检索结果-南通市图书馆

Computer-controlled ultra high voltage amplifier for dielectric elastomer actuators

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2024年第1期4卷 14-23页

作者： Ardi Wiranata zebing mao Yu Kuwajima Yuya Yamaguchi Muhammad Akhsin Muflikhun Hiroki Shigemune Naoki Hosoya Shingo Maeda Department of Mechanical and Industrial Engineering University of Gadjah MadaYogyakarta 55281Indonesia Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Engineering and Science Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Electrical Engineering Shibaura Institute of TechnologyTokyo 135-8548Japan Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyo 135-8548Japan Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

Soft robotics is a breakthrough technology to support human-robot *** soft structure of a soft robot can increase safety during human and robot *** of the promising soft actuators for soft robotics is dielectric elastomer actuators(DEAs).DEAs can operate silently and have an excellent energy *** simple structure of DEAs leads to the easy fabrication of soft *** simplicity combined with silent operation and high energy density make DEAs interesting for soft robotics *** actuation follows the Maxwell-pressure *** pressure produced in the DEAs actuation depends much on the voltage *** DEAs requires high voltage to gain an *** the power consumption of DEAs is in the milli-Watt range,the current needed to operate the DEAs can be *** commercially available DC-DC converters can convert the volt range to the kV *** order to get a voltage in the 2-3 kV range,the reliable DC-DC converter can be pricy for each *** problem hinders the education of soft actuators,especially for a newcomer laboratory that works in soft electric *** paper introduces an entirely do-it-yourself(DIY)Ultrahigh voltage amplifier(UHV-Amp)for education in soft ***-Amp can amplify 12 V to at a maximum of 4 kV *** a demonstration,we used this UHV-Amp to test a single layer of powdered-based *** strategy to build this educational type UHV-Amp was utilizing a Cockcroft-Walton circuit structure to amplify the voltage range to the kV *** its current state,the UHV-Amp has the potential to achieve approximately 4 *** created a simple platform to control the UHV-Amp from a personal *** near future,we expect this easy control of the UHV-Amp can contribute to the education of soft electric actuators.

关键词： Dielectric elastomer actuators Electric amplifier Soft actuators Soft robotics Soft actuator education

Large language models for human–robot interaction:A review

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2023年第4期3卷 1-15页

作者： Ceng Zhang Junxin Chen Jiatong Li Yanhong Peng zebing mao Department of Mechanical Engineering National University of SingaporeSingapore 119077Singapore School of Mechanical Electronic and Control EngineeringBeijing Jiaotong UniversityBeijing 100044China Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan

The fusion of large language models and robotic systems has introduced a transformative paradigm in human–robot interaction,offering unparalleled capabilities in natural language understanding and task *** review paper offers a comprehensive analysis of this nascent but rapidly evolving domain,spotlighting the recent advances of Large Language Models(LLMs)in enhancing their structures and performances,particularly in terms of multimodal input handling,high-level reasoning,and plan ***,it probes the current methodologies that integrate LLMs into robotic systems for complex task completion,from traditional probabilistic models to the utilization of value functions and metrics for optimal *** these advancements,the paper also reveals the formidable challenges that confront the field,such as contextual understanding,data privacy and ethical *** our best knowledge,this is the first study to comprehensively analyze the advances and considerations of LLMs in Human–Robot Interaction(HRI)based on recent progress,which provides potential avenues for further research.

关键词： Large language models Human-robot interaction Task completion Considerations and challenges

Raising the Speed Limit of Axial Piston Pumps by Optimizing the Suction Duct

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

Chinese Journal of Mechanical Engineering 2021年第6期34卷 271-280页

作者： Yu Fang Junhui Zhang Bing Xu zebing mao Changming Li Changsheng Huang Fei Lyu Zhimin Guo State Key Laboratory of Fluid Power and Mechatronic Systems Zhejiang UniversityHangzhou310027China Department of Engineering Science and Mechanics Shibaura Institute of TechnologyTokyoJapan Hangzhou Optimax Tech Co. LtdHangzhouChina Linde Hydraulics(China)Co. LtdWeifang261000China

The maximum delivery pressure and the maximum rotational speed determine the power density of axial piston ***,increasing the speed beyond the limit always accompanies cavitation,leading to the decrease of the volumetric *** pressure loss in the suction duct is considered a significant reason for the ***,this paper proposes a methodology to optimize the shape of the suction duct aiming at reducing the intensity of cavitation and increasing the speed *** first,a computational fluid dynamics(CFD)model based on the full cavitation model(FCM)is developed to simulate the fluid field of the axial piston pump and a test rig is set to validate the *** the topology optimization is conducted for obtaining the minimum pressure loss in the suc-tion *** the original suction duct with the optimized one in the simulation model,the pressure loss in the suction duct gets considerable reduction,which eases the cavitation intensity a *** simulation results prove that the speed limit can increase under several different inlet pressures.

