This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery...This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.展开更多
Objective\ The purpose of this study is to investigate the effect of superoxide anion on the apoptosis of cultured fibroblasts and the protective role of selenium and Vitamin E. Methods\ Cultured fibroblasts (NIH3T3)...Objective\ The purpose of this study is to investigate the effect of superoxide anion on the apoptosis of cultured fibroblasts and the protective role of selenium and Vitamin E. Methods\ Cultured fibroblasts (NIH3T3), with or without selenium or vitamin E in the medium, were treated by superoxide anion produced by xanthine/xanthine oxidase reaction system and changes in cell structure and DNA were observed microscopically and electrophoretically. Results\ Apoptosis was observed when superoxide anion at a concentration of 5 nmol/L or 10 nmol/L had acted on the fibroblasts for 5-10 h. Selenium and Vitamin E in the medium inhibited the apoptosis significantly when their concentrations reached 1.15 mol/L and 2.3 mol/L respectively. Conclusion Selenium and vitamin E have protective effect against the apoptosis induced by superoxide anion. The effect of selenium is more remarkable than that of vitamin E.展开更多
A stable Pd(II) compound Pd(AETYF)Cl2CH2Cl2 (AETYF = 4?5?diaza-9? (4,5-bis(ethylthio)-1,3-dithiole-2-ylidene)-fluorene) has been synthesized and its crystal structure was determined by X-ray crystallography. The cryst...A stable Pd(II) compound Pd(AETYF)Cl2CH2Cl2 (AETYF = 4?5?diaza-9? (4,5-bis(ethylthio)-1,3-dithiole-2-ylidene)-fluorene) has been synthesized and its crystal structure was determined by X-ray crystallography. The crystal is of monoclinic, space group P21/c with a = 15.249(6), b = 8.619(3), c = 19.078(7) ? b = 106.932(8), C19H18Cl4N2PdS4, Mr = 650.79, V = 2398.6(16) 3, Z = 4, Dc = 1.802 g/cm3, F(000) = 1296, m = 1.579 mm-1, Npar = 268, the final R = 0.0538 and wR = 0.1282 for 5068 observed reflections with I > 2s(I). The crystal structure determi- nation shows that the atoms of the molecule, except two ethyl-groups, are conjugated in a quasi- plane and these molecules are further stacked or contacted via plane to plane or edge to edge p-p interactions, forming parallel molecular chains along the b axis.展开更多
文摘This paper discusses how joint clearance influences robot end effectorpositioning accuracy and a robot accuracy analysis approach based on a virtual prototype isproposed. First, a 5-DOF(Degree of freedom) neurosurgery robot was introduced. Then we built itsvirtual prototype, made movement planning and measured the manipulator tip accuracy, through whichthis robot accuracy portrait was obtained. Finally, in order to validate the robot accuracyanalysis approach which is based on a virtual prototype, the result was compared with that from amodel built by robot forward kinematics and robot differential kinematics. The robot accuracyanalysis approach presented in this paper gives a new way to enhance robot design quality , and helpto optimize the control and programming of the robot.
文摘Objective\ The purpose of this study is to investigate the effect of superoxide anion on the apoptosis of cultured fibroblasts and the protective role of selenium and Vitamin E. Methods\ Cultured fibroblasts (NIH3T3), with or without selenium or vitamin E in the medium, were treated by superoxide anion produced by xanthine/xanthine oxidase reaction system and changes in cell structure and DNA were observed microscopically and electrophoretically. Results\ Apoptosis was observed when superoxide anion at a concentration of 5 nmol/L or 10 nmol/L had acted on the fibroblasts for 5-10 h. Selenium and Vitamin E in the medium inhibited the apoptosis significantly when their concentrations reached 1.15 mol/L and 2.3 mol/L respectively. Conclusion Selenium and vitamin E have protective effect against the apoptosis induced by superoxide anion. The effect of selenium is more remarkable than that of vitamin E.
基金the National Natural Science Foundation of China (20071024 20371033) and Suzhou University
文摘A stable Pd(II) compound Pd(AETYF)Cl2CH2Cl2 (AETYF = 4?5?diaza-9? (4,5-bis(ethylthio)-1,3-dithiole-2-ylidene)-fluorene) has been synthesized and its crystal structure was determined by X-ray crystallography. The crystal is of monoclinic, space group P21/c with a = 15.249(6), b = 8.619(3), c = 19.078(7) ? b = 106.932(8), C19H18Cl4N2PdS4, Mr = 650.79, V = 2398.6(16) 3, Z = 4, Dc = 1.802 g/cm3, F(000) = 1296, m = 1.579 mm-1, Npar = 268, the final R = 0.0538 and wR = 0.1282 for 5068 observed reflections with I > 2s(I). The crystal structure determi- nation shows that the atoms of the molecule, except two ethyl-groups, are conjugated in a quasi- plane and these molecules are further stacked or contacted via plane to plane or edge to edge p-p interactions, forming parallel molecular chains along the b axis.
