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盐酸溴己新联合噻托溴铵吸入治疗慢性阻塞性肺疾病急性加重期疗效观察

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中国社区医师 2024年第23期40卷 26-28页

作者：孔令宇韩进英枣庄市胸科医院(枣庄市肿瘤医院) 山东枣庄277500

目的:探讨盐酸溴己新联合噻托溴铵吸入治疗慢性阻塞性肺疾病急性加重期(AECOPD)的临床疗效。方法:收集2022年12月—2023年6月枣庄市胸科医院(枣庄市肿瘤医院)治疗的AECOPD患者320例,随机分成观察组和对照组,各160例。对照组给予基础治... 详细信息

目的:探讨盐酸溴己新联合噻托溴铵吸入治疗慢性阻塞性肺疾病急性加重期(AECOPD)的临床疗效。方法:收集2022年12月—2023年6月枣庄市胸科医院(枣庄市肿瘤医院)治疗的AECOPD患者320例,随机分成观察组和对照组,各160例。对照组给予基础治疗联合头孢曲松钠、氨茶碱、盐酸溴己新治疗,观察组在对照组基础上应用噻托溴铵粉雾剂吸入治疗。比较两组患者治疗后临床症状消失时间及肺功能指标[第1秒用力呼气容积(FEV1)、最大呼气峰流速(PEFR)、第1秒用力呼出量占肺活量的百分比(FEV1/FVC)]情况。结果:观察组患者治疗后咳嗽、咳痰、气促、胸闷、肺部啰音消失时间明显短于对照组,差异有统计学意义(P<0.05)。两组患者治疗后,PEFR、FEV1和FEV1/FVC水平明显高于治疗前,且观察组高于对照组,差异有统计学意义(P<0.05)。结论:盐酸溴己新联合噻托溴铵吸入治疗可以明显改善AECOPD患者的临床症状,提高肺功能水平,疗效显著,值得推广。

关键词：慢性阻塞性肺疾病急性加重期盐酸溴己新噻托溴铵

DSTRI视角下数字贸易壁垒对数字服务贸易的影响

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经济论坛 2024年第1期 84-100页

作者：刘志雄孔令钰广西民族大学经济学院广西南宁530007

以数据为生产要素的服务贸易正在全球范围内蓬勃兴起,各国为保护本国数字服务贸易发展,采取数字服务贸易限制性措施高筑数字服务贸易壁垒,对数字服务贸易发展造成一定影响。文章以“钻石模型”为基础,选取2014年到2021年39个代表性国家... 详细信息

以数据为生产要素的服务贸易正在全球范围内蓬勃兴起,各国为保护本国数字服务贸易发展,采取数字服务贸易限制性措施高筑数字服务贸易壁垒,对数字服务贸易发展造成一定影响。文章以“钻石模型”为基础,选取2014年到2021年39个代表性国家①数字服务贸易的相关数据,实证研究数字服务贸易壁垒对数字服务贸易发展的影响。研究发现:(1)数字服务贸易壁垒在总体以及细分领域中对数字服务贸易的发展存在抑制作用,数字服务贸易壁垒细分领域对不同经济体的数字服务贸易发展存在异质影响。(2)市场总体体量、跨国资本流量有助于弱化发达国家数字服务贸易总体壁垒对数字服务贸易影响的抑制作用。其中,跨国资本流量增强发达国家电子交易类限制对数字服务贸易的正向影响,弱化发展中国家支付系统类限制对数字服务贸易的消极影响。

关键词：数字服务贸易数字服务贸易壁垒 DSTRI

A newly bio-inspired path planning algorithm for autonomous obstacle avoidance of UAV

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Chinese Journal of Aeronautics 2021年第9期34卷 199-209页

作者： Yaoming ZHOU Yu SU Anhuan XIE lingyu kong School of Aeronautic Science and Engineering Beihang UniversityBeijing 100191China Intelligent Robot Research Center ZHEJIANG LABZhejiang 311121China

In this paper,a bio-inspired path planning algorithm in 3 D space is *** algorithm imitates the basic mechanisms of plant growth,including phototropism,negative geotropism and *** algorithm proposed in this paper solves the dynamic obstacle avoidance path planning problem of Unmanned Aerial Vehicle(UAV)in the case of unknown environment *** with other path planning algorithms,the algorithm has the advantages of fast path planning speed and fewer route points,and can achieve the effect of low delay real-time path *** feasibility of the algorithm is verified in the Gazebo simulator based on the Robot Operating System(ROS)***,an actual UAV autonomous obstacle avoidance path planning experimental platform is built,and a UAV obstacle avoidance path planning flight test is carried out based on this actual environment.

