Objective:Arrhythmia-induced cardiomyopathy(AIC)is a reversible dilated cardiomyopathy induced by rapid or irregular heartbeat.Acupuncture has a long history of use in the treatment of cardiac diseases,and Xinshu(BL15...Objective:Arrhythmia-induced cardiomyopathy(AIC)is a reversible dilated cardiomyopathy induced by rapid or irregular heartbeat.Acupuncture has a long history of use in the treatment of cardiac diseases,and Xinshu(BL15)is a key acupoint.However,the underlying mechanism of acupuncture at BL15 in the treatment of AIC has not yet been elucidated.Methods:AIC was induced in adult male Sprague-Dawley(SD)rats by continuous administration of acetylcholine(ACh)-CaCl2 and treatment with electroacupuncture(EA)at bilateral BL15.Echocardiography was used to evaluate cardiac function;the rotarod test for motor coordination and performance;hematoxylin and eosin(HE)staining for the morphology of ventricles;electrocardiogram for susceptibility,inducibility,and duration of atrial fibrillation(AF);and electrical and optical mapping in isolated rat hearts maintained by the Langendorff perfusion system for electrical conduction and intracellular handling,respectively.Reverse transcription quantitative polymerase chain reaction(RT-qPCR)and Western blotting were used to determine the levels of cardiac conduction and intracellular calcium-handling proteins in the ventricle.Results:The results showed that EA improved the ejection factor and morphological indices on echocardiography,restored motor coordination and performance,and alleviated ventricular dilation and AF onset.EA alleviates atrial conduction disorders,shortens APD80,and decreases calcium handling in rats with AIC.Cx43 was downregulated and CaMKII was upregulated,and both effects were reversed by EA treatment.Conclusion:Our study provides a novel AIC model with abnormal electrical propagation and calcium handling that can be protected by EA at BL15.This potential mechanism may be associated with the modulation of Cx43 and CaMKII expression.展开更多
Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)a...Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)and three-dimensional(3D)object detection methods havemade significant progress,they often fall short under severe occlusion due to depth ambiguities in 2D imagery and the high cost and deployment limitations of 3D sensors such as Light Detection and Ranging(LiDAR).This paper presents a comparative review of recent 2D and 3D detection models,focusing on their occlusion-handling capabilities and the impact of sensor modalities such as stereo vision,Time-of-Flight(ToF)cameras,and LiDAR.In this context,we introduce FuDensityNet,our multimodal occlusion-aware detection framework that combines Red-Green-Blue(RGB)images and LiDAR data to enhance detection performance.As a forward-looking direction,we propose a monocular depth-estimation extension to FuDensityNet,aimed at replacing expensive 3D sensors with a more scalable CNN-based pipeline.Although this enhancement is not experimentally evaluated in this manuscript,we describe its conceptual design and potential for future implementation.展开更多
The need to transport goods across countries and islands has resulted in a high demand for commercial vessels.Owing to such trends,shipyards must efficiently produce ships to reduce production costs.Layout and materia...The need to transport goods across countries and islands has resulted in a high demand for commercial vessels.Owing to such trends,shipyards must efficiently produce ships to reduce production costs.Layout and material flow are among the crucial aspects determining the efficiency of the production at a shipyard.This paper presents the initial design optimization of a shipyard layout using Nondominated Sorting Algorithm-Ⅱ(NSGA-Ⅱ)to find the optimal configuration of workstations in a shipyard layout.The proposed method focuses on simultaneously minimizing two material handling costs,namely work-based material handling and duration-based material handling.NSGA-Ⅱ determines the order of workstations in the shipyard layout.The semiflexible bay structure is then used in the workstation placement process from the sequence formed in NSGA-Ⅱ into a complete design.Considering that this study is a case of multiobjective optimization,the performance for both objectives at each iteration is presented in a 3D graph.Results indicate that after 500 iterations,the optimal configuration yields a work-based MHC of 163670.0 WBM-units and a duration-based MHC of 34750 DBM-units.Starting from a random solution,the efficiency of NSGA-Ⅱ demonstrates significant improvements,achieving a 50.19%reduction in work-based MHC and a 48.58%reduction in duration-based MHC.展开更多
