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Modeling and control of a rigid-flexible coupling robot for narrow space manipulations

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Science China Technological Sciences 2025年

作者： Kuangda CHEN huan ZHAO Jiexin ZHANG Mei feng Yiwei WANG Jinliang WANG Han DING State Key Laboratory of Intelligent Manufacturing Equipment and Technology Huazhong University of Science and Technology Key Laboratory of CNC Equipment Reliability Ministry of Education Jilin University School of Medical Equipment Science and Engineering Huazhong University of Science and Technology

Narrow space manipulations are crucial for equipment maintenance, as they eliminate the need for disassembly, thus reducing costs and increasing efficiency. Cable-driven flexible robots possess exceptional capabilities in maneuvering through narrow spaces, thanks to their interaction compliance and distal dexterity. However, their inherent low stiffness causes a decline in the location accuracy of the robot and could even lead to manipulation failure. To address this challenge, this paper proposes a novel type of rigid-flexible coupling robot, which increases the stiffness of the robot while ensuring the reachability within a narrow space. To achieve high-accuracy location in a narrow space, kinematic and control methods are proposed. Specifically,the robot forward kinematics are uniformly represented, and the closed-form inverse kinematics solution is derived. Furthermore, in cases where the robot?s structure fails to align with Pieper?s solution, a two-stage search strategy is utilized to solve the inverse kinematics, resulting in a high success rate of 99.1%. Based on the proposed kinematics, a rigid-dominated control method is then proposed to facilitate localization and pose alignment of target objects in narrow spaces. The practical comparative experiments show that the proposed robot has the capability of high accuracy control in narrow spaces.

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Designing Electronic Structures of Multiscale Helical Converters for Tailored Ultrabroad Electromagnetic Absorption

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Nano-Micro Letters 2025年第1期17卷 439-455页

作者： Zhaobo feng Chongbo Liu Xin Li Guangsheng Luo Naixin Zhai Ruizhe hu Jing Lin Jinbin Peng Yuhui Peng Renchao Che Key Laboratory of Jiangxi Province for Persistent Pollutants Control and Resources Recycle School of Environmental and Chemical EngineeringNanchang Hangkong UniversityNanchang 330063People’s Republic of China School of Physics and Materials Nanchang UniversityNanchang 330031People’s Republic of China Key Laboratory of Nondestructive Testing Ministry of EducationNanchang Hangkong UniversityNanchang 330063People’s Republic of China Laboratory of Advanced Materials Shanghai Key Lab of Molecular Catalysis and Innovative MaterialsAcademy for Engineering and TechnologyFudan UniversityShanghai 200438People’s Republic of China

Atomic-scale doping strategies and structure design play pivotal roles in tailoring the electronic structure and physicochemical property of electromagnetic wave absorption(EMWA)***,the relationship between configuration and electromagnetic(EM)loss mechanism has remained ***,drawing inspiration from the DNA transcription process,we report the successful synthesis of novel in situ Mn/N co-doped helical carbon nanotubes with ultrabroad EMWA *** calculation and EM simulation confirm that the orbital coupling and spin polarization of the Mn–N4–C configuration,along with cross polarization generated by the helical structure,endow the helical converters with enhanced EM *** a result,HMC-8 demonstrates outstanding EMWA performance,achieving a minimum reflection loss of−63.13 dB at an ultralow thickness of 1.29 *** precise tuning of the graphite domain size,HMC-7 achieves an effective absorption bandwidth(EAB)of 6.08 GHz at 2.02 mm ***,constructing macroscale gradient metamaterials enables an ultrabroadband EAB of 12.16 GHz at a thickness of only 5.00 mm,with the maximum radar cross section reduction value reaching 36.4 dB *** innovative approach not only advances the understanding of metal–nonmetal co-doping but also realizes broadband EMWA,thus contributing to the development of EMWA mechanisms and applications.

关键词： Metal-nonmetal co-doping 3d-2p orbital coupling Spin polarization Helical structure Broadband EM wave absorption

First report of a novel abluminal groove filled biodegradable polymer rapamycin-eluting stent in de novo coronary artery disease： results of the first in man FIREHAWK trial

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Chinese Medical Journal 2012年第6期125卷 970-976页

作者： QIAN Jie XU Bo Alexandra J. Lansky YANG Yue-jin QIAO Shu-bin WU Yong-jian CHEN Jue hu feng-huan YANG Wei-xian Gary S. Mintz Martin B. Leon GAO Run-lin Department of Cardiology Cardiovascular Institute and Fu Wai Hospital Chinese Academy Of Medical Sciences and Peking Union Medical College Beijing 100037 China Catheterization Laboratory Cardiovascular Institute and Fu Wai Hospital Chinese Academy Of Medical Sciences and Peking Union Medical College Beijing 100037 China Yale University School of Medicine New Haven CT USA Cardiovascular Research Foundation New York NY USA Columbia University Medical Center New York NY USA

