Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the...Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.展开更多
Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of...Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.展开更多
The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimiz...The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimization,etc.Indeed this technology reduces the difficulty of robot programming and enormously improves its facility for thermal spraying.At the last part of this paper,presented two examples of off-line programming in thermal spraying which refer to trajectory optimization on a work piece with a great angle and path generation on the complex work piece.The simulations and experiments have proved that off-line programming can effectively improve the production efficiency and the quality of coating.展开更多
This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model...This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.展开更多
Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming ...Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.展开更多
Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programm...Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.展开更多
Online programming platforms are popular in programming education.However,there has been no research investigating students’real opinions and expectations of the error feedback mechanisms,leaving educators without a ...Online programming platforms are popular in programming education.However,there has been no research investigating students’real opinions and expectations of the error feedback mechanisms,leaving educators without a solid data foundation when attempting to improve the error feedback mechanisms.This paper makes a survey of 834 students across various programming courses and investigates student perceptions of error feedback mechanisms on online programming platforms.It explores the effectiveness of existing feedback,student satisfaction,and preferences for potential improvements,focusing on automatic error localization and program repair mechanisms.Results reveal a significant portion of students are dissatisfied with current feedback due to its limited informativeness.Students also express a clear demand for stronger feedback mechanisms,such as error localization and repair hints.Nevertheless,they prefer feedback that subtly guides them toward solutions,rather than providing direct and explicit answers,valuing the opportunity to enhance their debugging skills.The findings suggest a need for balanced,educational-focused feedback mechanisms that aid learning while promoting independent problem-solving.展开更多
Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disruptin...Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.展开更多
Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 str...Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 stroke survivors from two neurology wards into an intervention group(n=55)who received the stepped self-care program and a control group(n=55)who received usual care from June to December 2023.The Self-Care of Stroke Inventory,Stroke Self-Efficacy Questionnaire,and the short version of the Stroke Specific Quality of Life Scale were administered at baseline(T0),immediately post-intervention(T_(1)),and at 1-month(T_(2))and 3-month(T_(3))follow-ups.Data were analyzed using repeated measures analyses of variance,and generalized estimating equations.Results A total of 48 participants in the intervention group and 50 participants in the control group completed the study.No statistically significant differences were observed at T0 in any of the measured indicators(all P>0.05).The study showed significant group,time,and group×time interaction effects across the assessed outcomes(all P<0.05).Follow-up between-group comparisons at T_(1),T_(2),and T_(3) indicated that the intervention group had significantly higher scores in self-care maintenance,self-care monitoring,self-care management,self-efficacy,and quality of life than the control group(all P<0.001).Conclusions The stepped self-care program significantly improved self-care behaviors,self-efficacy,and quality of life among stroke survivors.These findings support the broader implementation of this approach in post-discharge home self-care.展开更多
To systematically elucidate the central role of the cardiac autonomic nervous system(ANS)in maintaining cardiovascular homeostasis,analyze the pathological mechanisms underlying its dysregulation,integrate multidiscip...To systematically elucidate the central role of the cardiac autonomic nervous system(ANS)in maintaining cardiovascular homeostasis,analyze the pathological mechanisms underlying its dysregulation,integrate multidisciplinary research findings from the U.S.stimulating peripheral nerves to alleviate disease symptoms(SPARC)program,and evaluate the unique advantages and current limitations of acupuncture in modulating cardiac ANS function,ultimately proposing novel strategies for the prevention and treatment of cardiovascular diseases.A systematic literature review was conducted to synthesize current knowledge on the fundamental regulatory mechanisms of the cardiac ANS,the SPARC program's innovative contributions to neuroanatomy and neural pathway mapping,as well as clinical and experimental evidence supporting acupuncture's modulation of the ANS.The SPARC program has made significant progress in elucidating the anatomical organization and neural circuitry of the cardiac ANS through interdisciplinary collaboration,offering novel insights