This paper introduces an intelligent garbage-handling trolley model based on an STM32 single chip microcomputer as the control core.The device is driven by four independent motors to achieve automatic tracking,automat...This paper introduces an intelligent garbage-handling trolley model based on an STM32 single chip microcomputer as the control core.The device is driven by four independent motors to achieve automatic tracking,automatic obstacle avoidance,and fixed-point docking.Using external execution structure to realize the car without the use of a mechanical arm,complete garbage collection,storage,and uninstall function.On this basis,the type of garbage is marked by color,and the color recognition sensor is applied to realize the type recognition after garbage collection and put into the corresponding unloading point,to realize its intelligent classification function.It can automatically complete the established task autonomously.展开更多
This paper proposes an intelligent vehicle auxiliary handling system based on Internet of Things(IoT)technology,featuring an innovative holding mechanism design that adjusts to the length and width of various vehicles...This paper proposes an intelligent vehicle auxiliary handling system based on Internet of Things(IoT)technology,featuring an innovative holding mechanism design that adjusts to the length and width of various vehicles.The system combines precise positioning using satellite tracking technology,intelligent recognition via OpenCV,and the interconnectivity of IoT.This intelligent vehicle auxiliary handling system can independently identify vehicle positions and plan optimal handling paths,eliminating the traditional reliance on manual operation.It offers efficient and accurate handling,setting a new trend in the handling industry.Additionally,the system integrates seamlessly with parking lot management systems,providing real-time updates on vehicle locations and statuses.This allows managers to monitor the parking lot operations clearly and efficiently.This intelligent coordination greatly enhances overall work efficiency and streamlines parking management.Overall,the innovative design of the intelligent vehicle auxiliary handling system represents a significant breakthrough in both function and performance,gaining user favor with its smooth operation.Looking ahead,continued technological advancements and the expansion of application fields will bring even more vitality and intelligence to societal development.展开更多
Aiming at various faults in an air conditioning system,the fault characteristics are analyzed.The influence of the faults on the energy consumption and thermal comfort of the system are also discussed.The simulation r...Aiming at various faults in an air conditioning system,the fault characteristics are analyzed.The influence of the faults on the energy consumption and thermal comfort of the system are also discussed.The simulation results show that the measurement faults of the supply air temperature can lead to the increase in energy consumption.According to the fault characteristics,a data-driven method based on a neural network is presented to detect and diagnose the faults of air handling units.First,the historical data are selected to train the neural network so that it can recognize and predict the operation of the system.Then,the faults can be diagnosed by calculating the relative errors denoting the difference between the measuring values and the prediction outputs.Finally,the fault diagnosis strategy using the neural network is validated by using a simulator based on the TRNSYS platform.The results show that the neural network can diagnose different faults of the temperature,the flow rate and the pressure sensors in the air conditioning system.展开更多
A DC to 5GHz series MEMS switch is designed and fabricated for wireless communication applications,and thermal effect and power handling of the series switch are discussed.The switch is made on glass substrate,and gol...A DC to 5GHz series MEMS switch is designed and fabricated for wireless communication applications,and thermal effect and power handling of the series switch are discussed.The switch is made on glass substrate,and gold platinum contact is used to get a stable and little insert loss.From DC to 5GHz,0 6dB insertion loss,30dB isolation,and 30μs delay are demonstrated.Thermal effect of the switch is tested in 85℃ and -55℃ atmosphere separately.From DC to 4GHz,the insert loss of the switch increases 0 2dB in 85℃ and 0 4dB in -55℃,while the isolation holds the same value as that in room temperature.To measure the power handling capability of the switch,we applied a continuous RF power increasing from 10dBm to 35 1dBm with the step of 1 0dBm across the switch at 4GHz.The switch keeps working and shows a decrease of the insert loss for 0 1～0 6dB.The maximum continuous power handling (35 1dBm,about 3 24W) is higer than the reported value of shunt switch (about 420mW),which implies series switches have much better power handling capability.展开更多
