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基于混合摩擦的柔性关节机器人跟踪控制研究

组合机床与自动化加工技术 2019年第1期 108-111页

作者：李永朱松青高海涛刘娣南京工程学院机械工程学院南京211167

针对柔性与摩擦的存在导致机器人关节跟踪控制效果不理想的问题,考虑柔性与摩擦建立完善的动力学模型,并设计神经网络反演复合控制器。动力学模型中以弹性扭簧模型描述关节柔性,以包含静摩擦、库伦摩擦、黏性摩擦和Stribeck摩擦的混合... 详细信息

针对柔性与摩擦的存在导致机器人关节跟踪控制效果不理想的问题,考虑柔性与摩擦建立完善的动力学模型,并设计神经网络反演复合控制器。动力学模型中以弹性扭簧模型描述关节柔性,以包含静摩擦、库伦摩擦、黏性摩擦和Stribeck摩擦的混合摩擦模型描述关节摩擦。针对柔性关节的特点设计反演控制器,并在此控制器的基础上以RBF神经网络算法实现摩擦等非线性项补偿。最后通过MATLAB仿真验证所设计控制器的有效性,并分析不同摩擦模型对跟踪精度的影响。实验结果表明:与PD控制器相比,采用所构建的复合控制器缩短了响应时间且减小了跟踪误差。该控制器可以实现柔性关节机器人轨迹的良好跟踪,提高了跟踪控制效果。

关键词：混合摩擦柔性关节反演算法神经网络

Cerebral autoregulation-directed optimal blood pressure management reduced the risk of delirium in patients with septic shock

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Journal of Intensive Medicine 2024年第3期4卷 376-383页

作者： Qianyi Peng Xia liu Meilin Ai Li Huang Li Li Wei liu Chunguang Zhao Chenghuan Hu Lina Zhang Department of Critical Care Medicine Xiangya HospitalCentral South UniversityChangshaHunanChina Hunan Provincial Clinical Research Center for Critical Care Medicine Xiangya HospitalCentral South UniversityChangshaHunanChina National Clinical Research Center for Geriatric disorders Xiangya HospitalCentral South UniversityChangshaHunanChina

Background When resuscitating patients with septic shock,cerebrovascular reactivity parameters are calculated by monitoring regional cerebral oxygen saturation(rSO_(2))using near-infrared spectroscopy to determine the optimal blood ***,we aimed to analyze the impact of cerebral autoregulation-directed optimal blood pressure management on the incidence of delirium and the prognosis of patients with septic *** This prospective randomized controlled clinical study was conducted in the Xiangya Hospital of Central South University,***-one patients with septic shock(December 2020–May 2022)were enrolled and randomly allocated to the experimental(n=26)or control group(n=25).Using the ICM+software,we monitored the dynamic changes in rSO_(2) and mean arterial pressure(MAP)and calculated the cerebrovascular reactivity parameter tissue oxygen reactivity index to determine the optimal blood pressure to maintain normal cerebral autoregulation function during resuscitation in the experimental *** control group was treated according to the Surviving Sepsis Campaign *** in the incidence of delirium and 28-day mortality between the two groups were compared,and the risk factors were *** The 51 patients,including 39 male and 12 female,had a mean age of(57.0±14.9)*** incidence of delirium was 40.1%(23/51),and the 28-day mortality rate was 29.4%(15/51).The mean MAP during the first 24 h of intensive care unit(ICU)admission was higher([84.5±12.2]mmHg vs.[77.4±11.8]mmHg,P=0.040),and the incidence of delirium was lower(30.8%vs.60.0%,P=0.036)in the experimental group than in the control *** use of cerebral autoregulation-directed optimal blood pressure(odds ratio[OR]=0.090,95%confidence interval[CI]:0.009 to 0.923,P=0.043)and length of ICU stay(OR=1.473,95%CI:1.093 to 1.985,P=0.011)were risk factors for delirium during septic *** drug dose(OR=8.445,95%CI:1.26 to 56.576,P=0.028)and partial pressure of o

关键词： Septic shock Cerebral regional oxygen saturation Optimal blood pressure Delirium Mortality

冷诱导下胰岛素样生长因子(IGFs)系统基因的表达变化

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中国畜牧兽医 2012年第2期39卷 16-19页

作者：张冬杰刘娣汪亮杨国伟黑龙江省农业科学院黑龙江哈尔滨150086

本研究采用Real-time PCR的方法检测了分析了民猪的IGF-Ⅰ、IGF-Ⅱ、IGF-ⅠR和IGFBP-3基因在骨骼肌中冷诱导前后的表达变化。结果表明,IGF-Ⅰ基因表达水平极显著上调(P0.05)。

关键词：民猪冷诱导 IGFs Real-time PCR

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Osteology of Turfanodon bogdaensis (dicynodontia)

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古脊椎动物学报（中英文） 2024年第3期62卷 186-200页