and methodological frameworks for studying cardiac autonomic regulation.Acupuncture,as a cornerstone of traditional medicine,has demonstrated both specificity and multi-target regulatory effects on the cardiac ANS through clinical and experimental studies.However,challenges remain,including an incomplete mechanistic understanding,technical limitations in research methodologies,and difficulties in translating findings into clinical practice.Future research on acupuncture should build upon its inherent strengths while advancing its integration with modern scientific and technological approaches.Strengthening interdisciplinary collaboration and leveraging artificial intelligence can open new frontiers in mechanistic exploration and technological innovation.These efforts will facilitate the internationalization of acupuncture research and contribute innovative perspectives and therapeutic strategies for cardiovascular disease prevention and treatment.展开更多
In this paper,we study a class of Linear Fractional Programming on a nonempty bounded set,called the Problem(LFP),and design a branch and bound algorithm to find the global optimal solution of the problem(LFP).First,w...In this paper,we study a class of Linear Fractional Programming on a nonempty bounded set,called the Problem(LFP),and design a branch and bound algorithm to find the global optimal solution of the problem(LFP).First,we convert the problem(LFP)to the equivalent problem(EP2).Secondly,by applying the linear relaxation technique to the problem(EP2),the linear relaxation programming problem(LRP2Y)was obtained.Then,the overall framework of the algorithm is given,and the convergence and complexity of the algorithm are analyzed.Finally,experimental results are listed to illustrate the effectiveness of the algorithm.展开更多
The operational demands of a wide range significantly exacerbate combustion instability issues within ramjet combustor.To suppress combustion oscillations,an open-loop control system utilizing Linear Genetic Programmi...The operational demands of a wide range significantly exacerbate combustion instability issues within ramjet combustor.To suppress combustion oscillations,an open-loop control system utilizing Linear Genetic Programming(LGP)has been developed for a full-scale annular ramjet combustor.The LGP is used to generate control laws that include multi-frequency forcing.These laws are then transformed into square waves to actuate the solenoid valve,which modulates the kerosene supply for open-loop control.The results show that the duty cycle has little effect on instability amplitude,whereas an increase in frequency leads to a remarked reduction in combustion amplitude.After five generations evolvements,the pressure amplitude is reduced by 40.6% under the optimal control law generated by LGP.Furthermore,the machine learning process is depicted using a proximity map of control law similarity,with the search pathway visualized by the steepest descent.All individuals go forward to the upper left corner of the map with the evolution process,terminating at the optimal individual of the fifth generation.展开更多
Instrumental and expert assessments were used to assess the effect of massage on facial skin blood perfusion,as well as the effects of the long-term use of the two skin health programs on the water content of the stra...Instrumental and expert assessments were used to assess the effect of massage on facial skin blood perfusion,as well as the effects of the long-term use of the two skin health programs on the water content of the stratum corneum,F4,L^(*),dermal and epidermal thickness and density,facial wrinkles,and so on.Sixty healthy Chinese women were selected as the study subjects,which were subsequently divided into G1 non-massage group and G2 massage group.The results show that massage can increase the blood perfusion of facial skin.Group G2 solution is found to be more effective in improving the skin structural barrier(epidermal density),skin elasticity,firmness(dermal thickness)and forehead wrinkles.展开更多
Aiming at the problem of innovative talent training in the industry field in characteristic software colleges,combined with the actual situation of Software College of Northeastern University,this paper analyzes the c...Aiming at the problem of innovative talent training in the industry field in characteristic software colleges,combined with the actual situation of Software College of Northeastern University,this paper analyzes the construction requirements of characteristic talent training mode and training scheme,puts forward the reform of characteristic software innovative talent training scheme integrating production and education,and takes the characteristic direction of financial technology as an example to introduce the curriculum construction based on industry-education integration and school-enterprise cooperation.展开更多
The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD...The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD inducer is severely hindered by complex biological barriers.How to design and build intelligent nanoplatform for adaptive and dynamic cancer therapy remains a big challenge.Herein,this article presents the design and preparation of CD44-targeting and ZIF-8 gated gold nanocage(Au@ZH) for programmed delivery of the 1,2-diaminocyclohexane-Pt(Ⅱ)(DACHPt) as ICD inducer.After actively targeting the CD44 on the surface of 4T1 tumor cell,this Pt-Au@ZH can be effectively endocytosed by the 4T1 cell and release the DACHPt in tumor acidic environment,resulting in ICD effect and superior antitumor efficacy both in vitro and in vivo in the presence of mild 808 nm laser irradiation.By integration of internal and external stimuli intelligently,this programmed nanoplatform is poised to become a cornerstone in the pursuit of effective and targeted cancer therapy in the foreseeable future.展开更多