The particle swarm optimization(PSO)algorithm is an established nature-inspired population-based meta-heuristic that replicates the synchronizing movements of birds and sh.PSO is essentially an unconstrained algorithm...The particle swarm optimization(PSO)algorithm is an established nature-inspired population-based meta-heuristic that replicates the synchronizing movements of birds and sh.PSO is essentially an unconstrained algorithm and requires constraint handling techniques(CHTs)to solve constrained optimization problems(COPs).For this purpose,we integrate two CHTs,the superiority of feasibility(SF)and the violation constraint-handling(VCH),with a PSO.These CHTs distinguish feasible solutions from infeasible ones.Moreover,in SF,the selection of infeasible solutions is based on their degree of constraint violations,whereas in VCH,the number of constraint violations by an infeasible solution is of more importance.Therefore,a PSO is adapted for constrained optimization,yielding two constrained variants,denoted SF-PSO and VCH-PSO.Both SF-PSO and VCH-PSO are evaluated with respect to ve engineering problems:the Himmelblau’s nonlinear optimization,the welded beam design,the spring design,the pressure vessel design,and the three-bar truss design.The simulation results show that both algorithms are consistent in terms of their solutions to these problems,including their different available versions.Comparison of the SF-PSO and the VCHPSO with other existing algorithms on the tested problems shows that the proposed algorithms have lower computational cost in terms of the number of function evaluations used.We also report our disagreement with some unjust comparisons made by other researchers regarding the tested problems and their different variants.展开更多
To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is present...To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.展开更多
Objectives: This paper examines the basic knowledge ofAIDS and HIV transmission through unsafe blood collec-tion and supply among rural Chinese doctors. It also ex-plores the accessibility of AIDS intervention methods...Objectives: This paper examines the basic knowledge ofAIDS and HIV transmission through unsafe blood collec-tion and supply among rural Chinese doctors. It also ex-plores the accessibility of AIDS intervention methods inrural area. Methods: We did Case studies, held focus group discus-sions and provided questionnaires to all rural doctors inone township where the epidemic of HIV was known to bespread through blood collection and supply. Data were col-lected and analyzed with software EPI 6.0.Results: The effective response rate to the questionnairewas 100%. The results showed that more than 95% of in-formants gave correct answers to the questions about thesexual and blood-bourne transmission of HIV as well as itscontagiousness. Half of the participants were ignorant aboutmother to child transmission of HIV and did not know thatHIV couldn’t be transmitted by saliva, sweat, mosquito bites,sharing of bathtubs or toilets. More than 80% of infor-mants were opposed to blood selling and reportedly under-stood the objective of the blood organizers in their villages,knew the peak time of blood selling by the villagers, and ,were aware of the risks of diseases being spread throughblood. . 27.3% used disposable syringes ‘once in a while’,and 15.2% discarded or sold used disposable syringes.Conclusions: The authors assert that there are severe lurk-ing perils of iatrogenic cross infection in rural areas. Ruraldoctors urgently need formal training on prevention andtreatment of HIV infection. We believe that rural doctorsshould become the key force in AIDS prevention and con-trol in rural area.展开更多
A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then ...A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.展开更多
In China, hot researches on shale oil were raised by the important breakthrough of shale oil in America. Obviously, the first important issue is the actual shale oil resource potential of China, and the selection of t...In China, hot researches on shale oil were raised by the important breakthrough of shale oil in America. Obviously, the first important issue is the actual shale oil resource potential of China, and the selection of the key appraisement parameter is vital to the shale oil resource amount. Among the appraisement parameters, the oil content parameter（S1） is the key one, but the evaluation result is generally lower because of light hydrocarbon losing and heavy hydrocarbon handling. And the more important thing is that the light hydrocarbon with small molecular weight is more recoverable, and therefore its amount is important to the total shale oil yields. Based on pyrolysis experiments and the kinetic model of hydrocarbon generation, correction factors and a model of light hydrocarbon losing and heavy hydrocarbon handling were established. The results show that the correction factor of heavy hydrocarbon handling is 3.2, and that of light hydrocarbon losing is controlled by kerogen type, maturity and hydrocarbon generation environment（closed or open）.展开更多
This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and incre...This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.展开更多
