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Cardiovascular Automatic Feedback Control Instrument for Rescuing Critical Patients With Abnormal Blood Pressure
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作者 Ge Yuzhi Wu Zhiting Sheng Guotai Li Gang 《South China Journal of Cardiology》 CAS 2006年第2期86-92,共7页
Objectives Most medical instruments are designed for diagnosis purpose but very few for clinical treatment. Our research aim is to design and develop a cardiovascular automatic feedback control instrument (CAFCI) fo... Objectives Most medical instruments are designed for diagnosis purpose but very few for clinical treatment. Our research aim is to design and develop a cardiovascular automatic feedback control instrument (CAFCI) for rescuing the critical patients with abnormal blood pressure. Methods The CAFCI was designed on the basis of abundant clinical experiences and on successful mathematic modeling of our blood pressure, pulmonary experimental data. The capillary wedge pressure, and rates of heart beat were measured and inputted into a computer and drugs were chosen by a doctor through a user-friendly interface with the computer. The responses to medication were rapidly acquired and feed back to the computer by automatic detection system in a close-loop system. every 7.5 sec in order to dosage The data were refreshed regulate the speed and of the medications that were given. Results The experimental results with ten dogs showed that the CAFCI system took samples promptly and accurately so that the targeted blood pressure could be reached reliably based on our input parameters and our designing requirements. Conclusions Since the dependability and accuracy of the CAFCI system are much superior to that of the traditional method, its clinical application to rescue the critical patient warrants evaluation in the future. 展开更多
关键词 Feedback control instrument Blood pressure PROGRAM
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Novel 3D instrument navigation in intracranial vascular surgery with multi-source image fusion and self-calibration
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作者 Linsen Zhang Shiqi Liu +7 位作者 Xiaoliang Xie Xiaohu Zhou Zengguang Hou Xinkai Qu Wenzheng Han Meng Song Xiyao Ma Haining Zhao 《Biomimetic Intelligence & Robotics》 2025年第3期132-142,共11页
In cerebrovascular interventional surgery,spatial position prediction navigation(SPPN)provides 3D spatial information of the vascular lumen,reducing the spatial dimension loss from digital subtraction angiography(DSA)... In cerebrovascular interventional surgery,spatial position prediction navigation(SPPN)provides 3D spatial information of the vascular lumen,reducing the spatial dimension loss from digital subtraction angiography(DSA)and improving surgical precision.However,it is limited in its adaptability to complex vascular environments and prone to error accumulation.To address these issues,we propose spatial position prediction-based multimodal navigation(SPPMN),integrating minimal intraoperative X-ray images to enhance SPPN accuracy.In the first phase,a feature-weighted dynamic time warping(FDTW)-based branch matching algorithm is introduced for 3D topological positioning under non-registered conditions,with a dynamic location repositioning module for real-time corrections.In the second phase,an occlusion correction module,based on the elastic potential energy of the instrument tip,dynamically adjusts the tip's angle to achieve low-projection occlusion control.Experimental validation using a high-precision electromagnetic tracking system(EMTS)on a 3D vascular model shows that the proposed method achieves an average 3D positioning accuracy of 9.36 mm in intracranial vascular regions,with a 78%reduction in radiation exposure,significantly enhancing both precision and safety in interventional surgeries. 展开更多
