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实时预测下的机器人关节连续转动角度误差前置性补偿方法

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机械设计与研究 2024年第3期40卷 36-40,45页

作者：曹丽芳岳鹏张建忠黄河水利职业技术学院机械工程学院河南开封475004 河南大学化学与分子科学学院郑州450046

由于机器人关节连杆之间存在非线性、耦合效应以及定位误差,当前的机器人关节误差补偿方法都是后置性的,以产生误差-误差校准的思路完成补充。一旦产生误差过大,就会造成实际损失。提出实时预测下的机器人关节连续转动角度误差补偿方法... 详细信息

由于机器人关节连杆之间存在非线性、耦合效应以及定位误差,当前的机器人关节误差补偿方法都是后置性的,以产生误差-误差校准的思路完成补充。一旦产生误差过大,就会造成实际损失。提出实时预测下的机器人关节连续转动角度误差补偿方法。利用修正的完整参数连续(Modified Complete Parameter Continuity, MCPC)方法,建立惯性坐标系,使机器人的关节运动满足时间序列上的约束条件。引入卡尔曼滤波算法,并对关节空间内的机器人关节转动状态展开预测及更新;根据最终转动角度更新结果,与期望转动角度的对比,实现实时转角误差判断,不再依赖后置性误差结果。根据模糊控制器论域与转角误误差之间的自适应变化关系,建立模糊规则库作为补偿历史数据,实现关节连续转动角度误差的主动前置性补偿。实验证明,所提方法在机器人关节转动中,能够精准识别当前转动角度,误差补偿效果明显,对机器人作业精度的提升具有一定意义。

关键词： MCPC方法运动学模型关节空间模糊规则库

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一种旋转机械综合故障检测和模式识别模型

机电工程 2024年第8期41卷 1386-1397页

作者：曹丽芳袁征尹久郭海涛黄河水利职业技术学院河南开封475004 湖北轻工职业技术学院机电工程学院湖北武汉430070 华南理工大学土木交通学院广东广州510640

针对传统故障诊断方法只关注故障检测部分,而对样本是否存在故障的研究较少的问题,提出了一种基于自适应噪声完备经验模态分解(CEEMDAN)-注意熵(AE)和黏菌算法优化极限学习机(SMA-ELM)的旋转机械综合故障诊断模型。首先,针对正常样本和... 详细信息

针对传统故障诊断方法只关注故障检测部分,而对样本是否存在故障的研究较少的问题,提出了一种基于自适应噪声完备经验模态分解(CEEMDAN)-注意熵(AE)和黏菌算法优化极限学习机(SMA-ELM)的旋转机械综合故障诊断模型。首先,针对正常样本和故障样本的复杂性差异,建立了注意熵阈值,计算旋转机械的AE,并将其与阈值进行了比较,若熵值小于该阈值则表明样本存在故障,反之样本是健康的;然后,利用CEEMDAN对故障样本的振动信号进行了分解,提取前6阶分量的AE值;最后,将故障特征输入至SMA-ELM模型中进行了故障识别,利用3种旋转机械故障数据集对该综合故障诊断模型的可靠性进行了研究。研究结果表明:该阈值设置方法可以100%准确地检测样本是否存在故障,后续的故障诊断模型能够准确地检测出样本的故障类型,识别准确率分别达到了99.44%、100%和98%。该综合故障诊断模型能够避免正常样本被误判为故障样本,为旋转机械的故障检测提供了一种可行的思路。

关键词：旋转机械滚动轴承综合故障诊断故障阈值注意熵自适应噪声完备经验模态分解黏菌算法优化极限学习机

间歇性袋鼠式护理对26~33+6周早产儿纯母乳喂养的影响

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发育医学电子杂志 2024年第5期12卷 356-361页

作者：曹丽芳王慧付佳慧张雪峰北京大学国际医院新生儿科北京102206

目的调查新生儿重症监护室(neonatal intensive care unit,NICU)26~33+6周早产儿间歇性袋鼠式护理(kangaroo mother care,KMC)与纯母乳喂养率之间的关系。方法回顾性分析2016年1月+6至2023年8月北京大学国际医院新生儿科收治的胎龄26~3... 详细信息

