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Udwadia–Kalaba Equation for Constrained Mechanical Systems:Formulation and Applications

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Chinese Journal of Mechanical Engineering 2018年第6期31卷 11-24页

作者： Xiao-Min Zhao Ye-Hwa Chen Han Zhao fang-fang dong School of Automotive and Transportation Engineering Hefei University of TechnologyHefei 230009China The George W.Woodruff School of Mechanical Engineering Georgia Institute of TechnologyAtlanta 30332USA School of Mechanical Engineering Hefei University of TechnologyHefei 230009China

There are many achievements in the field of analytical mechanics, such as Lagrange Equation, Hamilton’s Principle, Kane’s Equation. Compared to Newton–Euler mechanics, analytical mechanics have a wider range of applications and the formulation procedures are more mathematical. However, all existing methods of analytical mechanics were proposed based on some auxiliary variables. In this review, a novel analytical mechanics approach without the aid of Lagrange’s multiplier, projection, or any quasi or auxiliary variables is introduced for the central problem of mechanical systems. Since this approach was firstly proposed by Udwadia and Kalaba, it was called Udwadia–Kalaba Equation. It is a representation for the explicit expression of the equations of motion for constrained mechanical systems. It can be derived via the Gauss’ s principle, d’Alembert’s principle or extended d’Alembert’s principle. It is applicable to both holonomic and nonholonomic equality constraints, as long as they are linear with respect to the accelerations or reducible to be that form. As a result, the Udwadia–Kalaba Equation can be applied to a very broad class of mechani?cal systems. This review starts with introducing the background by a brief review of the history of mechanics. After that, the formulation procedure of Udwadia–Kalaba Equation is given. Furthermore, the comparisons of Udwadia–Kalaba Equation with Newton–Euler Equation, Lagrange Equation and Kane’s Equation are made, respectively. At last, three di erent types of examples are given for demonstrations.

关键词： Udwadia–Kalaba Equation Mechanical system Constraint Moore–Penrose inverse

Construction,Expression and Purification of SUMO1-GST Fusion Protein

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Chemical Research in Chinese Universities 2011年第2期27卷 245-248页

作者： QIAO Xiao-fang fang Xue-dong LIU Jun The Second Hospital of Jilin University Changchun 130041 P. R.China

Sumoylation is an important protein modification discovered recently. SUMO（small ubiquitin-related modifier） pathway regulates the protein stability and transcriptional activity with a 12-kDa small molecular protein, SUMO, ligated to the target protein. The purification of SUMO proteins is a key step to reveal their function. The purpose of this study was to construct the recombinant SUMO1 gene cloned to a pGEX-4T-1 vector to express and purify the SUMO1-GST fusion protein in Escherichia coli. First, the full length DNA sequence of SUMO1 gene was amplified by PCR and was ligated to pMD18-T vector. Then the SUMO1 gene was subcloned to pGEX-4T-1 prokaryotic expression vector between BamHI and XhoI sites, and transformed in Escherichia coli DH5α cells. The right colonies were identified by restrictive enzyme digestion and sequencing. The correct rebombinant plasmid of pGEX-4T-1-SUMO1 was transformed in Escherichia coli BL21 cells and then induced by IPTG（isopropyl- β-D-1- thiogalacto-pyranoside） to express the SUMO1-GST fusion protein. The highly purified SUMO1-GST（glutathione S-transferase） fusion protein was obtained by affinity chromatography. Finally, the properties of SUMO1-GST fusion protein were confirmed by Coomassie brilliant blue strain and Western blot analysis. The recombinant plasmid of pGEX-4T-1-SUMO1 was successfully constructed, and SUMO1-GST fusion proteins were successfully expressed.

关键词： Small ubiquitin-related modifier 1 (SUMO1) Gutathione S-transferase(GST) fusion protein Affinity chromatography

Ultrasonic focusing and scanning with multiple waves

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Chinese Physics B 2013年第1期22卷 312-317页

作者：张碧星刘冬冬师芳芳 Hefeng dong State Key Laboratory of Acoustics Institute of Acoustics Chinese Academy of Sciences Department of Electronics and Telecommunications Norwegian University of Science and Technology

This paper presents a new focusing and scanning method which focuses multiple waves on a target. The key of the method is to control excitation pulses for each element of the transducer array. The excitation pulse on each array element is obtained by time reversing the signal received by the same element, which is generated by an imaginary source at the target. The excitation pulses from all array elements are transmitted and arrive at the target simultaneously, and focusing is achieved. The performance of the two methods is compared in numerical examples, and it is demonstrated that the proposed method achieves a satisfactory focusing and a good signal-to-noise ratio no matter where the target location is.

