The Marking Technology in Motion Capture for the Complex Locomotor Behavior of Flexible Small Animals(Gekko gecko)

Animals have evolved a variety of behavior patterns to adapt to the environment. Motion-capture technology is utilized to quantify and characterize locomotor behaviors to reveal the mechanisms of animal motion. In the capture of flexible, small animals with complex locomotor behaviors, the markers interfere with each other easily, and the motion forms(bending, twisting) of the moving parts are obviously different;thus, it is a great challenge to realize accurate quantitative characterization of complex locomotor behaviors. The correlation between the marker properties, including the size and space length, and the precision of the system are revealed in this paper, and the effects of diverse marker shapes on the capturing accuracy of the captured objects in different motion forms were tested. Results showed that the precision of system is significantly improved when the ratio of the space length to the diameter of the markers is larger than four;for the capture of the spatial twisting motion of the flexible object, the hexagon markers had the lowest spatial lost-marker rate relative to the circle, triangle, and square. Customized markers were used to capture the locomotor behavior of the gecko-inspired robot(rigid connection) and the gecko(flexible connection). The results showed that this marking technology can achieve high accuracy of motion capture for geckos(the average deviation was approximately 0.32 mm, and the average deviation’s variation rate was approximately 0.96%). In this paper, the marking technology for the motion capture of flexible, small animals with complex motion is proposed;it can effectively improve the system precision as well as the capture accuracy, and realize the quantitative characterization of the complex motion of flexible, small objects. It provides a reliable technical means to deeply study the evolution of the motion function of small animals and advance systematic research of motion-capture technology.

LAGRANGIAN MODEL ON THE TURBULENT MOTION OF SMALL SOLID PARTICLE IN TURBULENT BOUNDARY LAYER FLOWS

The Lagrangian equations of motion of small particle in turbulent boundary layer flows, taking into account the effects of the drug force caused by the wall presence, the Saffman and the Magus lift forces et al., is studied. Using the spectral method, analytical expression relating to the Lagrangian power spectra of particle velocity to that of the fluid are developed and the results are used to evaluate various responses statistics. In this paper, the results clearly show that the turbulent diffusivity of the particle may be larger than that of the fluid for a period of long-time.

Performance Improvement of the LM Device and Its Application to Precise Measurement of Motion Trajectories within a Small Range with a Machining Centre

In order to apply the LM device previously developed to precisely measuring small motion trajectories located on the different motion planes, three major improvements are successfully performed under the condition of completely maintaining the advantages of the device. These improvements include 1) development of a novel connection mechanism to smoothly attach the device to the spindle of a machining centre;2) employment of a new data sampling method to achieve a high sampling frequency independent of the operating system of the control computer;and 3) proposal of a set-up method to conveniently install the device on the test machining centre with respect to different motion planes. Practical measurement experiment results with the improved device on a machining centre sufficiently demonstrate the effectiveness of the improvements and confirm several features including a very good response to small displacement close to the resolution of the device, high precision, repeatability and reliance. Moreover, based on the measurement results for a number of trajectories for a wide range of motion conditions, the error characteristics of small size motions are systematically discussed and the effect of the movement size and feed rate on the motion accuracy is verified for the machining centre tested.

基于Small RTOS51的汽车动态称重仪的设计

介绍了基于嵌入式实时操作系统Small RTOS51的汽车动态称重仪设计方案,包括软件和硬件设计。描述了硬件的组成和工作原理,以及使用Small RTOS51软件设计,包括任务的划分、信号量的使用及驱动程序等。该系统设计方案提高了系统的实时性,在实际应用中取得良好效果。

“Eternal Motion” as a “Form of Movement of a Special Nature” and the Main Condition for the Creation of the Universe

