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.

Evaluation of the Effectiveness and Efficiency of Extracorporeal Shock Wave Combined with Rehabilitation Training in the Treatment of Muscle Articulation Chronic Pain

Objective: To analyze the effect of combined extracorporeal shock wave and rehabilitation training treatment in patients with muscle articulation chronic pain (MACP). Methods: Ninety-seven MACP patients admitted to our hospital from September 2021 to September 2023 were randomly selected and were divided into Group A (control group, 46 cases, rehabilitation training treatment) and Group B (observation group, 51 cases, extracorporeal shock wave with rehabilitation training treatment), and outcomes of the two groups were compared. Results: The treatment efficiency, post-treatment clinical indexes (upper and lower limb function scores, activities of daily living (ADL) scores, visual analog scale (VAS) scores), and short-form 36 (SF-36) scores of Group B were better than those of Group A (P < 0.05). Conclusion: Combined extracorporeal shock wave and rehabilitation training treatment for MACP patients improved their limb function, daily activities, quality of life, and reduced pain.

Effect of sinew-regulating and bone-setting manipulating combined with exercise training in the treatment of joint injury of distal radio-ulnar

Objective: To observe the effect of the joint injury of the distal radio-ulnar joint. Methods: 60 patients with Distal Radioulnar Joint (DRUJ) injury were divided into observation group and control group according to random number method. 30 cases were included in each of the two groups.Before and after treatment in patients with Visual Analogue Scale (Visual Analogue Scale, VAS) score, forearm pronation and supination electromyographic activity, methods of electric integral value (integral electromyogram, iEMG) and Wrist in patients with self assessment Scale (Patient - Rated Wrist Evaluation, PRWE) score evaluation, comparison, and the clinical observation on diagnosis of disease and curative effect of traditional Chinese medicine standard (assessment process by blind method).Results: compared with the two groups before and after treatment, VAS score decreased, forearm pronation and postpronation activity increased, iEMG value increased, and PRWE scale score decreased (all P < 0.05), and the curative effect of the treatment group was better than that of the control group (P < 0.05). The total effective rate of the treatment group [93.3% (28/30)] was higher than that of the control group [50%(15/30), P < 0.05].Conclusion: the combined exercise training of muscle and bone setting technique can effectively alleviate the pain of patients with radial ulnar joint injury, improve the rotation of the forearm, increase the recruitment of the anterior rotatory muscle, and improve the wrist function of patients, and the effect is better than if combined with forearm support fixation.

A Novel Training Sequence Applied to DCS-Based Channel Estimation

Studies have indicated that the distributed compressed sensing based(DCSbased) channel estimation can decrease the length of the reference signals effectively. In block transmission, a unique word(UW) can be used as a cyclic prefix and reference signal. However, the DCS-based channel estimation requires diversity sequences instead of UW. In this paper, we proposed a novel method that employs a training sequence(TS) whose duration time is slightly longer than the maximum delay spread time. Based on proposed TS, the DCS approach perform perfectly in multipath channel estimation. Meanwhile, a cyclic prefix construct could be formed, which reduces the complexity of the frequency domain equalization(FDE) directly. Simulation results demonstrate that, by using the method of simultaneous orthogonal matching pursuit(SOMP), the required channel overhead has been reduced thanks to the proposed TS.

A Novel Scheme for Separate Training of Deep Learning-Based CSI Feedback Autoencoders

In this paper, we introduce a novel scheme for the separate training of deep learning-based autoencoders used for Channel State Information (CSI) feedback. Our distinct training approach caters to multiple users and base stations, enabling independent and individualized local training. This ensures the more secure processing of data and algorithms, different from the commonly adopted joint training method. To maintain comparable performance with joint training, we present two distinct training methods: separate training decoder and separate training encoder. It’s noteworthy that conducting separate training for the encoder can pose additional challenges, due to its responsibility in acquiring a compressed representation of underlying data features. This complexity makes accommodating multiple pre-trained decoders for just one encoder a demanding task. To overcome this, we design an adaptation layer architecture that effectively minimizes performance losses. Moreover, the flexible training strategy empowers users and base stations to seamlessly incorporate distinct encoder and decoder structures into the system, significantly amplifying the system’s scalability. .

