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A medical robot for needle placement therapy in liver cancer

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2010年第4期11卷 263-269页

作者： xing-guang DUAN Gui-bin BIAN Hong-hua ZHAO xing-tao WANG Qiang huang Intelligent Robotics Institute Beijing Institute of Technology Beijing 100081 China

Hepatocellular carcinoma (HCC) is the second most common malignancy in *** microwave ablation (MWA) is an effective method for liver cancer,a robotic surgical system with ultrasound-directed was designed to assist surgeons on positioning the *** robotic system includes a surgical robot with 5 degrees of freedom,a workstation for path-planning and image processing,a conventional 2D ultrasound device,and an electromagnetic (EM) tracking *** space,clinical operation requirements and optimal mechanical structure are the key factors to be considered in designing a medical robot suitable for use by *** on the mechanics of the needle placement robot,we have conducted detailed kinematic analysis,including a combined numerical algorithm and coordinate ***,the feasibility of the needle placement robot has been validated by experiment.

关键词： Surgical robot Needle insertion Inverse kinematics Numerical solution

Resilient performance of self-centering hybrid rocking walls with curved interface under pseudo-static loading

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Earthquake Engineering and Engineering Vibration 2024年第1期23卷 65-85页

作者： Su xing Yan Shi Sun Xianglei Wang tao School of Civil Engineering Shenyang Jianzhu UniversityShenyang 110168China PetroChina East China Design Institute Co. Ltd.Qingdao 266000China Qingdao Country Garden Bolin Real Estate Co. Ltd.Qingdao 266100China

Frame and rocking wall(FRW)structures have excellent resilient performance during ***,the concrete at interfacial corners of rocking walls(RWs)is easily crushed due to local extreme compression during the rocking *** innovative RW with a curved interface is proposed to prevent interfacial corners from producing local damage,enhancing its earthquake resilient performance(ERP).The precast wall panel with a curved interface is assembled into an integral self-centering hybrid rocking wall(SCRW)by two post-tensioned unbonded prestressed ***,two ordinary energy dissipation steel rebars and two shear reinforcements are arranged to increase the energy dissipation capacity and lateral *** SCRW specimens and one monolithic reinforced concrete(RC)shear wall(SW)were tested under pseudo-static loading to compare the ERPs of the proposed SCRW and the SW,focusing on studying the effect of the curved interface on the *** key resilient performance of rocking effects,failure modes,and hysteretic properties of the SCRW were *** results show that nonlinear deformations of the SCRW are concentrated along the interface between the SCRW and the foundation,avoiding damage within the *** restoring force provided by the prestressed tendons can effectively realize self-centering capacity with small residual deformation,and the resilient performance of the SCRW is better than that of monolithic *** addition,the curved interface of the SCRW makes the rocking center change and move inward,partially relieving the stress concentration and crush of *** rocking range of the rocking center is about 41.4%of the width of the SCRW.

关键词： self-centering hybrid rocking wall(SCRW) monolithic shear wall(SW) earthquake resilient performance(ERP) curved interface rocking center

Simulation of silicon strip detector for space-based cosmic ray experiments with Allpix^(2)

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Radiation Detection Technology and Methods 2023年第3期7卷 355-363页

作者： Lu Bai Hu Liu Feng-Rong Zhu Zhi-Cheng Tang Rui Qiao Yan-Jin Zheng Teng Li Qian-Qian Shi xing-tao huang Wen-Hao huang School of Physical Science and Technology Southwest Jiaotong UniversityNo.999Xi’an RoadChengdu 610031China Key Laboratory of Particle Astrophysics Institute of High Energy PhysicsChinese Academy of Sciences19B Yuquan RoadBeijing 100049China Institute of Frontier and Interdisciplinary Science Shandong University72 Jimobinhai RoadQingdao 266237China