The article hypothesizes that DE and DM (UCM) are a “Form of Motion of a Special Nature”, where “Form of Motion” means “Eternal Motion” as the power of dynamics of different levels and varying degrees of self-sufficiency, and by “Special Nature”, gravitational and two other properties of matter, “tied” to the “Eternal Movement” and completely dependent on it. Carriers of key properties of a “Special Nature” have been established: “0”-DE particles and “3”-DM particles (UDM). The unity of their inherent “motionally-gravitational” properties and the peculiarity of the relationship between “motion” and “gravity” are revealed: the higher the intensity of “Eternal Motion”, the stronger the gravitational properties of matter are manifested (and vice versa). The relationship of “time” with the “vibration frequency” and the “mass” of photons with the “degree of bonding and deformation properties of the field” is shown. The maximum level of gravity has been determined, which allows Nature to successfully create the Universe: such a landmark is the proximity to the property of the Primary Source—the “pure graviton” of the OSP space, the most powerful “motionally-gravitational” particle of the Universe. The reasons for the emergence of such an identity of the gravitational properties of particles with the indicators of a “pure graviton” are established: for “0”-DE particles, this is the acquisition of the function of “freedom of movement”;for “3”-DM particles (UDM), the creation of a special structure—a “double field” (“Main” and “Small”). The presence in the “double field” of specific “tools” for the creation of the worlds of the Universe—gravitational “waves” gives rise to impulses (shocks) of varying intensity and shape. A list of functions performed by “waves” in the “Main” and “Small” fields has been compiled. The specific conditions for the formation of “UDM Streams”, their transformation into a “Vortex” and, under the influence of a powerful Initial Impulse (push), sending them to the “place” of the creation of galaxies, are shown. It is suggested that there is a “Cycle of Matter in Nature” in the closed structure of our Universe due to the “work” of “waves” and the functioning of special “factories” in the form of exotic space objects—Black holes.

融合相机和激光雷达的小天体运动状态估计方法

针对单一视觉传感器难以实现小天体运动状态估计的问题,提出了一种融合相机和激光雷达的小天体运动状态估计方法。首先,建立融合相机和激光雷达测量模型,通过跟踪带有深度信息的图像特征点,利用扩展卡尔曼滤波器估计小天体的自旋角速度、自旋轴方向、位置和速度;其次,设计了特征融合矩阵,可实现对图像特征点、点云、融合特征点的实时更新;最后,分析本文算法的有效性以及特征点数量、观测高度、噪声大小对算法的影响。仿真结果表明,本文算法的精度和收敛速度均优于基于单一传感器的小天体运动状态估计方法。

The Study on the Strong Ground Motion Attenuation Relationship in the Pishan Area,Xinjiang Uygur Autonomous Region

Small earthquake data from the Pishan MS6.5 aftershocks is collected by the Xinjiang Regional Digital Seismic Observation Network.Five parameters of the focal region are obtained by micro genetic inversion:stress dropΔσof 75.95 bars,quality factor parameters Q0of 186.33 andηof 0.26,geometric attenuation parameters R1of 72.18km and R2of 139.70km.We calculate the Fourier spectrum and combine it with the random phase spectrum to get the ground motion time history,and build the strong motion acceleration attenuation relationship.The strong ground motion acceleration attenuation of the Pishan area is thus obtained.Because of the insufficiency of strong ground motion records,we added the records from the Wuqia MS6.9 earthquake on October 5,2008,the Akto MS6.2 earthquake on October 6,2008,and the Lop MS6.0 earthquake on March 9,2012 to the data.The comparison of the calculation results and the empirical attenuation relationships with strong ground motion records reveal that the strong motion data of Pishan and Lop earthquakes is higher than the empirical attenuation relationships.The Wuqia MS6.9 earthquake strong motion data is consistent with Yu Yanxiangs(2013)short axis result,and lower than the present result.

