OTS自组装多层膜的制备和能量耗散的研究

采用自组装技术在石英表面制备了十八烷基三氯硅烷(OTS)分子膜,并通过接触角、红外光谱(FT-IR)和原子力显微镜(AFM)研究了膜层形貌特征和膜层表面能量耗散随温度的变化情况。结果表明:OTS在石英上以“岛”状团簇的结构均匀分布,反应时间越长,“岛”状团簇和吸附的OTS分子数量也越多,表面粗糙度随之增加。接触角在反应时间达到30min后稳定在110.39°左右,此时反应趋于饱和。膜层表面耗散值在60~80℃内最低,当温度低于61℃时,5mmol/L溶度下制备的分子膜表面最平坦稳定,膜层耗散值也最低,温度高于61℃时,表面出现熔化现象,耗散曲线波动较大,考虑是水解的OTS产物和表面杂质的存在影响了测试结果。

Simulation Analysis of Deformation Control for Magnetic Soft Medical Robots

Dear Editor,This letter presents a biocompatible cross-shaped magnetic soft robot and investigates its deformation mode control strategy through COMSOL modeling and simulation.Magnetic soft robots offer novel avenues for precise treatment within intricate regions of the human body.

Application of Patient Simulators Combined with Internet plus Scenario Simulation Teaching Models on Intravenous Infusion Nursing Education in China

Objective: To explore the effectiveness of applying patient simulators combined with Internet Plus scenario simulation teaching models on intravenous (IV) infusion nursing education, and to provide scientific evidence for the implementation of advanced teaching models in future nursing education. Methods: Enrolled 60 nurses who took the IV infusion therapy training program in our hospital from January 2022 to December 2023 for research. 30 nurses who were trained in traditional teaching models from January to December 2022 were selected as the control group, and 30 nurses who were trained with simulation-based teaching models with methods including simulated patients, internet, online meetings which can be replayed and scenario simulation, etc. from January to December 2023 were selected as the experimental group. Evaluated the learning outcomes based on the Competency Inventory for Nursing Students (CINS), Problem-Solving Inventory (PSI), comprehensive learning ability, scientific research ability, and proficiency in the theoretical knowledge and practical skills of IV infusion therapy. Nursing quality, the incidence of IV infusion therapy complications and nurse satisfaction with different teaching models were also measured. Results: The scientific research ability, PSI scores, CINS scores, and comprehensive learning ability of the experimental group were better than those of the control group (P 0.05), and their assessment results of practical skills, nursing quality of IV infusion therapy during training, and satisfaction with teaching models were all better than those of the control group with statistical significance (P < 0.05). The incidence of IV infusion therapy complications in the experimental group was lower than that in the control group, indicating statistical significance (P < 0.05). Conclusions: Teaching models based on patient simulators combined with Internet Plus scenario simulation enable nursing students to learn more directly and practice at any time and in any place, and can improve their proficiency in IV infusion theoretical knowledge and skills (e.g. PICC catheterization), core competencies, problem-solving ability, comprehensive learning ability, scientific research ability and the ability to deal with complicated cases. Also, it helps provide high-quality nursing education, improve the nursing quality of IV therapy, reduce the incidence of related complications, and ensure the safety of patients with IV therapy.

Transurethral resection of bladder tumor: A systematic review of simulator-based training courses and curricula

Objective:Transurethral resection of bladder tumor is one of the most common everyday urological procedures.This kind of surgery demands a set of skills that need training and experience.In this review,we aimed to investigate the current literature to find out if simulators,phantoms,and other training models could be used as a tool for teaching urologists.Methods:A systematic review was performed according to the Preferred Reporting Items for Systematic reviews and Meta-Analyses statement and the recommendations of the European Association of Urology guidelines for conducting systematic reviews.Fifteen out of 932 studies met our inclusion criteria and are presented in the current review.Results:The UroTrainer(Karl Storz GmbH,Tuttlingen,Germany),a virtual reality training simulator,achieved positive feedback and an excellent face and construct validity by the participants.The inspection of bladder mucosa,blood loss,tumor resection,and procedural time was improved after the training,especially for inexperienced urologists and medical students.The construct validity of UroSim®(VirtaMed,Zurich,Switzerland)was established.SIMBLA simulator(Samed GmbH,Dresden,Germany)was found to be a realistic and useful tool by experts and urologists with intermediate experience.The test objective competency model based on SIMBLA simulator could be used for evaluating urologists.The porcine model of the Asian Urological Surgery Training and Education Group also received positive feedback by the participants that tried it.The Simulation and Technology Enhanced Learning Initiative Project had an extraordinary face and content validity,and 60%of participants would like to use the simulators in the future.The 5-day multimodal training curriculum“Boot Camp”in the United Kingdom achieved an increase of the level of confidence of the participants that lasted months after the project.Conclusion:Simulators and courses or curricula based on a simulator training could be a valuable learning tool for any surgeon,and there is no doubt that they should be a part of every urologist's technical education.