Purpose Silicon strip detectors are widely applied in space-based cosmic ray experiments and most of the silicon strip detectors deploy an analytical method for its ***,the analytical method simplifies the physical process of propagation of electrons/holes generated inside the silicon detector by particles that pass through the *** order to simulate silicon strip detectors with different configurations comprehensively,the Allpix^(2),an open-source software,is used to study those *** When particle passes through the silicon detector,energy is deposited based on Geant4 simulation,and electron-hole pairs are created due to the deposited *** Allpix^(2)simulation method and the analytical method are both used to calculate or simulate the diffusion and drift processes that electron-hole pairs propagate inside the silicon detector under internal electric field,and the number of electrons/holes accumulated at implanted strips are *** and conclusion The number of electrons/holes accumulated along the implanted strips are compared between the Allpix^(2)simulation method and analytical method for different incident angles and different incident positions,they are found to be in good agreement for proton particles,while there are discrepancies for carbon and silicon *** Allpix^(2)software may be an important tool for the study of response of silicon strip detectors in *** charge resolution of single implanted strip predicted by Allpix^(2)simulation method is about 4.7%for proton,3.8%for carbon and 1.6%for silicon particles for an incident angle of 45◦.

关键词： Silicon strip detector Simulation Analytical method Allpix^(2)

Accelerated Primal-Dual Projection Neurodynamic Approach With Time Scaling for Linear and Set Constrained Convex Optimization Problems

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IEEE/CAA Journal of Automatica Sinica 2024年第6期11卷 1485-1498页

作者： You Zhao xing He Mingliang Zhou Tingwen huang Chongqing Key Laboratory of Nonlinear Circuits and Intelligent Information Processing College of Electronic and Information EngineeringSouthwest UniversityChongqing 400715China School of Computer Science Chongqing UniversityChongqing 400044China Department of Mathematics Texas A&M University at QatarDoha 23874Qatar IEEE

The Nesterov accelerated dynamical approach serves as an essential tool for addressing convex optimization problems with accelerated convergence *** previous studies in this field have primarily concentrated on unconstrained smooth con-vex optimization *** this paper,on the basis of primal-dual dynamical approach,Nesterov accelerated dynamical approach,projection operator and directional gradient,we present two accelerated primal-dual projection neurodynamic approaches with time scaling to address convex optimization problems with smooth and nonsmooth objective functions subject to linear and set constraints,which consist of a second-order ODE(ordinary differential equation)or differential conclusion system for the primal variables and a first-order ODE for the dual *** satisfying specific conditions for time scaling,we demonstrate that the proposed approaches have a faster conver-gence *** only requires assuming convexity of the objective *** validate the effectiveness of our proposed two accel-erated primal-dual projection neurodynamic approaches through numerical experiments.

关键词： Accelerated projection neurodynamic approach lin-ear and set constraints projection operators smooth and nonsmooth convex optimization time scaling.

Increasing operational stability of journal bearing in hydraulic suspension micro-pump by herringbone grooved structure

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Science China(Technological Sciences) 2024年第3期67卷 853-862页

作者： HONG tao xing GuanYing ZUO HuaiYu XUE Song LUO XiaoBing State Key Laboratory of Coal Combustion School of Energy and Power EngineeringHuazhong University of Science and TechnologyWuhan 430074China

The operational stability of radial journal bearings is the bottleneck that limits the reliability of hydraulic suspension micropump. Due to self-excited vibrations, the whirl amplitude of the plain journal bearing(PJB) is large at high rotational speeds,which will accelerate wear failure. It has been proven that employing herringbone grooved journal bearing(HGJB) is an effective method to reduce the whirl amplitude and improve operational stability. However, enhancing the stability of journal bearings in micro-pumps by herringbone grooved structures has rarely been studied, and its effect needs to be verified. We validated the mechanism of the stability improvement with the CFD method and compared the dynamic characteristics of HGJB and PJB by rotor dynamics evaluation and experiment. The experimental results show that under the same conditions the whirl amplitude of the HGJB decreases by 29.61% in the x direction and by 24.09% in the y direction compared with that of the PJB. This study reveals the effect of the herringbone grooved structure on the operational stability of bearings and may provide guidance for the reliability improvement of hydraulic suspension micro-pump.

