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三指机器人手爪设计与抓取研究

组合机床与自动化加工技术 2024年第9期 35-40,45页

作者：贾志煦张磊孙铭李红兵赵柏淦陆观南通大学机械工程学院南通226000 上海交通大学仪器科学与工程系上海200240

传统的多指仿人灵巧手虽然已实现较高的灵巧性与仿人性,但存在设计制作繁琐或价格昂贵以及手指末端抓力偏弱的弊端。而三指机械手作为一种简化形式一般又存在灵巧性不高的问题。针对以上弊端设计了一款基于滑块-摇杆机构的三指机器人手... 详细信息

传统的多指仿人灵巧手虽然已实现较高的灵巧性与仿人性,但存在设计制作繁琐或价格昂贵以及手指末端抓力偏弱的弊端。而三指机械手作为一种简化形式一般又存在灵巧性不高的问题。针对以上弊端设计了一款基于滑块-摇杆机构的三指机器人手爪。将该结构直接类比人手所设计的手指关节能够实现中节指骨与远节指骨的耦合运动,且指尖力会随手指弯曲程度的增加而增大,有利于对细小目标物进行指尖捏取;采取与传统偏航-俯仰型不同的翻滚-俯仰型掌指结构,在增加了沿掌根关节的旋转自由度的同时尽可能地丰富了手爪的抓取姿态,使其能够适应更多的目标物,增加了灵巧性。在MATLAB中建立手指运动学模型并求得手指末端工作空间。经由实验验证得出该手爪具备较大的抓取力与丰富的抓取姿态。

关键词：机械手抓取力滑块-摇杆机构灵巧性工作空间

Fatty acid-binding protein gene is indispensable for molting process in Heortia vitessoides(Lepidoptera:Crambidae)

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Journal of Integrative Agriculture 2023年第2期22卷 495-504页

作者： YE Qing-ya li Zhi-xing CHEN Qing-ling SUN ming-xu YIN ming-liang liN Tong College of Forestry and Landscape Architecture South China Agricultural UniversityGuangzhou 510642P.R.China

As intracellular fatty acid(FA) carriers,FA-binding proteins(FABPs) widely participate in the absorption,transport,and metabolism of *** is a key protein in insect lipid metabolism and plays an important role in various physiological activities of *** FABP gene(HvFABP) was cloned from the transcriptional library of Heortia vitessoides Moore(Lepidoptera:Crambidae),and its expression patterns were determined using reverse transcription quantitative PCR(RTqPCR).Stage-and tissue-specific expression profiles indicated that HvFABP highly expressed from prepupal to adult stages and in larval midgut and adult *** expression may be induced through starvation,mRNA expression was downregulated at 24 and 48 h and upregulated at 72 h after ***,20-hydroxyecdysone can induce the upregulation of its *** interference-mediated silencing of Hv FABP significantly inhibited HvFABP expression,resulting in delayed development,abnormal molting or lethal phenotypes,and a significantly reduced survival *** results indicate that HvFABP plays a key role in the molting of ***.

关键词： fatty acid-binding protein starvation 20-hydroxyecdysone RNA interference Heortia vitessoides Moore

Ge surface passivation by GeO2 fabricated by N2O plasma oxidation

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Science China(Information Sciences) 2015年第4期58卷 143-147页

作者： liN Meng AN Xia li ming YUN QuanXin li Min li Zhi Qiang liU PengQiang ZHANG Xing HUANG Ru Key Laboratory of Microelectronic Devices and Circuits Institute of MicroelectronicsPeking University

In this paper, Ge surface passivation by Ge O2 grown by N2 O plasma oxidation is presented and experimentally demonstrated. Results show that stoichiometrically Ge O2 can be achieved by N2 O plasma oxidation at 350°C. The transmission electron microscope observation reveals that the Ge O2/Ge interface is automatically smooth and the thickness of Ge O2is～0.9 nm with 120 s N2 O plasma oxidation. The interface state density of Ge surface after N2 O plasma passivation is about～3×1011 cm-2e V-1. With Ge O2 passivation,the hysteresis of MOS capacitor with Al2O3 as gate dielectric is reduced to～55 m V, compared to 130 m V of the untreated one. The Fermi-level at Ge O2/Ge interface is unpinned, and the surface potential is effectively modulated by the gate voltage, which is promising for high performance NMOSFETs fabrication.

