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Motion Planning Based Coordinated Control for Hydraulic Excavators

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Chinese Journal of Mechanical Engineering 2009年第1期22卷 97-101页

作者： gao yingjie JIN Yanchao ZHANG Qin Hebei Province Key Laboratory of Fluid Power Transmission and Control Yanshan University Qinhuangdao 066004 China Eaton Hydraulics Systems （Jining） Co. Ltd Jining 272023 China Department of Agricultural and Biological Engineering University of Illinois at Urbana-Champaign Urbana-Champaign IL 61801 USA

Hydraulic excavator is one type of the most widely applied construction equipment for various applications mainly because of its versatility and mobility. Among the tasks performed by a hydraulic excavator, repeatable level digging or flat surface finishing may take a large percentage. Using automated functions to perform such repeatable and tedious jobs will not only greatly increase the overall productivity but more importantly also improve the operation safety. For the purpose of investigating the technology without loss of generality, this research is conducted to create a coordinate control method for the boom, arm and bucket cylinders on a hydraulic excavator to perform accurate and effective works. On the basis of the kinematic analysis of the excavator linkage system, the tip trajectory of the end-effector can be determined in terms of three hydraulic cylinders coordinated motion with a visualized method. The coordination of those hydraulic cylinders is realized by controlling three electro-hydraulic proportional valves coordinately. Therefore, the complex control algorithm of a hydraulic excavator can be simplified into coordinated motion control of three individual systems. This coordinate control algorithm was validated on a wheeled hydraulic excavator, and the validation results indicated that this developed control method could satisfactorily accomplish the auto-digging function for level digging or flat surface finishing.

关键词： hydraulic excavator motion planning coordinated control

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液压驱动型六轴机械臂运动学研究

中国工程机械学报 2024年第3期22卷 315-320页

作者：赵玉贝杨静王伟高英杰郭锐赵静一北京天玛智控科技股份有限公司北京101399 燕山大学河北省重型机械流体动力传输与控制实验室河北秦皇岛066004 燕山大学先进锻压成形技术与科学教育部重点实验室河北秦皇岛066004 燕山大学河北省特种运载装备重点实验室河北秦皇岛066004

针对煤矿工作环境的复杂性和不确定性,提出一种新型6自由度液压驱动串联机械臂,使其具备结构轻量化、控制精准化、操作简易化等特点。首先,以6自由度串联机械臂为研究对象,建立其运动学模型,推导运动学正、逆解;其次,利用极值理论和蒙... 详细信息

针对煤矿工作环境的复杂性和不确定性,提出一种新型6自由度液压驱动串联机械臂,使其具备结构轻量化、控制精准化、操作简易化等特点。首先,以6自由度串联机械臂为研究对象,建立其运动学模型,推导运动学正、逆解;其次,利用极值理论和蒙特卡洛算法求解末端夹爪的工作空间,证明所设计的串联机械臂有效性;最后,选取机械臂运行的典型轨迹,使用不同的插值策略对机械臂运行的角度、角速度和角加速度进行对比分析。结果表明:6自由度液压驱动机械臂末端夹爪在五次多项式插值策略下运行平稳且连续,没有出现突变现象,可减小整机运行的柔性冲击,提升整机的使用寿命。

关键词： 6自由度串联机械臂运动学轨迹规划

CoFe_(2)O_(4)nanoparticles anchored on waste eggshell for catalytic oxidation of florfenicol via activating peroxymonosulfate

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Chinese Chemical Letters 2022年第8期33卷 3713-3720页

作者： yingjie gao Ying Han Bingrui Liu Jianfeng Gou Dan Feng Xiuwen Cheng Key Laboratory for Environmental Pollution Prediction and Control College of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China College of Chemistry and Environmental Sciences Yili Normal UniversityYining 835000China Key Laboratory of Pollutant Chemistry and Environmental Treatment Yili Normal UniversityYining 835000China

Eggshell-loaded CoFe_(2)O_(4) catalyst was synthesized via a convenient hydrothermal method during our work,then the surface morphology and elemental composition of the composites were systematically *** of CoFe_(2)O_(4)/eggshell-activated peroxymonosulfate(PMS)system was evaluated by selecting florfenicol(FF)as the model pollutant,and effects of operating parameters and water matrices on the FF removal efficiency in this system were *** addition,main radicals involved in FF degradation were identified by EPR tests and radical quenching experiments,and possible mechanism was *** reduction of toxicity during FF degradation was confirmed,and in combination with HP-LC tests,it was found that dehalogenation and defluorination were effectively carried out during FF *** addition,the prepared CoFe_(2)O_(4)polyvinylidene fluoride(PVDF)membrane effectively improved the stability of the material and reduced the precipitation of metals.