目的调查新生儿重症监护室(neonatal intensive care unit,NICU)26~33+6周早产儿间歇性袋鼠式护理(kangaroo mother care,KMC)与纯母乳喂养率之间的关系。方法回顾性分析2016年1月+6至2023年8月北京大学国际医院新生儿科收治的胎龄26~33周的119例早产儿及其母亲的临床资料,根据是否进行间歇性KMC分为KMC组(n=60)与常规护理组(n=59)。比较两组早产儿出院时、矫正胎龄40周、矫正4月龄、矫正6月龄的纯母乳喂养率及早产儿结局。统计学方法采用t检验、非参数检验、χ^(2)检验。结果2组早产儿纯母乳喂养率比较,出院时KMC组为95.00%(57/60),常规护理组为74.58%(44/59),差异有统计学意义(t=9.666,P=0.002);矫正40周KMC组为53.33%(32/60),常规护理组为30.51%(18/59),差异有统计学意义(t=6.361,P=0.012);矫正4月龄KMC组为48.33%(29/60),常规护理组为25.42%(15/59),差异有统计学意义(t=6.700,P=0.010);矫正6月龄KMC组为41.67%(25/60),常规护理组为20.34%(12/59),差异有统计学意义(t=6.316,P=0.012)。各时期KMC组纯母乳喂养率均高于常规护理组。两组早产儿在院内感染发生率(t=0.001,P=0.973)、宫外生长发育迟缓(extrauterine growth retardation,EUGR)发生率(t=0.425,P=0.515)、出院胎龄(t=-0.500,P=0.617)、出院体质量(t=-0.439,P=0.661)、喂养不耐受发生率(t=0.067,P=0.795)方面比较,差异均无统计学意义。结论间歇性KMC+6可促进26~33周早产儿矫正6月龄内的纯母乳喂养率,应更好地在NICU中积极推广。

关键词：早产母乳喂养袋鼠式护理结局

血液透析病人动静脉内瘘患者采用不同的穿刺方法对护理质量与安全性的影响分析

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智慧健康 2024年第1期10卷 216-219,224页

作者：李芹曹丽芳朱玉云张小娟泗洪医院血液净化中心江苏泗洪223900

目的比照不相同的穿刺方案对血液透析病患动静脉内瘘护理质量与可靠性的干预。方法选取2021年7月—2022年7月本院收治的150例持续性血液透析患者为研究对象。比照组使用惯例区域穿刺法随意穿刺,实验组运用计划绳梯穿刺法穿刺。对照两组... 详细信息

目的比照不相同的穿刺方案对血液透析病患动静脉内瘘护理质量与可靠性的干预。方法选取2021年7月—2022年7月本院收治的150例持续性血液透析患者为研究对象。比照组使用惯例区域穿刺法随意穿刺,实验组运用计划绳梯穿刺法穿刺。对照两组动静脉瘘穿刺成功率、护理质量和可靠性出现率及血渗和血肿出现率。结果实验组一次完成率是96%,比照组是100%,二者不存在统计学上的差别(P>0.05)。实验组出血和血肿发生率低于比照组,差异有统计学意义(P<0.05)。实验组动静脉瘘护理质量与安全性发生率为17.33%,比照组为44.00%(P<0.05)。结论与传统的区域穿刺相比,有计划的绳梯穿刺能有效减少血液透析患者血脉渗透、皮下血肿及动静脉瘘护理质量与安全性。

关键词：血液透析动静脉内瘘绳梯穿刺法护理质量和可靠性

Construction of Highly Efficient Photocatalyst with Core-Shell Au@Ag/C@SiO_(2)Hybrid Structure towards Visible-Light-Driven Photocatalytic Reduction

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Chinese Journal of Chemistry 2021年第10期39卷 2865-2872页

作者： Huiqin An Shunyuan Xiao Xiaohui Zhao lifang cao Ting Liu Mengzhu Li Bing Wang Zhen Yin State Key Laboratory of Separation Membranes and Membrane Processes&School of Chemistry and Chemical Engineering Tiangong UniversityTianjin 300387China Second Oil Production Plant in Chongqing Oilfield QingyongGansu 745106China Beijing Institute of Aerospace Testing Technology Beijing 100048China College of Chemical Engineering and Materials Science Tianjin University of Science and TechnologyTianjin300457 China

