To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization met...To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization method for force and position.Based on the analysis of the kinematics and dynamics of the system,the inverse kinematics and inverse dynamics of the system are solved using the least variance method.The obstacle avoidance planning is performed in the solved collisionfree feasible space using the stable dung beetle optimization(SDBO)algorithm,which ensures that the suspended object can move stably to the target point in the workspace.The optimal obstacle avoidance trajectory of the multi-robot suspension system can be accurately determined by using the collaborative optimization method for force and position to plan the towing robot and the cable.Finally,the correctness of the obstacle avoidance planning method is verified by simulations.By taking a special scenario,the remarkable findings reveal that the SDBO algorithm outperforms the dung beetle optimization algorithm by reducing the length of the planned trajectory of the suspended object by 14.51%and the height by 79.88%,and reducing the minimum fitness by 95.84%and the average fitness by 94.77%.The results can help the multi-robot suspension system to perform various towing tasks safely and stably,and extend the related planning and control theory.展开更多
Two-dimensional van der Waals ferromagnet Fe_(3)GeTe_(2)(FGT)holds a great potential for applications in spintronic devices due to its high Curie temperature,easy tunability,and excellent structural stability in air.T...Two-dimensional van der Waals ferromagnet Fe_(3)GeTe_(2)(FGT)holds a great potential for applications in spintronic devices due to its high Curie temperature,easy tunability,and excellent structural stability in air.Theoretical studies have shown that pressure,as an external parameter,significantly affects its ferromagnetic properties.In this study,we have performed comprehensive high-pressure neutron powder diffraction(NPD)experiments on FGT up to 5 GPa to investigate the evolution of its structural and magnetic properties with hydrostatic pressure.The NPD data clearly reveal the robustness of the ferromagnetism in FGT,despite of an apparent suppression by hydrostatic pressure.As the pressure increases from 0 to 5 GPa,the Curie temperature is found to decrease monotonically from 225(5)K to 175(5)K,together with a dramatically suppressed ordered moment of Fe,which is well supported by the first-principles calculations.Although no pressure-driven structural phase transition is observed up to 5 GPa,quantitative analysis on the changes of bond lengths and bond angles indicates a significant modification of the exchange interactions,which accounts for the pressure-induced suppression of the ferromagnetism in FGT.展开更多
目的观察越婢汤对阿霉素肾病大鼠肾脏毛细血管通透性的影响,阐明其干预肾病综合征大鼠水肿的作用机制。方法采用尾静脉注射阿霉素建立大鼠肾病综合征模型。大鼠随机分为正常组、模型组及越婢汤低、中、高剂量组(6.6、11.1、22.2 g/kg),...目的观察越婢汤对阿霉素肾病大鼠肾脏毛细血管通透性的影响,阐明其干预肾病综合征大鼠水肿的作用机制。方法采用尾静脉注射阿霉素建立大鼠肾病综合征模型。大鼠随机分为正常组、模型组及越婢汤低、中、高剂量组(6.6、11.1、22.2 g/kg),灌胃给予相应药物14 d。给药结束后,检测肾脏毛细血管通透性、肾脏及皮肤干湿重比例,观察肾脏病理学变化,检测血清Scr、BUN、TC、ALB及尿液24 h UTP水平,ELISA法检测肾组织VEGF水平,免疫组化法检测肾组织VEGF、VEGFA、VEGFR2阳性表达,Western blot法检测肾组织VEGF、VEGFA、VEGFR2、p-ERK1/2、ERK1/2和Rap1蛋白表达。结果与模型组比较,越婢汤高剂量组大鼠肾脏及皮肤干湿重比例升高(P<0.05,P<0.01),VEGF和VEGFA蛋白表达降低(P<0.01);中、高剂量组大鼠肾脏毛细血管通透性,血清Scr、BUN、TC水平,尿液24 h UTP水平,肾组织VEGF水平和VEGFR2蛋白表达降低(P<0.05,P<0.01),ALB水平升高(P<0.01),肾组织病理学改善;越婢汤各剂量组大鼠肾组织p-ERK1/2/ERK1/2蛋白表达比值降低(P<0.01),Rap1蛋白表达升高(P<0.01)。结论越婢汤可以减轻阿霉素肾病大鼠皮肤和肾脏水肿,其作用机制和调控VEGF/ERK信号通路,改善肾脏毛细血管通透性有关。展开更多
Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the fle...Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.展开更多
Repairing glans dehiscence after failed hypospadias repair is challenging for pediatric surgeons.Here,we introduced and evaluated a newly modified Mathieu technique,Mathieu combined tunnel(MCT),which involves multiple...Repairing glans dehiscence after failed hypospadias repair is challenging for pediatric surgeons.Here,we introduced and evaluated a newly modified Mathieu technique,Mathieu combined tunnel(MCT),which involves multiple custom-designed flaps for the shortage of flap source material after repeated operations;we also constructed a tunnel to avoid the glans incision that may carry new risks of dehiscence.This retrospective study included 26 patients who were consecutively admitted to the First Affiliated Hospital of Sun Yat-Sen University(Guangzhou,China)for glans dehiscence repair after failed hypospadias repair from October 2014 to October 