关键词： CoFe_(2)O_(4)/eggshell Peroxymonosulfate Florfenicol PVDF membrane

Antiviral activity of Jinchai capsule against influenza virus

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Journal of Traditional Chinese Medicine 2013年第2期33卷 200-204页

作者： Juying Zhong Xiaolan Cui Yujing Shi yingjie gao Hongxin Cao Experimental Research Center China Academy of Chinese Medical Sciences Pharmacology laboratory Institute of Chinese Materia MedicaChina Academy of Chinese Medical Sciences Graduate School of China Academy of Chinese Medical sciences

OBJECTIVE:To evaluate the effect on influenza virus of Jinchai,a capsule made of Traditional Chinese ***:Madin-darby canine kidney(MDCK) cells were infected with the FM1 strain of influenza virus A(subtype H1N1) in *** were used to explore how Jinchai affected cell adsorption,cell membrane fusion,transcription and replication of the influenza ***(HA) protein,intracellular pH,and influenza virus protein acid(PA) polymerase subunit were detected with confocal microscopy and real-time fluorescent quantitative polymerase chain ***:Jinchai significantly reduced the expression of HA and PA polymerase subunit mRNA in infected MDCK *** also significantly decreased intracellular pH in infected ***:Jinchai had strong anti-influenza activity against the influenza *** weakened the ability of the influenza virus to adsorb to cell wall and fuse with cell membranes in the early infection stage,and inhibited the transcription and replication of the virus.

关键词： Antiviral agents Influenza A virus Jin-chai capsule

Degradation of tartrazine by peroxymonosulfate through magnetic Fe_(2)O_(3)/Mn_(2)O_(3) composites activation

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Chinese Chemical Letters 2020年第10期31卷 2730-2736页

作者： Gong Chen Li-Chao Nengzi yingjie gao Guixian Zhu Jianfeng Gou Xiuwen Cheng Key Laboratory of Western China's Environmental Systems(Ministry of Education)and Key Laboratory for Environmental Pollution Prediction and Control Gansu ProvinceCollege of Earth and Environmental SciencesLanzhou UniversityLanzhou 730000China Academy of Economics and Environmental Sciences Xichang UniversityXichang 615000China

In this study,Fe_(2)O_(3)/Mn_(2)O_(3) composite was synthesized by a facile two-step technique,and several methods were carried out to characterize ***,the decomposition experiments of tartrazine(TTZ),a kind of refractory o rganic pollutant,were conducted under various enviro nmental condition to detect the catalyst performance,such as reaction system,the dosage of catalyst,peroxymonosulfate(PMS)concentration,initial pH,different natural water *** results exhibited that Fe_(2)O_(3)/Mn_(2)O_(3) composite with the mole rate 2:3 had the best PMS activation performance and the removal efficiency was 97.3%within 30 ***,the optimum degradation conditions of TTZ we re also discussed,that is catalyst dosage(0.6 g/L),PMS concentration(0.8 g/L)and the initial pH *** addition,proved by the natural water substances adding experiments,HPO_(4)^(2)-,HCO_(3)^-,NO_(3)^-and NOM(nature organic matter)could slow down the experiments progressing,but Cl^-could boost *** inhibitor experiments indicated both the HO^·and SO_(4)^·-played a vital role in the *** and ions leaching experiments as well as the used catalyst physical characte rization images exhibited the excellent stability and cyclicity of the Fe_(2)O_(3)/Mn_(2)O_(3) ***,based on the XPS(X-ray photoelectro n spectro scopy)and the experiments results,the possible mechanism of TTZ degradation was *** system might provide a novel thought for the decomposition of refractory organic pollutant and had potential in promotion of actual sewage treatment technology.