Background Durable polymers used for first-generation drug-eluting stents （DES） potentially contribute to persistent inflammation and late DES thrombosis. We report the first in human experience with the rapamycin-eluting biodegradable polymer coated cobalt-chromium FIREHAWK stent with abluminal groove. Methods A total of 21 patients with stable or unstable angina, or prior myocardial infarction, with single de novo native coronary stenoses 〈30 mm in length in vessel sizes ranging from 2.25 to 4.0 mm were enrolled. The primary endpoint was major adverse cardiac events （MACE） at 30 days defined as the composite of cardiac death, myocardial infarction （Q and non-Q）, or ischemia-driven target lesion revascularization. Secondary endpoints include device, lesion, and clinical success rates, 4-month in-stent late lumen loss by quantitative coronary angiography （QCA）, proportion of uncovered or malapposed stent struts by optical coherence tomograpphy （OCT） at 4 months, and MACE at 4, 12, 24 and 36-month follow-up. Results Device success was 95.7%, lesion and clinical success was 100.0%. There were no MACE events at 30 days. One patient died of non-cardiac hemorrhagic stroke 5 days after index procedure. At 4 months, in-stent late loss was （0.13±0.18） mm, and complete strut coverage was 96.2% by OCT with 0.1% strut malapposition. At 4-month follow-up there was no additional MACE events, and a single target vessel （non-target lesion） revascularization. Conclusions The FIREHAWK abluminal groove biodegradable polymer rapamycin-eluting stent demonstrated feasibility, safety and efficacy in this first in human experience. OCT findings indicated excellent stent strut coverage 4 months after implantation. Larger studies are required to confirm whether the early FIREHAWK stent results translate into longer term restenosis and thrombosis benefits.

关键词： rapamycin-eluting stent first-in-man study optical coherence tomography coronary artery disease

Impacts of smoking status on the clinical outcomes of coronary non-target lesions in patients with coronary heart disease:a single-center angiographic study

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Chinese Medical Journal 2020年第19期133卷 2295-2301页

作者： Hao-Bo Xu Juan Wang Ji-Lin Chen Chao Guo Jian-Song Yuan Xin Duan feng-huan hu Wei-Xian Yang Xiao-Liang Luo Rong Liu Jin-Gang Cui Sheng-Wen Liu Xiao-Jin Gao Yu-Shi Chun Shu-Bin Qiao Department of Cardiology Fuwai HospitalNational Center for Cardiovascular DiseasesChinese Academy of Medical SciencesBeijing 100037China

Background:Coronary atherosclerotic plaque could go through rapid progression and induce adverse cardiac *** study aimed to evaluate the impacts of smoking status on clinical outcomes of coronary non-target ***:Consecutive patients with coronary heart disease who underwent two serial coronary angiographies were *** coronary non-target lesions were recorded at first coronary angiography and analyzed using quantitative coronary angiography at both *** were grouped into non-smokers,quitters,and smokers according to their smoking *** outcomes including rapid lesion progression,lesion re-vascularization,and myocardial infarction were recorded at second coronary *** Cox regression analysis was used to investigate the association between smoking status and clinical ***:A total of 1255 patients and 1670 lesions were *** were younger and more likely to be male compared with non*** in percent diameter stenosis was significantly lower(2.7[0.6,7.1]%vs.3.5[0.9,8.9]%)and 3.4[1.1,7.7]%,P=0.020)in quitters than those in smokers and *** tended to have a decreased incidence of rapid lesions progression(15.8%[76/482]vs.21.6%[74/342]and 20.6%[89/431],P=0.062),lesion re-vascularization(13.1%[63/482]vs.15.5%[53/432]and 15.5%[67/431],P=0.448),lesion-related myocardial infarction(0.8%[4/482]vs.2.6%[9/342]and 1.4%[6/431],P=0.110)and all-cause myocardial infarction(1.9%[9/482]vs.4.1%[14/342]and 2.3%[10/431],P=0.128)compared with smokers and *** multivariable analysis,smoking status was not an independent predictor for rapid lesion progression,lesion re-vascularization,and lesion-related myocardial infarction except that a higher risk of all-cause myocardial infarction was observed in smokers than non-smokers(hazards ratio:3.00,95%confidence interval:1.04-8.62,P=0.042).Conclusion:Smoking cessation mitigates the increase in percent diameter stenosis

关键词： Smoking status Coronary non-target lesion Rapid progression Re-vascularization Myocardial infarction

肥厚型心肌病化学消融术后合并晚发三度房室传导阻滞五例

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中华心血管病杂志 2012年第12期40卷 1009-1011页