During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive...During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.展开更多
Programmable/reprogrammable magneto-responsive composites(MRCs)are highly desirable for applications in soft robotics,morphable actuators,and biomedical devices due to their capabilities of undergoing reversible,compl...Programmable/reprogrammable magneto-responsive composites(MRCs)are highly desirable for applications in soft robotics,morphable actuators,and biomedical devices due to their capabilities of undergoing reversible,complex,untethered,and rapid deformations.However,current MRC-based devices primarily rely on soft matrices,which revert to their original shapes and cease functioning when external magnetic fields are removed.Moreover,their magnetization programming,deformations,and functioning need to alternate between encoding and actuation platforms,limiting the adaptability and efficiency.Here,we present a reprogrammable magnetic shape-memory composite(RM-SMC)integrating a shape-memory polymer(SMP)skeleton with phase-transition magnetic microcapsules.High-intensity laser melts microcapsules for magnetic realignment under programmed fields,while low-intensity laser softens SMP for structural reconfiguration without compromising integrity.This dual-laser strategy facilitates in situ magnetization programming,shape morphing,and function execution within a single material system.Our innovative approach enables unique applications,including omnidirectional multi-degree-of-freedom actuators that can activate light switches,solar trackers that optimize energy capture,and adaptive impellers that modulate fluid pumping.By eliminating platform alternation and enabling shape/function retention post-actuation,the RM-SMC platform overcomes critical limitations in conventional MRCs,establishing a paradigm for multifunctional devices requiring persistent configuration control and field-independent operation.展开更多
The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through...The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through on-line solution and off-line aging treatment but decreases after off-line solution treatment. By X-ray diffractometry, optical microscopy, differential thermal analysis, scanning electron microscopy and X-ray energy dispersive spectroscopy, it is found that the microstructures of the die-cast AZ91D magnesium alloy before and after on-line solution and off-line aging are similar, consisting of α-Mg and β-Al12Mg17. The precipitation of Al element is prevented by on-line solution so that the effect of solid solution strengthening is enhanced. The β-Al12Mg17 phases precipitate from supersaturated Mg solid solution after off-line aging treatment, and lead to microstructure refinement of AZ91D alloy, so the effect of precipitation hardening is enhanced. The β-Al12Mg17 phases dissolve in the substructure after off-line solution treatment, which leads to that the grain boundary strengthening phase is reduced significantly and the hardness of die cast AZ91D is reduced.展开更多
A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding...A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.展开更多
基金supported by National Hi-tech Research and Development Program of China (863 Program, Grant No. 2007AA04Z2443)State Key Laboratory for Man ufacturing Systems Engineering of Xi’an Jiaotong University of China
文摘Off-line programming （OLP） system becomes one of the most important programming modules for the robotic belt grinding process, however there lacks research on increasing the grinding dexterous space depending on the OLP system. A new type of grinding robot and a novel robotic belt grinding workcell are forwarded, and their features are briefly introduced. An open and object-oriented off-line programming system is developed for this robotic belt grinding system. The parameters of the trimmed surface are read from the initial graphics exchange specification （IGES） file of the CAD model of the workpiece. The deBoor-Cox basis function is used to sample the grinding target with local contact frame on the workpiece. The numerical formula of inverse kinematics is set up based on Newton＇s iterative procedure, to calculate the grinding robot configurations corresponding to the grinding targets. After the grinding path is obtained, the OLP system turns to be more effective than the teach-by-showing system. In order to improve the grinding workspace, an optimization algorithm for dynamic tool frame is proposed and performed on the special robotic belt grinding system. The initial tool frame and the interval of neighboring tool frames are defined as the preparation of the algorithm. An optimized tool local frame can be selected to grind the complex surface for a maximum dexterity index of the robot. Under the optimization algorithm, a simulation of grinding a vane is included and comparison of grinding workspace is done before and after the tool frame optimization. By the algorithm, the grinding workspace can be enlarged. Moreover the dynamic tool frame can be considered to add one degree-of-freedom to the grinding kinematical chain, which provides the theoretical support for the improvement of robotic dexterity for the complex surface grinding.