关键词： Axial piston pump Speed limit Topology optimization Suction duct Cavitation

Soft computing-based predictive modeling of flexible electrohydrodynamic pumps

在线全文

学校读者我要写书评

暂无评论

Biomimetic Intelligence & Robotics 2023年第3期3卷 30-37页

作者： zebing mao Yanhong Peng Chenlong Hu Ruqi Ding Yuhei Yamada Shingo Maeda Department of Mechanical Engineering Tokyo Institute of TechnologyTokyo 152-8550Japan Department of Information and Communication Engineering Graduate School of EngineeringNagoya UniversityNagoya 464-8603Japan Department of Computer Science and Technology Tsinghua UniversityBeijing 100084China Key Laboratory of Conveyance and Equipment Ministry of EducationEast China Jiaotong UniversityNanchang 330013China Living Systems Materialogy(LiSM)Research Group International Research Frontiers Initiative(IRFI)Tokyo Institute of TechnologyYokohama 226-8501Japan

Flexible electrohydrodynamic(EHD)pumps have been developed and applied in many fields due to no transmission structure,no wear,easy manipulation,and no *** simulation is often used to predict the output performance of flexible EHD ***,this method neglects fluid–solid interaction and energy loss caused by flexible materials,which are both difficult to calculate when the flexible pumps ***,this study proposes a flexible pump output performance prediction using machine learning *** used three different types of machine learning:random forest regression,ridge regression,and neural network to predict the critical parameters(pressure,flow rate,and power)of the flexible EHD ***,angle,gap,overlap,and channel height are selected as five input data of the neural *** addition,we optimized essential parameters in the three ***,we adopt the best predictive model and evaluate the significance of five input parameters to the output performance of the flexible EHD *** the three methods,the MLP model has exceptionally high accuracy in predicting pressure and *** work is beneficial for the design process of fluid sources in flexible soft actuators and soft hydraulic sources in microfluidic chips.

关键词： Electrohydrodynamic pumps Neural network Rigid regression Random forest regression

在线全文

维普期刊数据库

学校读者我要写书评

暂无评论

先天性巨结肠小肠结肠炎模型的建立及鉴定

中华小儿外科杂志 2019年第7期40卷 644-649页

作者：郑泽兵高明娟汤成艳毛羽晨金祝刘远梅遵义医科大学附属医院小儿普胸泌外科 563000

目的建立先天性巨结肠小肠结肠炎(Hirschsprung,s-associated enterocolitis,HAEC)大鼠模型,为进一步研究HAEC的发病机制及分子生物学机制提供可靠模型。方法将120只6~8周龄SD大鼠按随机数字表法平均分为对照组、先天性巨结肠(Hirschspr... 详细信息