基于RobotStudio的机器人码垛工作站仿真与优化研究

工业机器人码垛应用非常普遍,利用ABB工业机器人仿真软件RobotStudio,搭建了一个简单码垛工作站,完成了整个工作站的布局。同时,通过软件中的建模功能和工具创建功能,实现了工业机器人末端执行器的设计。接着,完成了工作站中末端执行器的动态smart组件功能、系统的I/O设置与连接,以及整个工作站的程序设计与分析。最后,在不同机器人TCP运行速度下进行工作站仿真,将运行时间、速度运行轨迹和机器人能耗进行对比分析,从而选择较优的TCP运行速度。该仿真设计,能有效地为实际码垛工作站的优化提供有效参考和理论依据,从而减少调试时间和研究成本。

RobotStudio的方形锂电池搬运装盒仿真研究

为解决体积较小的锂电池如柱状类18650锂电池、方形锂电池和纽扣状锂电池等装盒包装工作导致的占用生产线劳动力,以及繁琐重复的小体积锂电池手工装盒易导致工厂劳动人员疲劳等问题,以方形锂电池搬运装盒为研究对象,设计出一种用搬运机器人取代人工操作的方案,利用RobotStudio软件模拟这一过程。最后利用RobotStudio分析搬运机器人速度对其功耗的影响,为实际生产提供参考依据。

基于OPC UA和RobotStudio的工业机器人工作站集成仿真

针对工业机器人工作站现场集成调试周期长、效率低的问题,基于OPC UA服务器将RobotStudio平台与西门子虚拟PLC控制器建立通信,搭建搬运码垛工作站集成仿真调试环境。在RobotStudio中设计动态工具的Smart组件,离线规划和编写机器人运动轨迹和程序;使用TIA软件编写工作站逻辑程序并下载至虚拟控制器;通过OPC UA建立连接,再利用RobotStudio完成工作站逻辑设计、调试和运动节拍优化。结果表明:该仿真能够有效验证工业机器人运动轨迹和PLC逻辑程序控制的合理性和准确性;调试机器人TCP与外围设备的速度能优化工作站的运动节拍,缩短了工作站现场集成调试周期。为降低工作站集成成本和提高生产效率提供理论依据。

基于RobotStudio的舞台灯旋转控制步进电机组装配工作站仿真设计

以舞台灯旋转控制步进电机组装配为研究对象,介绍了一种利用Robot Studio软件仿真的电机组虚拟装配仿真解决方案。首先使用UG软件进行工作站所需部件三维模型,并导入到Robot Studio软件中进行工作站布局;其次,通过Robot Studio软件将多功能工具和电动螺丝刀创建为机械装置,配置机器人I/O信号,创建上料、快换器、气动夹爪、吸盘、装配等Smart组件,设计工作站逻辑;之后,规划机器人运动路径、示教机器人目标点,编写机器人离线程序;最后通过仿真调试及信号分析,确定合理的机器人运行参数,优化生产节拍和能耗。该方案可以指导实际装配工作站的设计。

基于RobotStudio的码垛工作站物料输送链的设计与仿真

码垛是工业机器人技术的典型应用之一。码垛工作站的输送链是机器人课程实训教学的一个重难点。在实训教学环节中,往往会因为机器人数量不足等因素给实训教学带来一定的困扰。本文根据实际教学需要,建立了工业机器人码垛工作站;创建了传送带的Smart组件;设定了机器人与传送带的工作站逻辑;实现了传送带的动态效果仿真。利用Smart组件对码垛工作站的传送带做动态仿真,有助于学生进一步理解码垛工作站的工作原理,可以缓解因实训设备不足等因素带来的影响。