基金ThispaperissupportedbyNationalNatureScienceFoundation (No .5 96 35 16 0 )AdvancedUniversityDoctoralSubjectFoundation (No .980 2 1311)
文摘Off line programming provides an essential link between CAD and CAM, whose development will result in greater use of robotic arc welding. An arc welding system with a robot and a rotating/tilting positioner is one of the most typical workcells. The inverse kinematics of robot and positioner is the foundation of the off line programming system. The previous researchers only focused on a special solution of the positioner inverse kinematics, which is the solution at down hand welding position. In this paper, we introduce a method for representing welding position. Then a general algorithm of rotating/tilting positioner inverse kinematics is presented, and an approach to find the unique solution of the inverse kinematics is discussed. The simulation experiment results show that the general algorithm can improve the ability of robotic arc welding off line programming system to program all types of welding positions.
文摘The purpose of this study is to introduce the current applications of off-line programming technology in thermal spraying,including some popular methods of path generation,procedure simulation,robot kinematics optimization,etc.Indeed this technology reduces the difficulty of robot programming and enormously improves its facility for thermal spraying.At the last part of this paper,presented two examples of off-line programming in thermal spraying which refer to trajectory optimization on a work piece with a great angle and path generation on the complex work piece.The simulations and experiments have proved that off-line programming can effectively improve the production efficiency and the quality of coating.
文摘This paper puts forward a communication programming method between robot and external computer based on RPC (Remote Produce Call) communication method, which realizes robot distributed controlling network system model. And a new Robot off line programming method is built based on this communication method and network model. Further more, as an example, robot auto marking and auto cutting of shipbuilding profile system is developed, which proves the ideas of author’s off line programming and development methods of robot flexible automation system. As a result, this paper presents a new method for developing robot flexible automation system.
基金Supported by the Science and Technology Development Project of Tianjin Colleges and Universities (No. 20071108)the Key Project of Tianjin Science and Technology Committee (No.08ZCKFGX02300)
文摘Off-line programming provides an essential link for CAD/CAM. This paper introduced the principle of developing off-line programming system for laser re-manufacturing. Task and information flow of off-line programming for laser re-manufacturing robot was analyzed and the software structure of off-line programming based on commercial CAD software was constructed. The off-line programming system developed in this study includes 3-D solid model design, direct slicing for obtaining path data, graphical simulation of the robot and its workcell, kinematic model of the robot, motion planning, and creation of the control program for manufacturing process. The CAD software was used to design models of robot, workpiece, coaxial nozzle, and workspace. Through the application programming interface provided by the CAD software, the VC++ and ATL were chosen to develop such modules as direct slicing for obtaining path data, path planning, process specification, and control program automatic generation. The FANUC Roboguide software was used to realize graphical simulation. By direct slicing, the position and orientation data of robot end-effector was determined. The results show that the proposed system can be applied in laser re-manufacturing robot for manufacturing operations.
文摘Thick walled curve welding are usually joined by multi-layer and multi-pass welding, which quality and efficiency could be improved by off-line programming of robot welding. However, the precision of off-line programming welding path was decreased due to the deviation between the off-line planned welding path and the actual welding path. A path planning algorithm and a path compensation algorithm of multi-layer and multi-pass curve welding seam for off-line programming of robot welding are developed in this paper. Experimental results show that the robot off-line programming improves the welding efftcieney and precision for thick walled curve welding seam.
基金supported by the National Natural Science Foundation of China under Grant No.92582204,No.62577007,and No.62177003the Fundamental Research Funds for the Central Universities under Grant No.JKF-2025011975129.
文摘Online programming platforms are popular in programming education.However,there has been no research investigating students’real opinions and expectations of the error feedback mechanisms,leaving educators without a solid data foundation when attempting to improve the error feedback mechanisms.This paper makes a survey of 834 students across various programming courses and investigates student perceptions of error feedback mechanisms on online programming platforms.It explores the effectiveness of existing feedback,student satisfaction,and preferences for potential improvements,focusing on automatic error localization and program repair mechanisms.Results reveal a significant portion of students are dissatisfied with current feedback due to its limited informativeness.Students also express a clear demand for stronger feedback mechanisms,such as error localization and repair hints.Nevertheless,they prefer feedback that subtly guides them toward solutions,rather than providing direct and explicit answers,valuing the opportunity to enhance their debugging skills.The findings suggest a need for balanced,educational-focused feedback mechanisms that aid learning while promoting independent problem-solving.