2020;sixteen patients underwent surgery using the MCT(MCT group)and ten patients underwent surgery using the tubularized incised plate(TIP)technique(TIP group).The operative time,blood loss,postoperative complications,normal urethral meatus rate,success rate,and Hypospadias Objective Penile Evaluation(HOPE)score were compared between the two groups.The MCT group achieved an overall satisfactory penile appearance and voiding function,with a higher rate of normal urethral meatus(15/16,93.8%)and a lower rate of glans dehiscence(1/16,6.2%),compared with the TIP group(70.0%and 30.0%,respectively).However,these differences were not statistically significant,possibly because of the limited number of patients(all P>0.05).Mean postoperative HOPE scores were similar in the MCT group(mean±standard deviation:8.83±0.89)and TIP group(8.94±0.57)(P>0.05).No significant differences were found between the two groups in terms of blood loss and success rate,nor in the rates of various complications(e.g.,fistula,urethral stricture,and glans dehiscence).In conclusion,the MCT technique appears to be feasible and reliable for repairing glans dehiscence after failed hypospadias repair.展开更多
Stochastic heat conduction and thermal stress analysis of structures has received considerable attention in recent years.The propagation of uncertain thermal environments will lead to stochastic variations in temperat...Stochastic heat conduction and thermal stress analysis of structures has received considerable attention in recent years.The propagation of uncertain thermal environments will lead to stochastic variations in temperature fields and thermal stresses.Therefore,it is reasonable to consider the variability of thermal environments while conducting thermal analysis.However,for ambient thermal excitations,only stationary random processes have been investigated thus far.In this study,the highly efficient explicit time-domain method(ETDM)is proposed for the analysis of non-stationary stochastic transient heat conduction and thermal stress problems.The explicit time-domain expressions of thermal responses are first constructed for a thermoelastic body.Then the statistical moments of thermal displacements and stresses can be directly obtained based on the explicit expressions of thermal responses.A numerical example involving non-stationary stochastic internal heat generation rate is investigated.The accuracy and efficiency of the proposed method are validated by comparison with the Monte-Carlo simulation.展开更多
At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting require...At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.展开更多
基金supported by the Excellent Graduate Student“Innovation Star”project of Education Department of Gansu Province(Grant No.2025CXZX-675)the National Natural Science Foundation of China(Grant No.51965032)+3 种基金the National Natural Science Foundation of Gansu Province of China(Grant No.22JR5RA319)the Excellent Doctoral Student Foundation of Gansu Province of China(Grant No.23JRRA842)the Open Project of State Key Laboratory of Rail Transit Vehicle System,Southwest Jiaotong University(Grant No.RVL2411)the Key Research and Development Project of Lanzhou Jiaotong University(Grant No.LZJTU-ZDYF2302).
文摘To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization method for force and position.Based on the analysis of the kinematics and dynamics of the system,the inverse kinematics and inverse dynamics of the system are solved using the least variance method.The obstacle avoidance planning is performed in the solved collisionfree feasible space using the stable dung beetle optimization(SDBO)algorithm,which ensures that the suspended object can move stably to the target point in the workspace.The optimal obstacle avoidance trajectory of the multi-robot suspension system can be accurately determined by using the collaborative optimization method for force and position to plan the towing robot and the cable.Finally,the correctness of the obstacle avoidance planning method is verified by simulations.By taking a special scenario,the remarkable findings reveal that the SDBO algorithm outperforms the dung beetle optimization algorithm by reducing the length of the planned trajectory of the suspended object by 14.51%and the height by 79.88%,and reducing the minimum fitness by 95.84%and the average fitness by 94.77%.The results can help the multi-robot suspension system to perform various towing tasks safely and stably,and extend the related planning and control theory.