基于Power World Simulator的地区电网静态安全稳定性分析

电力系统具有良好的稳定性是保证电网正常运行的关键,充分应用Power World Simulator电力系统仿真软件对我国西北某地区实际电网进行安全稳定性分析。根据给定的实际电网运行数据搭建电网模型并进行潮流计算,将潮流计算结果与静态安全理论相结合,对该地区电网模型进行N-1静态安全性分析。针对线路负载率过高以及节点母线电压越限的情况,提出解决措施以达到提高电网运行稳定性的目的。

UltraStar:A Lightweight Simulator of Ultra-Dense LEO Satellite Constellation Networking for 6G

The mega-constellation network has gained significant attention recently due to its great potential in providing ubiquitous and high-capacity connectivity in sixth-generation(6G)wireless communication systems.However,the high dynamics of network topology and large scale of mega-constellation pose new challenges to the constellation simulation and performance evaluation.In this paper,we introduce UltraStar,a lightweight network simulator,which aims to facilitate the complicated simulation for the emerging mega-constellation of unprecedented scale.Particularly,a systematic and extensible architecture is proposed,where the joint requirement for network simulation,quantitative evaluation,data statistics and visualization is fully considered.For characterizing the network,we make lightweight abstractions of physical entities and models,which contain basic representatives of networking nodes,structures and protocol stacks.Then,to consider the high dynamics of Walker constellations,we give a two-stage topology maintenance method for constellation initialization and orbit prediction.Further,based on the discrete event simulation(DES)theory,a new set of discrete events is specifically designed for basic network processes,so as to maintain network state changes over time.Finally,taking the first-generation Starlink of 11927 low earth orbit(LEO)satellites as an example,we use UltraStar to fully evaluate its network performance for different deployment stages,such as characteristics of constellation topology,performance of end-to-end service and effects of network-wide traffic interaction.The simulation results not only demonstrate its superior performance,but also verify the effectiveness of UltraStar.

An insight on the mechanism of efficient leaching of vanadium from vanadium shale induced by microwave-generated hot spots

Microwave heating can rapidly and uniformly raise the temperature and accelerate the reaction rate.In this paper,microwave heating was used to improve the acid leaching,and the mechanism was investigated via microscopic morphology analysis and numerical simulation by COMSOL Multiphysics software.The effects of the microwave power,leaching temperature,CaF_(2) dosage,H_(2)SO_(4) concentration,and leaching time on the vanadium recovery were investigated.A vanadium recovery of 80.66%is obtained at a microwave power of 550 W,leaching temperature of 95℃,CaF_(2) dosage of 5wt%,H_(2)SO_(4) concentration of 20vol%,and leaching time of 2.5 h.Compared with conventional leaching technology,the vanadium recovery increases by 6.18%,and the leaching time shortens by 79.17%.More obvious pulverization of shale particles and delamination of mica minerals happen in the microwave-assisted leaching process.Numerical simulation results show that the temperature of vanadium shales increases with an increase in electric field(E-field).The distributions of E-field and temperature among vanadium shale particles are relatively uniform,except for the higher content at the contact position of the particles.The analysis results of scaleup experiments and leaching experiments indicate high-temperature hot spots in the process of microwave-assisted leaching,and the local high temperature destroys the mineral structure and accelerates the reaction rate.

基于RobotStudio的智能制造单元平台仿真设计

以智能制造单元平台为研究对象,介绍了该平台仿真系统的设计方案。首先采用三维建模软件UG构建平台各单元的三维模型,导入ABB机器人仿真软件RobotStudio中,设计了智能制造单元仿真平台的布局。其次为实现产品智能制造的仿真过程,设计了Smart动态组件,设置了仿真通讯I/O信号、工作站逻辑和碰撞监控,进行了机器离线编程及仿真调试。最后为了模拟机器人与PLC仿真联调,创建了RobotStudio软件和博图软件的以太网通讯,实现了与真实设备操作等效的控制过程,并通过智能制造单元实验平台进行验证。该设计方案可为智能制造生产线的仿真设计及应用实施提供理论依据,同时对职业院校智能制造相关课程教学也具有指导意义。