关键词： Fe_(2)O_(3)/Mn2O3 Peroxymonosulfate Tartrazine Degradation Activation Mechanism

土藤草颗粒对微晶型尿酸钠致家兔急性痛风性关节炎的药效学研究

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中国药物警戒 2024年第3期21卷 263-268页

作者：姚荣妹毛鑫徐英莉高英杰包蕾鲍岩岩孟凤仙崔晓兰中国中医科学院中药研究所北京100700 北京中医药大学东方医院风湿病科北京100700

目的观察土藤草颗粒对微晶型尿酸钠(monosodium urate,MSU)致家兔急性痛风性关节炎模型的药效学作用。方法选用取雄性日本大耳白兔,随机分为正常对照组,模型对照组,阳性药秋水仙碱组(0.18 mg·kg^(-1)),土藤草颗粒高、中、低剂量组分别... 详细信息

目的观察土藤草颗粒对微晶型尿酸钠(monosodium urate,MSU)致家兔急性痛风性关节炎模型的药效学作用。方法选用取雄性日本大耳白兔,随机分为正常对照组,模型对照组,阳性药秋水仙碱组(0.18 mg·kg^(-1)),土藤草颗粒高、中、低剂量组分别为600、300、150 mg·kg^(-1)。通过家兔左后肢膝关节腔内注入MSU的方式建立急性痛风性关节炎模型,给药5天后收集关节液,检测关节腔积液中的白细胞数,测定关节液中炎症细胞因子白介素-6(interleukin-6,IL-6)、白介素-8(interleukin-8,IL-8)、肿瘤坏死因子-α(tumour necrosis factor-α,TNF-α)、白介素-1β(interleukin-1β,IL-1β)、前列腺素E2(prostaglandin E2,PGE2)含量;采血检测血尿酸值,给药前后血清中尿素(urea,UREA)、胆固醇(cholesterol,CHO)、血肌酐(serum creatinine,Cre)、血糖(glucose,GLU)及甘油三酯(triglyceride,TG)含量。结果土藤草颗粒高、中、低剂量组给药5 d后关节腔内白细胞数均有所下降,中剂量组与模型对照组比较有显著性差异(P<0.01);高、中剂量组有降低血尿酸的趋势;土藤草颗粒对家兔血清中UREA、CHO、Cre、GLU及TG含量均无影响;与模型对照组比较,土藤草颗粒高、中、低剂量组IL-6、IL-8、TNF-α及PGE2含量均明显降低,其中高、中、低剂量组的IL-6、TNF-α含量,高、中剂量组IL-8含量及中剂量组PGE2含量与之比较有显著性差异(P<0.01);土藤草颗粒高、中、低剂量组可以一定程度上降低关节液中IL-1β含量。结论土藤草颗粒对MSU致急性关节炎家兔模型有明显的治疗作用,可以减少动物关节腔内白细胞数量、抑制炎症细胞因子的表达,降低血清中尿酸含量。

关键词：土藤草颗粒微晶型尿酸钠急性痛风性关节炎药效学大耳白兔白介素-6 白介素-8 肿瘤坏死因子

Global Existence and Uniqueness of Solutions to Evolution p-Laplacian Systems with Nonlinear Sources

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Journal of Partial Differential Equations 2013年第1期26卷 1-13页

作者： WEI yingjie gao Wenjie Institute of Mathematics Jilin University Changchun 130012 China.

This paper presents the global existence and uniqueness of the initial and boundary value problem to a system of evolution p-Laplacian equations coupled with general nonlinear terms. The authors use skills of inequality estimation and the method of regularization to construct a sequence of approximation solutions, hence obtain the global existence of solutions to a regularized system. Then the global existence of solu- tions to the system of evolution p-Laplacian equations is obtained with the application of a standard limiting process. The uniqueness of the solution is proven when the nonlinear terms are local Lipschitz continuous.

关键词： Global existence uniqueness degenerate p-Laplacian systems

252例过敏性哮喘患者体质分布特征及临床资料分析

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中国实验方剂学杂志 2024年第16期30卷 110-116页

作者：张诗瑜崔红生高英洁弓雪峰王佳美吕明圣候丹张馨予郭琦黄贵锐程思益张志杰北京中医药大学第三附属医院北京100029 北京中医药大学北京100029

目的:通过横断面研究的方法,分析过敏性哮喘患者兼夹体质的分布特点,为过敏性哮喘的调体及治疗提供依据。方法:选取于2021年12月至2023年9月门诊就诊的过敏性哮喘患者,采用问卷调查的方式,收集患者的临床资料,分析过敏性哮喘患者的兼夹... 详细信息

