SPADE体系在智慧健康养老服务与管理专业英语课程建设中的应用——以广西国际商务职业技术学院为例

文章在阐述相关背景的基础上,首先说明了SPADE体系在智慧健康养老服务与管理专业英语课程建设中应用的重要性,然后从明确符合度、落实达成度、提升完整度、提高满意度、拔高创新度五个方面论述了SPADE体系在智慧健康养老服务与管理专业英语课程建设中应用的策略。

SPADE五维质量保证体系融入职业本科教育的实践探索

文章首先阐述了职业本科教育的现实困境,然后说明了SPADE五维质量保证体系的基本内涵,接着分析了SPADE五维质量保证体系融入职业本科教育的逻辑机理,最后论述了SPADE五维质量保证体系融入职业本科教育的实践。

An Automatic Implementation of Oropharyngeal Swab Sampling for Diagnosing Respiratory Infectious Diseases via Soft Robotic End-Effectors

The most widely adopted method for diagnosing respiratory infectious diseases is to conduct polymerase chain reaction(PCR)assays on patients’respiratory specimens,which are collected through either nasal or oropharyngeal swabs.The manual swab sampling process poses a high risk to the examiner and may cause false-negative results owing to improper sampling.In this paper,we propose a pneumatically actuated soft end-effector specifically designed to achieve all of the tasks involved in swab sampling.The soft end-effector utilizes circumferential instability to ensure grasping stability,and exhibits several key properties,including high load-to-weight ratio,error tolerance,and variable swab-tip stiffness,leading to successful automatic robotic oropharyngeal swab sampling,from loosening and tightening the transport medium tube cap,holding the swab,and conducting sampling,to snapping off the swab tail and sterilizing itself.Using an industrial collaborative robotic arm,we integrated the soft end-effector,force sensor,camera,lights,and remote-control stick,and developed a robotic oropharyngeal swab sampling system.Using this swab sampling system,we conducted oropharyngeal swab-sampling tests on 20 volunteers.Our Digital PCR assay results(RNase P RNA gene absolute copy numbers for the samples)revealed that our system successfully collected sufficient numbers of cells from the pharyngeal wall for respiratory disease diagnosis.In summary,we have developed a pharyngeal swab-sampling system based on an“enveloping”soft actuator,studied the sampling process,and imple-mented whole-process robotic oropharyngeal swab-sampling.

烧结过程异常状况诊断专家系统SPADES(Ⅱ)——关键技术

知识库构造和推理机设计是实现专家系统的关键技术 .烧结过程异常诊断的知识具有模糊性、不确定性与因果性强 ,定性知识与定量知识并存的特点 .采用模糊逻辑表达烧结过程信息的模糊特性 ,研究了表达烧结过程异常诊断知识的综合型知识表达方式 .知识库的组织包括数据库、事实库、模型库和规则库 .规则库中的规则根据用途不同分组存放 ,同组规则按优先级别排序 ,这样的知识组织方式为实现高效快速推理奠定了基础 ;SPADES系统的知识库具有管理与维护功能 ,知识学习采用专家指导学习方式 ;烧结过程异常诊断专家系统的推理机采用多级目标推理的混合推理机 :总体目标推理采用过程化推理 ,按异常类型判断、异常原因分析、操作决策顺序进行 ;烧结过程异常状况的诊断采用模糊诊断确定假定异常集合 ,再通过反向推理验证假定异常集合中的元素 ,确定出现的异常类型 ;异常原因分析和操作决策采用正向推理 .对于本系统中模糊规则的模糊性传递问题 ,采用基于确定因子法的不精确推理策略 ,以及基于模糊规则的模糊匹配方法 .SPADES系统在生产现场的应用结果证明了本系统知识表达方式和推理机可以实现模糊知识的表达和高效推理 .

A novel algorithm of normal attitude regulation for the designed end-effector of a flexible drilling robot

An end-effector for a flexible drilling robot is designed, and a novel four-point algorithm of normal attitude regulation for this end-effector is presented. Four non-coplanar points can define a unique sphere tangent to them in spatial geometry, and the center point of the sphere and the radius can be calculated. The shape of a workpiece surface in the machining area is approximately regarded as such a sphere. A vector from the machining point to the center point is thus approximately regarded as a normal vector to the workpiece surface. By this principle, the algorithm first measures four coordinates on the curve in the drilling region using four sensors and calculates the normal vector at the drilling point, then calculates the error between the normal vector and the axis of the spindle. According to this error, the algorithm further figures out the angles of two revolving axes on the end- effector and the displacements of three linear axes on the robot main body, thus it implements the function of adjusting the spindle to be perpendicular to the curve at the drilling point. Simulation results of two kinds of curved surfaces show that accuracy and efficiency can be realized using the proposed algorithm.