作者： SHI Yu-Tai liu Jun Key Laboratory of Vertebrate Evolution and Human Origins of Chinese Academy of Sciences Institute of Vertebrate Paleontology and PaleoanthropologyChinese Academy of SciencesBeijing 100044 College of Earth and Planetary Sciences University of Chinese Academy of SciencesBeijing 100049

Within the dicynodont genus Turfanodon,there are two recognized species,*** and *** species are known by relatively complete cranial materials,but the mandibles and most postcranial bones have been described only for *** paper reports new dicynodont specimens from Turpan,Xinjiang,referring them to *** can clearly be differentiated from *** by the flatter lateral surface of the snout region,a prominent swelling on the lateral dentary shelf,and the rounded femoral *** diagnosis of Turfanodon is *** combination of a flat circumorbital rim,posterior portion of anterior pterygoid rami with converging ventral ridges,and a possible autapomorphy,a deep notch on scapula forming procoracoid foramen,are *** also differentiated from all dicynodonts other than Myosaurus,Kembawacela and Lystrosaurus by having accessory ridges lateral to the median palatal ridge.

关键词： Turpan,Xinjiang Lopingian,Permian Guodikeng Formation dicynodontia,Turfanodon osteology,postcranial skeleton

Structural and functional design of geopolymer adsorbents:a review

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Tungsten 2024年第1期6卷 48-76页

作者： Hai-Ze Jin Chen-Xi Qiu Yan-Song Li Bao liu Jun-Yi liu Qiao Chen Xue-Feng Lu Cui-Xia Li Qi-Kun Wang School of Materials Science and Engineering Lanzhou University of TechnologyLanzhou 730050China State Key Laboratory of Advanced Processing and Recycling of Non-Ferrous Metals Lanzhou 730050China Shenyang Nonferrous Metals Research Institute Co. LTDShenyang 110000China Automotive Engineering Research Institute Jiangsu UniversityZhenjiang 212013China School of Materials Science and Engineering Jingdezhen Ceramic UniversityJingdezhen 333403China

The water pollution derived from the discharge of heavy metals,antibiotics,dyes and surfactants wastewater,*** seriously affected human survival and ecological *** an efficient and low-cost physical wastewater treatment process,the adsorption is a continuous hot spot in related scientific research and *** are non-crystal or semi-crystalline materials with high-efficiency adsorption performance due to the alkali metal ions that balance the electronegative aluminosilicate skeleton can be efficiently replaced by other cations in the aqueous *** related studies of different application conditions,service objects and morphological differences of geopolymer adsorbents based on structure-function design have been in-depth exploration and *** review aims to summarize the research progres s of the structure-function design based on the geopolymerization mechanism and kinetics and service *** overview of service characteristics and progress of geopolymers in the wastewater treatment field(e.g.,dyes,heavy metals,radionuclides,surfactants,antibiotics,ammonium,phosphorus,nitrogen and CO_(2),etc.)are systematically *** the evolution and development of morphological differences and the relationship of structure-function design of geopolymer adsorbents were compared and ***,the challenge worth overcoming,the trends worth considering and perspectives worth developing are highlighted.

关键词： Geopolymer Wastewater Adsorption Structure-function design Application

基于县域尺度土地利用碳排放的时空分异及影响因素研究

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西北大学学报（自然科学版） 2022年第1期52卷 21-31页

作者：张杰陈海刘迪史琴琴耿甜伟西北大学城市与环境学院/陕西省地表系统与环境承载力重点实验室陕西西安710127

基于县域尺度研究土地利用变化导致的碳排放变化、空间异质性及影响因素,对推动土地利用方式向低碳化转变及制定合理有效的政策意义重大。该文以陕西省为例,估算县域1990—2015年土地利用导致的碳排放,探索时空变化的同时分析了不同县... 详细信息

基于县域尺度研究土地利用变化导致的碳排放变化、空间异质性及影响因素,对推动土地利用方式向低碳化转变及制定合理有效的政策意义重大。该文以陕西省为例,估算县域1990—2015年土地利用导致的碳排放,探索时空变化的同时分析了不同县域的碳排放风险及其影响因素。结果表明,陕西省土地利用碳排放呈不断增加趋势,年均增长率为13.20%,其中建设用地是主要碳源,耕地的碳源作用不断减弱,林地是主要的碳汇,草地发挥着弱碳汇作用;1990—2015年各县域碳排放总量均出现不同程度的增加,且不同县域碳排放增量和碳排放风险差异显著,其中,市辖区的变化最为明显;GDP、城市化水平、高程、政策是影响陕西省县域土地利用碳排放的主要因素,且城市化水平对碳排放量的解释作用最大。

关键词：碳排放土地利用时空分异空间计量模型县域尺度

杨树桑黄水提液对果蝇寿命和繁殖力及寿命相关基因的影响

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食用菌学报 2023年第6期30卷 86-91页

作者：侯立娟卯明娟刘迪蒋宁周蓉云江苏省农业科学院蔬菜研究所江苏南京210014 延边大学农学院吉林延吉136200

研究不同质量浓度(0.1、1.0、10.0、50.0μg·mL^(-1))杨树桑黄(Sanghuangporus vaninii)水提液对果蝇平均寿命、半致死时间、最长寿命、蛹数量和F1代羽化成虫数量的影响;采用定量PCR方法检测1μg·mL^(-1)杨树桑黄水提液饲喂果蝇后第1... 详细信息