关键词 Cerebrovascular interventional surgery Surgical robot 3D prediction guide Autonomous instrumentation control
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Threshold decision for instrument control system and its application in nuclear power plant
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作者 刘华 李军红 +1 位作者 文杰 阳武娇 《Journal of Measurement Science and Instrumentation》 CAS 2014年第4期79-82,共4页
Threshold decision is an important function of nuclear instrument control system based on physical parameters threshold decision. Because the conventional decision methods lack correlation with time and conditions, by... Threshold decision is an important function of nuclear instrument control system based on physical parameters threshold decision. Because the conventional decision methods lack correlation with time and conditions, by analyzing the existing methods, some optimized methods are adopted. Considering safety, those methods are improved in data processing algorithms, floating threshold with multiple values, association with specific working condition, etc. These measures im- prove the nuclear instrument control system in fault tolerance and fault diagnosis, especially, the shutdown number of nucle- ar power plant decreases. 展开更多
关键词 digital control system of instrument and control (DCS I&C) data processing THRESHOLD MONITORING decisionoptimization
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Modeling analysis and optimization design of the thermostatical control system of laser instrument of the semiconductor 被引量:11
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作者 张新义 张建军 《微计算机信息》 北大核心 2008年第1期268-270,共3页
Influence produced by the heat effect at work of the laser instrument crystal of the semiconductor, the text designs a kind of temperature control system to the crystal of the laser instrument, using the thought and m... Influence produced by the heat effect at work of the laser instrument crystal of the semiconductor, the text designs a kind of temperature control system to the crystal of the laser instrument, using the thought and method of the classical control theory to analyze this temperature control system, and establishes mathematics model. According to mathematics model the text demonstrated the system at S field and time- area, and proposed optimizing basis to the total mark of proportion and differential parameter to con- troller PID, thus proposed a kind of temperature control scheme. And the thermostatically system is simulated by MATLAB. 展开更多
关键词 激光器 半导体制冷器 PID控制电路
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INTELLIGENT VIRTUAL CONTROL:MEASURING INSTRUMENT FROM WHOLE TO PART 被引量:19
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作者 Qin Shuren Tang BaopingCollege of Mechanical Engineering, Chongqing University, Chongqing 400044, China 《Chinese Journal of Mechanical Engineering》 SCIE EI CAS CSCD 2002年第2期131-135,共5页