作者：刘蓉乔树宾胡奉环杨伟宪袁建松中国医学科学院北京协和医学院阜外心血管病医院冠心病研究中心 100037

目的分析肥厚型心肌病化学消融术后合并晚发三度房室传导阻滞5例患者的临床特点。方法回顾性分析2000年12月至2011年12月北京阜外心血管病医院肥厚型心肌病化学消融术患者235例中合并晚发三度房室传导阻滞的5例患者的临床资料。结果235... 详细信息

目的分析肥厚型心肌病化学消融术后合并晚发三度房室传导阻滞5例患者的临床特点。方法回顾性分析2000年12月至2011年12月北京阜外心血管病医院肥厚型心肌病化学消融术患者235例中合并晚发三度房室传导阻滞的5例患者的临床资料。结果235例患者中合并晚发三度房室传导阻滞者5例，发生率为2．1％。5例患者中男性4例，女性l例，中位年龄46岁（33～64岁），左心室流出道压力阶差70～100mmHg（1mmHg=0．133kPa），消融间隔支1～2支，无水酒精用量中位数为1．8ml（1．4～4．3m1），其中4例术中曾出现三度房室传导阻滞，晚发时间为术后32h（28～120h），R—R最长间歇为30s。5例患者中3例发生晕厥，其中2例发生阿斯综合征。5例患者均及时发现，再次置人临时起搏器后心律恢复正常。结论肥厚型心肌病化学消融术后晚发三度房室传导阻滞发生率低，但严重威胁患者生命安全，应延长临时起搏器置入时间，术后严密监测心律变化，适当延长住院时间。

关键词：心肌病,肥厚性导管消融术心脏传导阻滞

An Efficient Boron Source Activation Strategy for the Low‑Temperature Synthesis of Boron Nitride Nanotubes

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Nano-Micro Letters 2025年第1期17卷 548-558页

作者： Ying Wang Kai Zhang Liping Ding Liyun Wu Songfeng E Qian He Nanyang Wang hui Zuo Zhengyang Zhou feng Ding Yue hu Jin Zhang Yagang Yao National Laboratory of Solid State Microstructures College of Engineering and Applied SciencesJiangsu Key Laboratory of Artificial Functional Materialsand Collaborative Innovation Center of Advanced MicrostructuresNanjing UniversityNanjing 210093People’s Republic of China School of Electronic Information and Artificial Intelligence Shaanxi University of Science&TechnologyXian 710000People’s Republic of China College of Bioresources Chemical and Materials Engineering Shaanxi University of Science&TechnologyXian 710000People’s Republic of China Key Laboratory of Carbon Materials of Zhejiang Province College of Chemistry and Materials EngineeringWenzhou UniversityWenzhou 325000People’s Republic of China Shenzhen Institutes of Advanced Technology Chinese Academy of SciencesShenzhen 518000People’s Republic of China College of Chemical and Molecular Engineering Peking UniversityBeijing 100871People’s Republic of China

Lowering the synthesis temperature of boron nitride nanotubes(BNNTs)is crucial for their *** primary reason for adopting a high temperature is to enable the effective activation of highmelting-point solid *** this study,we developed a novel approach for efficiently activating boron by introducing alkali metal compounds into the conventional MgO–B *** approach can be adopted to form various low-melting-point AM–Mg–B–O growth *** growth systems have improved catalytic capability and reactivity even under low-temperature conditions,facilitating the synthesis of BNNTs at temperatures as low as 850℃.In addition,molecular dynamics simulations based on density functional theory theoretically demonstrate that the systems maintain a liquid state at low temperatures and interact with N atoms to form BN *** findings offer novel insights into the design of boron activation and are expected to facilitate research on the low-temperature synthesis of BNNTs.

关键词： Boron nitride nanotubes Low-temperature Boron activation Density functional theory

老年心力衰竭患者甲状腺激素和血浆N末端原脑钠肽的变化及其与预后的关系

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临床和实验医学杂志 2013年第1期12卷 30-31页

作者：衣欣胡奉环吴威北京市回民医院心内科北京100054 中国医学科学院北京协和医学院阜外心血管病医院心内科北京100037

目的探讨老年慢性心力衰竭患者心功能与血清甲状腺激素、血浆N末端原脑利钠肽(NT-proBNP)的变化及对预后的影响。方法选择60例老年慢性心力衰竭患者,根据NYHA心功能Ⅱ、Ⅲ、Ⅳ级分为2组,分别测定血NT-proBNP、血清三碘甲状腺原氨酸(T3)... 详细信息