盐雾环境对典型步枪自动机运动影响

盐雾环境对自动步枪战术技术性能和作战效能有着重要影响,但目前对盐雾环境对自动机运动特性和故障的影响机理尚不明确。以某小口径自动步枪为试验对象,设计并进行盐雾全寿命试验,在每次盐雾后通过高速摄影非接触测量自动机运动、高精度天平测量枪机框质量、簧力测试仪测量复进簧参数;对枪机框及导轨表面形貌特征进行拍照,统计全寿命过程中故障情况,获得自动机运动典型故障类型。研究结果表明:随着盐雾时间增长,枪机框质量逐渐增加;复进簧自由长度及预压力逐渐减小,工作压力先减小、后趋于平缓;自动机后坐到位速度先减小、后增大;复进开始及复进到位速度逐渐减小,且二者具有相同变化趋势。盐雾使自动机后座到位速度减小,自动机运动故障次数增多,盐雾环境引起的多参数变化对自动机故障频次影响明显。在试验研究的基础上,构建枪机框质量、复进簧参数、特征点速度随时间变化定量关系公式,为推断盐雾环境自动机运动件参数变化状况和分析其对故障的影响提供参考依据。

侧体尺度对小水线面三体船纵向运动影响研究

小水线面三体船主、侧体尺度相差较大,因此,理论上侧体尺度具有无数种方案。目前,多数学者侧重于对侧体位置的研究,而对小水线面三体船侧体尺度对其水动力性能影响的研究还不够广泛。采用基于势流理论的AQWA软件进行数值模拟计算。首先,为确保计算过程中参数设置的准确性,对AQWA软件计算船舶耐波性的可靠性进行验证;然后,研究系列傅汝德数Fr下侧体尺度变化对小水线面三体船的耐波性响应。结果显示,在波长船长比变化时,垂荡纵摇RAO随侧体尺度改变产生了非单调的变化。不同航速下,垂荡和纵摇性能最优的侧体尺度不一致。综合所有航速考虑,L_(c)/L为0.3和0.35的侧体方案耐波性能较好。研究结果可为小水线面三体船的设计提供借鉴。

脑内扩大的血管周围间隙患者运动认知功能减退综合征的临床评估

目的 探究老年脑内扩大的血管周围间隙(EPVS)患者运动认知功能减退综合征(MCR)的患病率及运动和认知功能减退情况。方法 连续纳入2023年3月1日至2023年11月30日在北京朝阳医院神经内科就诊的≥60岁头部磁共振成像显示有EPVS的患者113例,根据是否患有MCR分为MCR组44例和MCR阴性组69例。评估患者认知功能及运动功能,认知功能评估包括蒙特利尔认知量表(MoCA)、简易智能状态检查量表(MMSE)、连线测试(TMT),运动功能评估包括Tinetti量表、简易体能状况量表(SPPB)、8 m步行任务、“起立-行走”计时测试(TUGT)、步行和连续减法任务(WSS)、步行和语义流畅任务(WSF)、TUGT和串行减法任务(TUGSS)。比较2组患者的运动和认知功能,多因素logistic回归分析EPVS患者发生MCR的相关危险因素。结果 与MCR阴性组比较,MCR组MoCA评分、SPPB评分、8 m步行速度降低,TMT-A时间、TMT-B时间、WSS时间、WSF时间、TUGSS时间升高(P<0.05,P<0.01)。多因素logistic回归分析显示,在模型1中(将单因素分析存在差异的变量纳入回归分析),MoCA评分、8 m步行速度、TUGSS时间是EPVS患者发生MCR的影响因素(P<0.05,P<0.01);在模型2中(将单因素分析存在差异的变量纳入回归分析同时调整年龄、性别、教育程度、既往史因素),MoCA评分(OR=0.621,95%CI:0.432~0.929,P=0.010)、8 m步行速度(OR=1.332,95%CI:1.115~1.591,P=0.002)、TUGSS时间(OR=0.393,95%CI:0.232~0.665,P=0.001)仍为EPVS患者发生MCR的影响因素。结论 在老年EPVS患者中,MCR患者认知及运动功能显著减退,MoCA评分、8 m步行速度、TUGSS时间是EPVS患者发生MCR的相关因素。