高职内诊建设背景下的SPADE五维质量保证体系的创新实践

深入推进高职院校内部质量保证体系诊断与改进工作机制建设,是提升高职教育教学水平和专业人才培养质量的必然要求,在全国高职院校全面开展内诊保障机制建设的大背景下,本文探讨了目前高职内诊建设中存在的典型问题,剖析了SPADE五维质量保证体系的建构路径及以SPADE体系为核心的诊改工作实践,对提升高等职业教育人才培养质量的体系化建构策略进行了探索,旨在高职内诊背景下为提升高等职业教育人才培养质量提供借鉴,推动高等职业院校人才培育机制的创新发展。

Design Schemes and Comparison Research of the End-effector of Large Space Manipulator

The end-effector of the large space manipulator is employed to assist the manipulator in handling and manipulating large payloads on orbit.Currently,there are few researches about the end-effector,and the existing end-effectors have some disadvantages,such as poor misalignment tolerance capability and complex mechanical components.According to the end positioning errors and the residual vibration characters of the large space manipulators,two basic performance requirements of the end-effector which include the capabilities of misalignment tolerance and soft capture are proposed.And the end-effector should accommodate the following misalignments of the mechanical interface.The translation misalignments in axial and radial directions and the angular misalignments in roll,pitch and yaw are ±100 mm,100 mm,±10°,±15°,±15°,respectively.Seven end-effector schemes are presented and the capabilities of misalignment tolerance and soft capture are analyzed elementarily.The three fingers-three petals end-effector and the steel cable-snared end-effector are the most feasible schemes among the seven schemes,and they are designed in detail.The capabilities of misalignment tolerance and soft capture are validated and evaluated,through the experiment on the micro-gravity simulating device and the dynamic analysis in ADAMS software.The results show that the misalignment tolerance capabilities of these two schemes could satisfy the requirement.And the translation misalignment tolerances in axial and radial directions and the angular misalignment tolerances in roll,pitch and yaw of the steel cable-snared end-effector are 30mm,15mm,6°,3° and 3° larger than those of the three fingers-three petals end-effector,respectively.And the contact force of the steel cable-snared end-effector is smaller and smoother than that of the three fingers-three petals end-effector.The end-effector schemes and research methods are beneficial to the developments of the large space manipulator end-effctor and the space docking mechanism.

Development of space end-effector with capabilities of misalignment tolerance and soft capture based on tendon-sheath transmission system

The essential requirements of the end-effector of large space manipulator are capabilities of misalignment tolerance and soft capture.According to these requirements,an end-effector prototype combining the tendon-sheath transmission system with steel cable snaring mechanism was manufactured.An analysis method based on the coordinate transformation and the projection of key points of the mechanical interface was proposed,and it was a guideline of the end-effector design.Furthermore,the tendon-sheath transmission system was employed in the capture subassembly to reduce the inertia of the capture mechanism and enlarge the capture space.The capabilities of misalignment tolerance and soft capture were validated through the dynamic simulation in ADAMS software.The results of the capture simulation and experiment show that the end-effector has outstanding capabilities of misalignment tolerance and soft capture.The translation misalignments in radial directions are±100 mm,and angular misalignments about pitch and yaw are±15°.

Development of Chinese large-scale space end-effector

In order to achieve large tolerance capture and high stiffness connection for space payload operations,a Chinese large-scale space end-effector (EER) was developed.Three flexible steel cables were adopted to capture the payload with large capture allowance.Ball screw transmission mechanism and plane shape-constraint four bar linkage mechanism were utilized to connect the payload with high stiffness.The experiments show that capture tolerances in X,Y,Z,Pitch,Yaw,Roll directions are 100 mm,100 mm,120 mm,10.5°,10.5°,12°,respectively.The maximum connection stiffness is 4 800 N·m.The end-effector could meet the requirements for space large tolerance capture and high stiffness connection in the future.

