A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional ...A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.展开更多
With the continuous development of economy and technology, China has intensified its efforts in building construction in daily life. People's requirements for architecture are also relatively improved. At this tim...With the continuous development of economy and technology, China has intensified its efforts in building construction in daily life. People's requirements for architecture are also relatively improved. At this time, the quality of the project must be paid attention to. If you want to ensure the engineering quality, the engineering survey must be accurate without any mistakes. This paper aims at the in-depth study of the application of 3D mapping technology in modern engineering survey. Three-dimensional mapping technology is explained in detail from five aspects.展开更多
基金work is supported by the Fundamental Research Funds for the Central Universities(Grant No.B230205021)the Postgraduate Research&Practice Innovation Program of Jiangsu Province,China(GrantNo.KYCX22_0592).The financial supports are gratefully acknowl-edged.
文摘A novel three-dimensional-fiber reinforced soft pneumatic actuator(3D-FRSPA)inspired by crab claw and human hand structure that can bend and deform independently in each segment is proposed.It has an omni-directional bending configuration,and the fibers twined symmetrically on both sides to improve the bending performance of FRSPA.In this paper,the static and kinematic analysis of 3D-FRSPA are carried out in detail.The effects of fiber,pneumatic chamber and segment length,and circular air chamber radius of 3D-FRSPA on the mechanical performance of the actuator are discussed,respectively.The soft mobile robot composed of 3D-FRSPA has the ability to crawl.Finally,the crawling processes of the soft mobile robot on different road conditions are studied,respectively,and the motion mechanism of the mobile actuator is shown.The numerical results show that the soft mobile robots have a good comprehensive performance,which verifies the correctness of the proposedmodel.This work shows that the proposed structures have great potential in complex road conditions,unknown space detection and other operations.
文摘With the continuous development of economy and technology, China has intensified its efforts in building construction in daily life. People's requirements for architecture are also relatively improved. At this time, the quality of the project must be paid attention to. If you want to ensure the engineering quality, the engineering survey must be accurate without any mistakes. This paper aims at the in-depth study of the application of 3D mapping technology in modern engineering survey. Three-dimensional mapping technology is explained in detail from five aspects.
文摘目的孤立性肺结节(solitary pulmonary nodule,SPN)的定性诊断十分困难,PET/CT是目前评价良、恶性病变最具优势的影像学手段之一。文中用Meta分析方法综合评价18F-脱氧葡萄糖(18Fluorodexglucose,FDG)PET/CT显像诊断恶性孤立性肺结节的价值。方法以孤立性肺结节、FDG、PET/CT等为检索词,检索1994年1月至2009年7月的Medline数据库、西文生物医学期刊文献服务系统、外文生物医学期刊全文数据库、中国学术期刊网全文数据库等相关中英文文献。对符合标准的研究进行质量评估,用MetaDisc1.4软件进行异质性检验,综合敏感性、特异性和诊断优势比,绘制汇总受试者工作特征(summary receiver operating characteristic,SROC)曲线和计算曲线下面积(the area under the curve,AUC),并进行敏感性分析。结果共检索相关文献29篇,其中11篇符合标准纳入分析,A级1篇,B级10篇,各研究之间存在异质性,按照随机效应模型合并敏感性、特异性、诊断优势比(diagnostic odds ratio,DOR)及其95%可信区间分别为91%(87%~93%)、83%(78%~87%)和51.04(23.33~111.66),AUC为0.9383,Q值为0.875 3,纳入文献稳定性较好。结论 18F-FDG PET/CT显像能灵敏、准确地诊断恶性孤立性肺结节,具有较高的临床应用价值。