In some non-human primates, infants function as a social tool that can bridge relationships among group members. Infants are a desired commodity for group members, and mothers control access to them. The biological ma...In some non-human primates, infants function as a social tool that can bridge relationships among group members. Infants are a desired commodity for group members, and mothers control access to them. The biological market theory suggests that grooming is widespread and represents a commodity that can be exchanged for infant handling. As a limited resource, however, the extent to which infants are interchanged between mothers(females with an infant) and non-mothers(potential handlers,females without an infant) remains unclear. In this study, we collected behavioral data to investigate the relationship between grooming and infant handling in free-ranging Tibetan macaques(Macaca thibetana)at Mt. Huangshan, China. Our results showed that females with infants received more grooming than females without infants. After her infant was handled,mother females received more grooming than they did during daily grooming interactions. However, with the increasing number of infants within the social group, both the grooming that mothers received and the grooming that non-mothers invested for handling infants decreased. We also found that non-mothers invested more time in grooming to gain access to younger infants than older infants. Our results provide evidence that infants are social commodities for both mother and non-mother females. Mothers use infants for obtain grooming and non-mothers use grooming to gain access to infants. The current study implies a bidirectional and complex interchange pattern between grooming and infant handling to compensate for the dyadic grooming disparity in non-human primates.展开更多
For a distributed drive electric vehicle（DDEV） driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently, quickly and precisely. A...For a distributed drive electric vehicle（DDEV） driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently, quickly and precisely. And direct yaw-moment control（DYC） has been widely studied and applied to vehicle stability control. Good vehicle handling performance： quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts： a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error（ITAE） function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method： yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers is relieved.展开更多
Compared with traditional mechanical seals,magnetic fluid seals have unique characters of high airtightness,minimal friction torque requirements,pollution-free and long life-span,widely used in vacuum robots.With the ...Compared with traditional mechanical seals,magnetic fluid seals have unique characters of high airtightness,minimal friction torque requirements,pollution-free and long life-span,widely used in vacuum robots.With the rapid development of Integrate Circuit（IC）,there is a stringent requirement for sealing wafer-handling robots when working in a vacuum environment.The parameters of magnetic fluid seals structure is very important in the vacuum robot design.This paper gives a magnetic fluid seal device for the robot.Firstly,the seal differential pressure formulas of magnetic fluid seal are deduced according to the theory of ferrohydrodynamics,which indicate that the magnetic field gradient in the sealing gap determines the seal capacity of magnetic fluid seal.Secondly,the magnetic analysis model of twin-shaft magnetic fluid seals structure is established.By analyzing the magnetic field distribution of dual magnetic fluid seal,the optimal value ranges of important parameters,including parameters of the permanent magnetic ring,the magnetic pole tooth,the outer shaft,the outer shaft sleeve and the axial relative position of two permanent magnetic rings,which affect the seal differential pressure,are obtained.A wafer-handling robot equipped with coaxial twin-shaft magnetic fluid rotary seals and bellows seal is devised and an optimized twin-shaft magnetic fluid seals experimental platform is built.Test result shows that when the speed of the two rotational shafts ranges from 0-500 r/min,the maximum burst pressure is about 0.24 MPa.Magnetic fluid rotary seals can provide satisfactory performance in the application of wafer-handling robot.The proposed coaxial twin-shaft magnetic fluid rotary seal provides the instruction to design high-speed vacuum robot.展开更多