关键词： Obstacle avoidance Path planning Plant growth ROS UAV

UHPLC-ESI-MS/MS同时测定尿毒康合剂中11种成分的含量

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中国现代应用药学 2024年第16期41卷 2257-2262页

作者：张婷徐娟孔令钰刘琳娜李燕林王蕾天津市医药科学研究所天津300020 中山市中医院广东中山528400

目的建立UHPLC-ESI-MS/MS法同时测定尿毒康合剂中没食子酸、毛蕊异黄酮葡萄糖、芦丁、金丝桃苷、丹酚酸B、大黄酸、黄芪甲苷、隐丹参酮、大黄素、丹参酮I、丹参酮IIA的含量。方法采用InertSustain^(R) C_(18)(3.0 mm×100 mm,3.0μm)色... 详细信息

目的建立UHPLC-ESI-MS/MS法同时测定尿毒康合剂中没食子酸、毛蕊异黄酮葡萄糖、芦丁、金丝桃苷、丹酚酸B、大黄酸、黄芪甲苷、隐丹参酮、大黄素、丹参酮I、丹参酮IIA的含量。方法采用InertSustain^(R) C_(18)(3.0 mm×100 mm,3.0μm)色谱柱,甲醇(A)-0.1%甲酸水溶液(B),梯度洗脱,流速0.4 mL·min^(−1),进样量20μL;质谱采用电喷雾离子源(ESI源),正负离子扫描切换,多重反应监测模式进行定量分析。结果尿毒康合剂中11种成分在线性范围内峰面积与质量浓度均呈良好的线性关系,仪器精密度RSD<3.0%,加样回收率为98.44%~103.56%,RSD为2.04%~3.34%。结论本方法高效、稳定、准确、简便,可用于尿毒康合剂中的质量评价与质量控制,并为尿毒康合剂中的临床应用及研究提供依据。

关键词：超高效液相色谱-电喷雾串联三重四极杆质谱尿毒康合剂含量测定多重反应监测

A Comparative Study on Kinematic Calibration for a 3-DOF Parallel Manipulator Using the Complete-Minimal,Inverse-Kinematic and Geometric-Constraint Error Models

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Chinese Journal of Mechanical Engineering 2023年第5期36卷 206-230页

作者： Haiyu Wu lingyu kong Qinchuan Li Hao Wang Genliang Chen State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China School of Mechanical Engineering Zhejiang Sci-Tech UniversityHangzhou 310018China

Kinematic calibration is a reliable way to improve the accuracy of parallel manipulators, while the error model dramatically afects the accuracy, reliability, and stability of identifcation results. In this paper, a comparison study on kinematic calibration for a 3-DOF parallel manipulator with three error models is presented to investigate the relative merits of diferent error modeling methods. The study takes into consideration the inverse-kinematic error model, which ignores all passive joint errors, the geometric-constraint error model, which is derived by special geometric constraints of the studied RPR-equivalent parallel manipulator, and the complete-minimal error model, which meets the complete, minimal, and continuous criteria. This comparison focuses on aspects such as modeling complexity, identifcation accuracy, the impact of noise uncertainty, and parameter identifability. To facilitate a more intuitive comparison, simulations are conducted to draw conclusions in certain aspects, including accuracy, the infuence of the S joint, identifcation with noises, and sensitivity indices. The simulations indicate that the complete-minimal error model exhibits the lowest residual values, and all error models demonstrate stability considering noises. Hereafter, an experiment is conducted on a prototype using a laser tracker, providing further insights into the diferences among the three error models. The results show that the residual errors of this machine tool are signifcantly improved according to the identifed parameters, and the complete-minimal error model can approach the measurements by nearly 90% compared to the inverse-kinematic error model. The fndings pertaining to the model process, complexity, and limitations are also instructive for other parallel manipulators.

关键词： Kinematic calibration Parallel manipulator Error modeling Product of exponential(POE)

The City Intelligence Quotient （City IQ） Evaluation System＂ Conception and Evaluation

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Engineering 2016年第2期2卷 196-211页

作者： Zhiqiang Wu Yunhe Pan Qiming Ye lingyu kong Tongji University Shanghai 200092 China Chinese Academy of Engineering Beijing 100088 China

After a systematic review of 38 current intelligent city evaluation systems （ICESs） from around the world, this research analyzes the secondary and tertiary indicators of these 38 ICESs from the perspec- tives of scale structuring, approaches and indicator selection, and determines their common base. From this base, the fundamentals of the City Intelligence Quotient （City IOD Evaluation System are developed and five dimensions are selected after a clustering analysis. The basic version, City IQ Evaluation System 1.0, involves 275 experts from 14 high-end research institutions, which include the Chinese Academy of Engineering, the National Academy of Science and Engineering （Germany）, the Royal Swedish Academy of Engineering Sciences, the Planning Management Center of the Ministry of Housing and Urban-Rural Development of China, and the Development Research Center of the State Council of China. City IQ Evaluation System 2.0 is further developed, with improvements in its universality, openness, and dy- namic adjustment capability. After employing deviation evaluation methods in the IQ assessment, City IQ Evaluation System 3.0 was conceived. The research team has conducted a repeated assessment of 41 intelligent cities around the world using City IQ Evaluation System 3.0. The results have proved that the City IQ Evaluation System, developed on the basis of intelligent life, features more rational indicators selected from data sources that can offer better universality, openness, and dynamics, and is more sen- sitive and precise.