A new concept called intelligent virtual control (IVC), which can be drivenby measuring functions, is put forward. This small 'intelligent measurement instrument unit (IMIU)',carrying with functions of instrum... A new concept called intelligent virtual control (IVC), which can be drivenby measuring functions, is put forward. This small 'intelligent measurement instrument unit (IMIU)',carrying with functions of instrument, consists of different types of intelligent virtualinstrument (IVI) through individual components together as building blocks and can be displayeddirectly on the computer screen. This is a new concept of measuring instrument, and also animportant breakthrough after virtual instrument (VI). Virtual control makes instrument resourcesobtain further exploitation. It brings about a fundamental change to the design and manufacturingmode. The instrument therefore, can not only be produced directly inside a PC, but the product isinvolved in the 'green product' system. So far, all the present digital instruments will grow to bereplaced by intelligent control with green characteristics. 展开更多
关键词 Intelligent virtual control Measurement instrument Whole Part
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Network Reliability Analysis of Digital Instrument and Control System with GO-FLOW Methodology
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作者 FANG Tao LU Daogang WAKABAYASHI Toshio 《Transactions of Tianjin University》 EI CAS 2012年第1期73-78,共6页
In this paper,the network reliability of an actual digital instrument and control system (DICS) network is analyzed by using GO-FLOW methodology (GFM).The evaluations of common-cause failure (CCF) and uncertainty are ... In this paper,the network reliability of an actual digital instrument and control system (DICS) network is analyzed by using GO-FLOW methodology (GFM).The evaluations of common-cause failure (CCF) and uncertainty are incorporated.Three significant CCF groups (real time servers,gateways,reactor protection system) and three typical time intervals (10 min,1 h,and 24 h) are selected in the analysis.It is concluded that the network contribution of CCF accounts for over 68% of the system failure probability.The result indicates that GFM is suitable for the network reliability analysis. 展开更多
关键词 GO-FLOW methodology common-cause failure NETWORK digital instrument and control system
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Magnetically controlled growing instrumentation for early onset scoliosis: Caution needed when interpreting the literature
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作者 Kenneth Aaron Shaw Justin M Hire +3 位作者 Scott Kim Dennis P Devito Michael L Schmitz Joshua S Murphy 《World Journal of Orthopedics》 2019年第11期394-403,共10页
BACKGROUND Magnetically controlled growing rods(MCGR) are a novel treatment option for early onset scoliosis(EOS). Although the complication profile with MCGR use has been reviewed, these reviews do not take into acco... BACKGROUND Magnetically controlled growing rods(MCGR) are a novel treatment option for early onset scoliosis(EOS). Although the complication profile with MCGR use has been reviewed, these reviews do not take into account important implants modifications, termed iterations, that were made due to early on postoperative complications is not well reported or understood.AIM To assess the effect of MCGR implant iterations on post-operative complications in EOS.METHODS A systematic review was performed to identify studies investigating MCGR specifically for the treatment of EOS, refined to those reporting the implant iteration, specifically the incorporation of the keeper plate to the implant design.Articles with mixed implant iteration usage were excluded. Complications following surgery were recorded as well as potential risk factors and compared between implant cohorts.RESULTS Although 20 articles