目的:通过横断面研究的方法,分析过敏性哮喘患者兼夹体质的分布特点,为过敏性哮喘的调体及治疗提供依据。方法:选取于2021年12月至2023年9月门诊就诊的过敏性哮喘患者,采用问卷调查的方式,收集患者的临床资料,分析过敏性哮喘患者的兼夹体质分布规律及过敏性哮喘特禀质患者性别、年龄、体质量指数、合并过敏性疾病、过敏史、家族史、蓄养宠物情况、呼出气一氧化氮等与体质的相关性。结果:研究共纳入过敏性哮喘患者252例,男女比为1∶1.5,青年占比最高。单纯特禀质占比最高,特禀质兼夹其他体质依次为阳虚质、气虚质、气郁质、痰湿质、湿热质、阴虚质、和血瘀质。兼夹一种体质有58例,阳虚质占比最高。兼夹两种体质有38例,气虚质+阳虚质数量最多。超重或肥胖患者共116例;共48例患者有过敏性疾病家族史,117例患者有过敏史;70例患者养宠物,养宠物与对猫狗毛过敏有相关性(P<0.05);202例的患者合并其他过敏性疾病,过敏性鼻炎、荨麻疹和湿疹是合并最多的三类疾病;嗜酸性气道炎症患者有177人。过敏性哮喘证型依次排列为风哮证134例(53.17%)、热哮证51例(20.24%)、寒哮证32例(12.7%)、虚哮证15例(5.95%)、气郁哮证14例(5.56%)、瘀哮证6例(2.38%)。二元Logistic回归分析结果提示,女性阳虚质与气郁质较男性多;年龄越大出现痰湿质与湿热质可能性越小;体质量指数与痰湿质呈正相关,与阳虚质呈负相关(P<0.05)。结论:过敏性哮喘以特禀质为主,风哮证为最常见的证型。特禀质与其他偏颇体质兼夹致使过敏性哮喘反复发作,兼夹体质中气虚质、阳虚质多见。过敏性哮喘中女性、青年发病率更高,女性更易兼夹阳虚质和气郁质。肥胖可能是过敏性哮喘的重要危险因素,肥胖者更易兼夹痰湿质和湿热质。宠物接触、过敏性鼻炎可能与过敏性哮喘控制不佳有关。

关键词：过敏性哮喘体质特点特禀质兼夹体质临床资料

改良 Chevron 截骨术治疗中重度足拇外翻的疗效观察

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中国医疗美容 2024年第8期14卷 75-77页

作者：程瑞娟马红娜张卫红贾清云张留敏镐英杰郑州大学第一附属医院骨科河南郑州450000

目的探讨改良Chevron截骨术治疗中重度足拇外翻的临床疗效。方法将2022年7月至2024年1月在郑州大学第一附属医院就诊的第一附属医院就诊的58例中重度足拇外翻患者纳入研究,给予改良例中重度足拇外翻患者纳入研究,给予改良Chevron Chevro... 详细信息

目的探讨改良Chevron截骨术治疗中重度足拇外翻的临床疗效。方法将2022年7月至2024年1月在郑州大学第一附属医院就诊的第一附属医院就诊的58例中重度足拇外翻患者纳入研究,给予改良例中重度足拇外翻患者纳入研究,给予改良Chevron Chevron截骨术。比较患者术前、术后截骨术。比较患者术前、术后6个月时的拇外翻角(hallux valgus angle hallux valgus angle,HVA)、跖骨间角()、跖骨间角(intermetatarsal angle intermetatarsal angle,IMA)水平和美国足踝评分系统)水平和美国足踝评分系统(aofas ankle hindfoot aofas ankle hindfoot scale,AOFAS)评分,统计患者手术并发症发生率。结果与术前比较,58例中重度足拇外翻患者术后例中重度足拇外翻患者术后6个月的HVA、IMA减小,AOFAS评分上升(P<0.05);58例中重度足拇外翻中有例中重度足拇外翻中有6例出现手术相关并发症,并发症发生率为例出现手术相关并发症,并发症发生率为10.34%。结论改良Chevron Chevron截骨术治疗中重度足拇外翻疗效较好,可有改善患者截骨术治疗中重度足拇外翻疗效较好,可有改善患者HVA、IMA水平,提高患者生活质量。水平,提高患者生活质量。

关键词：足拇外翻改良Chevron截骨术拇外翻角跖骨间角