基金Project supported by the National Natural Science Foundation of China(Grant No.12074023)the Large Scientific Facility Open Subject of Songshan Lake(Grant No.KFKT2022B05)+1 种基金the Fundamental Research Funds for the Central Universities in ChinaNeutron diffraction experiments at the Materials and Life Science Experimental Facility of the J-PARC were performed through the user program(Proposal No.2023A0185).
文摘Two-dimensional van der Waals ferromagnet Fe_(3)GeTe_(2)(FGT)holds a great potential for applications in spintronic devices due to its high Curie temperature,easy tunability,and excellent structural stability in air.Theoretical studies have shown that pressure,as an external parameter,significantly affects its ferromagnetic properties.In this study,we have performed comprehensive high-pressure neutron powder diffraction(NPD)experiments on FGT up to 5 GPa to investigate the evolution of its structural and magnetic properties with hydrostatic pressure.The NPD data clearly reveal the robustness of the ferromagnetism in FGT,despite of an apparent suppression by hydrostatic pressure.As the pressure increases from 0 to 5 GPa,the Curie temperature is found to decrease monotonically from 225(5)K to 175(5)K,together with a dramatically suppressed ordered moment of Fe,which is well supported by the first-principles calculations.Although no pressure-driven structural phase transition is observed up to 5 GPa,quantitative analysis on the changes of bond lengths and bond angles indicates a significant modification of the exchange interactions,which accounts for the pressure-induced suppression of the ferromagnetism in FGT.
文摘目的观察越婢汤对阿霉素肾病大鼠肾脏毛细血管通透性的影响,阐明其干预肾病综合征大鼠水肿的作用机制。方法采用尾静脉注射阿霉素建立大鼠肾病综合征模型。大鼠随机分为正常组、模型组及越婢汤低、中、高剂量组(6.6、11.1、22.2 g/kg),灌胃给予相应药物14 d。给药结束后,检测肾脏毛细血管通透性、肾脏及皮肤干湿重比例,观察肾脏病理学变化,检测血清Scr、BUN、TC、ALB及尿液24 h UTP水平,ELISA法检测肾组织VEGF水平,免疫组化法检测肾组织VEGF、VEGFA、VEGFR2阳性表达,Western blot法检测肾组织VEGF、VEGFA、VEGFR2、p-ERK1/2、ERK1/2和Rap1蛋白表达。结果与模型组比较,越婢汤高剂量组大鼠肾脏及皮肤干湿重比例升高(P<0.05,P<0.01),VEGF和VEGFA蛋白表达降低(P<0.01);中、高剂量组大鼠肾脏毛细血管通透性,血清Scr、BUN、TC水平,尿液24 h UTP水平,肾组织VEGF水平和VEGFR2蛋白表达降低(P<0.05,P<0.01),ALB水平升高(P<0.01),肾组织病理学改善;越婢汤各剂量组大鼠肾组织p-ERK1/2/ERK1/2蛋白表达比值降低(P<0.01),Rap1蛋白表达升高(P<0.01)。结论越婢汤可以减轻阿霉素肾病大鼠皮肤和肾脏水肿,其作用机制和调控VEGF/ERK信号通路,改善肾脏毛细血管通透性有关。
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+2 种基金the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842the Sichuan Province Engineering Technology Research Center of General Aircraft Maintenance under Grant No.GAMRC2023YB05the Key Research and Development Project of Lanzhou Jiaotong University under Grant No.LZJTUZDYF2302.
文摘Currently,the cranes used at sea do not have enough flexibility,efficiency,and safety.Thus,this study proposed a floating multirobot coordinated towing system to meet the demands for offshore towing.Because of the flexibility of rope-driven robots,the one-way pulling characteristics of the rope,and the floating characteristics of the base,towing robots are easily overturned.First,the spatial configuration of the towing system was established according to the towing task,and the kinematic model of the towing system was established using the coordinate transformation.Then,the dynamic model of the towing system was established according to the rigid-body dynamics and hydrodynamic theory.Finally,the stability of the towing system was analyzed using the stability cone method.The simulation experiments provide a reference for the practical application of the floating multirobot coordinated towing system,which can improve the stability of towing systems by changing the configuration of the towing robot.