关键词： journal bearing herringbone groove hydrodynamic effect micro-pump

Effect of low-speed waterjet pressure on the rock-breaking performance of unsubmerged cavitating abrasive waterjet

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Petroleum Science 2024年第4期21卷 2638-2649页

作者： Chen-xing Fan Deng Li Yong Kang Hai-tao Zhang Hubei Key Laboratory of Waterjet Theory and New Technology Wuhan University School of Power and Mechanical Engineering Wuhan University

Unsubmerged cavitating abrasive waterjet(UCAWJ) has been shown to artificially create a submerged environment that produces shear cavitation, which effectively enhances rock-breaking performance. The shear cavitation generation and collapse intensity depend on the pressure difference between the intermediate high-speed abrasive waterjet and the coaxial low-speed waterjet. However, the effect of the pressure of the coaxial low-speed waterjet is pending. For this purpose, the effect of low-speed waterjet pressure on rock-breaking performance at different standoff distances was experimentally investigated,and the effects of erosion time and ruby nozzle diameter on erosion performance were discussed. Finally,the micromorphology of the sandstone was observed at different locations. The results show that increased erosion time and ruby nozzle diameter can significantly improve the rock-breaking performance. At different standoff distances, the mass loss increases first and then decreases with the increase of low-speed waterjet pressure, the maximum mass loss is 10.4 g at a low-speed waterjet pressure of0.09 MPa. The surface morphology of cavitation erosion was measured using a 3D profiler, the increase in both erosion depth and surface roughness indicated a significant increase in the intensity of the shear cavitation collapse. At a low-speed waterjet pressure of 0.18 MPa, the cavitation erosion surface depth can reach 600 μm with a roughness of 127 μm.

关键词： Rock-breaking Coaxial low-speed waterjet pressure Abrasive waterjet Cavitation Unsubmerged environment

Synthesis and applications of carbon nanospheres:A review

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Particuology 2024年第4期87卷 325-338页

作者： Yaqi Yao Jinming Xu Yanqiang huang tao Zhang State Key Laboratory of Catalysis Dalian Institute of Chemical PhysicsChinese Academy of SciencesDalian 116023China University of Chinese Academy of Sciences Beijing 100049China

The synthesis of carbon nanospheres(CNS)has developed rapidly in recent years,and they are widely used owing to the tunability of their porous structures and surface properties and the unique hydrodynamic advantages conferred by their spherical *** review summarizes the methods used to synthesize CNS and their applications in various *** review first describes the four main methods of CNS synthesis,*** template,spray-drying,hydrothermal carbonization,Stöber and chemical vapor depo-sition ***,applications in the fields of energy storage,adsorption,biological medicine,and catalysis are ***,some insights on the development and design of CNS are presented.

关键词： Carbon nanosphere Synthesis Application

Reinforcement Learning-Based MAS Interception in Antagonistic Environments

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IEEE/CAA Journal of Automatica Sinica 2024年第1期11卷 270-272页

作者： Siqing Sun Defu Cai Hai-tao Zhang Ning xing the School of Artificial Intelligence and Automation the MOE Engineering Research Center of Autonomous Intelligent Unmanned Systemsthe Guangdong Engineering Technology Research Center of Fully Autonomous Unmanned Surface VehiclesHuazhong University of Science and TechnologyWuhan 430074China the State Grid Hubei Electric Power Research Institute Wuhan 430074China IEEE

Dear Editor, As a promising multi-agent systems(MASs) operation, autonomous interception has attracted more and more attentions in these years, where defenders prevent intruders from reaching *** far, most of the relevant methods are applied in ideal environments without agent damages. As a remedy, this letter proposes a more realistic interception method for MASs suffered by damages.

关键词： agent MAS destination

A Comprehensive Overview of the Neural Mechanisms of Light Therapy

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Neuroscience Bulletin 2024年第3期40卷 350-362页

作者： Xiaodan huang Qian tao Chaoran Ren Guangdong-Hongkong-Macao Institute of CNS Regeneration Ministry of Education CNS Regeneration Collaborative Joint LaboratoryJinan UniversityGuangzhou 510632China Psychology Department School of MedicineJinan UniversityGuangzhou 510632China

Light is a powerful environmental factor influencing diverse brain *** evidence supports the beneficial effect of light therapy on several diseases,including depression,cognitive dysfunction,chronic pain,and sleep ***,the precise mechanisms underlying the effects of light therapy are still not well *** this review,we critically evaluate current clinical evidence showing the beneficial effects of light therapy on *** addition,we introduce the research progress regarding the neural circuit mechanisms underlying the modulatory effects of light on brain functions,including mood,memory,pain perception,sleep,circadian rhythm,brain development,and metabolism.

关键词： Light therapy Neural circuit Mood Cognition Pain Sleep Development Metabolism