With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits ...With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.展开更多
目的:观察关节腔注射联合“经筋”手法治疗早中期冻结肩的临床疗效及安全性。方法:选择62例早中期冻结肩患者,按照治疗方法不同分为观察组和对照组,每组31例。对照组予以口服美洛昔康片,外用温性经筋通贴膏、经筋通凝胶剂,观察组予以关...目的:观察关节腔注射联合“经筋”手法治疗早中期冻结肩的临床疗效及安全性。方法:选择62例早中期冻结肩患者,按照治疗方法不同分为观察组和对照组,每组31例。对照组予以口服美洛昔康片,外用温性经筋通贴膏、经筋通凝胶剂,观察组予以关节腔注射联合“经筋”手法治疗,分别于治疗前后比较疼痛视觉模拟量表(visual analogue score,VAS)评分、肩痛和功能指数(shoulder pain and function index,SPADI)、Fugl-Meyer肩关节活动范围量表评分和Constant-Murley肩功能评分,并对临床疗效及不良反应进行评价。结果:治疗后,两组VAS、SPADI评分较治疗前降低(P<0.01),Fugl-Meyer及Constant-Murley评分均较治疗前降低(P<0.01);且观察组与对照组比较,差异有统计学意义(P<0.05);随着时间的变化,两组VAS及Fugl-Meyer评分无明显变化,但观察组SPADI及Constant-Murley评分在治疗后3个月时与治疗后1周时比较,差异有统计学意义(P<0.05)。观察组SPADI及Constant-Murley评分总有效率均高于对照组,但差异无统计学意义(P>0.05)。观察组不良事件发生率[22.6%(7/31)]低于对照组[45.2%(14/31)](P<0.05)。结论:关节腔注射联合“经筋”手法治疗早中期冻结肩疗效明显,安全性好。展开更多
基金This work was supported in part by the National Natural Science Foundation of China(62206109)the Fundamental Research Funds for the Central Universities(21620346)。
文摘With advanced communication technologies,cyberphysical systems such as networked industrial control systems can be monitored and controlled by a remote control center via communication networks.While lots of benefits can be achieved with such a configuration,it also brings the concern of cyber attacks to the industrial control systems,such as networked manipulators that are widely adopted in industrial automation.For such systems,a false data injection attack on a control-center-to-manipulator(CC-M)communication channel is undesirable,and has negative effects on the manufacture quality.In this paper,we propose a resilient remote kinematic control method for serial manipulators undergoing a false data injection attack by leveraging the kinematic model.Theoretical analysis shows that the proposed method can guarantee asymptotic convergence of the regulation error to zero in the presence of a type of false data injection attack.The efficacy of the proposed method is validated via simulations.
文摘目的:观察关节腔注射联合“经筋”手法治疗早中期冻结肩的临床疗效及安全性。方法:选择62例早中期冻结肩患者,按照治疗方法不同分为观察组和对照组,每组31例。对照组予以口服美洛昔康片,外用温性经筋通贴膏、经筋通凝胶剂,观察组予以关节腔注射联合“经筋”手法治疗,分别于治疗前后比较疼痛视觉模拟量表(visual analogue score,VAS)评分、肩痛和功能指数(shoulder pain and function index,SPADI)、Fugl-Meyer肩关节活动范围量表评分和Constant-Murley肩功能评分,并对临床疗效及不良反应进行评价。结果:治疗后,两组VAS、SPADI评分较治疗前降低(P<0.01),Fugl-Meyer及Constant-Murley评分均较治疗前降低(P<0.01);且观察组与对照组比较,差异有统计学意义(P<0.05);随着时间的变化,两组VAS及Fugl-Meyer评分无明显变化,但观察组SPADI及Constant-Murley评分在治疗后3个月时与治疗后1周时比较,差异有统计学意义(P<0.05)。观察组SPADI及Constant-Murley评分总有效率均高于对照组,但差异无统计学意义(P>0.05)。观察组不良事件发生率[22.6%(7/31)]低于对照组[45.2%(14/31)](P<0.05)。结论:关节腔注射联合“经筋”手法治疗早中期冻结肩疗效明显,安全性好。