were identified for inclusion, 5 included mixed implant iteration leaving a total of 271 patients identified through 15 clinical studies thatmet inclusion criteria. The average follow-up was 25.4-mo. Pre-keeper plate implants were utilized in 3 studies with a total of 49 patients. Overall, 115(42.4%)post-operative complications were identified, with 87% defined as major. The addition of the keeper plate significantly decreased the rate of post-operative complications per study(35.7% vs 80.6%, P = 0.036), and the rate of distraction failure(8.1% vs 40.8%, P = 0.02). Unplanned reoperation occurred in 69(26.7%)patients but was not different between implant iteration cohorts(25.5% without keeper plate vs 27.1% with keeper plate, P = 0.92).CONCLUSION MCGR for EOS has a cumulative complication rate of 42.4% but this is significantly reduced to 35.7% when reviewing only keeper-plate enabled implants. However, 25% of published articles included mixed implant iterations.Future studies should discern between implants iterations when reporting on the usage of MCGR for EOS. 展开更多
关键词 Complications Early ONSET SCOLIOSIS Magnetically controlled GROWING instrumentations KEEPER plate REOPERATION Systematic review
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Ageing management strategies for instrumentation and control equipment in NPPs
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作者 ALSHAKETHEEP Tariq LIU Jingquan 《Nuclear Science and Techniques》 SCIE CAS CSCD 2012年第2期118-123,共6页
This paper aims to explain main ageing stressors and effects on instrumentation and control (I&C) components followed by ageing management strategies through developed design such as using freewheeling diode to el... This paper aims to explain main ageing stressors and effects on instrumentation and control (I&C) components followed by ageing management strategies through developed design such as using freewheeling diode to eliminate relays contact ageing due to inductive loads, or through traditional practices and new online monitoring where I&C components can be checked and assessed remotely while the plant is operating. It also includes some recommendations for obsolescence management for special I&C components like microcontrollers and programmable logic controllers (PLCs). 展开更多
关键词 控制设备 仪器仪表 老龄化 管理 核电厂
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Analysis on Key Technology and Instrument Control of Chemical Automation Control
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作者 CUI Jinfu 《外文科技期刊数据库(文摘版)工程技术》 2021年第11期1117-1120,共6页
Chemical production has the characteristics of complexity, great difficulty, accurate technical requirements and high risk. The application of intelligent control technology and instrument control to chemical producti... Chemical production has the characteristics of complexity, great difficulty, accurate technical requirements and high risk. The application of intelligent control technology and instrument control to chemical production can reduce the demand for manual operation, improve the accuracy of chemical production and promote the benign operation of chemical operation. Therefore, the key technologies of intelligent control and instrument control should be deeply analyzed. In order to seek better chemical production technology and control scheme and promote the development of chemical industry. 展开更多
关键词 chemical automation control key technologies instrument control
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Analysis of Electrical Automation Instrument Control Technology