基金financially supported by Ministerio de Ciencia e Innovación projects SAF2017-82736-C2-1-R to MTMFin Universidad Autónoma de Madrid and by Fundación Universidad Francisco de Vitoria to JS+2 种基金a predoctoral scholarship from Fundación Universidad Francisco de Vitoriafinancial support from a 6-month contract from Universidad Autónoma de Madrida 3-month contract from the School of Medicine of Universidad Francisco de Vitoria。
文摘Every year, around the world, between 250,000 and 500,000 people suffer a spinal cord injury(SCI). SCI is a devastating medical condition that arises from trauma or disease-induced damage to the spinal cord, disrupting the neural connections that allow communication between the brain and the rest of the body, which results in varying degrees of motor and sensory impairment. Disconnection in the spinal tracts is an irreversible condition owing to the poor capacity for spontaneous axonal regeneration in the affected neurons.
基金The National Natural Science Foundation of China[72174184]provided policy and financialsupport for this research.
文摘Objectives This study aimed to evaluate the effectiveness of the stepped self-care program on the self-care,self-efficacy,and quality of life of stroke survivors.Methods This quasi-experimental study allocated 110 stroke survivors from two neurology wards into an intervention group(n=55)who received the stepped self-care program and a control group(n=55)who received usual care from June to December 2023.The Self-Care of Stroke Inventory,Stroke Self-Efficacy Questionnaire,and the short version of the Stroke Specific Quality of Life Scale were administered at baseline(T0),immediately post-intervention(T_(1)),and at 1-month(T_(2))and 3-month(T_(3))follow-ups.Data were analyzed using repeated measures analyses of variance,and generalized estimating equations.Results A total of 48 participants in the intervention group and 50 participants in the control group completed the study.No statistically significant differences were observed at T0 in any of the measured indicators(all P>0.05).The study showed significant group,time,and group×time interaction effects across the assessed outcomes(all P<0.05).Follow-up between-group comparisons at T_(1),T_(2),and T_(3) indicated that the intervention group had significantly higher scores in self-care maintenance,self-care monitoring,self-care management,self-efficacy,and quality of life than the control group(all P<0.001).Conclusions The stepped self-care program significantly improved self-care behaviors,self-efficacy,and quality of life among stroke survivors.These findings support the broader implementation of this approach in post-discharge home self-care.
基金supported by the National Natural Science Foundation of China(82174513)Fundamental Research Funds for the Central Public Welfare Research Institutes(ZZ-JQ2023003).
文摘To systematically elucidate the central role of the cardiac autonomic nervous system(ANS)in maintaining cardiovascular homeostasis,analyze the pathological mechanisms underlying its dysregulation,integrate multidisciplinary research findings from the U.S.stimulating peripheral nerves to alleviate disease symptoms(SPARC)program,and evaluate the unique advantages and current limitations of acupuncture in modulating cardiac ANS function,ultimately proposing novel strategies for the prevention and treatment of cardiovascular diseases.A systematic literature review was conducted to synthesize current knowledge on the fundamental regulatory mechanisms of the cardiac ANS,the SPARC program's innovative contributions to neuroanatomy and neural pathway mapping,as well as clinical and experimental evidence supporting acupuncture's modulation of the ANS.The SPARC program has made significant progress in elucidating the anatomical organization and neural circuitry of the cardiac ANS through interdisciplinary collaboration,offering novel insights and methodological frameworks for studying cardiac autonomic regulation.Acupuncture,as a cornerstone of traditional medicine,has demonstrated both specificity and multi-target regulatory effects on the cardiac ANS through clinical and experimental studies.However,challenges remain,including an incomplete mechanistic understanding,technical limitations in research methodologies,and difficulties in translating findings into clinical practice.Future research on acupuncture should build upon its inherent strengths while advancing its integration with modern scientific and technological approaches.Strengthening interdisciplinary collaboration and leveraging artificial intelligence can open new frontiers in mechanistic exploration and technological innovation.These efforts will facilitate the internationalization of acupuncture research and contribute innovative perspectives and therapeutic strategies for cardiovascular disease prevention and treatment.
基金Supported by the National Natural Science Foundation of China(Grant Nos.12571317 and 12071133).