关键词： Ge passivation Ge O 2 N 2 O plasma oxidation

Wilson病相关慢加急性肝衰竭患者预后影响因素及其预测价值

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解放军医学杂志 2024年第2期49卷 131-136页

作者：唐露露陈怀珍张静董婷李俊江海林杨文明安徽中医药大学第一附属医院脑病科安徽合肥230031

目的探讨Wilson病(WD)相关慢加急性肝衰竭(ACLF)患者的预后影响因素及其预测价值。方法收集2017年1月1日-2022年1月1日在安徽中医药大学第一附属医院脑病科住院的70例WD-ACLF患者的临床资料进行回顾性分析,根据12周预后情况分为生存组(n... 详细信息

目的探讨Wilson病(WD)相关慢加急性肝衰竭(ACLF)患者的预后影响因素及其预测价值。方法收集2017年1月1日-2022年1月1日在安徽中医药大学第一附属医院脑病科住院的70例WD-ACLF患者的临床资料进行回顾性分析,根据12周预后情况分为生存组(n=36)与死亡组(n=34)。采用单因素和多因素logistic回归分析WD-ACLF患者预后的影响因素,建立预后模型,对模型整体系数进行综合检验,采用Hosmer-Lemeshow检验评价模型的拟合度。采用ROC曲线分析新建模型以及慢性肝衰竭-序贯器官衰竭评估(CliF-SOFA)评分、终末期肝病模型(MELD)评分、肝硬化分级(CTP)评分对WD-ACLF预后的预测价值。结果共纳入70例WD-ACLF患者,生存组36例,男22例,女14例,中位年龄30.0(17.3,40.0)岁;死亡组34例,男25例,女9例,中位年龄34.0(28.8,41.0)岁。单因素分析结果显示,生存组病程、凝血酶原时间(PT)、活化部分凝血活酶时间(APTT)短于死亡组,白细胞计数(WBC)、国际化标准比值(INR)、天冬氨酸转氨酶(AST)、总胆红素(TBIL)、尿素氮(BUN)、肌酐(Cre)、铜蓝蛋白(CER)水平,以及感染、腹水和上消化道出血比例低于死亡组,红细胞计数(RBC)及血红蛋白(Hb)、Na^(+)、总胆固醇(TC)水平高于死亡组(PliF-SOFA评分(AUC=0.802)、MELD评分(AUC=0.897)、CTP评分(AUC=0.722)。结论病程、INR、TBIL、上消化道出血是影响WDACLF预后的危险因素,据此建立的预后模型能更为准确地预测WD-ACLF患者的预后,其预测价值优于CliF-SOFA评分、MELD评分和CTP评分。

关键词： Wilson病慢加急性肝衰竭预后肝衰竭-序贯器官衰竭评估终末期肝病模型肝硬化分级

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CCM法膜电极设备用热转移橡胶压辊的研制

特种橡胶制品 2024年第1期45卷 32-35页

作者：李举平卢世雄葛朝明李瑜左博宇西安航天华阳机电装备有限公司西安710100

以内-外套筒特殊双重结构为辊芯,硅橡胶为基胶,采用辊芯、界面粘合层、过渡底胶层和功能面胶层结构,通过金属辊体表面处理、混炼、成型、硫化和车磨等工艺,制备了CCM法膜电极设备用热转移橡胶压辊。结果表明,该橡胶压辊能满足CCM膜电极... 详细信息

以内-外套筒特殊双重结构为辊芯,硅橡胶为基胶,采用辊芯、界面粘合层、过渡底胶层和功能面胶层结构,通过金属辊体表面处理、混炼、成型、硫化和车磨等工艺,制备了CCM法膜电极设备用热转移橡胶压辊。结果表明,该橡胶压辊能满足CCM膜电极制造热转移工艺要求。

关键词：热转移橡胶压辊制做原理结构设计配方设计热转移工艺

Abnormal Shift of Center Wavelength in Annealing Long-Period Gratings

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Chinese Physics Letters 2000年第1期17卷 28-30页

作者： QIN li WEI Zhan-Xiong WANG Qing-Ya li Hui-Ping ZHANG Yu-Shu GAO Ding-san Department of Electronics Engineering Jilin UniversityChangchun 130023

During annealing process of long-period gratings,the center wavelengths of some inodes shift to red wavelength while those of others shift to blue compared with their original written ones,and the magnitudes of the shifts are related to the decay of the grating *** red shifts of center wavelength are more evident in lower-order inodes of the *** suggest that part of the photodissociated-H2 combines continuously with Ge-defect centers within 2 h after UV-exposure,and with which the observed abnormal shifts can be explained successfully.

关键词： center Shift annealing

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胎盘间充质干细胞对胰腺创伤大鼠的保护作用

解放军医学杂志 2024年第4期49卷 439-448页

作者：董鸿斐黄茜王张鹏景光旭史明李先慧孙红玉西部战区总医院烧伤整形外科四川成都610083 西部战区总医院胰腺损伤与修复四川省重点实验室四川成都610083 西部战区总医院基础实验室四川成都610083

目的探讨胎盘间充质干细胞(P-MSCs)对胰腺创伤(PT)大鼠的保护作用。方法健康成年雄性SD大鼠60只,随机分为对照组、胰腺创伤组(胰腺损伤区域及创伤周围局部注射1 ml PBS溶液)与P-MSCs组[胰腺损伤区域及创伤周围局部注射1 ml P-MSCs(1×10... 详细信息