基于模糊PID的小型水下机器人运动控制研究

小型水下机器人(ROV)具有运动灵活、可靠性高等优点,在水下探测作业领域得到了广泛应用,但水下机器人工作环境复杂多变,自身运动具有强非线性与强耦合性,导致其稳定性降低。根据自行设计的ROV结构特点与水下运动规律建立了ROV运动控制模型,推导了转艏与定深运动控制传递函数,在此基础上设计了基于PID控制与模糊控制模糊PID控制器。通过仿真分析与水下试验对模糊PID控制器性能进行验证,转艏运动试验过程中,ROV稳定后保持稳态误差±3°内浮动;定深运动试验过程中,ROV稳定后保持稳态误差±3cm内浮动。结果表明设计的模糊PID控制器具有系统超调量小、调整时间快与抗干扰能力强等优点,可精准控制ROV完成设定运动。

手法复位小夹板外固定结合红白舒筋散治疗桡骨远端骨折的临床观察

目的 探讨手法复位小夹板外固定结合红白舒筋散治疗桡骨远端骨折的临床疗效。方法 选取2021年1月-2022年6月本院收治的80例桡骨远端骨折患者,按照随机数表法分为观察组与对照组,各40例。对照组以手法复位小夹板外固定治疗,观察组在对照组治疗基础上增加红白舒筋散外敷治疗。连续治疗1个月后评估2组的症状消退时间、骨折愈合时间、腕关节活动度、治疗安全性。结果 观察组症状包括疼痛、肿胀、畸形、瘀血消退、骨折愈合时间均短于对照组(P<0.05)。观察组腕关节活动度均高于对照组(P<0.05)。观察组满意度高于对照组(P<0.05)。2组不良反应发生率无统计学意义(P>0.05)。结论 红白舒筋散外敷结合手法复位小夹板外固定治疗桡骨远端骨折的效果良好,可促进患者症状消退,缩短骨折愈合时间,改善患者的腕关节活动度,降低炎症因子水平,改善血液流变学指标,治疗安全性良好。

轨迹可控的微型水母机器人研制

为解决微型机器人在较小机身尺寸下实现高效轨迹控制的难题,设计并研制了微型仿水母机器人JRT,其由气室、重心调整机构和仿水母推进器三部分组成,尺寸仅为6.8 cm×5.3 cm,可通过重心调整机构和仿水母推进器协同控制有效实现水下轨迹可控.水下实验验证了机器人JRT沿竖直方向游泳和悬停、水平定向游泳以及水平弹射功能,并通过对机器人JRT沿竖直方向和水平方向游泳过程中的力平衡关系和运动状态数据分析提出了轨迹控制方案,测得水平定向游泳的速度可达到1.7 cm/s,轨迹偏差为0~3.4 cm,展现了微型仿水母机器人JRT较好的轨迹控制能力,可见其在水下资源勘查、环境监测等领域的应用潜力.

小型水库大坝无人机巡检和行人定位方法

针对小型水库大坝缺少准确的坐标转换参数,无人机识别的行人目标难以精确三维定位的问题,提出无人机坐标系与坝体局部坐标系的转换方法。实际工程应用结果表明,坐标转换后生成的点云与激光扫描点云基本一致,对坝顶目标的非接触测量精度优于10cm。提出方法可以从任意角度和位置准确测量小目标行人在坝体结构上的位置,为小型水库大坝无人机常规巡检和建立电子围栏等提供高效且经济的方法。