目的建立先天性巨结肠小肠结肠炎(Hirschsprung,s-associated enterocolitis,HAEC)大鼠模型,为进一步研究HAEC的发病机制及分子生物学机制提供可靠模型。方法将120只6~8周龄SD大鼠按随机数字表法平均分为对照组、先天性巨结肠(Hirschsprung's disease,HSCR)组和HAEC组。将HACE组的大鼠在造模前一周用大肠杆菌JM83按照1x10^9CFU/d的剂量灌胃。对照组和HSCR组用相同剂量的生理盐水灌胃。1周后将3组大鼠使用1%的苯巴比妥钠经腔注射麻醉后剖腹,提出结肠并显露直肠末段,HSCR组和HAEC组用0.1%苯扎澳镀(benzalkonium chloride,BAC)纱布紧贴包绕直肠末段作用45min以制作动物模型,对照组使用生理盐水。在造模后的第一、三、五、七周对模型进行大体观察,用髓过氧化物酶(MPO)活性检测评估经BAC或生理盐水处理段直肠的近端结肠组织以评估肠道炎症情况,用RTPCR检测乙酰胆碱酯酶(AchE)、胶质细胞源性神经营养因子(GDNF)的表达情况。在造模后第五周取直肠末段行病理学检查以检测建模是否成功,并用16SrRNA技术检测各组中小肠、横结肠、直肠中菌群结构的变化。结果术后第三周,HSCR组和HAEC组的大鼠逐渐出现腹胀、进食及排便减少。处理段肠道狭窄、近端结肠扩张、大便堆积。术后第五周HAEC组大鼠腹胀程度明显比HSCR组的大鼠明显。病理学检查发现BAC处理段在5周后神经节细胞数量明显减少,于7周后完全消失。MPO活性检测发现在第五周近端结肠组织的MPO活性:HAEC组(10.4±0.43)明显高于HSCR组(7.6±0.35)及对照组(2.8±0.16)(P0.05)。用RT-PCR检测AchE、GDNF的mRNA表达,结果表明AchEmRNA和GDNFmRNA在HSCR组及HAEC组的表达明显下调,第五周HSCR组和HAEC组的AchEmRNA表达量分别为(0.74±0.09,0.55±0.11);GDNFmRNA的表达量分别为(0.47±0.12,0.40±0.22);第七周HSCR组和HAEC组的AchEmRNA表达量分别为(0.67±0.03,0.46±0.13);GDNFmRNA的表达量分别为(0.51±0.06,0.31±0.09),第五周和第七周AchEmRNA和GDNFmRNA的表达量均较对照组降低,差异具有统计学意义(P0.05)。造模后第五周对HAEC组大鼠的近端结肠切片行HE及免疫荧光染色可见结肠黏膜在镜下呈炎性改变。用16SrRNA技术检测大鼠的小肠、横结肠和直肠三处肠道菌群的分布情况,共发现27种细菌种属。小肠、横结肠和直肠中肠道菌群占比情况:HAEC组以肠杆菌科占比最高,分别为17.3%、22.8%和34.7%,其次为梭菌目,占比分别为8.7%、12.4%和10.4%,粪杆菌属占比分别为6.9%、7.9%、8.6%,梭杆菌属占比分别为7.6%、3.8%和5.6%;在HSCR组中乳杆菌目占比最高,分别为14.5%、9.4%和5.7%,其次为拟杆菌类,占比分别为12.6%、9.4%和6.3%,肠杆菌科占比分别为4.3%、6.3%和7.1%,梭菌属占比分别为6.4%、5.2%和4.6%。结论采用0.1%BAC剖腹处理直肠末段结合灌胃大肠杆菌JM83的方法成功建立了先天性巨结肠小肠结肠炎的SD大鼠动物模型,为深入研究先天性巨结肠小肠结肠炎的发病机制及预防提供一个可靠的模型基础。

关键词：模型,动物大鼠先天性巨结肠小肠结肠炎肠道微生物苯扎氯胺

MEG3启动子甲基化在先天性巨结肠发病机制中的作用

在线全文

学校读者我要写书评

暂无评论

中华小儿外科杂志 2020年第12期41卷 1106-1112页

作者：黄露刘远梅金祝高明娟毛羽晨郑泽兵汤成艳遵义医科大学附属医院小儿普胸泌外科贵州遵义563000

目的探讨母系表达基因3(MEG3)启动子甲基化对p53/p21信号通路的调控及其在先天性巨结肠(HSCR)发病机制中的作用。方法检测30例HSCR患儿有神经节细胞段、无神经节细胞段p53 mRNA、蛋白表达和MEG3基因启动子甲基化情况。应用MEG3过表达和... 详细信息

目的探讨母系表达基因3(MEG3)启动子甲基化对p53/p21信号通路的调控及其在先天性巨结肠(HSCR)发病机制中的作用。方法检测30例HSCR患儿有神经节细胞段、无神经节细胞段p53 mRNA、蛋白表达和MEG3基因启动子甲基化情况。应用MEG3过表达和沉默质粒转染人神经母细胞瘤SK-N-BE(2)细胞株,建立MEG3过表达(MEG3-OE)组、MEG3抑制(MEG3-KD)组及空白对照(NC)组,使用氮杂胞苷(5-aza-CdR)调控各组后检测细胞株的增殖、凋亡情况及其p21 mRNA和蛋白的表达情况。结果①无神经节细胞段与有神经节细胞段肠管组织p53 mRNA的相对表达量分别为10.56±0.37和2.24±0.3,p53蛋白的相对表达量分别为1058.5±106.9和583.6±87.6,MEG3启动子甲基化率分别为(58.3±4.5)%和(33.3±1.3)%,两组比较,差异均有统计学意义(t=95.67,P<0.05;t=18.82,P<0.05;χ^2=6.25,P<0.05)。②加入氮杂胞苷共培养72 h时:MEG3-OE组较MEG3-KD组、NC组增殖能力明显增高(吸光度值分别为0.52±0.06、0.51±0.01、0.47±0.05)、凋亡率降低[共培养72 h时细胞凋亡率分别为(2.22±1.12)%、(4.08±0.57)%、(7.59±3.87)%],且p21 mRNA及蛋白的相对表达量4.54±2.13和7.09±0.95均较另两组0.83±0.16、0.06±0.04和6.21±0.34、3.24±1.40显著升高,以上结果,各组间差异均具有统计学意义(P均<0.05)。结论HSCR中存在MEG3启动子高度甲基化,可能通过上调p53/p21信号通路介导神经嵴细胞增殖和凋亡,参与HSCR的发病。