关键词： ultrasonic focusing and scanning multiple waves transducer array

Treatment of anastomotic stricture after rectal cancer operation by magnetic compression technique:A case report

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World Journal of Gastrointestinal Surgery 2024年第5期16卷 1443-1448页

作者： Miao-Miao Zhang Huan-Chen Sha Hai-Rong Xue Yuan-Fa Qin fang-fang dong Li Zhang Yi Lyu Xiao-Peng Yan Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina Shaanxi Provincial Key Laboratory of Magnetic Medicine The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina Department of Gastroenterology The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina

BACKGROUNDThe treatment of postoperative anastomotic stenosis(AS)after resection of colorectalcancer is *** balloon dilation is used to treat stenosisin such cases,but some patients do not show improvement even after multipleballoon *** compression technique(MCT)has been used for gastrointestinalanastomosis,but its use for the treatment of postoperative AS aftercolorectal cancer surgery has rarely been *** SUMMARYWe report a 72-year-old man who underwent radical resection of colorectal cancerand ileostomy one year *** ileostomy closure was prepared six months ago,but colonoscopy revealed a narrowing of the rectal *** balloondilation was performed three times,but colonoscopy showed no significantimprovement in *** AS was successfully treated using *** is a minimally invasive method that can be used for the treatment of postoperativeAS after colorectal cancer surgery.

关键词： Rectostenosis Magnetic surgery Magnetic Surgery Clinic Rectal cancer Magnetic compression technique Case report

Magnetic compression anastomosis to restore biliary tract continuity after obstruction following major abdominal trauma:A case report

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World Journal of Gastrointestinal Surgery 2024年第6期16卷 1933-1938页

作者： Miao-Miao Zhang Jie Tao Huan-Chen Sha Yun Li Xiao-Gang Song Oliver J Muensterer fang-fang dong Li Zhang Yi Lyu Xiao-Peng Yan Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina Shaanxi Provincial Key Laboratory of Magnetic Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina National Local Joint Engineering Research Center for Precision Surgery&Regenerative Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina Department of Pediatric Surgery Dr.von Hauner Children’s HospitalLudwig-Maximilians-University Medical CenterMunich 80337Germany

BACKGROUND The combination of magnetic compression anastomosis(MCA)and endoscopy has been used to treat biliary stricture after liver ***,its use for the treatment of complex biliary obstruction after major abdominal trauma has not been *** case report describes the successful use of MCA for the treatment of biliary obstruction resulting from major abdominal trauma.A 23-year-old man underwent major abdominal surgery(repair of liver rupture,right half colon resection,and ileostomy)following a car accident one year *** abdominal drainage tube,positioned at the Winslow foramen,was draining approximately 600-800 mL of bile per *** the two endoscopic retrograde cholangiopancreatography procedures,the guide wire was unable to enter the common bile duct,which prevented placement of a biliary *** combined with endoscopy was used to successfully achieve magnetic anastomosis of the peritoneal sinus tract and duodenum,and then a choledochoduodenal stent was ***,the external biliary drainage tube was *** patient achieved internal biliary drainage leading to the removal of the external biliary drainage tube,which improved the quality of *** Magnetic compression technique can be used for the treatment of complex biliary obstruction with minimal operative trauma.

关键词： Magnetic compression anastomosis Magnetosurgery Endoscopy Magnetic Surgery Clinic Biliary obstruction Case report

Clinical study of extrahepatic biliary adenoma

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World Journal of Clinical Cases 2023年第24期11卷 5692-5699页

作者： Wei Li Jie Tao Xiao-Gang Song Mei-Rong Hou Kai Qu Jing-Tao Gu Xiao-Peng Yan Bo-Wen Yao Yuan-Fa Qin fang-fang dong Huan-Chen Sha Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina Department of Hepatobiliary Surgery East Branch of The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina

BACKGROUND Biliary adenomas that occur in the extrahepatic biliary tree are *** is difficult to distinguish it from cholangiocarcinoma or cholangiolithiasis by various imaging examinations,and it is very easy to be *** To evaluate the cumulative experiences including clinical characteristics and treatments of nine patients diagnosed with extrahepatic biliary adenoma admitted to the First Affiliated Hospital of Xi’an Jiaotong University from 2016 to *** A total of nine patients were included in our *** laboratory examinations,disease diagnosis,therapy and pathological characteristics,and follow-up of every patient were *** Our cohort consisted of six females and three males with an average diagnosis age of 65.1 years(range 46-87).Six extrahepatic biliary adenomas were located in the common bile ducts and three in the hepatic *** initial presentation,all of the patients have symptom of biliary origin,including obstructive jaundice(4/9,44.4%),abdominal pain(6/9,66.7%),and fever(3/9,33.3%).Preoperative imaging examination considered bile duct carcinoma in 6 cases and bile duct calculi in 3 *** the patients received surgical treatment and were confirmed by pathology as biliary *** symptoms improved significantly in all 9 patients after *** of nine patients recovered well at follow-up without tumor *** patient died 2 mo after the surgery due to heart *** patient developed jaundice again 8 mo after surgery,underwent endoscopic retrograde cholangiopancreatography and biliary stent *** Benign extrahepatic biliary tumors are rare and difficult to diagnosis *** choledochoscopy and timely biopsy may offer great advantages.