研究不同质量浓度(0.1、1.0、10.0、50.0μg·mL^(-1))杨树桑黄(Sanghuangporus vaninii)水提液对果蝇平均寿命、半致死时间、最长寿命、蛹数量和F1代羽化成虫数量的影响;采用定量PCR方法检测1μg·mL^(-1)杨树桑黄水提液饲喂果蝇后第1、3、5、10、20天与寿命、免疫相关基因的表达量。结果表明:在实验范围内,与对照相比,1.0μg·mL^(-1)水提液延长果蝇平均寿命,0.1、1.0μg·mL^(-1)水提液延长成虫半致死时间;1.0μg·mL^(-1)水提液增加F1代羽化成虫数量;基因TEP、BrC, E74B、JHEH均在第3天相对表达量较高;基因INDY、EcRB、Srl、TPI均在第10天相对表达量较高;基因TotA,、Dros、TotX均在第20天相对表达量较高。

关键词：桑黄果蝇寿命药用功能基因表达

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磁共振成像诊断脊柱结核的临床价值分析

重庆理工大学学报（自然科学） 2018年第8期32卷 151-155页

作者：崔国庆张斌郎晓燕李艳捧刘迪河北北方学院附属第一医院磁共振室河北张家口075000

探讨磁共振成像诊断脊柱结核的临床价值。回顾分析2015年3月—2017年3月河北北方学院附属第一医院收治的100例脊柱结核患者病理资料,对患者采用磁共振成像(MRI)诊断,并经病理组织临床验证比较分析MRI的诊断符合率。结果表明:在100例脊... 详细信息

探讨磁共振成像诊断脊柱结核的临床价值。回顾分析2015年3月—2017年3月河北北方学院附属第一医院收治的100例脊柱结核患者病理资料,对患者采用磁共振成像(MRI)诊断,并经病理组织临床验证比较分析MRI的诊断符合率。结果表明:在100例脊柱结核患者中,不同方式的确诊率不同,其中DR诊断准确61例,准确率为61.00%,MRI诊断准确96例,准确率为96.00%,两种方法结果差异性较大,具有统计学意义(P<0.05)。根据研究结果可见:MRI对脊柱结核的诊断准确率较高,值得全面推广。

关键词：磁共振成像脊柱结核临床价值

Efficacy of scleral buckling for the treatment of rhegmatogenous retinal detachment using a novel foldable capsular buckle

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International Journal of Ophthalmology(English edition) 2024年第3期17卷 558-563页

作者： Fang-Fang Fan Chang Xiao Liang Wang Xin-Ting Wang Dan-Dan liu Xing Ge Ya-Lu liu Su-Yan Li The Affiliated Xuzhou Municipal Hospital of Xuzhou Medical University Xuzhou 221000Jiangsu ProvinceChina Department of Ophthalmology Xuzhou First People’s HospitalXuzhou 221116Jiangsu ProvinceChina Eye disease Prevention and Treatment Institute of Xuzhou Xuzhou 221116Jiangsu ProvinceChina The Affiliated Shuyang Hospital of Xuzhou Medical University Shuyang 223600Jiangsu ProvinceChina

●AIM:To evaluate the effectiveness and safety of scleral buckling for the treatment of rhegmatogenous retinal detachment(RRD)using a novel foldable capsular buckle(FCB).●METHODS:This was a series of case observation *** patients(18 eyes)who visited our ophthalmology department between August 2020 and August 2022 and were treated for RRD with scleral buckling using FCB were *** procedure was similar to conventional scleral buckling,while a balloon-like FCB was placed onto the retinal break with balanced salt solution filling for a broad,external indentation instead of the silicone *** retinal reattachment rate,best corrected visual acuity(BCVA),intraocular pressure(IOP),refractive dioptre and astigmatism degree,and complications were evaluated and recorded.●RESULTS:There were 7 males and 11 females aged *** average time course of RRD was 12d,ranging from *** retinal break was located in the superior quadrants in 8 eyes and in the inferior quadrants in 10 eyes,with macula-off detachments in 12 *** patients were followed-up for at least *** final retinal reattachment rate was 100%.The BCVA was significantly improved compared with the baseline(Pdioptre or astigmatism degree at each follow-up(all P>0.05).Three patients had transiently high IOPs within one week after *** diplopia occurred in 5 patients after surgery and then disappeared after the balloon fluid was removed.●CONCLUSION:The success rate of FCB scleral buckling for RRD is *** procedure can be expected to be applied in new,uncomplicated cases of RRD.

关键词： rhegmatogenous retinal detachment scleral buckling foldable capsular buckle