电子信息类专业硕士研究生联合培养模式研究

联合培养在现代教育中扮演着重要角色,对培养研究生的创新能力尤为重要。该文旨在探讨联合培养的意义、挑战和影响。主要从联合培养的模式,包括资源共享和互补、学术交流和合作、提高学生综合素质以及增强研究影响力等方面阐述。总结了联合培养的重要性,并呼吁学校和机构加强合作,克服困难,为学生提供更好的教育和研究平台。

温针灸联合悬吊运动训练治疗肩袖损伤对肩关节功能及肩袖生活质量的影响

目的:观察温针灸联合悬吊运动训练(SET)治疗肩袖损伤(RCI)对肩关节功能、肩袖生活质量的影响。方法:选取2022年3月—2023年3月在浙江中医药大学附属杭州市中医院针灸康复科门诊就诊的RCI患者60例,按随机数字表法分为治疗组和对照组,每组30例。2组皆予关节松动术治疗,在此基础上,对照组予温针灸疗法治疗,治疗组予温针灸联合SET治疗,2组均治疗6周。治疗6周后,比较2组视觉模拟评分法(VAS)评分、肩关节外展活动度(SAROM)、肩袖生活质量指数(RCQOL)评分。结果:治疗6周后,2组VAS评分均较治疗前降低(P<0.05),治疗组VAS评分低于对照组(P<0.05)。2组SAROM较治疗前增大(P<0.05),治疗组SAROM大于对照组(P<0.05)。2组RCQOL评分均较治疗前升高(P<0.05),治疗组RCQOL评分高于对照组(P<0.05)。结论:温针灸联合SET治疗可有效改善RCI患者肩关节功能,减轻疼痛,提高肩袖生活质量。

振动疗法联合悬吊训练前交叉韧带重建后患者运动及膝关节功能的变化

背景:物理疗法对前交叉韧带重建术后恢复至关重要。近年来,许多医师都在优化前交叉韧带重建术后的物理康复方案,但仍然缺乏高效的前交叉韧带重建术后康复训练疗法。目的:探讨振动疗法联合悬吊训练对前交叉韧带重建患者术后运动及膝关节功能的影响。方法:纳入在上海体育大学附属体育医院就诊的80例首次行单侧前交叉韧带重建患者,按照随机数字表法将患者随机分为振动疗法组和振动疗法+悬吊训练组,每组40例。振动疗法组患者在前交叉韧带重建术后第13周开始进行振动疗法训练(每次10 min,1次/d,每周6次),振动疗法+悬吊训练组患者在前交叉韧带重建术后第13周开始进行振动疗法(每次10 min,1次/d,每周6次)联合悬吊训练(每周2次),共训练8周。训练前及训练8后,采用膝关节Lysholm评分评价膝关节功能,采用等速肌力评估训练系统评估屈膝对称性指数,采用平衡测试系统评估双侧多轴平均轨迹误差差值。结果与结论:(1)与训练前比较,两组患者训练8周后的膝关节Lysholm评分、屈膝与伸膝对称性指数均升高(P<0.05),双侧多轴平均轨迹误差差值降低(P<0.05);与振动疗法组比较,振动疗法+悬吊训练组患者膝关节Lysholm评分、屈膝与伸膝对称性指数均升高(P<0.05),双侧多轴平均轨迹误差差值降低(P<0.05);(2)结果表明,与单独进行振动疗法相比,振动疗法联合悬吊训练可显著改善前交叉韧带重建患者的膝关节功能,增加肌肉力量和对称性,提高平衡稳定性。

