel. This study researches the effect of Mn on the properties of Q ＆P sheet steel. Two kinds of steel sheet with different levels of Mn content （1.46% Mn and 2.75% Mn） are investigated. After being fully annealed, the steel sheets were quenched to a temperature between Ms and Mr. Allocation treatment then caused the carbon to be partitioned into the remaining austenite.The microstructure and tensile properties were analyzed. The results show that the increment of Mn content can increase the stability of the steel and decrease the sensitivity of the quenching temperature （QT）. The results also indicate that increasing the level of Mn can effectively suppress the formation of bainite.

Optimization of structural parameters for spatial flexible redundant manipulators with maximum ratio of load to mass

Optimization of structural parameters aimed at improving the load carrying capacity of spatial flexible redundant manipulators is presented in this paper. In order to increase the ratio of load to mass of robots, the cross-sectional parameters and constructional parameters are optimized respectively. The cross-sectional and configurational parameters are optimized simultaneously. The numerical simulation of a 4R spatial manipulator is performed. The results show that the load capacity of robots has been greatly improved through the optimization strategies proposed in this paper.

Mindless Intelligence Method for Solving the Tower of Hanoi Problem

Over the past years, more and more attention has been paid to artificial life research. The main object of artificial life research is to explore how to control the environments in which the digital organisms imitating natural life, under complicated competition and evolutionary conditions, develop their own wisdom, which can then be used to solve the problems in the real world. While most of the current researches applied one or another artificial life method to solve real problems, the fundamental mechanism of the emerging process of artificial life is seldom addressed. The research works on genetic algorithms, although bearing fruitful results, could only be deemed as constituting a basic stage in the process of artificial life development. This study proposes a new method of employing artificial life, to complement the contents of the research of mindless intelligence, which is regarded as a bridge linking genetic algorithms to general artificial life. And two important concepts, key manipulating parameters and contribution function in its context, are proposed to expand the mindless intelligence applications, in order to pave the way for the optimal design of an artificial life method, in an attempt to fill the conceptual gap between genetic algorithms and artificial life, and consequently clarifying the artificial life mechanism. As a case study we applied these innovative methods to solve an open problem： the Tower of Hanoi, to attest to the feasibility of our approach, and we have achieved satisfactory results.

Application of orthogonal design in the experiment of plasma arc powder surfacing technology

In this paper, the influence of plasma arc powder surfacing technical parameters on the property of layer is defined using the orthogonal design. By the orthogonal polynomial regression, when plasma arc powder surfacing is used on the surface of the X65 steel plate with the Fe-07 alloy powder, the optimum technical parameters are the following: I=180～190 A , G=41.5 g/min , v=102 mm/min , T_0=350 ℃ , Q_l=280 L/h , Q_s=400 L/h . Further, analysis of the cracking test data showed that the cracking preheat temperature is 350 ℃ .

Diagnosis of Machines in the Forestry Systems

This article discusses the possibilities of increasing the efficiency of TM(Technical Maintenance)and R(Repair)of machines by means of technical diagnostics.Characteristics of the diagnostic signs and parameters are formulated.A classification of diagnostic parameters is proposed.

Parameter Identification for the Valve Control Cylinder System of a Hydraulic Manipulator

In mechanical, hydraulic and electronic systems, the determination of system parameters is often challenging because liquid parameters often change significantly, due to variations in working and environmental conditions. Therefore, it is of significant practical importance to identify those parameters through experimental procedures. A systematic approach to identifying parameters in the valve controlling cylinder system of hydraulic manipulators is provided. It first derives the transfer function of the system, and then uses P control of PID control to predict system parameters. The predicted parameters are further validated using PID control. The prediction through simulation using MatLab language is utilized, which agrees well with experimental results.

Improving the Efficiency of Mechatronic Systems in Order to Ensure Intensive Reform“Industry-4.0”

The presented work will show the highest relevance of solving all the issues related to this problem and present the results of the analysis of the main expected potential problems,which may occur in the implementation of the INDUSTRY-4.0 reform.It is proved that the pace and level of development of this reform will be determined to a large extent by the effectiveness of the individual nodes used and the entire mechatronic system.It has also been established that as a result of systematic miniaturization of the nodes of radio-electronic equipment and microelectronic equipment and microelectronic technology,the main problem of these reforms and the implementation of complex technological processes is instrumental and technological support,especially with cutting micro-tools and equipment.Therefore,on the example of these investigations,methods for improving their performance are shown.

PARAMETRIC IDENTIFICATION OF PARALLEL MANIPULATOR WITH REDUNDANCY DRIVEN BY PNEUMATIC MUSCLES

A new parameter estimation algorithm is proposed for parametric identification of a parallel manipulator driven by pneumatic muscles with redundancy. Due to the special physical properties of the parallel manipulator studied, the regression model for parametric identification is characterized by multieollinearity, which will result in unreliable and inaccurate parameter estimations with large eovarianee if the conventional parameter estimation algorithm based on single error minimizing criterion is used. To improve the quality of parameter estimation and achieve high precise posture trajectory tracking control of the parallel manipulator, a new parameter estimation algorithm based on composite error minimizing criterion is developed in need of theoretical contractive forces of pneumatic muscles. The experimental results indicate that the proposed algorithm integrated with adaptive robust control could provide reliable parametric identification and greatly enhance the control accuracy in the trajectory tracking control of the parallel manipulator, and that the variation of known theoretical contractive forces of pneumatic muscles has slight influence on the control performance.