Direct Transplant of Melanocytes from Normal Donor Area into Vitiligenous Recipient Area by Intralesional Injection of Melanocytes Using Spade Like Needle Technique

Background: Vitiligo is a common autoimmune inflammatory skin disease, where there are different surgical techniques for treatment of stable patches of vitiligo .Objective: To find non-costly, minimally invasive, simple technique by direct melanocytes transplant by spade needle technique in treatment of vitiligo. Patients and Methods: This interventional, therapeutic, comparative study was done in Department of Dermatology, Baghdad Teaching Hospital, Baghdad, Iraq from April 2014-March 2015. Twenty patients with localized, generalized and segmental vitiligo were included. Full history and examination for each patient was done with 4 (20%) males and 16 (80%) females and their ages ranged from 9 - 40 (23.15 ± 11.44) years. Forty one patches in 20 patients treated by spade grafting technique and the donor and recipient sites were demarcated and anesthesia done by xylocaine 2% with adrenalin 1:100,000. Transplantation was started by using disposable needle gauge 18 (the sharp end of needle was cut by a scissor to make it a spade like) with medical syringe 5 ml supplied with normal saline. The micro-pieces were taken from donor site and transplanted directly, easily and rapidly into dermis of recipient site and followed by pushing normal saline and the procedure was repeated to cover all recipient sites with 5 mm distance between injection points. The surface area of the lesions was calculated and the reduction rate was estimated every month till the end of the 4th month period of the treatment. Results: Including 41 patches in 20 patients with the surface area of the patches ranged from 1.5 - 90 cm2 (13.78 ± 17.57) cm2. The mean ±SD of surface area of lesions was decreased from 13.78 ± 17.57 cm2 at baseline visit to 13.61 ± 17.48 cm2 at the second visit (after 2 weeks ) which was statistically significant (p value ≤ 0.001). The mean surface area continued to be reduced till reaching 12.20 ± 15.68 cm2 at the third visit and 12.01 ± 15.55 cm2 at the fourth visit. All were statistically significant when compared to baseline visit. There was reduction in surface area 1.1% at two weeks, 9.93%, and 12.5% at the 2nd, 4th months respectively. Conclusions: Intradermal injection of melanocytes in patients with vitiligo by spade like needle was very quick and simple non-costly technique, and gave 12.5% reduction which could be repeated at different times until satisfactory re-pigmentation of vitiligenous skin is achieved.

A Study on the End-Effector Exchange Mechanism of a Space Robot

This study investigates the necessity for space robots to independently exchange their end-effectors due to the contradiction that exists between the requirements of various robots in space missions and the payload capacity limits of rockets. The results of this study summarize the system requirements for a new end-effector exchange mechanism, including compact size, misalignment tolerance, and regolith tolerance. This is followed by the development of a prototype model with a set of test apparatus. Then the function of the prototype is verified, the prototype is optimized, and the relation between docking force and misalignment is examined through operation tests.

基于“SPADE”标准下协同育人评价体系的构建

协同育人是实现教育强国的必然选择,是构建协同育人评价体系的重要抓手,为高校高质量可持续发展提供有力保障。文章以“SPADE”标准为支撑,分析高校构建协同育人评价体系的现实问题,探讨构建新时代协同育人评价体系的重要意义,提出构建以“SPADE”五维质量保证体系框架为模型的高职本科协同育人评价体系,旨在为推动职业教育的高质量发展培养高技术复合型人才。

Kate Spade揭开新品面纱

简单的格调，清脆的巧克力色、天蓝色、灰色及明亮的黄色是Kate Spade Home公司新推出的寝用品特征。

论铲足鬲及东周时期西戎文化的来源

学界对西戎文化的来源问题争议较大。文章从东周时期西戎文化代表性器物铲足鬲入手,与周边的相关遗存进行梳理研究认为,东周时期西戎文化与寺洼文化基本上没有亲缘关系;从墓向、葬俗、殉牲、铜器、陶器、人群体质特征等方面所反映的共性,说明东周时期西戎文化及其人群主要来源于蒙古高原中东部的石板墓文化;铲(柱)足鬲的来源与漠北蛇纹鬲有关。

旋转锹式油茶垦复装置的仿真分析与试验

针对目前油茶林垦复机耕深较浅及未实现土垡翻扣等问题,根据铁锹深挖和翻土原理,设计了一种旋转锹式油茶垦复装置。对锹式垦复部件原理进行了分析,在EDEM中建立了锹与土壤相互作用离散元模型,仿真分析了锹与土壤相互作用后的应力应变规律。基于不漏耕、不重耕的条件分析锹片端点运动轨迹,确定了锹片转速以及与其相匹配的前进速度。为验证垦复装置的垦复效果,以耕深和耕深稳定性系数为指标,以锹片转速为因素,在油茶林地进行了垦复试验。结果表明:在锹片入土倾角为70°、锹片转速为20~40r/min及其与匹配的前进速度下,垦复装置耕作正常,耕深平均值为159~166mm,耕深稳定性系数为92.72%~94.82%。

