检索结果-南通市图书馆

Bio-inspired Design and Inverse Kinematics Solution of an Omnidirectional Humanoid Robotic Arm with Geometric and Load Capacity Constraints

引用

Journal of Bionic Engineering 2024年第2期21卷 778-802页

作者： Zhichao Zhu Zirong Luo Yiming Zhu Tao Jiang Minghai Xia shanjun chen Boyu Jin College of Intelligence Science and Technology National University of Defense TechnologyChangshaChina

Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.

关键词： Humanoid robotic arm Bio-inspired design Inverse kinematics solution Load capacity constraint Geometric constraint

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Oral administration of Bacillus coagulans TQ-35 alleviates allergic responses in OVA-sensitive BALB/c mice

引用

Food Science and Human Wellness 2024年第3期13卷 1246-1257页

作者： Yifan Wang shanjun chen Chong Wang Yi Zhang Hongliang Zeng Linglin Fu Yanbo Wang Food Safety Key Laboratory of Zhejiang Province School of Food Science and BiotechnologyZhejiang Gongshang UniversityHangzhou 310018China College of Food Science Fujian Agriculture and Forestry UniversityFuzhou 350002China School of Food and Health Beijing Technology and Business UniversityBeijing 100048China

Bacillus coagulans has been extensively studied so far,but there has been a lack of research on its usage in allergy.In this study,we designed to assess the effect of different concentrations of B.coagulans on food allergy in a BALB/c mouse model of ovalbumin(OVA)-induced food allergy and its effect on gut microbes.The assessment of symptoms,specific immunoglobulin E(IgE),T-cell differentiation,and related gene expression levels in sensitized mice by assay indicated that high doses of oral B.coagulans could alleviate allergic symptoms.Treatment with B.coagulans,in the high-dose group,significantly reduced IgE and IgG1 levels and modulated the balance of T helper type 1 cell(Th1)and Th2 and the expression of relevant genes in the spleen.16S rRNA analysis showed that probiotics improved the structure of the microbiota,in particular by boosting the percentage of Clostridia,Bacteroides vulgatus and Enterococcus faecium,and by increasing the abundance of microbial species,thereby modulating the immune system.Therefore,this study can provide insights into the practical application of B.coagulans doses to alleviate OVA allergy.

关键词： Bacillus coagulans TQ-35 Food allergy Ovalbumin(OVA) Gut microbiota

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Immunological disturbance effect of exogenous histamine towards key immune cells

引用

Food Science and Human Wellness 2024年第4期13卷 1856-1863页

作者： Yanan Liu Huan Li Chong Wang shanjun chen Renjie Lian Weiqiang Wang Linglin Fu Yanbo Wang Food Safety Key Laboratory of Zhejiang Province School of Food Science and BiotechnologyZhejiang Gongshang UniversityHangzhou 310018China Jinghai Group Co. Ltd.Rongcheng 264307China Jinhua Jinnian Ham Co. Ltd.Jinhua 321041China School of Food and Health Beijing Technology and Business UniversityBeijing 100048China

Histamine in food has attracted widespread attention due to the potential toxicity and associated health risk.However,its influences on immunological components,especially the function of key immune cells,are still poorly known.In this work,we explored the effects of exogenous histamine on the function of key immune cells such as intestinal epithelial cells,dendritic cells,and T cells.The results showed that histamine could affect the expression of allergy-related genes in CMT93 cells at a high dose of histamine.Moreover,it’s found that histamine could cause an imbalance in the levels of relevant immune factors secreted by dendritic cells and T cells,especially those related to allergy.At the same time,the proportion of MHC class IIpositive dendritic cells and the proportion of T helper 2(Th2)cells in CD4^(+)T cells increased after histamine stimulation.We concluded that the presence of a certain level of histamine in food may affect the expression of allergy-related cytokines,disrupt the balance of the immune homeostasis,and potentially lead to adverse immune reactions.This work demonstrated the importance of including the estimation of histamine’s immune safety in aquatic products rather than merely considering the potential risk of food poisoning.