集成供应商选择的高速列车转向架主从关联优化配置方法

供应商选择对高速列车转向架配置设计的质量、成本、交货时间有着显著影响。针对转向架配置设计和供应商选择集成优化中未考虑不同决策之间的差异和协调问题,本文提出一种基于Stackelberg博弈理论的集成供应商选择的高速列车转向架配置优化方法。该方法基于主从决策机制构建主从关联优化模型,上层以物理模块配置方案效用最大为目标获取模块实例组合方案,下层以供应商预期总成本最小为目标获取供应商选择方案,并采用双层嵌套遗传算法进行求解。以某型高速列车转向架的“构架、轮对轴箱装置”为例,得到物理模块配置方案和供应商选择方案的均衡最优解。所提出的方法有助于企业实现考虑供应商因素的转向架配置设计,提高产品的竞争力。

Joint training with local soft attention and dual cross-neighbor label smoothing for unsupervised person re-identification

Existing unsupervised person re-identification approaches fail to fully capture thefine-grained features of local regions,which can result in people with similar appearances and different identities being assigned the same label after clustering.The identity-independent information contained in different local regions leads to different levels of local noise.To address these challenges,joint training with local soft attention and dual cross-neighbor label smoothing(DCLS)is proposed in this study.First,the joint training is divided into global and local parts,whereby a soft attention mechanism is proposed for the local branch to accurately capture the subtle differences in local regions,which improves the ability of the re-identification model in identifying a person’s local significant features.Second,DCLS is designed to progressively mitigate label noise in different local regions.The DCLS uses global and local similarity metrics to semantically align the global and local regions of the person and further determines the proximity association between local regions through the cross information of neighboring regions,thereby achieving label smoothing of the global and local regions throughout the training process.In extensive experiments,the proposed method outperformed existing methods under unsupervised settings on several standard person re-identification datasets.

研究生联合培养的实践与思考

围绕国内外研究生联合培养模式现状,结合徐州医科大学医学影像学院在研究生联合培养方面的探索与实践,提出构建研究生联合培养体系和推进质量评价闭环管理的必要性,助力研究生联合培养质量的不断提升。

基于提示学习和全局指针网络的中文古籍实体关系联合抽取方法

基于“预训练+微调”范式的实体关系联合抽取方法依赖大规模标注数据,在数据标注难度大、成本高的中文古籍小样本场景下微调效率低,抽取性能不佳;中文古籍中普遍存在实体嵌套和关系重叠的问题,限制了实体关系联合抽取的效果;管道式抽取方法存在错误传播问题,影响抽取效果。针对以上问题,提出一种基于提示学习和全局指针网络的中文古籍实体关系联合抽取方法。首先,利用区间抽取式阅读理解的提示学习方法对预训练语言模型(PLM)注入领域知识以统一预训练和微调的优化目标,并对输入句子进行编码表示;其次,使用全局指针网络分别对主、客实体边界和不同关系下的主、客实体边界进行预测和联合解码,对齐成实体关系三元组,并构建了PTBG(Prompt Tuned BERT with Global pointer)模型,解决实体嵌套和关系重叠问题,同时避免了管道式解码的错误传播问题;最后,在上述工作基础上分析了不同提示模板对抽取性能的影响。在《史记》数据集上进行实验的结果表明,相较于注入领域知识前后的OneRel模型,PTBG模型所取得的F1值分别提升了1.64和1.97个百分点。可见,PTBG模型能更好地对中文古籍实体关系进行联合抽取,为低资源的小样本深度学习场景提供了新的研究思路与方法。