Main observation and conclusion Herein,we report a rational construction of Au@Ag/C@SiO_(2)system with Au@Ag core-shell nanoparticles(NPs)as a promising photocatalyst based on the plasmonic coupling effect for the first time towards the photoreduction of nitroaromatic compounds under visible *** combination and elaborate construction of Au@Ag NPs,carbon microspheres and mesoporous SiO_(2)shell can endow this system with several outstanding features towards photocatalytic ***,the broadband light harvesting across ultraviolet-visible-near infrared(UV-vis-NIR)region can be achieved due to the comprehensive effect of surface plasmonic resonance(SPR)coupling model of Au and Ag,near-field scattering light of carbon microspheres and light reflecting effect of SiO_(2)shell,resulting in the production of more electrons for phororeduction ***,the carbon microspheres in Au@Ag/C@SiO_(2)system possess electron-rich property due to their strong electron-withdrawing ability,which can act as the Lewis acid and Lewis basic site,and promote the stepwise hydrogenation of ***,Au@Ag/C@SiO_(2)exhibits excellent reusability because of the protection of SiO_(2)shell,which restricts metal NPs inside the spheres and protects them from aggregation and being lost during reaction *** present work demonstrates the significance of construction of hybrid nanostructures based on the plasmonic coupling effect,which can be a promising approach to design efficient photocatalyst towards organic synthesis under visible light.

关键词： Au@Ag nanoparticles Surface plasmon resonance Carbon microspheres Si0_(2)shell Photocatalysis

MdWRKY75e enhances resistance to Alternaria alternata in Malus domestica

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Horticulture Research 2021年第1期8卷 3068-3088页

作者： Yingjun Hou Xinyi Yu Weiping Chen Weibing Zhuang Sanhong Wang Chao Sun lifang cao Tingting Zhou Shenchun Qu College of Horticulture Nanjing Agricultural UniversityNanjingPeople's Republic of China College of Agriculture Nanjing Agricultural UniversityNanjingPeople's Republic of China Institute of Botany Jiangsu Province and Chinese Academy of Sciences(Nanjing Botanical GardenMemorial Sun Yat-sen)NanjingPeople's Republic of China

The Alternaria alternata apple pathotype adversely affects apple(Malus domestica Borkh.)***,the molecular mechanisms underlying enhanced resistance to this pathogen in apple remain poorly *** have previously reported that MdWRKY75 expression is upregulated by *** infection in‘Sushuai’*** this study,we discovered that overexpression of MdWRKY75e increased the resistance of transgenic apple lines to *** infection,whereas silencing this gene enhanced susceptibility to *** ***,we found that MdWRKY75e directly binds to the MdLAC7 promoter to regulate the biosynthesis of laccase and increase the biosynthesis of lignin during *** ***,the thickening of the cell wall enhanced the mechanical defense capabilities of *** addition,we found that jasmonic acid remarkably induced MdWRKY75e expression,and its levels in transgenic apple lines were *** results indicate that MdWRKY75e confers resistance to the *** apple pathotype mainly via the jasmonic acid pathway and that pathogenesis-related genes and antioxidant-related enzyme activity are involved in the disease resistance of MdWRKY75e transgenic *** conclusion,our fi ndings provide insights into the importance of MdWRKY75e for resistance to *** infection in apples.

关键词： alternata apple domestica

Evaluation of urban river landscape design rationality based on AHP

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Water Science and Engineering 2008年第4期1卷 75-81页

作者： Qiao lifang Zhang Yichuan cao Wei School of Horticulture and Landscape Architecture Henan Institute of Science and Technology Xinxiang 453003 P. R. China

An evaluation model for the rationality of the landscape design of urban rivers was established with the analytic hierarchy process （AHP） method so as to provide a foundation for updating the landscape design of urban rivers. The evaluation system was divided into four layers, including the target layer, the comprehensive layer, the element layer, and the index layer. Each layer was made of different indices. The evaluation standards for each index were also given in this paper. This evaluation model was proved tenable through its application to the landscape design rationality evaluation of the Weihe River in Xinxiang City of Henan Province. The results show that the water quality, space, activity, facility, community, width of vegetation, sense of beauty and water content are among the most influential factors and should be considered the main basis for evaluating the rationality of the landscape design of urban rivers.