关键词： iCity Evaluation system Open data Intelligent city-being Intelligence quotient

A Stiffness Variable Passive Compliance Device with Reconfigurable Elastic Inner Skeleton and Origami Shell

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Chinese Journal of Mechanical Engineering 2020年第5期33卷 75-87页

作者： Zhuang Zhang Genliang Chen Weicheng Fan Wei Yan lingyu kong Hao Wang Shanghai Key Laboratory of Digital Manufacture for Thin‑walled Structures Shanghai Jiao Tong UniversityShanghai 200240China State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong UniversityShanghai 200240China Intelligent Robot Research Center Zhejiang LabHangzhou 311100China

Devices with variable stiffness are drawing more and more attention with the growing interests of human-robot interaction,wearable robotics,rehabilitation robotics,*** this paper,the authors report on the design,analysis and experiments of a stiffness variable passive compliant device whose structure is a combination of a reconfigurable elastic inner skeleton and an origami *** main concept of the reconfigurable skeleton is to have two elastic trapezoid four-bar linkages arranged in *** stiffness variation generates from the passive deflection of the elastic limbs and is realized by actively switching the arrangement of the leaf springs and the passive joints in a fast,simple and straightforward *** kinetostatics and the compliance of the device are analyzed based on an efficient approach to the large deflection problem of the elastic links.A prototype is fabricated to conduct experiments for the assessment of the proposed *** results show that the prototype possesses relatively low stiffness under the compliant status and high stiffness under the stiff status with a status switching speed around 80 ms.

关键词： Variable stiffness Passive compliance device Reconfigurable skeleton Origami shell

Stability Analysis for a Planar Parallel Manipulator with the Capability of Self-Coordinating the Load Distribution

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 821-829页

作者： kong lingyu WANG Hao ZHANG Pu ZHAO Yong CHEN Genliang ZHAO Longhai State Key Laboratory of Mechanical System and Vibration Shanghai Jiao Tong University Shanghai Key Laboratory of Digital Manufacture for Thin-walled Structures Shanghai Jiao Tong University

Redundantly actuated parallel manipulators have the advantage of enhancing load-carrying capability over their non-redundant ones, however they also cause the problem of uneven load distribution and need a high requirement for the control system. This paper presents a 2-RPR/RP planar redundantly actuated parallel manipulator which can self-coordinate the distribution of external loads. This capability is realized by an appropriate design of the moving platform to make the manipulator stable at equilibrium position. The stability is proved by the theorem of direct Lyapunov method in classical mechanics. The numerical simulations are conducted to validate the stable capability by means of the observation of potential energies and phase planes. This paper offers an alternative way to design a redundantly actuated manipulator with the capability of self-coordinating the load distribution to actuations, such that parts of the controlling work are assigned to the manipulator itself by its own structure and only a little work remains to the control system.

关键词： redundantly actuated parallel manipulator load distribution stability

缓倾斜特厚煤层重复采动下回风大巷稳定性研究

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陕西煤炭 2024年第7期43卷 76-81页

作者：杨旭孔令宇孟凡燃马翔宇骆俊辉国家能源集团新疆能源有限责任公司新疆乌鲁木齐831215

针对煤层群开采后覆岩复杂破坏的特征,为保证回风大巷施工使用期间的安全稳定,采用数值模拟和理论分析相结合的方法,建立不同工作面布置方式的煤层开采数值模拟,研究巷道合理支护范围及支护强度。研究表明,在工作面开采过程中,周围煤岩... 详细信息

针对煤层群开采后覆岩复杂破坏的特征,为保证回风大巷施工使用期间的安全稳定,采用数值模拟和理论分析相结合的方法,建立不同工作面布置方式的煤层开采数值模拟,研究巷道合理支护范围及支护强度。研究表明,在工作面开采过程中,周围煤岩体中覆岩应力重新分布,当B1煤层工作面开采后,回风大巷受影响范围为80 m,随着下顺槽北移距离的不断增大,巷道围岩垂直应力降幅较缓,回风大巷支护距离降幅为17.5%、18.75%、13.75%、8.75%。在考虑巷道稳定性及提高煤炭资源回收率等因素的基础上,最终确定上顺槽北移4.5 m,该研究成果可为巷道安全掘进提供指导。

关键词：重复采动数值模拟巷道稳定性覆岩移动角