The Main Optical Telescope (MOT) is an important payload of the Space Solar Telescope (SST) with various instruments and observation modes. Its real-time data handling and management and control tasks are arduous. Bas...The Main Optical Telescope (MOT) is an important payload of the Space Solar Telescope (SST) with various instruments and observation modes. Its real-time data handling and management and control tasks are arduous. Based on the advanced techniques of foreign countries, an improved structure of onboard data handling systems feasible for SST, is proposed. This article concentrated on the development of a Central Management & Control Unit (MCU) based on FPGA and DSP. Through reconfigurating the FPGA and DSP programs, the prototype could perform different tasks. Thus the inheritability of the whole system is improved. The completed dual-channel prototype proves that the system meets all requirements of the MOT. Its high reliability and safety features also meet the requirements under harsh conditions such as mine detection.展开更多
This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,ener...This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,energy consumption and jerk in motion together.The placement of the robot,in relation to the yarn bobbin stations,is also optimized in conjunction of trajectory optimization.Three possible techniques for building the handling traj'ectory were considered:the quaternion spherical linear interpolation in Cartesian space,the quintic polynomial spline and quintic B-spline in joint space.The genetic algorithm(GA) was used to optimize the trajectories of the robot,with a penalty function to handle nonlinear constraints associated in the robot motion.Two simulations of the optimal trajectory in joint space and the placement of robot were carried out and the results obtained were presented and discussed.It is concluded that the quintic polynomial spline constructs a better trajectory in joint space and the proper placement of robot makes better performance.展开更多
The Mongolian gerbil has been widely used in many research fields and has been reported to be a diurnal laboratory animal. The circadian rhythmicity of these gerbils was investigated in the present study by measuring ...The Mongolian gerbil has been widely used in many research fields and has been reported to be a diurnal laboratory animal. The circadian rhythmicity of these gerbils was investigated in the present study by measuring two hormones that show daily oscillations, cortisol and ACTH, in serum using ELISA kits. The levels of the two hormones were highest at 8:00 am and their rhythmic changes were similar to those in humans. In addition, the influence of stress of handling and blood collection on the physiological parameters of the gerbils was examined. After adaptation to handling for 1 week, some serum parameters in the animals changed. Handling and blood collection did not impact significantly on the following parameters: creatine kinase (CK), lactate dehydrogenase (LD), alanine aminotransferase (ALT), aspartate transaminase (AST), blood urea nitrogen (BUN), and albumin (ALB). However, blood glucose (GLU), total protein (TP) and globulin (GLB) significantly increased while creatinine (CRE) and albumin/globulin (A/G) significantly decreased after adaptation. This work further confirms that the Mongolian gerbil is a diurnal animal and also indicates that a suitable adaptation procedure is necessary for getting reliable results when performing experiments using these animals.展开更多
As a key to improve the performance of the interbay automated material handling system （AMHS） in 300 mm semiconductor wafer fabrication system, the real- time overhead hoist transport （OHT） dispatching problem has...As a key to improve the performance of the interbay automated material handling system （AMHS） in 300 mm semiconductor wafer fabrication system, the real- time overhead hoist transport （OHT） dispatching problem has received much attention. This problem is first formu- lated as a special form of assignment problem and it is proved that more than one solution will be obtained by Hungarian algorithm simultaneously. Through proposing and strictly proving two propositions related to the char- acteristics of these solutions, a modified Hungarian algo- rithm is designed to distinguish these solutions. Finally, a new real-time OHT dispatching method is carefully designed by implementing the solution obtained by the modified Hungarian algorithm. The experimental results of discrete event simulations show that, compared with con- ventional Hungarian algorithm dispatching method, the proposed dispatching method that chooses the solution with the maximum variance respectively reduces on average 4 s of the average waiting time and average lead time of wafer lots, and its performance is rather stable in multiple dif- ferent scenarios of the interbay AMHS with different quantities of shortcuts. This research provides an efficient real-time OHT dispatching mechanism for the interbay AMHS with shortcuts and bypasses.展开更多
基金supported by the National Key R&D Program of China(2022YFC3500405,2019YFC1712105)The National Science Foundation of China(82374075)+1 种基金The National Comprehensive Traditional Chinese Medicine Reform Demonstration Zone Science and Technology Collaborative Development Project(GZY-KJS-SD-2024-046)Taishan Scholar Youth Project of Shandong Province(tsqn202306188).