目的探讨老年慢性心力衰竭患者心功能与血清甲状腺激素、血浆N末端原脑利钠肽(NT-proBNP)的变化及对预后的影响。方法选择60例老年慢性心力衰竭患者,根据NYHA心功能Ⅱ、Ⅲ、Ⅳ级分为2组,分别测定血NT-proBNP、血清三碘甲状腺原氨酸(T3),甲状腺素(T4),游离三碘甲状腺原氨酸(FT3),游离甲状腺素(FT4)及促甲状腺素(TSH)水平。比较2组间甲状腺激素变化及NT-proBNP变化。根据住院期间是否发生心血管事件(恶性心律失常、心衰反复或加重、心肌梗死、死亡)分为事件组和非事件组。结果心功能Ⅳ级患者与心功能Ⅱ级、Ⅲ级患者比较,T3和FT3明显降低,(P0.05)。心脏事件组与非事件组比较:NT-proBNP明显升高,T3和FT3明显降低,(P<0.05)。结论甲状腺激素、NT-proBNP与老年慢性心力衰竭患者的心功能严重程度有关,影响预后。

关键词：老年心力衰竭甲状腺激素 N末端原脑钠肽预后

心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体与肥厚型心肌病的关系研究

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中国循环杂志 2017年第11期32卷 1104-1106页

作者：刘蓉乔树宾胡奉环袁建松杨伟宪中国医学科学院北京协和医学院国家心血管病中心阜外医院冠心病诊治中心北京市100037

目的:探讨心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体与肥厚型心肌病的相关性。方法:以细胞外第二环表位肽段的合成肽作为抗原,应用酶联免疫吸附技术,检测81例肥厚型心肌病患者(肥厚型心肌病组)和50例健康受试者(正常对照组... 详细信息

目的:探讨心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体与肥厚型心肌病的相关性。方法:以细胞外第二环表位肽段的合成肽作为抗原,应用酶联免疫吸附技术,检测81例肥厚型心肌病患者(肥厚型心肌病组)和50例健康受试者(正常对照组)血清中心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体。结果:(1)肥厚型心肌病组β_1受体自身抗体的阳性率为58.02%(47/81),明显高于正常对照组12.00%(6/50),差异有统计学意义(P<0.05);肥厚型心肌病组M_2乙酰胆碱能受体自身抗体阳性率为44.44%(36/81),显著高于正常对照组10.00%(5/50),差异有统计学意义(P<0.05)。(2)肥厚型心肌病组β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体的平均几何滴度分别为1:85和1:80,显著高于正常对照组的1:36和1:35,差异有统计学意义(P<0.05)。(3)肥厚型心肌病组β_1肾上腺素能受体自身抗体阳性血清中43.48%(20/46)的患者同时具有M_2乙酰胆碱能受体的自身抗体。结论:肥厚型心肌病患者血清中存在心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的自身抗体,可能与其心肌结构变化和舒张功能下降有关。心脏β_1肾上腺素能受体和M_2乙酰胆碱能受体的双抗体阳性可能是自身免疫反应的多重性表现,提示免疫学机制参与肥厚型心肌病的病理生理过程。

关键词：心肌病肥厚型受体肾上腺素能β 受体胆碱能

经冠脉移植骨髓单个核细胞对猪梗死心肌的修复作用

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基础医学与临床 2006年第7期26卷 755-760页

作者：郑昕陈纪林胡奉环杨伟宪赵红宋来凤陈在嘉中国医学科学院中国协和医科大学心血管病研究所阜外心血管病医院北京100037

目的观察经冠脉移植骨髓单个核细胞的定植、分化和对心功能的影响。方法小型猪冠状动脉前降支结扎90min后再灌注制备心肌梗死模型,分为骨髓细胞移植组(BM-MNCs组,n=6)和对照组(n=5),分别经冠脉移植PKH26标记的骨髓单个核细胞和培养基,术... 详细信息

目的观察经冠脉移植骨髓单个核细胞的定植、分化和对心功能的影响。方法小型猪冠状动脉前降支结扎90min后再灌注制备心肌梗死模型,分为骨髓细胞移植组(BM-MNCs组,n=6)和对照组(n=5),分别经冠脉移植PKH26标记的骨髓单个核细胞和培养基,术后6周进行病理学检查并行血流动力学和超声心动图检查心功能变化。结果在BM-MNCs组,心肌梗死后6周在缺血心肌内可找到移植细胞,其Ⅷ因子和desmin免疫组化染色均为阳性;血流动力学指标显示左室等容舒张期压力最大变化率和心排量与心肌梗死后90min比较明显改善(P<0.05);超声心动图显示每搏输出量和心排量比对照组明显改善(P<0.05);心肌梗死边缘区的小血管数目明显多于对照组(P<0.05)。结论经冠脉移植骨髓单个核细胞可定植于梗死区心肌,并可分化为肌源性细胞和血管内皮细胞,可促进小血管再生,有改善心功能的潜能。

关键词：心肌梗死骨髓干细胞血管新生心功能