平衡板运动控制训练对踝关节损伤修复术后康复效果的观察

目的:研究平衡板运动控制训练用于踝关节损伤修复术后康复治疗的效果。方法:选取我院接诊的踝关节损伤修复术后患者80例,随机分为对照组和研究组各40例。对照组患者接受常规康复训练,研究组患者接受常规康复训练和平衡板运动控制训练,2组均干预3周。比较2组患者干预前后患侧下肢平衡控制能力、患侧踝关节肌群肌力、运动感觉、运动功能及患者生活质量。结果:干预3周后,2组患侧下肢前方移动距离、后内侧移动距离、后外侧移动距离和总移动距离均大于干预前(P<0.001),且研究组大于对照组(P<0.001);2组患者在60°/s和180°/s测试速度下患侧踝关节等速向心收缩跖屈肌群、背屈肌群相对峰值力矩均大于干预前(P<0.001),且研究组大于对照组(P<0.001);2组患侧踝关节跖屈、背屈动作的运动感觉阈值均下降(P<0.001),且研究组比对照组低(P<0.001);2组患侧足踝功能量表(FAAM)评分、中文版世界卫生组织生存质量测定量表简表(WHOQOL-BREF)评分高于干预前(P<0.001),且研究组比对照组高(P<0.001)。结论:在踝关节损伤术后患者中开展平衡板运动控制训练可有效增强患者患侧下肢平衡控制能力,改善患侧踝关节肌群肌力、踝关节功能以及踝关节运动感觉阈值,并对提升生活质量有积极意义。

深化中英教育合作:人才培养——探索中英合作办学之路(二)

中英合作办学作为高校深度探索和实践“在地国际化”培养模式的主要形式,已成为培养国际化人才的重要途径。从生源情况、培养过程、毕业生质量、学生评价四个层面,即“入口—过程—出口—反馈”,系统分析中英合作办学的人才培养特点与成效具有重要意义。研究发现,中英合作办学在优质教育资源融合、国际化视野拓展、实践能力培养及高水平人才供给等方面具有显著优势。新时期,中英合作办学应继续加强师资队伍建设、优化课程设置、建立现代大学治理体系,以全面实现更高质量的发展。

体外冲击波配合髋部肌群训练治疗慢性非特异性腰痛的临床效果

目的:观察体外冲击波(ESWT)配合髋部肌群训练治疗慢性非特异性腰痛(CNLBP)患者的临床效果。方法:选择2022年8月—2023年8月佛山市第五人民医院康复科收治的120例CNLBP患者作为研究对象,按随机数表法分为A组、B组、C组,各40例。所有患者均予以健康宣教、训练姿势指导及物理理疗等常规治疗,A组给予ESWT治疗,B组给予髋部肌群训练,C组给予ESWT联合髋部肌群训练,比较三组治疗前后疼痛程度[视觉模拟评分法(VAS)]、功能障碍程度[功能障碍指数问卷(ODI)]、腰椎关节活动度(ROM)及生活质量。结果:治疗后,三组VAS评分、ODI评分较治疗前降低,且C组低于A组与B组,差异有统计学意义(P<0.05);治疗后,三组腰椎关节各角度ROM、躯体健康(PCS)评分、心理健康(MCS)评分及总分较治疗前升高,且C组高于A组、B组,差异有统计学意义(P<0.05)。结论:ESWT配合髋部肌群训练治疗CNLBP患者较单一使用上述两种方法效果更好,可更好地减轻疼痛程度,恢复关节ROM,提升生活质量。

Analysis of the Dynamic Response of a Shield Tunnel in Soft Soil Under a Metro-Train Vibrating Load

This paper concerns the impact of an operating metro train on the structure of a shield tunnel lining and its soft foundation. An elastoplastic 3D dynamic finite difference model was established by using the FLAC3D numerical soft- ware. By fully considering the joints, the A-B-K segments and the soft stratum, the dynamic response of the shield tunnel buried in thick, soft soil under the vibrating load induced by a metro train was numerically simulated. The simulation result, for which the joint was considered, was compared with the result when the joint was not considered. The results show that an operating metro train induces a significant dynamic response in the structure of the lining of the shield tunnel and its soft foundation. The severe dynamic response zones of the lining structure are largely distributed in the range of the lower half of the segment-ring and the nearer to the bottom of the segment-ring, the more severe the response. Of two horizontally symmetric, corresponding places on the segment lining, the one near the joint is more severe in its dynamic response than that of the one far from the joint; the nearer the zone of the foundation soil to the lower half of the seg- ment-ring, the more severe the dynamic response. The maximum shear strain of the foundation soil takes place near the joint between two normal segments at the bottom. The dynamic response influenced by joints is more severe than the response not influenced by joints, showing that the non-joint assumption is somewhat impractical.