Dynamics of luffing motion of a hydraulically driven shell manipulator with revolute clearance joints

In this study,a modeling method for investigating the dynamic characteristics of a hydraulically driven shell manipulator with revolute clearance joints is presented.This model accounts for the effect of the clearance,the flexibility of the rotating beam,and the coupled dynamic characteristics of the hydraulic cylinder.A modified contact force model was developed to simulate the physical properties of realistic revolute joints with small clearances,heavy loads,and variable contact stiffnesses and damping coefficients with variations of the indentations.Considering the strong coupling relationship between the hydraulic cylinder and the flexible beam,a system equation of motion combining the state variables of the hydraulic cylinder and mechanical system was established.The complex nonlinear friction force of the hydraulic cylinder motion was constructed using a modified Lu Gre model,and the parameters of the friction model were identified using intelligent identification algorithms.Moreover,a test system for the shell manipulator was established to achieve experimental validation.Finally,the effects of the clearance size and the stiffness of the cylinder support on the dynamic response were investigated.

3-DOF混联采摘机械手的工作空间分析与设计

为了增强采摘机械手的稳定性、对中性及增大机械手的运动空间,提出1种3-DOF混联采摘机械手机构,对其进行工作空间分析,基于工作空间优化设计出1种高效的可用于农业采摘的小型机械手。根据农业采摘需求选定采摘机械手的机构类型并决定其结构,推导采摘机械手的位置正反解,利用蒙特卡洛方法求解机械手的工作空间并绘制其工作空间的三维点云图;分析关键参数对工作空间的影响,找出参数的最佳值从而优化工作空间。考虑到采摘过程中避免农作物损坏并加快采摘效率,设计了采摘收集一体式的小型果蔬采摘机械手,并使用Creo软件建立了采摘机械手的三维模型。该采摘机械手具有适当的工作空间,可以提高小型果蔬采摘效率。

基于Autoform多工位连续冲压成形数值模拟

文章通过研究某轿车C柱连接支架件零件图,确定零件成形工序,并运用Autoform软件分析计算零件的原始毛坯展开图,初步确定零件的成形工艺方案。采用Autoform软件、单工位多工序的有限元建模及数值模拟方法模拟板料的多步成形过程,研究板料的成形工艺(凸、凹模间隙)、成形效果(是否有开裂、起皱、叠料)及弯曲回弹量等对板料变形情况的影响,从而确定合理的工艺参数,制定合理的工艺方案,并通过实冲验证了数值模拟的有效性。

Classification of conditions for short-wall continuous mechanical mining in shallowly buried coal seam with thin bedrock

The room and pillar method is usually used to extract coal from shallowly buried seams with thin bedrock. This results in a very low production efficiency and in a low degree of extraction. In recent years short-wall continuous mechanical mining has been extensively used in many situations except shallowly buried coal seams with thin bedrock. The principles governing movement of the overlying strata above the 2-2 coal seam were deduced from in-situ experience, laboratory data, calculations and computer simulations. The thicknesses of the bedrock in the Shendong Coal Field where the coal is shallowly buried are classified into 5 types: <10 m, 10–15 m, 15–25 m, 25–35 m and >35 m, which was done using fuzzy clustering results. A series of reasonable, relative parameters in each category have been calculated and analyzed. One proposed way to perform short-wall continuous mechanical mining in shallowly buried coal seams is given. This is significant for coal mines with similar geological conditions.

LR1200-PROFILE焊轨车的研制

近年来国内兴起一种新型交通工具——有轨电车,其适用于大城市与周边城镇的连接。有轨电车使用的轨道与国内常规的60 kg/m轨道不同,其外形结构复杂;而且线路的最小曲率半径也比通常线路小,国内目前使用的焊轨车不适应焊接此类线路。针对此状况,开发了一种适用于槽型轨线路焊接的设备。重点介绍了该设备LR1200—PROFILE的总体布局、主要技术参数、性能特点、关键设备的选型与设计和现场使用情况。

Application of Standardization for Initial Design of Plastic Injection Moulds

Today, the time-to-market for plastic products ar e getting shorter, thus the lead-time for making the injection mould is decreasin g. There is potential in timesavings in the mould design stage because the design process that is repeatable for every mould design can be standardized. T he preliminary work of any final plastic injection mould design is to always pro vide an initial design of the mould assembly for product designers (customers) p rior to receiving the final product CAD data. Traditionally and even up till no w, this initial design is always created using 2D CAD packages. The information used for the initial design is based on the technical discussion checklist, in which most mould makers have their own standards. This checklist is also being used as a quotation since the most basic information of the mould in the particu lar project is being recorded in it. The basic information in this checklist in cludes the number of cavities, the type of mould base to be used, the moulding m achine to be used for the moulding, the type of gating system, the type of resin material used and its shrinkage value etc. Information on special requirements such as the number of sliders or lifters to be used is also listed in the check list. At this stage, there is still no information on the cooling and ejection design since they are greatly dependent on the final product CAD data. This res earch focuses on the methodology of providing the initial design in 3D solid bas ed on the technical discussion checklist, which takes the role of the overall st andard template since every sub-design has its own standard template. An examp le of a sub-design that has its own standard template is the cavity layout desi gn. The cavity layout for plastic injection moulds can be designed by controlli ng the geometrical parameters using a standardization template. The standardiza tion template for the cavity layout design consists of configurations for the po ssible layouts. Each configuration of the layout design has its own layout desi gn table of all the geometrical parameters. This standardization template is pr e-defined in the layout design level of the mould assembly design. This ensure s that the required configuration can be loaded into the mould assembly design v ery quickly without having the need to redesign the layout. This makes it usefu l for technical discussions between the product designers and mould designers pr ior to the manufacture of the mould. Changes can be made to the 3D cavity layou t design immediately during the discussions thus the savings in time and avo idance of miscommunications.