OPTIMAL CONTROL OF THE FLEXI-BLE LINK MANIPULATOR WITH CONTROLLABLE LOCAL DEGREES OF FREEDOM

Although flexible manipulators own many potential advantages, one of their major disadvantages is the deterioration of the end-effector accuracy due to the flexibility. Therefore, how to reduce vibration is a significant problem. Inspired by the observation on the motion behaviors of animals, a new idea of decreasing motion deflection of the flexible manipulator is suggested. The concept of controllable local degrees of freedom is proposed and analyzed. By way of optimizing local motion provided by the controllable local degrees of freedom, the end-effector deflection of the flexible manipulator can be effectively decreased through dynamic coupling. The corresponding optimal method for vibration control of the flexible manipulator is put forward. The kinematic simulation is carried ant on a three-link flexible manipulator The corresponding results verify the feasibility of this method.

Substrate-borne vibrational signals and stridulatory organs for sexual communication in leafminer, Liriomyza sativae (Diptera: Agromyzidae)

The vegetable leafminer(Liriomyza sativae[Burgess])is a highly polyphagous pest that threatens vegetables and horticultural plants.Although sexual communication is a key component of the animal behavioral repertoire,the mechanism underlying sexual communication in L.sativae remains to be elucidated.Here,we used laser vibrometry to characterize the vibrational signals emitted by L.sativae during pair formation.By emitting trains of vibrational pulses(male calling)the male initiated communication on the host plant.The female then became immobile and responded to the male calling by emiting replies(female replies),which in turn triggered male replies consisting of a rapid series of chirps and trills.If the female replied,a continuous exchange of male and female replies ensued,representing a duet.In playback trials,a playback signal caused responses from the opposite sex.Moreover,scanning electron microscopy revealed vibration-producing stridulatory organs in both male and female individuals.The files in males were more developed than those in females,and older male specimens had more signs of abrasion.The results provide new insight into the mating biology of L.sativae.

One hundred cases of stiff neck treated by one-finger scrubbing manipulation combined with acupuncture kinesitherapy

Objective To observe therapeutic effect of one-finger scrubbing combined with acupuncture kinesitherapy on stiff neck. Methods One hundred cases of stiff neck were treated with one-finger scrubbing combined with acupuncture kinesitherapy at Houxi （后溪 SI 3） and Shugu （束骨 BL 65） on the affected side, once a day, three clays made one session and totally one session was required. The clinical efficacy was observed. Results Fifty-two cases were cured with one treatment, 32 cases with two treatments and 12 cases with three treatments. Totally 96 cases （96%） were cured, 4 cases （4%） were effective. Conclusion The twining manipulation combined with acupuncture kinesitherapy has obvious therapeutic effect on stiff neck.