r-fov IVIM与r-fov DWI模型参数早期预测乳腺癌新辅助化疗疗效价值的比较

目的 比较磁共振小视野体素不相干运动扩散加权成像(reduced field of view,intravoxel incoherent motion,r-fov IVIM)及小视野常规扩散加权成像(reduced field of view,diffusion weighted imaging,r-fov DWI)模型参数预测乳腺侵润性导管癌新辅助化疗疗效的价值。方法 前瞻性选取28例单侧乳腺浸润性导管癌患者,收集化疗前、化疗2周期后乳腺r-fov IVIM模型参数真性扩散系数(Dt),假性扩散系数(Dp),灌注分数(f);r-fov DWI参数表观扩散系数(ADC)。根据术后病理结果分为组织学非显著反应组13人,组织学显著反应组15人;采用SPSS 25.0对数据进行处理,比较NAC前和化疗2个周期后两组间的参数值差异。绘制受试者工作特征曲线(receiver operating characteristic,ROO曲线分析以上参数对新辅助化疗疗效的预测价值。结果NAC2周期后ADC值,NAC2周期后与NAC前参数差值ΔADC、ΔDt值,三者的曲线下面积(area under curve,AUC)最大(0.951 VS 0.914、0.914),预测MHR组的效能高;NAC2周期后的Dt值,预测MHR组的效能较好(AUC=0.827)。结论 NAC2周期后,r-fov DWI模型参数ADC值和r-fov IVIM模型参数Dt值越高,且较NAC前升高程度越大,新辅助化疗结束后越容易获得较好的疗效;其中,以NAC2周期后,r-fovDWI模型参数ADC值的预测效能最高,应作为乳腺癌浸润性导管癌临床治疗过程中,新辅助化疗反应评估的主要参考参数。

中药熏蒸联合小针刀治疗神经根型颈椎病患者的效果

目的:观察中药熏蒸联合小针刀治疗神经根型颈椎病患者的效果。方法:选取2021年8月至2022年6月该院收治的90例神经根型颈椎病患者进行前瞻性研究,按照随机数字表法将其分为研究组和对照组各45例。对照组采用小针刀治疗,研究组在对照组基础上联合中药熏蒸治疗。比较两组临床疗效,治疗前后颈椎功能[颈椎病临床评价量表(CASCS)]、疼痛程度[视觉模拟评分法(VAS)]、颈椎活动度、症状改善时间,以及不良反应发生率。结果:研究组治疗总有效率为88.89%(40/45),高于对照组的71.11%(32/45),差异有统计学意义(P<0.05);治疗后,研究组VAS评分低于对照组,CASCS评分高于对照组,颈椎前屈、后伸、左旋、右旋、左侧屈、右侧屈角度均大于对照组,疼痛消失时间、肢体麻木消失时间和握力恢复时间均短于对照组,差异有统计学意义(P<0.05);两组不良反应发生率比较,差异无统计学意义(P>0.05)。结论:中药熏蒸联合小针刀治疗神经根型颈椎病患者效果显著,能够加快症状消失,减轻疼痛程度,增大颈椎活动度,提高颈椎功能,效果优于单用小针刀治疗。

Brown运动增量的小时间Chung重对数律

在本文中,我们研究了Brown运动增量的小时间参数泛函极限问题,得到了Brown运动增量的小时间Chung泛函重对数律.证明中的主要工具是Brown运动的大偏差和小偏差.

4种山楂属植物的药理作用及其LD＿（50）比较

对４种山楂属植物山里红、山楂、野山楂和云南山楂进行动物小肠推进运动、抗心肌缺血、降血清总胆固醇作用及ＬＤ＿（５０）比较。发现山楂的品种不同，其药效学作用也不尽相同。

M_2和M_3型胆碱能受体在脾气虚大鼠小肠运动中的作用

目的:研究M2、M3型胆碱能受体表达与脾气虚小肠运动的关系。方法:20只SD大鼠按随机数字表法分为对照组和脾气虚模型组(模型组)各10只,模型组大鼠复制饮食不节加劳疲型脾气虚模型;小肠运动采用小肠推进率评价;ELISA法检测小肠组织Ach和c AMP含量,免疫组化法观察M2、M3型受体表达。结果:与对照组比较,模型组大鼠的小肠推进率显著下降,Ach含量无变化,M2受体表达明显上升,M3受体表达和c AMP水平显著下降。结论:脾气虚小肠运动减弱与M2、M3型受体表达异常有关。