关键词： Histamine Immunological disturbance Food allergy Immune factor Edible safety

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Design and Experiments of a Human-Leg-Inspired Omnidirectional Robotic Leg

引用

Journal of Bionic Engineering 2023年第6期20卷 2570-2589页

作者： Yuze Xu Zirong Luo Xiangjuan Bai Huixiang Xie Yiming Zhu shanjun chen Jianzhong Shang College of Intelligence Science and Technology National University of Defense TechnologyChangsha410073China PLA Rocket Force University of Engineering Xi’an710025China

Bionic-based robotic legs enable the legged robots with elegant and agile mobility in multi-terrain environment,just like natural living beings.And the smart design could efficiently improve the performance of a robotic leg.Inspired by the simplified human leg structure,we present a 3-DOF robotic leg—OmniLeg,that is capable of making omnidirectional legged locomotion while keeping constant posture of the foot.Additionally,the concentrated drive mode,in which all the motor actuators are installed in the torso and do not move with the leg,minimizes the inertia of the robotic leg.In this paper,the modular design,the kinematics model,the structural analysis,the workspace,and the performance evaluation of the OmniLeg are discussed.Furthermore,we build a prototype based on the proposed design,and the precision of it is verified by the error calibration experiment which is conducted by tracking the trajectory of the prototype’s endpoint.Then,we present an OmniLeg-based single legged mobile robot.The capability of omnidirectional legged locomotion of the OmniLeg is demonstrated by the experiments.

关键词： Human leg Robotic leg Omnidirectional legged locomotion Spatial dual-parallelogram-linkages Spatial closed-loop four-bar

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

The effect of feed additive ethoxyquin on tilapia growth performance and potential secondary hazard to consumers

引用

Food Science and Human Wellness 2023年

作者： shanjun chen Chong Wang Yanan Liu Zhigang Zhou Linglin Fu Yanbo Wang Food Safety Key Laboratory of Zhejiang Province School of Food Science and Biotechnology Zhejiang Gongshang University Sino-Norway Joint Lab on Fish Gut Microbiota Institute of Feed Research Chinese Academy of Agricultural Sciences

Ethoxyquin (EQ) is a widely used feed additives for aquaculture， but the potential hazard to fish and consumers are not fully understood. In this work， EQ was applied to tilapia fed with either high-fat or low-fat feed， and the changes in growth performance and intestinal barrier integrality of genetically improved farmed tilapia was observed. Additionally， the microbiota in the intestinal content and flesh was analyzed by 16S rDNA sequencing， and the flesh metabolites was measured by LC-MS/MS untargeted metabolomics. In the low-fat group， EQ increased weight gain and feed conversion rate， but reduced survival rate. In the high-fat group， only weight gain decreased， and there was no significant effect on feed conversion rate and survival rate. Additionally， the intestinal villi and microbiota diversity was impaired in both feeding conditions. Microbiota analysis revealed that EQ resulted in different composition and lower diversity of the flesh microbiota and upregulated the proportion of potential pathogens. EQ also changed the flesh metabolome， decreasing beneficial metabolites and increasing potential harmful components. This work elucidated the effect of EQ on growth performance of tilapia and implied that it has adverse effects on tilapia and may be passed on to consumers.

关键词：

来源：

同方期刊数据库评论

在线全文

同方期刊数据库

学校读者我要写书评

暂无评论

Alkali-metal(Li, Na, and K)-adsorbed MoSi_(2)N_(4) monolayer: an investigation of its outstanding electronic, optical, and photocatalytic properties

引用

Communications in Theoretical Physics 2022年第1期74卷 96-104页

作者： Zhiyuan Sun Jing Xu Nsajigwa Mwankemwa Wenxing Yang Xianwen Wu Zao Yi shanjun chen Weibin Zhang School of Physics and Optoelectronic Engineering Yangtze UniversityJingzhou 434023China School of Chemistry and Chemical Engineering Jishou UniversityJishou 416000China Joint Laboratory for Extreme Conditions Matter Properties Southwest University of Science and TechnologyMianyang 621010China

Single-layer MoSi_(2)N_(4),a high-quality two-dimensional material,has recently been fabricated by chemical vapor deposition.Motivated by this latest experimental work,herein,we apply first principles calculations to investigate the electronic,optical,and photocatalytic properties of alkali-metal(Li,Na,and K)-adsorbed MoSi_(2)N_(4) monolayer.The electronic structure analysis shows that pristine MoSi_(2)N_(4) monolayer exhibits an indirect bandgap(E_(g)=1.89 eV).By contrast,the bandgaps of one Li-,Na-,and K-adsorbed MoSi_(2)N_(4) monolayer are 1.73 eV,1.61 eV,and 1.75 eV,respectively.Moreover,the work function of MoSi_(2)N_(4) monolayer(4.80 eV)is significantly reduced after the adsorption of alkali metal atoms.The work functions of one Li-,Na-,and K-adsorbed MoSi_(2)N_(4) monolayer are 1.50 eV,1.43 eV,and 2.03 eV,respectively.Then,optical investigations indicate that alkali metal adsorption processes substantially increase the visible light absorption range and coefficient of MoSi_(2)N_(4) monolayer.Furthermore,based on redox potential variations after alkali metals are adsorbed,Li-and Na-adsorbed MoSi_(2)N_(4) monolayers are more suitable for the water splitting photocatalytic process,and the Li-adsorbed case shows the highest potential application for CO_(2) reduction.In conclusion,alkali-metal-adsorbed MoSi_(2)N_(4) monolayer exhibits promising applications as novel optoelectronic devices and photocatalytic materials due to its unique physical and chemical properties.