关键词：先天性巨结肠母系表达基因3 信号通路

胶质细胞源性神经营养因子在肛门直肠畸形胎鼠直肠末端的表达及意义

在线全文

学校读者我要写书评

暂无评论

中华小儿外科杂志 2014年第1期35卷 62-65页

作者：孔萌刘远梅毛羽晨金祝高明娟郑泽兵曲颜遵义医学院附属医院小儿普胸泌外科 563003

目的检测胶质细胞源性神经营养因子（GDNF）在肛门直肠畸形胎鼠直肠末端组织中的表达，探讨其可能与肠壁神经系统发育的关系。方法SD大鼠数字随机分对照组和乙烯硫脲致畸ARM组，两组孕鼠在孕20d手术取出宫内胎鼠，对胎鼠盆腔会阴部矢状... 详细信息

目的检测胶质细胞源性神经营养因子（GDNF）在肛门直肠畸形胎鼠直肠末端组织中的表达，探讨其可能与肠壁神经系统发育的关系。方法SD大鼠数字随机分对照组和乙烯硫脲致畸ARM组，两组孕鼠在孕20d手术取出宫内胎鼠，对胎鼠盆腔会阴部矢状面HE染色，免疫组化、Western blot方法检测对照组和ARM胎鼠直肠末端GDNF蛋白定位及定量表达情况，qRT-PCR方法检测两组GDNFmRNA的表达差异。结果HE染色显示：ARM胎鼠肛门为一闭合盲端，无正常肛门结构，直肠盲端为增生鳞状上皮组织及增厚的肌层，各层组织结构分层不清，直肠末端黏膜下和肌间神经丛数目较对照组明显减少（43．10±8．60比88．90±10．65，P〈0．01）。免疫组化结果显示GDNF在对照组及ARM组直肠末端黏膜层，黏膜下及肌间神经丛中均有表达，ARM组平均积分光密度（IOD值）明显低于正常组（238．32±41．67比500．93±90．10，P〈0．01）。Westernblot及qRT-PCR结果显示在ARM组胎鼠直肠末端组织中GDNF总蛋白及mRNA明显低于对照组（0．43±0．09比0．61±0．06；72．00±33．47比125．17±66．28，P〈0．05）。结论GDNF在肛门直肠畸形胎鼠直肠末端表达下调，可能与其肠壁神经系统发育不良有关。

关键词：胶质细胞源性神经营养因子肠神经系统直肠

神经生长因子及其受体在先天性肛门直肠畸形患儿直肠末端表达的下调

在线全文

学校读者我要写书评

暂无评论

中华小儿外科杂志 2014年第9期35卷 698-702页

作者：高明娟刘远梅毛羽晨金祝郑泽兵曲颜孔萌遵义医学院附属医院小儿普胸泌外科 563003

目的观察神经生长因子（nerve growth factor，NGF）及其受体（TrkA、P75NTR）在先天性肛门直肠畸形（anorectal malformation，ARM）患儿直肠末端的表达，探讨对其肠神经系统发育的影响。方法收集2011年1月至2013年1月遵义医学院附属... 详细信息