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作者 LIUWenlong 《外文科技期刊数据库(文摘版)工程技术》 2022年第2期170-174,共5页
In the process of improving social and economic system, our electrical automation technology has been widely used, and reflects different development role, to achieve more effective technology application, for electri... In the process of improving social and economic system, our electrical automation technology has been widely used, and reflects different development role, to achieve more effective technology application, for electrical automation development mode and industry development demand, based on this, this paper mainly based on the electrical automation instrument control technology. 展开更多
关键词 electrical automation instrument instrument control technology RESEARCH
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面向区域产业链的地方高校测控技术与仪器专业体系构建研究与实践——以陕西理工大学为例 被引量:1
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作者 景敏 陈曼龙 +2 位作者 丁敏 张琦 李娜 《高教学刊》 2025年第13期100-103,共4页
地方高校建设的重要职能是服务地方区域经济社会发展。通过分析地方高校目前存在的问题,以陕西理工大学测控技术与仪器专业体系建设改革为例,依据汉中地区经济发展现状及需求,提出围绕航空产业链的测控技术与仪器专业建设思路。该文通... 地方高校建设的重要职能是服务地方区域经济社会发展。通过分析地方高校目前存在的问题,以陕西理工大学测控技术与仪器专业体系建设改革为例,依据汉中地区经济发展现状及需求,提出围绕航空产业链的测控技术与仪器专业建设思路。该文通过理论研究与实践探索,构建面向汉中区域产业需求的基于航空产业链的测控技术与仪器专业课程及实践创新体系。实践结果显示,基于航空产业链专业群的测控技术与仪器专业体系不仅能够有效提升学生的学习兴趣与综合能力,而且也能够提高教师的科研水平。实践证明,面向区域产业链的高校专业体系改革能够助力地方应用型本科院校适应区域产业需求、提升服务能力、实现高质量发展。 展开更多
关键词 区域经济 地方高校 航空产业链 测控技术与仪器专业 课程及实践创新体系
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考虑温度效应下海砂动力特性试验研究
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作者 王家全 和玉 +1 位作者 林志南 唐毅 《土木工程学报》 北大核心 2025年第2期118-128,共11页
针对温度对海砂动力特性的影响研究不足,在现有的GDS动三轴试验系统中增添JULABO温度模块,开展考虑温度效应的固结不排水动三轴试验,探究了温度和动应力幅值对广西北部湾海砂累积塑性应变、动弹性模量及动孔压的影响规律。研究表明:北... 针对温度对海砂动力特性的影响研究不足,在现有的GDS动三轴试验系统中增添JULABO温度模块,开展考虑温度效应的固结不排水动三轴试验,探究了温度和动应力幅值对广西北部湾海砂累积塑性应变、动弹性模量及动孔压的影响规律。研究表明:北部湾海砂的累积塑性应变曲线整体呈现破坏型发展趋势,升温引起北部湾海砂的应变累积速率加快,在动应力幅值较大时,升温引起北部湾海砂的累积塑性应变明显增加,在循环加载后期发生液化;在升温条件下,温度对北部湾海砂孔压发展有显著影响,海砂在高温环境下表现出较强的循环活动性,且液化程度加重;北部湾海砂在循环加载过程中出现刚度软化现象,温度升高可以降低北部湾海砂的初始动弹性模量;幂函数能较好地描述北部湾海砂动弹性模量Ed与轴向累积应变ε_(d)的关系,在此基础上建立了不同温度下动弹性模量与动应变的预测模型,该模型能够较好预测北部湾海砂在不同温度下的动弹性模量。研究成果为考虑温度效应下海砂作为填料的工程提供了理论指导。 展开更多
关键词 北部湾海砂 温度效应 动弹性模量 孔压模型 温控三轴仪
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西门子S7-1200与ZN4S型智能显示控制仪表的MODBUS RTU通讯
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作者 刘淑荣 庞伟 林郅铎 《长春工程学院学报(自然科学版)》 2025年第3期43-48,共6页
以ZN4S型智能显示控制仪表在物料分拣皮带秤中的应用为研究对象,选用西门子公司的S7-1200 PLC为核心控制器,研究了西门子S7-1200系列PLC与ZN4S型智能显示控制仪表的MODBUS RTU通信实现方法。阐述了二者之间实现MODBUS通信的硬件结构及... 以ZN4S型智能显示控制仪表在物料分拣皮带秤中的应用为研究对象,选用西门子公司的S7-1200 PLC为核心控制器,研究了西门子S7-1200系列PLC与ZN4S型智能显示控制仪表的MODBUS RTU通信实现方法。阐述了二者之间实现MODBUS通信的硬件结构及软件设计方法,同时,利用HMI触摸屏界面实施在线监测。经实际运行结果证明,能够实现对仪表数据的正确采集及显示,具有优异的控制效果。 展开更多
关键词 S7-1200 MODBUS RTU通讯 智能控制仪表
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温控三轴虚拟仿真实验教学探索
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作者 朱小军 费康 《实验室科学》 2025年第4期93-98,共6页
基于信息技术,研发了温控三轴实验虚拟仿真实验教学系统,解决了真实实验周期长、实验费用昂贵、仪器设备及台套限制等问题。该系统可以模拟不同土体围压、应力路径及温度变化等工况下土体应力-应变随时间的变化关系,为核废料处理、能源... 基于信息技术,研发了温控三轴实验虚拟仿真实验教学系统,解决了真实实验周期长、实验费用昂贵、仪器设备及台套限制等问题。该系统可以模拟不同土体围压、应力路径及温度变化等工况下土体应力-应变随时间的变化关系,为核废料处理、能源地下结构应用等地下工程地基稳定性的研究提供参考。虚拟仿真实验教学系统极大地缩短了实验时间,减少了实验成本和潜在危险,并拓展实验及实践教学的维度,提高实验教学的实效,实现理论教学与实践教学的紧密结合,使学生在短时间内掌握考虑温度影响的土体强度三轴实验的基本原理和操作过程。 展开更多
关键词 三轴实验 温控三轴仪 虚拟仿真实验 教育信息化
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基于案例教学的测控专业实践教学改革
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作者 李公法 江都 +3 位作者 云俊童 陶波 黄莉 王浩竹 《实验室研究与探索》 北大核心 2025年第7期131-138,共8页