关键词： urban river river landscape design evaluation model analytic hierarchy process

Manure substitution improves maize yield by promoting soil fertility and mediating the microbial community in lime concretion black soil

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Journal of Integrative Agriculture 2024年第2期23卷 698-710页

作者： Minghui cao Yan Duan Minghao Li Caiguo Tang Wenjie Kan Jiangye Li Huilan Zhang Wenling Zhong lifang Wu The Center for Ion Beam Bioengineering&Green Agriculture Hefei Institutes of Physical ScienceChinese Academy of SciencesHefei 230031China University of Science and Technology of China Hefei 230026China Zhongke Taihe Experimental Station Taihe 236626China Institute of Resources and Environment Jiangsu Academy of Agricultural SciencesNanjing 210014China

Synthetic nitrogen(N)fertilizer has made a great contribution to the improvement of soil fertility and productivity,but excessive application of synthetic N fertilizer may cause agroecosystem risks,such as soil acidification,groundwater contamination and biodiversity ***,organic substitution has received increasing attention for its ecologically and environmentally friendly and productivity ***,the linkages between manure substitution,crop yield and the underlying microbial mechanisms remain *** bridge this gap,a three-year field experiment was conducted with five fertilization regimes:i)Control,non-fertilization;CF,conventional synthetic fertilizer application;CF_(1/2)M_(1/2),1/2 N input via synthetic fertilizer and 1/2 N input via manure;CF_(1/4)M_(3/4),1/4 N input synthetic fertilizer and 3/4 N input via manure;M,manure *** fertilization treatments were designed to have equal N *** results showed that all manure substituted treatments achieved high soil fertility indexes(SFI)and productivities by increasing the soil organic carbon(SOC),total N(TN)and available phosphorus(AP)concentrations,and by altering the bacterial community diversity and composition compared with ***,AP,and the soil C:N ratio were mainly responsible for microbial community *** co-occurrence network revealed that SOC and AP had strong positive associations with Rhodospirillales and Burkholderiales,while TN and C:N ratio had positive and negative associations with Micromonosporaceae,*** specific taxa are implicated in soil macroelement *** Forest analysis predicted that both biotic(bacterial composition and Micromonosporaceae)and abiotic(AP,SOC,SFI,and TN)factors had significant effects on crop *** present work strengthens our understanding of the effects of manure substitution on crop yield and provides theoretical support for optimizing fertilization strategies.

关键词： fertilization manure substitution soil fertility maize yield bacterial community

Brain circuits for retching-like behavior

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National Science Review 2024年第1期11卷 145-160页

作者： lifang Huo Zhimin Ye Meiling Liu Ziqing He Meizhu Huang Dapeng Li Qian Wu Qian Wang Xiaoqun Wang Peng cao Ji Dong Congping Shang School of Basic Medical Sciences Guangzhou National Laboratory The Fifth Afflliated Hospital Guangzhou Medical University Bioland Laboratory (Guangzhou Regenerative Medicine and Health Guangdong Laboratory) Department of Neurobiology School of Basic Medical Sciences Beijing Key Laboratory of Neural Regeneration and Repair Advanced Innovation Center for Human Brain Protection Capital Medical University State Key Laboratory of Cognitive Neuroscience and Learning IDG/McGovern Institute for Brain Research Beijing Normal University Changping Life Science Laboratory National Institute of Biological Sciences

Nausea and vomiting are important defensive responses to cope with pathogens and toxins that invade the body. The nucleus of the solitary tract(NTS) is important for initiating these responses. However, the molecular heterogeneities and cellular diversities of the NTS occlude a better understanding of these defensive responses. Here, we constructed the single-nucleus transcriptomic atlas of NTS cells and found multiple populations of NTS neurons that may be involved in these defensive responses. Among these, we identified Calbindin1-positive(Calb1+) NTS neurons that are molecularly distinct from Tac1+*** Calb1+neurons are critical for nausea and retching induced by cereulide; an emetic toxin secreted by Bacillus Cereus. Strikingly, we found that cereulide can directly modulate vagal sensory neurons that innervate Calb1+NTS neurons, a novel mechanism distinct from that for nausea and retching induced by Staphylococcal enterotoxin A. Together, our transcriptomic atlas of NTS neurons and the functional analyses revealed the neural mechanism for cereulide-induced retching-like behavior. These results demonstrate the molecular and cellular complexities in the brain that underlie defensive responses to the diversities of pathogens and toxins.

关键词： vomiting nausea nucleus of the solitary tract Calbindin1 neural circuits