文摘In this paper,we study a class of Linear Fractional Programming on a nonempty bounded set,called the Problem(LFP),and design a branch and bound algorithm to find the global optimal solution of the problem(LFP).First,we convert the problem(LFP)to the equivalent problem(EP2).Secondly,by applying the linear relaxation technique to the problem(EP2),the linear relaxation programming problem(LRP2Y)was obtained.Then,the overall framework of the algorithm is given,and the convergence and complexity of the algorithm are analyzed.Finally,experimental results are listed to illustrate the effectiveness of the algorithm.
基金support from the National Natural Science Foundation of China(No.12002372)the Young Elite Scientists Sponsorship Program by China Association for Science and Technology(No.2022QNRC001)the Natural Science Foundation of Hunan Province,China(No.2021JJ40674)。
文摘The operational demands of a wide range significantly exacerbate combustion instability issues within ramjet combustor.To suppress combustion oscillations,an open-loop control system utilizing Linear Genetic Programming(LGP)has been developed for a full-scale annular ramjet combustor.The LGP is used to generate control laws that include multi-frequency forcing.These laws are then transformed into square waves to actuate the solenoid valve,which modulates the kerosene supply for open-loop control.The results show that the duty cycle has little effect on instability amplitude,whereas an increase in frequency leads to a remarked reduction in combustion amplitude.After five generations evolvements,the pressure amplitude is reduced by 40.6% under the optimal control law generated by LGP.Furthermore,the machine learning process is depicted using a proximity map of control law similarity,with the search pathway visualized by the steepest descent.All individuals go forward to the upper left corner of the map with the evolution process,terminating at the optimal individual of the fifth generation.
文摘Instrumental and expert assessments were used to assess the effect of massage on facial skin blood perfusion,as well as the effects of the long-term use of the two skin health programs on the water content of the stratum corneum,F4,L^(*),dermal and epidermal thickness and density,facial wrinkles,and so on.Sixty healthy Chinese women were selected as the study subjects,which were subsequently divided into G1 non-massage group and G2 massage group.The results show that massage can increase the blood perfusion of facial skin.Group G2 solution is found to be more effective in improving the skin structural barrier(epidermal density),skin elasticity,firmness(dermal thickness)and forehead wrinkles.
文摘Aiming at the problem of innovative talent training in the industry field in characteristic software colleges,combined with the actual situation of Software College of Northeastern University,this paper analyzes the construction requirements of characteristic talent training mode and training scheme,puts forward the reform of characteristic software innovative talent training scheme integrating production and education,and takes the characteristic direction of financial technology as an example to introduce the curriculum construction based on industry-education integration and school-enterprise cooperation.
基金financially supported by the Natural Science Foundation of Jiangsu Province (No.BK20200709)the Natural Science Foundation of China (Nos.62288102,32201127 and 82270113)+2 种基金the Natural Science Foundation of Guangdong Province (No.2023A1515011386)the Natural Science Foundation of the Jiangsu Higher Education Institutes (No.20KJB430031)the startup fund from Nanjing Tech University,and Disciplinary Fund of School of Pharmaceutical Sciences (2024)。
文摘The field of nanomedicine has been revolutionized by the concept of immunogenic cell death(ICD)-enhanced cancer therapy,which holds immense promise for the efficient treatment of cancer.However,precise delivery of ICD inducer is severely hindered by complex biological barriers.How to design and build intelligent nanoplatform for adaptive and dynamic cancer therapy remains a big challenge.Herein,this article presents the design and preparation of CD44-targeting and ZIF-8 gated gold nanocage(Au@ZH) for programmed delivery of the 1,2-diaminocyclohexane-Pt(Ⅱ)(DACHPt) as ICD inducer.After actively targeting the CD44 on the surface of 4T1 tumor cell,this Pt-Au@ZH can be effectively endocytosed by the 4T1 cell and release the DACHPt in tumor acidic environment,resulting in ICD effect and superior antitumor efficacy both in vitro and in vivo in the presence of mild 808 nm laser irradiation.By integration of internal and external stimuli intelligently,this programmed nanoplatform is poised to become a cornerstone in the pursuit of effective and targeted cancer therapy in the foreseeable future.
