Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or ...Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.展开更多
Objective: To study the characteristics of pulse tracings in CHD, and objectively evaluate the significance of pulse signal in diagnosis and appreciation of therapeutic effect in patients with coronary heart disease(C...Objective: To study the characteristics of pulse tracings in CHD, and objectively evaluate the significance of pulse signal in diagnosis and appreciation of therapeutic effect in patients with coronary heart disease(CHD), and accordingly provide with theoretic proofs for developing non-invasive technique of pulse diagnosis. Methods: By using the pulse detection system, pulse graphs in CHD patients, patients without CHD and "health" adults were collected and compared. Then characters of the pulse signal were analyzed with Hilbert-Huang transformation routine (HHT) and time-domain method respectively. Results: There existed characteristic change in pulse graph in CHD. ① h1,h3,h4,h3/h1,t,t5/t4 in time domain parameters of pulse graph increased and w1 was widened. ② 44% of C2 wave in HHT display showed chaotic and disorderly wave and irregularly wave amplitude in CHD. And 72% of C5 Wave exhibited in irregular wave with average wave amplitude over 10 gram-forces. These changes were significantly different from health adults. Conclusion: Characteristic wave of pulse graph extracted with methods of time domain or HHT routine might be considered as proofs for diagnosis and differentiation in CHD. Our researches prognosticate that pulse diagnosis can be used as an ancillary determination in occurrence of CHD for reasons of the advantage of convenient operation and non-invasion.展开更多
In this paper, a non-Newtonian third-grade blood in coronary and femoral arteries is simulated analytically and numerically. The blood is considered as the third- grade non-Newtonian fluid under the periodic body acce...In this paper, a non-Newtonian third-grade blood in coronary and femoral arteries is simulated analytically and numerically. The blood is considered as the third- grade non-Newtonian fluid under the periodic body acceleration motion and the pulsatile pressure gradient. The hybrid multi-step differential transformation method （Hybrid-Ms- DTM） and the Crank-Nicholson method （CNM） are used to solve the partial differential equation （PDE）, and a good agreement between them is observed in the results. The effects of the some physical parameters such as the amplitude, the lead angle, and the body acceleration frequency on the velocity and shear stress profiles are considered. The results show that increasing the amplitude, Ag, and reducing the lead angle of body acceleration, 9, make higher velocity profiles on the center line of both arteries. Also, the maximum wall shear stress increases when Ag increases.展开更多
基金supported by the National Natural Science Foundation of China(11032009 and 11272236)
文摘Flexible joints are usually used to transfer velocities in robot systems and may lead to delays in motion transformation due to joint flexibility. In this paper, a linkrotor structure connected by a flexible joint or shaft is firstly modeled to be a slow-fast delayed system when moment of inertia of the lightweight link is far less than that of the heavy rotor. To analyze the stability and oscillations of the slowfast system, the geometric singular perturbation method is extended, with both slow and fast manifolds expressed analytically. The stability of the slow manifold is investigated and critical boundaries are obtained to divide the stable and the unstable regions. To study effects of the transformation delay on the stability and oscillations of the link, two quantitatively different driving forces derived from the negative feedback of the link are considered. The results show that one of these two typical driving forces may drive the link to exhibit a stable state and the other kind of driving force may induce a relaxation oscillation for a very small delay. However, the link loses stability and undergoes regular periodic and bursting oscillation when the transformation delay is large. Basically, a very small delay does not affect the stability of the slow manifold but a large delay affects substantially.
基金The National Basic Research Program (973 Program)grant number: 2003CB517108
文摘Objective: To study the characteristics of pulse tracings in CHD, and objectively evaluate the significance of pulse signal in diagnosis and appreciation of therapeutic effect in patients with coronary heart disease(CHD), and accordingly provide with theoretic proofs for developing non-invasive technique of pulse diagnosis. Methods: By using the pulse detection system, pulse graphs in CHD patients, patients without CHD and "health" adults were collected and compared. Then characters of the pulse signal were analyzed with Hilbert-Huang transformation routine (HHT) and time-domain method respectively. Results: There existed characteristic change in pulse graph in CHD. ① h1,h3,h4,h3/h1,t,t5/t4 in time domain parameters of pulse graph increased and w1 was widened. ② 44% of C2 wave in HHT display showed chaotic and disorderly wave and irregularly wave amplitude in CHD. And 72% of C5 Wave exhibited in irregular wave with average wave amplitude over 10 gram-forces. These changes were significantly different from health adults. Conclusion: Characteristic wave of pulse graph extracted with methods of time domain or HHT routine might be considered as proofs for diagnosis and differentiation in CHD. Our researches prognosticate that pulse diagnosis can be used as an ancillary determination in occurrence of CHD for reasons of the advantage of convenient operation and non-invasion.
文摘In this paper, a non-Newtonian third-grade blood in coronary and femoral arteries is simulated analytically and numerically. The blood is considered as the third- grade non-Newtonian fluid under the periodic body acceleration motion and the pulsatile pressure gradient. The hybrid multi-step differential transformation method （Hybrid-Ms- DTM） and the Crank-Nicholson method （CNM） are used to solve the partial differential equation （PDE）, and a good agreement between them is observed in the results. The effects of the some physical parameters such as the amplitude, the lead angle, and the body acceleration frequency on the velocity and shear stress profiles are considered. The results show that increasing the amplitude, Ag, and reducing the lead angle of body acceleration, 9, make higher velocity profiles on the center line of both arteries. Also, the maximum wall shear stress increases when Ag increases.