Contribution of joint experiments on small tokamaks in the framework of IAEA coordinated research projects to mainstream fusion research

Joint experiments(JEs)on small tokamaks have been regularly performed between 2005 and 2015 under the framework of the International Atomic Energy Agency(IAEA)coordinated research projects(CRPs).This paper describes the background and the rationale for these experiments,how they were organized and executed,main areas of research covered during these experiments,main results,contributions to mainstream fusion research,and discusses lessons learned and outcomes from these activities.We underline several of the most important scientific outputs and also specific outputs in the education of young scientists and scientists from developing countries and their importance.

Joint On-Demand Pruning and Online Distillation in Automatic Speech Recognition Language Model Optimization

Automatic speech recognition(ASR)systems have emerged as indispensable tools across a wide spectrum of applications,ranging from transcription services to voice-activated assistants.To enhance the performance of these systems,it is important to deploy efficient models capable of adapting to diverse deployment conditions.In recent years,on-demand pruning methods have obtained significant attention within the ASR domain due to their adaptability in various deployment scenarios.However,these methods often confront substantial trade-offs,particularly in terms of unstable accuracy when reducing the model size.To address challenges,this study introduces two crucial empirical findings.Firstly,it proposes the incorporation of an online distillation mechanism during on-demand pruning training,which holds the promise of maintaining more consistent accuracy levels.Secondly,it proposes the utilization of the Mogrifier long short-term memory(LSTM)language model(LM),an advanced iteration of the conventional LSTM LM,as an effective alternative for pruning targets within the ASR framework.Through rigorous experimentation on the ASR system,employing the Mogrifier LSTM LM and training it using the suggested joint on-demand pruning and online distillation method,this study provides compelling evidence.The results exhibit that the proposed methods significantly outperform a benchmark model trained solely with on-demand pruning methods.Impressively,the proposed strategic configuration successfully reduces the parameter count by approximately 39%,all the while minimizing trade-offs.

青少年篮球训练运动中关节损伤预警模型

为准确预警青少年在篮球训练中的关节损伤,构建了青少年篮球训练运动中关节损伤预警模型。使用基于独立成分分析和经验模态分解的关节受力信号去噪方法,保留有效信号,在CNN网络中提取关节受力特征后,输入LSTM网络识别关节受力信号的损伤级别后通过蜂鸣器预警。结果显示:所构建模型对青少年篮球训练运动中关节损伤级别识别结果符合实际,预警错误次数为0次,预警结果具有可信度。

渐进式康复训练在促进乳腺癌术后患者上肢功能恢复中的应用研究

目的:分析渐进式康复训练对乳腺癌术后患者上肢功能恢复的效果。方法:选择2022年4月—2023年4月江门市妇幼保健院乳腺科收治的80例乳腺癌术后患者作为研究对象,按照入院先后顺序编号,将奇数号纳入对照组,偶数号纳入观察组,各40例。对照组给予常规康复护理,观察组在常规康复护理基础上开展渐进式康复训练。比较两组护理前、护理1个月后肩关节活动度、运动耐力、乳腺癌患者生存质量测定量表(FACT-B)评分、肩关节功能评分及术后恢复指标(下床活动时间、排便时间、排气时间)。结果:护理前,两组肩关节活动度、运动耐力指标、FACT-B评分及肩关节功能评分比较,差异无统计学意义(P>0.05)。护理1个月后,两组肩关节活动度优于护理前,运动距离长于护理前,心率恢复时间、最大心率时间短于护理前,FACT-B各项评分及肩关节功能各项评分高于护理前,且观察组肩关节活动度大于对照组,运动距离长于对照组,心率恢复时间、最大心率时间短于对照组,FACT-B各项评分及肩关节功能各项评分高于对照组,差异有统计学意义(P<0.05)。观察组术后下床活动时间、排便时间、排气时间均早于对照组,差异有统计学意义(P<0.05)。结论:乳腺癌患者术后开展渐进式康复训练可有效促进肩关节功能的恢复,还可增强患者的运动耐力并改善其生活质量。