针对当前测控技术与仪器专业课程体系存在的实践教学环节薄弱、工程案例不足、理论与实践脱节等核心问题,以工程教育认证标准为导向,依托院校冶金行业背景,系统性构建了面向4个关键课程群的工程案例库。在此基础上,建设了多元化的教学... 针对当前测控技术与仪器专业课程体系存在的实践教学环节薄弱、工程案例不足、理论与实践脱节等核心问题,以工程教育认证标准为导向,依托院校冶金行业背景,系统性构建了面向4个关键课程群的工程案例库。在此基础上,建设了多元化的教学实践平台和多样督促激励机制,并结合校企合作实践教学实施系统化、创新性的案例教学。结果表明,该案例教学可有效培养学生解决测控技术与仪器专业复杂工程问题的能力,提升学生的实践技能和创新能力。 展开更多
关键词 案例教学 测控技术与仪器专业 实践教学改革 工程案例库 创新能力
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一种柔性口腔手术器械的设计与实验
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作者 陈国良 杨晨 《自动化与仪表》 2025年第8期26-31,共6页
传统的口腔器械难以满足口腔手术对器械末端较高刚度和小空间内姿态调整的要求,该文设计了一种可实现小空间内大姿态调整,且具有一定刚度的口腔手术器械。首先,设计了柔性口腔手术器械的关节串联结构方案并建立了弯曲模型。其次,建立了... 传统的口腔器械难以满足口腔手术对器械末端较高刚度和小空间内姿态调整的要求,该文设计了一种可实现小空间内大姿态调整,且具有一定刚度的口腔手术器械。首先,设计了柔性口腔手术器械的关节串联结构方案并建立了弯曲模型。其次,建立了口腔手术器械的刚度控制模型,并进一步设计了控制系统及样机。最后,针对样机开展弯曲能力实验、负载能力实验与模拟钻磨实验。结果表明,所设计的口腔手术器械不仅能弯曲趋近手术位置,还能实现自身刚度调整以应对手术负载需求。 展开更多
关键词 柔性口腔手术器械 刚度控制 样机模型
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核仪控系统抗飞机撞击振动效应鉴定方法研究
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作者 邹华明 李妍 +1 位作者 朱剑 周洋 《自动化仪表》 2025年第9期122-128,共7页
飞机撞击影响已逐渐成为核电厂无法回避的安全风险因素,因此亟需验证撞击振动效应对安装在核电厂内仪控系统设备性能的影响。依托某核电项目对核电厂仪控系统抗飞机撞击性能的要求,开展飞机撞击振动效应鉴定方法的研究。首先,采用理论... 飞机撞击影响已逐渐成为核电厂无法回避的安全风险因素,因此亟需验证撞击振动效应对安装在核电厂内仪控系统设备性能的影响。依托某核电项目对核电厂仪控系统抗飞机撞击性能的要求,开展飞机撞击振动效应鉴定方法的研究。首先,采用理论及数值计算进行分析。然后,通过试验进行验证。试验结果具有较好的一致性,验证了飞机撞击振动效应低频段通过抗震试验、高频段采用扫频及拍波试验法进行验证的方法有效。该方法可完成对预定功能及结构完整性的鉴定工作。该研究填补了核仪控系统抗飞机撞击振动效应影响鉴定方法的空白,是国内核电仪控行业的重大突破。该研究为行业内后续开展抗飞机撞击试验奠定了基础,具有很高的应用及推广价值。 展开更多
关键词 核仪控系统 结构与设备 飞机撞击 振动效应 设备鉴定 验证方法
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从随机对照试验到孟德尔随机化:工具变量的原理与应用
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作者 刘星 王伟炳 《复旦学报(医学版)》 北大核心 2025年第4期611-616,共6页
孟德尔随机化(Mendelian randomization,MR)是一种利用遗传变异作为工具变量(instrumental variable,IV)开展流行病学研究的方法。本文从通过因果图,即有向无环图(directed acyclic graph,DAG)阐释工具变量的基本原理出发,结合随机对照... 孟德尔随机化(Mendelian randomization,MR)是一种利用遗传变异作为工具变量(instrumental variable,IV)开展流行病学研究的方法。本文从通过因果图,即有向无环图(directed acyclic graph,DAG)阐释工具变量的基本原理出发,结合随机对照试验(randomized controlled trial,RCT)与MR的对比,系统梳理了MR研究中的核心假设、常见挑战及实践要点。MR作为观察性研究,尽管在理论上可帮助避免混杂,但在实际应用中其有效性高度依赖对(i)遗传-暴露的关联强度、(ii)遗传-结局关联的独立性和(iii)排他性的确认,应避免过度解读结果。本文还探讨了MR在药物靶点发现和疾病机制探索中的价值,并提醒研究者严格对待观察性研究中的常见问题,如暴露与结局的时序关系等。 展开更多
关键词 孟德尔随机化(MR) 工具变量(IV) 随机对照试验(RCT) 有向无环图(DAG)
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基于PCS7的环丁砜SIS系统设计与实现
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作者 陈晓侠 薛旭 《工业仪表与自动化装置》 2025年第4期62-67,共6页
为了提升环丁砜产品生产过程的安全性,确保在高温、高压、易燃易爆等危险因素下,系统能够稳定运行,采用SIMATIC PCS7故障安全型软硬件,实施电源、CPU、通信模块等多级冗余设计,构建高可靠性的安全仪表系统(SIS)。详细设计并实施了SIS系... 为了提升环丁砜产品生产过程的安全性,确保在高温、高压、易燃易爆等危险因素下,系统能够稳定运行,采用SIMATIC PCS7故障安全型软硬件,实施电源、CPU、通信模块等多级冗余设计,构建高可靠性的安全仪表系统(SIS)。详细设计并实施了SIS系统的硬件配置(选择并安装适合的冗余组件)、联锁程序(编写安全逻辑程序确保故障时自动切换与安全操作)、监控界面(设计直观易用的监控画面以实时监控生产状态)和系统整体调试及投运。成功建立了基于SIMATIC PCS7的环丁砜生产安全仪表系统,通过多重冗余措施显著提高了系统的安全性与可靠性,有效应对了生产过程中的高风险因素,保障了生产的安全进行。 展开更多
关键词 SIS 环丁砜生产控制 PCS7 CFC 冗余
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基于RANSAC-ICP的客车中控仪表板点云配准算法
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作者 胡一帆 赵凤霞 杨炯 《组合机床与自动化加工技术》 北大核心 2025年第9期12-16,23,共6页
客车的中控仪表板一般采用注塑成型技术制作,然后采用数控加工切出各类接口、按钮孔、显示屏槽等关键特征,加工时需要实现仪表板点云与CAD模型的快速、准确配准定位。为了提高配准精度和配准效率,提出一种基于RANSAC-ICP的客车中控仪表... 客车的中控仪表板一般采用注塑成型技术制作,然后采用数控加工切出各类接口、按钮孔、显示屏槽等关键特征,加工时需要实现仪表板点云与CAD模型的快速、准确配准定位。为了提高配准精度和配准效率,提出一种基于RANSAC-ICP的客车中控仪表板点云配准算法。该算法采用粗配准和精配准结合的方法,首先在粗配准随机采样一致性算法中加入内在形状特征ISS找到关键特征点,然后通过列文伯格-马夸尔特改进的迭代最近点算法进行中控仪表板的精配准,实现了待切割仪表板件与CAD模型之间对应点的精准匹配。采用主动双目相机及配套设备对仪表中控板的点云数据进行采集,将提出的改进配准算法与传统ICP算法进行了对比实验,实验结果表明,提出的配准算法的配准精度提高了63%,整体配准时间比改进前快36%。 展开更多
关键词 客车中控仪表板 点云配准 随机采样一致性 迭代最近点 关键点提取
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