System Restoration Tools: System Restoration Navigator Integrated into EPRI Operator Training Simulator (SRN/OTS)

System operators and planners develop and implement restoration plans based on off-line simulation studies, and accumulated experience and knowledge. One of the challenges in developing a restoration plan is to sift through numerous possible restoration scenarios and paths, in order to identify those that are technically feasible. When implementing a restoration plan in an on-line environment following a blackout, the operators need to adapt to the actual outage scenarios and available resources, and be constantly mindful of anticipated voltage and frequency excursions that must remain within system and equipment tolerances. In recognition of these challenges, EPRI has developed System Restoration Navigator (SRN), to provide decision support to system restoration planning and operations engineers in developing, evaluating and revising system restoration strategies, guidelines, plans and step-by-step procedures. During 2013-2014, EPRI developed SRN version 3.0, which is designed to facilitate its integration into a commercial operator training simulator (OTS) (AKA a dispatch training simulator, DTS). The integration of SRN 3.0 with an OTS allows operators to obtain experience in simulating, developing, experimenting with and revising system restoration plans, and to address related regulatory standards. The integration expands the usability of SRN 3.0 by providing the OTS platform for training purposes and for the purpose of interfacing SRN 3.0 with operational power system models to be able to explore near real time application of SRN 3.0. This 2013-2014 development work also included the integration of SRN 3.0 into EPRI OTS, and its application on the Florida Reliability Coordinating Council (FRCC) power system. A detailed account of development of SRN 3.0, its integration into EPRI OTS and its application to FRCC system is presented in this paper.

Importance of Photo-Realistic and Dedicated Simulator in Agricultural Robotics

Agricultural robotics is a comparatively new field. Recently, it has gotten special attention because of agricultural labor shortages and rising labor costs. With the increasing operational use of agricultural robots, the need for a dedicated robotic simulator for such activity has been noted here. The need of a dedicated and specialty simulator for agricultural robotics research is the main focus area of this paper. Moreover, limitations have been pointed out when conventional robot simulators are used directly in agricultural settings. In a nutshell, it has been tried to emphasize that a dedicated simulator for agricultural robotics would be a timely advance and would accelerate the growth of agricultural robots.

SimTech Simulator中单变量控制器的开发与使用

SimTech Simulator是圣泰(北京)工程软件有限公司开发的国产通用化工流程模拟软件,能够对常用炼化装置,如常减压、柴油加氢等常用炼化工艺进行模拟。通用稳态流程模拟有两种流程的计算方法,一种是序贯模块法(SM);一种联立方程法(EO),SM是按照顺序逐个进行单元模块计算,遇到循环需要进行撕裂迭代,用户的规定受到限制;EO是整个流程图设备方程联立求解,用户的规定灵活,但方程数量多时求解困难,对初值要求高。目前的商业流程模拟软件大多数采用序贯模块法,在遇到特殊的用户规定时,就需要使用控制器来进行迭代计算。控制器有单变量控制器和多变量控制器,这里主要描述单变量控制器,单变量控制器需要指定一个控制变量和一个操纵变量,通过调节控制变量使操纵变量达到设定值。文章描述了控制器对序贯模块法计算过程的影响和控制器计算的迭代算法,最后通过两个案例进行验证,一个是天然气的压缩输送工况,设定出口压力和流量,来调节入口压力和流量;另一个是通过控制器来调节加氢装置循环氢的量,与手动设定值相比,与设计值的误差从3%降到了0.05%。

基于OTS2000+的数字孪生智慧生产系统的设计与应用

以大藤峡数字孪生项目为例,探讨了由OTS2000+打造的数字孪生大藤峡智慧生产系统在数字孪生水利枢纽建设中的应用效果。研究采用案例分析方法 ,通过系统分析、现场调研等手段,考察系统在三维可视化监控、智能巡检、虚拟仿真培训等方面的功能与效果。研究发现,数字孪生大藤峡智慧生产系统可以通过构建大藤峡水利枢纽水工建筑及各机电设备的高保真三维模型,结合水轮机、调速器等各系统数学机理模型,以纯数字化方式实现了电厂、船闸、枢纽等重点设备的虚拟运维、虚拟检修及实时监测,大幅提升大藤峡水利枢纽的智慧化及可视化水平。