关键词： MoSi_(2)N_(4) first-principles alkali metal adsorbed electronic structure optical properties photocatalysis

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

Au溶胶中咖啡酸分子的表面增强拉曼光谱实验与理论研究

引用

信阳师范学院学报（自然科学版） 2024年第2期37卷 176-181页

作者：陈艳郑家兴王俊义陈善俊长江大学物理与光电工程学院湖北荆州434023

在加热条件下利用氯金酸与柠檬酸钠的还原反应制备出胶体金,并使用拉曼光谱仪测量出咖啡酸(CA)分子常规拉曼散射(NRS)光谱及其吸附在Au纳米颗粒上的表面增强拉曼散射(SERS)光谱。采用密度泛函理论(DFT)的B3LYP方法,选用6-31+G**基组作为... 详细信息

在加热条件下利用氯金酸与柠檬酸钠的还原反应制备出胶体金,并使用拉曼光谱仪测量出咖啡酸(CA)分子常规拉曼散射(NRS)光谱及其吸附在Au纳米颗粒上的表面增强拉曼散射(SERS)光谱。采用密度泛函理论(DFT)的B3LYP方法,选用6-31+G**基组作为C、H、O的计算基组,选用赝势基组LANL2DZ作为Au的计算基组。首先对体系结构进行优化,并在此基础上计算CA分子的NRS光谱及CA分子与Au纳米颗粒吸附后3种可能模型的SERS光谱。对比分析可知,CA分子上的羧基和羟基共同与Au团簇吸附的构型计算得到的结果与实验数据最符合。接着进一步对CA分子的振动模式进行了详细指认,结果表明,CA分子与Au纳米颗粒是通过CA分子上的羧基和羟基吸附在一起的。最后通过计算CA分子及CA分子与Au纳米颗粒吸附后的分子前线轨道,进一步确定了CA分子在Au溶胶中的吸附方式。

关键词：咖啡酸表面增强拉曼散射密度泛函理论分子前线轨道频率归属

来源：

维普期刊数据库

同方期刊数据库博看期刊评论

在线全文

学校读者我要写书评

暂无评论

Numerical Analysis of Cold-Formed Thin-Walled Steel Short Columns with Pitting Corrosion during Bridge Construction

引用

Structural Durability & Health Monitoring 2024年第2期18卷 181-196页

作者： Hongzhang Wang Jing Guo shanjun Yang Chaoheng cheng Jing chen Zhihao chen CCCC Second Harbor Engineering Third Engineering Co. Ltd.Zhenjiang212000China Suqian Highway Development Center Suqian223800China School of Mechanics and Civil Engineering China University of Mining and TechnologyXuzhou221116China

Pitting corrosion is harmful during bridge construction,which will lead to uneven roughness of steel surfaces and reduce the thickness of steel.Hence,the effect of pitting corrosion on the mechanical properties of cold-formed thin-walled steel stub columns is studied,and the empirical formulas are established through regression fitting to predict the ultimate load of web and flange under pitting corrosion.In detail,the failure modes and load-displacement curves of specimens with different locations,area ratios,and depths are obtained through a large number of non-linear finite element analysis.As for the specimens with pitting corrosion on the web,all the specimens are subject to local buckling failure,and the failure mode will not change with pitting corrosion,but the failure location will change with pitting corrosion location;the size,location,and area ratio of pitting corrosion have little influence on the ultimate load of cold-formed thin-walled steel short columns,but the loss rate of pitting corrosion section area has a greater impact on the ultimate bearing capacity.As for the specimen with flange pitting corrosion,the location and area ratio of pitting corrosion have less influence on the ultimate load of cold-formed thin-walled steel short columns,and the section area loss rate has greater influence on the ultimate bearing capacity;the impact of web pitting corrosion on the ultimate load is greater than that of flange pitting corrosion under the same condition of pitting corrosion section area.The prediction formulas of limit load which are suitable for pitting corrosion of web and flange are established,which can provide a reference for performance evaluation of corroded cold-formed thin-walled steel.