基金supported by the National Natural Sci‐ence Foundation of China(Grant No.62306325)。
文摘During the use of robotics in applications such as antiterrorism or combat,a motion-constrained pursuer vehicle,such as a Dubins unmanned surface vehicle(USV),must get close enough(within a prescribed zero or positive distance)to a moving target as quickly as possible,resulting in the extended minimum-time intercept problem(EMTIP).Existing research has primarily focused on the zero-distance intercept problem,MTIP,establishing the necessary or sufficient conditions for MTIP optimality,and utilizing analytic algorithms,such as root-finding algorithms,to calculate the optimal solutions.However,these approaches depend heavily on the properties of the analytic algorithm,making them inapplicable when problem settings change,such as in the case of a positive effective range or complicated target motions outside uniform rectilinear motion.In this study,an approach employing a high-accuracy and quality-guaranteed mixed-integer piecewise-linear program(QG-PWL)is proposed for the EMTIP.This program can accommodate different effective interception ranges and complicated target motions(variable velocity or complicated trajectories).The high accuracy and quality guarantees of QG-PWL originate from elegant strategies such as piecewise linearization and other developed operation strategies.The approximate error in the intercept path length is proved to be bounded to h^(2)/(4√2),where h is the piecewise length.
基金supported by the National Natural Science Foundation of China(Nos.52075516,61927814,62325507,and 52122511)the National Key Research and Development Program of China(No.2021YFF0502700)+2 种基金the Major Scientific and Technological Projects in Anhui Province(202103a05020005,202203a05020014)the Students’Innovation and Entrepreneurship Foundation of USTC(CY2022G09)the Hefei Municipal Natural Science Foundation(No.HZR2450)。
文摘Programmable/reprogrammable magneto-responsive composites(MRCs)are highly desirable for applications in soft robotics,morphable actuators,and biomedical devices due to their capabilities of undergoing reversible,complex,untethered,and rapid deformations.However,current MRC-based devices primarily rely on soft matrices,which revert to their original shapes and cease functioning when external magnetic fields are removed.Moreover,their magnetization programming,deformations,and functioning need to alternate between encoding and actuation platforms,limiting the adaptability and efficiency.Here,we present a reprogrammable magnetic shape-memory composite(RM-SMC)integrating a shape-memory polymer(SMP)skeleton with phase-transition magnetic microcapsules.High-intensity laser melts microcapsules for magnetic realignment under programmed fields,while low-intensity laser softens SMP for structural reconfiguration without compromising integrity.This dual-laser strategy facilitates in situ magnetization programming,shape morphing,and function execution within a single material system.Our innovative approach enables unique applications,including omnidirectional multi-degree-of-freedom actuators that can activate light switches,solar trackers that optimize energy capture,and adaptive impellers that modulate fluid pumping.By eliminating platform alternation and enabling shape/function retention post-actuation,the RM-SMC platform overcomes critical limitations in conventional MRCs,establishing a paradigm for multifunctional devices requiring persistent configuration control and field-independent operation.
基金Projects (2011BAE22B01, 2011BAE22B06) supported by the National Key Technologies R&D Program During the 12th Five-Year Plan Period of ChinaProject (2010NC018) supported by the Innovation Fund of Inner Mongolia University of Science and Technology, China
文摘The effects of on-line solution, off-line solution and aging heat treatment on the microstructure and hardness of the die-cast AZ91D alloys were investigated. Brinell hardness of die-cast AZ91D alloy increases through on-line solution and off-line aging treatment but decreases after off-line solution treatment. By X-ray diffractometry, optical microscopy, differential thermal analysis, scanning electron microscopy and X-ray energy dispersive spectroscopy, it is found that the microstructures of the die-cast AZ91D magnesium alloy before and after on-line solution and off-line aging are similar, consisting of α-Mg and β-Al12Mg17. The precipitation of Al element is prevented by on-line solution so that the effect of solid solution strengthening is enhanced. The β-Al12Mg17 phases precipitate from supersaturated Mg solid solution after off-line aging treatment, and lead to microstructure refinement of AZ91D alloy, so the effect of precipitation hardening is enhanced. The β-Al12Mg17 phases dissolve in the substructure after off-line solution treatment, which leads to that the grain boundary strengthening phase is reduced significantly and the hardness of die cast AZ91D is reduced.
基金Funded by Anhui Provincial Natural Science Foundation of China(GFKJ2015B002)Quality Engineering Project of Anhui province(2014zy122)
文摘A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to protect robot from impacting and reduce the weld defects.