自动化生产线工业机器人的装调工艺仿真

在自动化生产线安装调试工作中,工业机器人的装调费时费力且难以迅速满足生产线工艺要求,提出了使用Process Simulate软件对自动化生产线中的工业机器人进行工艺仿真的解决方案。文章介绍了使用Process Simulate软件对自动化生产线中的工业机器人进行工艺仿真的基本方法和过程,从而实现工业机器人装调效率和自动化生产线生产效率的提高。

β-CTX、t-P1NP及N-MID-OT在绝经后女性骨质疏松性骨折风险评估中的应用

目的探讨β胶原特殊序列(β-crosslaps,β-CTX)、总1型胶原氨基端延长肽(t-P1NP)及N端中段骨钙素(N-MID-OT)在绝经后女性骨质疏松性骨折风险评估中的应用价值。方法回顾性分析2020年2月至2022年12月解放军总医院第六医学中心收治的102例绝经后骨质疏松(postmenopausal osteoporosis,PMOP)患者的临床资料,将其作为研究组,并根据是否发生骨折将其分为PMOP骨折组(39例)与PMOP未骨折组(63例),另选100名健康体检者作为对照组。记录所有研究对象的β-CTX、t-P1NP及N-MID-OT水平并进行比较,用ROC曲线评价β-CTX、t-P1NP及N-MID-OT在绝经后女性骨质疏松性骨折风险评估中的应用价值。结果研究组的平均体重、体质量指数、股骨颈骨密度(bone mineral density,BMD)、左髋总和BMD及L 1~4总和BMD均明显低于对照组(P<0.05);而两组研究对象的平均年龄、平均身高及绝经年龄等比较差异均无统计学意义(P>0.05)。研究组的β-CTX、t-P1NP及N-MID-OT均明显高于对照组(t值依次为12.688、37.430、26.599,P<0.05)。β-CTX+t-P1NP+N-MID-OT联合检测用于预测PMOP的AUC值为0.978,敏感度为98.04%,特异度为97.00%,表明β-CTX+t-P1NP+N-MID-OT三指标联合检测用于预测PMOP的效能更高。PMOP骨折组的β-CTX、t-P1NP及N-MID-OT均明显高于PMOP未骨折组(t值依次为6.078、16.363、12.227,P<0.05)。β-CTX+t-P1NP+N-MID-OT联合检测用于评估PMOP骨折风险的AUC值为0.939,敏感度为94.87%,特异度为95.24%,表明β-CTX+t-P1NP+N-MID-OT联合检测用于评估PMOP骨折风险的效能更高。结论PMOP患者β-CTX、t-P1NP及N-MID-OT水平均明显升高,而PMOP骨折患者β-CTX、t-P1NP及N-MID-OT水平升高更为明显,且β-CTX+t-P1NP+N-MID-OT联合检测可显著提高对PMOP预测及骨折风险评估效能,值得借鉴。

工业互联网场景下运营管理研究综述

工业互联网作为新一代信息技术与工业制造深度融合的全新工业生态,对提高企业运营效率、推动制造业高质量发展具有重要意义。综合分析了工业互联网场景下运营管理相关文献,发现:1)工业互联网平台的研究大多数是通过定性方法分析其在不同行业的应用场景及平台生态,而通过定量方法探究工业互联网平台的深层次运营及协调机制是今后需重点关注的问题;2)通过数字化、网络化和智能化来提高产品质量、降低成本、优化业务流程等,实现价值创造,而工业互联网下制造企业、顾客等多主体的价值共创机理和模式是重要的研究问题;3)现有研究聚焦工业互联网技术和模型算法对生产运营中单一活动进行优化,而工业互联网环境下“研-制-维”一体化协同流程的构建方法以及多级闭环决策体系与智能决策方法需要深入探究;4)现有研究已明确工业互联网下供应链可以通过互联互通、可视性、实时性及可追溯性提升运营绩效,并探讨了技术采纳对其策略选择及协调机制的影响,未来可以将关注点转向下游客户端。