目的探讨胎盘间充质干细胞(P-MSCs)对胰腺创伤(PT)大鼠的保护作用。方法健康成年雄性SD大鼠60只,随机分为对照组、胰腺创伤组(胰腺损伤区域及创伤周围局部注射1 ml PBS溶液)与P-MSCs组[胰腺损伤区域及创伤周围局部注射1 ml P-MSCs(1×106个/ml)],每组20只。采用400 kPa的致伤压强建立胰腺创伤大鼠模型。于术后1、3、5、7 d每组处死5只大鼠,收集血清及胰腺组织。HE染色观察胰腺组织病理学变化并进行病理损伤评分,EliSA法测定血清中淀粉酶(AMS)、脂肪酶(LPS)、肿瘤坏死因子-α(TNF-α)、白细胞介素-6(IL-6)、IL-10、转化生长因子-β1(TGF-β1)浓度,以及胰腺组织中髓过氧化物酶(MPO)、超氧化物歧化酶(SOD)活性,TUNEL法观察胰腺组织细胞凋亡情况。结果与对照组比较,胰腺创伤组与P-MSCs组在胰腺创伤发生后腹腔积液量增加(P<0.05),胰腺/体重比、胰腺组织病理损伤总评分均升高(P<0.05),血清AMS、LPS、TNF-α、IL-6浓度及MPO活性早期升高,随时间延长呈下降趋势(P<0.05),而抗炎因子IL-10浓度及SOD活性随时间延长呈上升趋势(P<0.01),TGF-β1浓度早期下降,随时间延长呈上升趋势(P<0.01),凋亡指数(AI)明显升高(P<0.001)。与胰腺创伤组比较,P-MSCs组大鼠胰腺组织大体形态得以改善,腹腔积液量减少(P<0.001),胰腺/体重比、胰腺组织病理损伤总评分降低(P<0.05),血清AMS、LPS、IL-6、TNF-α浓度及MPO活性更快恢复至正常水平(P<0.05),而抗炎因子IL-10、TGF-β1浓度及SOD活性升高速度增加(P<0.05),AI升高(P<0.001)。结论P-MSCs可促进PT大鼠组织修复,减轻其局部及全身炎症,改善组织氧化应激反应,促进胰腺腺泡细胞凋亡,对PT大鼠具有保护作用。

关键词：间充质干细胞胰腺创伤氧化应激凋亡

Review of research on agricultural vehicle autonomous guidance

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International Journal of Agricultural and Biological Engineering 2009年第3期2卷 1-16页

作者： ming li Kenji Imou Katsuhiro Wakabayashi Shinya Yokoyama Graduate School of Agricultural and life Sciences the University of TokyoJapan

A brief review of research in agricultural vehicle guidance technologies is *** authors propose the conceptual framework of an agricultural vehicle autonomous guidance system,and then analyze its device *** paper introduces navigation sensors,computational methods,navigation planners and steering *** include global positioning systems(GPS),machine vision,dead-reckoning sensors,laser-based sensors,inertial sensors and geomagnetic direction *** methods for sensor information are used to extract features and fuse *** generate movement information to supply control *** transform guidance information into changes in position and direction.A number of prototype guidance systems have been developed but have not yet proceeded to *** and machine vision fused together or one fused with another auxiliary technology is becoming the trend development for agricultural vehicle guidance *** of new popular robotic technologies will augment the realization of agricultural vehicle automation in the future.

关键词： agricultural vehicle guidance machine vision GPS

Single-Channel Speech Separation Based on Non-negative Matrix Factorization and Factorial Conditional Random Field

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Chinese Journal of Electronics 2018年第5期27卷 1063-1070页

作者： li Xu TU ming WANG Xiaofei WU Chao FU Qiang YAN Yonghong Key Laboratory of Speech Acoustics and Content Understanding Institute of AcousticsChinese Academy of Sciences Signal Analysis Representation and Perception Laboratory Arizona State University Xinjiang Laboratory of Minority Speech and Language Information Processing

A new Non-negative matrix factorization(NMF) based algorithm is proposed for single-channel speech separation with a prior known speakers, which aims to better model the spectral structure and temporal continuity of speech signal. First, NMF and k-means clustering are employed to obtain multiple small dictionaries as well as a state sequence that describes the temporal dynamics between these dictionaries for each ***, a Factorial conditional random field(FCRF) model is trained using the state sequences and dictionaries to jointly model the temporal continuity of two speakers’ mixed signal for separation. Experiments show that the proposed algorithm outperforms the baselines with respect to all metrics, for example sparse NMF(+1.12 dB SDR, +2.37 dB SIR, +0.40 dB SAR, +0.2 MOS), nonnegative factorial hidden Markov model(+2.04 dB SDR,+4.26 dB SIR, +0.62 dB SAR, +1.0 MOS) and standard NMF(+2.8 dB SDR, +5.08 dB SIR, +1.06 dB SAR, +1.2 MOS).

关键词： Single-channel speech separation Non-negative matrix factorization Factorial conditional random field k-means clustering