基金supported by grants from the National Natural Science Foundation of China(No.81971314)。
文摘Repairing glans dehiscence after failed hypospadias repair is challenging for pediatric surgeons.Here,we introduced and evaluated a newly modified Mathieu technique,Mathieu combined tunnel(MCT),which involves multiple custom-designed flaps for the shortage of flap source material after repeated operations;we also constructed a tunnel to avoid the glans incision that may carry new risks of dehiscence.This retrospective study included 26 patients who were consecutively admitted to the First Affiliated Hospital of Sun Yat-Sen University(Guangzhou,China)for glans dehiscence repair after failed hypospadias repair from October 2014 to October 2020;sixteen patients underwent surgery using the MCT(MCT group)and ten patients underwent surgery using the tubularized incised plate(TIP)technique(TIP group).The operative time,blood loss,postoperative complications,normal urethral meatus rate,success rate,and Hypospadias Objective Penile Evaluation(HOPE)score were compared between the two groups.The MCT group achieved an overall satisfactory penile appearance and voiding function,with a higher rate of normal urethral meatus(15/16,93.8%)and a lower rate of glans dehiscence(1/16,6.2%),compared with the TIP group(70.0%and 30.0%,respectively).However,these differences were not statistically significant,possibly because of the limited number of patients(all P>0.05).Mean postoperative HOPE scores were similar in the MCT group(mean±standard deviation:8.83±0.89)and TIP group(8.94±0.57)(P>0.05).No significant differences were found between the two groups in terms of blood loss and success rate,nor in the rates of various complications(e.g.,fistula,urethral stricture,and glans dehiscence).In conclusion,the MCT technique appears to be feasible and reliable for repairing glans dehiscence after failed hypospadias repair.
基金funded by the National Natural Science Foundation of China (51678252)the Guangzhou Science and Technology Project (201804020069)
文摘Stochastic heat conduction and thermal stress analysis of structures has received considerable attention in recent years.The propagation of uncertain thermal environments will lead to stochastic variations in temperature fields and thermal stresses.Therefore,it is reasonable to consider the variability of thermal environments while conducting thermal analysis.However,for ambient thermal excitations,only stationary random processes have been investigated thus far.In this study,the highly efficient explicit time-domain method(ETDM)is proposed for the analysis of non-stationary stochastic transient heat conduction and thermal stress problems.The explicit time-domain expressions of thermal responses are first constructed for a thermoelastic body.Then the statistical moments of thermal displacements and stresses can be directly obtained based on the explicit expressions of thermal responses.A numerical example involving non-stationary stochastic internal heat generation rate is investigated.The accuracy and efficiency of the proposed method are validated by comparison with the Monte-Carlo simulation.
基金Supported by the National Natural Science Foundation of China under Grant No.51965032the National Natural Science Foundation of Gansu Province of China under Grant No.22JR5RA319+1 种基金the Science and Technology Foundation of Gansu Province of China under Grant No.21YF5WA060the Excellent Doctoral Student Foundation of Gansu Province of China under Grant No.23JRRA842。
文摘At present,the cranes used at sea have several shortcomings in terms of flexibility,efficiency,and safety.Therefore,a floating multi-robot coordinated lifting system is proposed to fulfill the offshore lifting requirements.First,the structure of the lifting system is established according to the lifting task,the kinematic model of the system is developed by using the D–H coordinate transformation,and the dynamic model is developed based on rigid-body dynamics and hydrodynamics.Then,the static and dynamic workspace of the lifting system are analyzed,and the solving steps of the workspace are given by using the Monte–Carlo method.The effect of the load mass and the maximum allowable tension of the cable on the workspace is examined by simulation.Results show that the lifting system has limited carrying capacity and a data reference for selecting the structural parameters by analyzing the factors affecting the workspace.Findings provide a basis for further research on the optimal design of structural parameters and the determination of safe configurations of the lifting system.