关键词： Adenoma Extrahepatic biliary tract Diagnosis Treatment

Novel magnetic compression technique for the treatment of postoperative anastomotic stenosis in rectal cancer:A case report

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World Journal of Gastrointestinal Surgery 2024年第6期16卷 1926-1932页

作者： Miao-Miao Zhang Huan-Chen Sha Hai-Rong Xue Yuan-Fa Qin Xiao-Gang Song Yun Li Yu Li Zheng-Wu Deng Yu-Lin Gao fang-fang dong Yi Lyu Xiao-Peng Yan Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi’an Jiaotong UniversityXi’an 710061Shaanxi ProvinceChina Department of Shaanxi Provincial Key Laboratory of Magnetic Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina Department of National Local Joint Engineering Research Center for Precision Surgery&Regenerative Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina Department of Gastroenterology The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina

BACKGROUND The treatment of postoperative anastomotic stenosis after excision of rectal cancer is *** balloon dilation and radial incision are not effective in all *** present a new endoscopy-assisted magnetic compression technique(MCT)for the treatment of rectal anastomotic *** successfully applied this MCT to a patient who developed an anastomotic stricture after radical resection of rectal cancer.A 50-year-old man had undergone laparoscopic radical rectal cancer surgery at a local hospital 5 months ago.A colonoscopy performed 2 months ago indicated that the rectal anastomosis was narrow due to which ileostomy closure could not be *** patient came to the Magnetic Surgery Clinic of the First Affiliated Hospital of Xi'an Jiaotong University after learning that we had successfully treated patients with colorectal stenosis using *** performed endoscopy-assisted magnetic compression surgery for rectal *** magnets were removed 16 d later.A follow-up colonoscopy performed after 4 months showed good anastomotic patency,following which,ileostomy closure surgery was *** MCT is a simple,non-invasive technique for the treatment of anastomotic stricture after radical resection of rectal *** technique can be widely used in clinical settings.

关键词： Rectal cancer Magnetic compression technique Magnetosurgery Anastomotic stricture Magnetic surgery clinic Case report

Magnetic compression anastomosis for sigmoid stenosis treatment:A case report

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World Journal of Gastrointestinal Endoscopy 2023年第12期15卷 745-750页

作者： Miao-Miao Zhang Yi Gao Xiao-Yang Ren Huan-Chen Sha Yi Lyu fang-fang dong Xiao-Peng Yan Department of Hepatobiliary Surgery The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina National Local Joint Engineering Research Center for Precision Surgery&Regenerative Medicine The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina Department of Gastrointestinal Surgery Affiliated Hospital of Guilin Medical UniversityGuilin 541001Guangxi Zhuang Autonomous RegionChina Department of Gastroenterology The First Affiliated Hospital of Xi'an Jiaotong UniversityXi'an 710061Shaanxi ProvinceChina

BACKGROUND Endoscopic balloon dilation is a minimally invasive treatment for colorectal *** compression anastomosis can be applied against gastrointestinal *** combined with endoscopy,it offers a unique approach to the recanalization of colorectal *** SUMMARY We have reported here the case of a 53-year-old female patient who underwent a descending colostomy due to sigmoid *** fistula restoration was not possible in her due to sigmoid ***,endoscopicassisted magnetic compression anastomosis for sigmoid stenosis was performed,and the sigmoid stenosis was recanalized 15 d after the ***,a reduction colostomy was successfully performed after 10 *** This case report proposes a novel minimally invasive treatment approach for colorectal stenosis.

关键词： Colorectal stenosis Endoscopy Magnetic compression anastomosis Magnamosis Magnetosurgery Case report

康柏西普联合激光光凝治疗视网膜分支静脉阻塞继发黄斑水肿

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国际眼科杂志 2022年第9期22卷 1543-1545页

作者：魏琳赵宪孟李月礼董方芳河南省濮阳市眼科医院 457000

目的:分析康柏西普联合激光光凝对视网膜分支静脉阻塞继发黄斑水肿患者的影响。方法:根据随机数表法,将2019-01/2021-06在本院治疗的102例102眼视网膜分支静脉阻塞继发黄斑水肿患者分为观察组和对照组,每组各51例51眼。对照组采用激光... 详细信息

目的:分析康柏西普联合激光光凝对视网膜分支静脉阻塞继发黄斑水肿患者的影响。方法:根据随机数表法,将2019-01/2021-06在本院治疗的102例102眼视网膜分支静脉阻塞继发黄斑水肿患者分为观察组和对照组,每组各51例51眼。对照组采用激光光凝治疗,观察组采用康柏西普联合激光光凝治疗。比较两组患者黄斑中心凹视网膜厚度、最佳矫正视力、并发症发生率有无差异。结果:治疗3mo后,观察组黄斑中心凹视网膜厚度比对照组低(P0.05)。结论:康柏西普联合激光光凝治疗视网膜分支静脉阻塞继发的黄斑水肿,可有效改善黄斑中心凹视网膜厚度,提高患者视力,且并发症与单纯视网膜激光光凝治疗相比并未增加,安全有效。

关键词：康柏西普激光光凝视网膜分支静脉阻塞继发黄斑水肿黄斑中心凹视网膜厚度