目的观察神经生长因子（nerve growth factor，NGF）及其受体（TrkA、P75NTR）在先天性肛门直肠畸形（anorectal malformation，ARM）患儿直肠末端的表达，探讨对其肠神经系统发育的影响。方法收集2011年1月至2013年1月遵义医学院附属医院诊治的ARM患儿直肠末端标本30例。其中，男24例，女6例；高位ARM15例，中位ARM6例，低位ARM9例；手术年龄2d～13个月，平均1.4个月。一期腹会阴肛门成形8例；分期肛门成形13例，包括：腹腔镜辅助肛门成形7例，腹会阴肛门成形2例，后矢状入路肛门成形术4例，会阴肛门成形9例。肛门成形术中取直肠末端标本，运用苏木素／伊红（HE）染色计数直肠末端黏膜下及肌间神经丛数量，免疫组织化学（IHC）及实时定量聚合酶链反应（qRT-PCR）检测NGF及其受体（TrkA、P75NTR）在低位ARM和中高位ARM患儿直肠末端的表达情况。结果HE染色：低位ARM患儿直肠末端黏膜下及肌间神经丛分布密集，神经丛面积大，节细胞数量多；中高位ARM患儿神经丛分布明显稀疏，神经丛数量较低位ARM患儿明显减少（1.30±0.82 vs 5.60±1.36）个，两相比较，差异有统计学意义（P〈0.01）。IHC：NGF、TrkA、P75NTR主要在直肠末端黏膜下及肌间神经丛表达，NGF主要定位于胞核，TrkA主要定位于胞核及胞质，P75NTR主要定位于胞核、胞膜。NGF、TrkA、P75NTR在低位ARM患儿直肠黏膜下、肌间神经丛大量表达，其积分光密度（I0D值）分别为43.48±7.11、18.83±3.65和23.39±3.64；NGF、TrkA、P75NTR在中高位ARM患儿直肠末端表达明显减少，其积分光密度（IOD值）分别为3.70±1.21、8.49±2.68和7.17±2.28，两相比较，差异均有统计学意义（P＜0.01）。qRT-PCR：NGF、TrkA、P75NTRmRNA在低位ARM患儿直肠末端的相对表达量分别为（172.22±104.38、148.78±72.45和122.83±35.45）；明显高于中高位ARM患儿（80.38±43.10、73.95±47.43和75.15±20.23），两相比较，差异均有统计学意义（P〈0.01）。结论NGF及其受体TrkA、P75NTR可能参与并影响ARM患儿直肠末端肠神经系统的发育。

关键词：消化系统畸形直肠肛门神经生长因子肠神经系统

HuD蛋白和嘌呤受体亚型受体在中高位肛门直肠畸形患儿直肠末端的表达

在线全文

学校读者我要写书评

暂无评论

中华实验外科杂志 2018年第7期35卷 1332-1334页

作者：高明娟刘远梅姜琳耀毛羽晨郑泽兵曲颜遵义医学院附属医院小儿普胸泌外科贵州563003 四川省绵阳市404医院胃肠外科 621000

目的观察HuD蛋白、嘌呤受体亚型（P2Y2）受体在中高位先天性肛门直肠畸形（ARM）患儿直肠末端以及正常结肠的表达，探讨两者对肠神经系统发育的影响。方法收集我院手术治疗中高位ARM患儿直肠末端标本25例（畸形组）；对照组15例。运用... 详细信息

目的观察HuD蛋白、嘌呤受体亚型（P2Y2）受体在中高位先天性肛门直肠畸形（ARM）患儿直肠末端以及正常结肠的表达，探讨两者对肠神经系统发育的影响。方法收集我院手术治疗中高位ARM患儿直肠末端标本25例（畸形组）；对照组15例。运用苏木素．伊红（HE）染色，免疫组织化学（IHC）、免疫荧光、Western blot检测2种蛋白的表达。结果免疫组织化学及免疫荧光显示HuD蛋白、P2Y2受体主要表达在肠肌问神经丛和黏膜下神经丛，正常对照组与畸形组HuD蛋白、P2Y2受体的积分吸光度（IA）值结果：43．48±7．11、3．70±1．21和18．83±3．65、8．49±2．68；两组HuD蛋白、P2Y2受体的M值结果：96．56±17．38、22．32±4．36和78．13±7．86、26．56±5．32；两组HuD蛋白、P2Y2受体相对定量结果：1．13±0．32、0．49±0．12和0．92±0．18、0．36±0．09，ARM组患儿直肠末端的表达明显低于正常结肠。Western blot定量结果表明畸形组中HuD、P2Y2蛋白表达低于正常组（P=0．030、0．030）。结论中高位ARM患儿直肠末端HuD蛋白、P2Y2受体的表达明显低于正常结肠，两者可能对ARM患儿肠神经系统发育有一定影响。

关键词：肛门直肠畸形肠神经系统 HuD蛋白嘌呤受体