铲钻倒棱刃口几何参数对钻削温度的影响

探究铲钻倒棱几何参数对钻削温度的影响,为铲钻倒棱刃口的参数选择提供参考。通过有限元仿真模拟铲钻钻削过程的温度场得到倒棱角度和倒棱宽度对钻削温度的影响规律。为了验证仿真模拟结果,使用红外热像仪测量钻削过程中切屑温度,并通过光学显微镜观察切屑表面形貌,分析钻削温度随着倒棱刃口几何参数变化的原因。研究结果表明,最高钻削温度区域出现在倒棱面及其附近的前刀面,钻削温度随着倒棱宽度的增大呈现先增大再减小的趋势。随着倒棱角度的增大,钻削温度呈先增大后减小最后再增大的趋势。在设计倒棱刃口时,倒棱宽度应该选择0.1mm<b≤0.3mm,倒棱角度选择10°<γ≤20°,这样可使铲钻刀片具有良好的散热性能。倒棱宽度和倒棱角度的增大加剧了刀—屑的摩擦,导致钻削温度升高,同时也提高了铲钻刀片的散热能力。

Contact detumbling toward a nutating target through deformable effectors and prescribed performance controller

Detumbling operation toward a rotating target with nutation is meaningful for debris removal but challenging. In this study, a deformable end-effector is first designed based on the requirements for contacting the nutating target. A dual-arm robotic system installed with the deformable end-effectors is modeled and the movement of the end-tips is analyzed. The complex operation of the contact toward a nutating target places strict requirements on control accuracy and controller robustness. Thus, an improvement of the tracking error transformation is proposed and an adaptive sliding mode controller with prescribed performance is designed to guarantee the fast and precise motion of the effector during the contact detumbling.Finally, by employing the proposed effector and the controller,numerical simulations are carried out to verify the effectiveness and efficiency of the contact detumbling toward a nutating target.

穴盘移栽指铲式末端执行器苗钵基质抓取仿真与试验

针对针式末端执行器夹持移栽后穴孔内基质残留较多的问题,设计了一种指铲式末端执行器,通过增大指铲与苗钵基质的接触面积,减少穴孔内基质的残留。通过静力学分析找出末端执行器提取苗钵后基质残留的原因:基质间的最大内聚力小于由基质与穴盘间的粘附力和苗钵重力合成的总阻力时,苗钵出现破裂,基质塌陷。基于离散单元法,通过EDEM(Enhanced discrete element method)仿真分析了指铲式末端执行器对土壤基质的抓取过程,发现随着土壤基质内聚力的提高基质残留的现象得到改善;将基质配比和含水率条件作为主要影响因素,通过组合测盘试验测量在不同基质配比和含水率试验条件下的粘附力和内聚力变化,寻找内聚力大于粘附力的基质配比和含水率条件。试验表明,当相对含水率为60%、基质配比为6∶3∶1(泥炭∶蛭石∶珍珠岩)时,内聚压强和粘附压强的差值最大,在该条件下,指铲式末端执行器对劣质苗钵穴孔基质的平均剔净率达到70.8%,优于其他作业条件,可剔除穴孔内大部分基质。

RoboCup 3D Server分析

RoboCup仿真比赛是MAS系统的理想测试平台,而3D仿真是RoboCup研究的热点。由于目前缺乏相关的资料,给参赛队增加了不少困难。本文将分析RoboCup3D Server的一些关键技术,以期能让读者对这一新技术有一个全面的了解,缩短球队的开发过程。

铲式玉米精密播种机振动特性模型建立与试验

为了研究铲式玉米精密播种机播种性能与农田不平度激励产生振动之间的关系,推导了稳态响应与理论粒距关系数学模型。由建立的数学模型得出铲式玉米精密播种机的播种性能主要由播种机的结构特征、播种机工作速度、倾斜圆盘勺式玉米精密排种器与耕作土壤表面间的距离、土壤不平度和土壤粘性决定。理论粒距与实际粒距的对比结果表明,两者分布趋势基本相同,建立的稳态响应与理论粒距关系数学模型可用于对工作状态下播种机的播种性能进行预测和分析。