关键词： Pitting corrosion cold-formed thin-walled steel ultimate load prediction formula short columns

来源：

维普期刊数据库评论

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

基于斑马鱼模型和代谢组学技术筛选天麻中潜在抗癫痫活性成分

引用

山东科学 2024年第3期37卷 1-9页

作者：陈善军王欢胡凯庆毕文杰程贵东王松松韩利文王晓静山东第一医科大学(山东省医学科学院)药学院(药物研究所)先进药物递释系统全国重点实验室山东济南250117

从确有疗效的中药天麻中挖掘潜在的抗癫痫活性成分对于癫痫的防治意义重大。使用斑马鱼幼鱼癫痫模型评价两个产地天麻样本的抗癫痫活性;利用基于LC-MS/QE plus(液相色谱-质谱)的代谢组学技术检测天麻成分,结合模式判别分析方法寻找重要... 详细信息

从确有疗效的中药天麻中挖掘潜在的抗癫痫活性成分对于癫痫的防治意义重大。使用斑马鱼幼鱼癫痫模型评价两个产地天麻样本的抗癫痫活性;利用基于LC-MS/QE plus(液相色谱-质谱)的代谢组学技术检测天麻成分,结合模式判别分析方法寻找重要差异代谢物;通过一级质谱与二级质谱数据及文献进行代谢物鉴定,并利用斑马鱼癫痫模型进一步对代谢物的抗癫痫活性进行确认。结果显示9个天麻提取物能够显著减少斑马鱼的涡旋数量,并且两产地天麻在抗癫痫活性上有着显著差异(P<0.05)。代谢组学检测以及模式判别分析筛选并鉴定出了6个重要差异代谢物(巴利森苷E、天麻素、巴利森苷C、巴利森苷D、N6-对羟基苄基腺苷、4, 4′-二羟基二苄基醚)。活性验证发现巴利森苷E、天麻素、N6-对羟基苄基腺苷能够显著抑制斑马鱼癫痫样行为。该研究运用斑马鱼模型与代谢组学找出并确定了天麻中多个具有抗癫痫活性的成分,其中巴利森苷E以及N6-对羟基苄基腺苷首次被发现具有抗癫痫活性,为天麻抗癫痫作用的研究提供了参考价值。

关键词：天麻癫痫代谢组学斑马鱼活性成分

来源：

维普期刊数据库博看期刊

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

工业地理信息系统的设计和关键技术研究

引用

遥感学报 2024年第5期28卷 1189-1205页

作者：毛善君张鹏鹏张浩源陈金川李梅陈华州北京大学地球与空间科学学院遥感与地理信息系统研究所北京100871 北京龙软科技股份有限公司北京100190

自20世纪60年代地理信息系统理论、技术和软硬件系统产生以来,已经在传统地学以及数字城市、智能交通、高科技战争等领域得到广泛应用。在全世界范围内,智能化矿山、智能化工厂的建设是大势所趋,与此相关的厂房、设备、零部件、工作环... 详细信息

自20世纪60年代地理信息系统理论、技术和软硬件系统产生以来,已经在传统地学以及数字城市、智能交通、高科技战争等领域得到广泛应用。在全世界范围内,智能化矿山、智能化工厂的建设是大势所趋,与此相关的厂房、设备、零部件、工作环境也属于地理空间对象,而且这些实体之间也存在空间关系。为此,基于智能化矿山、智能化工厂日常生产对象的时空特性和管控需求,结合数字孪生、工业控制、大数据分析等技术,本文提出了工业地理信息系统IGIS(Industry Geographic Information System)的概念及数据模型,并在工业智能化的背景下,构建了包括设备层、数据采集传输层、IGIS平台层、业务服务层和应用决策层的框架体系。针对数据标准规范、时空数据协同处理、工业环境数字孪生、工业设备数字孪生、时空数据智能分析和组态控制等关键技术问题提出了解决方案,为实现智能化矿山、智能化工厂宏观微观空间对象的一体化拓扑表达、存储、分析和协同控制提供了统一的时态地理信息系统(TGIS)远程管控平台。该平台已经在中国多对煤矿的矿井和选煤厂得到了初步应用,验证了系统的实用性和可行性。

关键词：遥感工业地理信息系统智能化矿山智能化工厂数字孪生可视化管控

来源：

维普期刊数据库

同方期刊数据库评论

在线全文

学校读者我要写书评

暂无评论

欢迎您,

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案：

请选择收藏分类：

通借通还

欢迎您,

建议与咨询 留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

时间限定

文献类型

馆藏选择

核心期刊

语言

文献类型

帮助

文字说明：

检索规则说明：

检索范例：

分类表

所选分类

限定检索结果

文献类型

馆藏范围

日期分布

学科分类号

主题

机构

作者

语言

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

在线全文

请选择保存的检索档案： 新增检索档案 确定 取消

请选择收藏分类： 新增自定义分类 确定 取消

通借通还

建议与咨询留下您的常用邮箱和电话号码，以便我们向您反馈解决方案和替代方法

请选择保存的检索档案：

请选择收藏分类：