文摘Objective:Arrhythmia-induced cardiomyopathy(AIC)is a reversible dilated cardiomyopathy induced by rapid or irregular heartbeat.Acupuncture has a long history of use in the treatment of cardiac diseases,and Xinshu(BL15)is a key acupoint.However,the underlying mechanism of acupuncture at BL15 in the treatment of AIC has not yet been elucidated.Methods:AIC was induced in adult male Sprague-Dawley(SD)rats by continuous administration of acetylcholine(ACh)-CaCl2 and treatment with electroacupuncture(EA)at bilateral BL15.Echocardiography was used to evaluate cardiac function;the rotarod test for motor coordination and performance;hematoxylin and eosin(HE)staining for the morphology of ventricles;electrocardiogram for susceptibility,inducibility,and duration of atrial fibrillation(AF);and electrical and optical mapping in isolated rat hearts maintained by the Langendorff perfusion system for electrical conduction and intracellular handling,respectively.Reverse transcription quantitative polymerase chain reaction(RT-qPCR)and Western blotting were used to determine the levels of cardiac conduction and intracellular calcium-handling proteins in the ventricle.Results:The results showed that EA improved the ejection factor and morphological indices on echocardiography,restored motor coordination and performance,and alleviated ventricular dilation and AF onset.EA alleviates atrial conduction disorders,shortens APD80,and decreases calcium handling in rats with AIC.Cx43 was downregulated and CaMKII was upregulated,and both effects were reversed by EA treatment.Conclusion:Our study provides a novel AIC model with abnormal electrical propagation and calcium handling that can be protected by EA at BL15.This potential mechanism may be associated with the modulation of Cx43 and CaMKII expression.
文摘Object detection in occluded environments remains a core challenge in computer vision(CV),especially in domains such as autonomous driving and robotics.While Convolutional Neural Network(CNN)-based twodimensional(2D)and three-dimensional(3D)object detection methods havemade significant progress,they often fall short under severe occlusion due to depth ambiguities in 2D imagery and the high cost and deployment limitations of 3D sensors such as Light Detection and Ranging(LiDAR).This paper presents a comparative review of recent 2D and 3D detection models,focusing on their occlusion-handling capabilities and the impact of sensor modalities such as stereo vision,Time-of-Flight(ToF)cameras,and LiDAR.In this context,we introduce FuDensityNet,our multimodal occlusion-aware detection framework that combines Red-Green-Blue(RGB)images and LiDAR data to enhance detection performance.As a forward-looking direction,we propose a monocular depth-estimation extension to FuDensityNet,aimed at replacing expensive 3D sensors with a more scalable CNN-based pipeline.Although this enhancement is not experimentally evaluated in this manuscript,we describe its conceptual design and potential for future implementation.
基金Supported by Direktorat Riset dan Pengembangan(Directorate of Research and Development)Universitas Indonesia(NKB-690/UN2.RST/HKP.05.00/2022).
文摘The need to transport goods across countries and islands has resulted in a high demand for commercial vessels.Owing to such trends,shipyards must efficiently produce ships to reduce production costs.Layout and material flow are among the crucial aspects determining the efficiency of the production at a shipyard.This paper presents the initial design optimization of a shipyard layout using Nondominated Sorting Algorithm-Ⅱ(NSGA-Ⅱ)to find the optimal configuration of workstations in a shipyard layout.The proposed method focuses on simultaneously minimizing two material handling costs,namely work-based material handling and duration-based material handling.NSGA-Ⅱ determines the order of workstations in the shipyard layout.The semiflexible bay structure is then used in the workstation placement process from the sequence formed in NSGA-Ⅱ into a complete design.Considering that this study is a case of multiobjective optimization,the performance for both objectives at each iteration is presented in a 3D graph.Results indicate that after 500 iterations,the optimal configuration yields a work-based MHC of 163670.0 WBM-units and a duration-based MHC of 34750 DBM-units.Starting from a random solution,the efficiency of NSGA-Ⅱ demonstrates significant improvements,achieving a 50.19%reduction in work-based MHC and a 48.58%reduction in duration-based MHC.
文摘This paper introduces an intelligent garbage-handling trolley model based on an STM32 single chip microcomputer as the control core.The device is driven by four independent motors to achieve automatic tracking,automatic obstacle avoidance,and fixed-point docking.Using external execution structure to realize the car without the use of a mechanical arm,complete garbage collection,storage,and uninstall function.On this basis,the type of garbage is marked by color,and the color recognition sensor is applied to realize the type recognition after garbage collection and put into the corresponding unloading point,to realize its intelligent classification function.It can automatically complete the established task autonomously.
文摘This paper proposes an intelligent vehicle auxiliary handling system based on Internet of Things(IoT)technology,featuring an innovative holding mechanism design that adjusts to the length and width of various vehicles.The system combines precise positioning using satellite tracking technology,intelligent recognition via OpenCV,and the interconnectivity of IoT.This intelligent vehicle auxiliary handling system can independently identify vehicle positions and plan optimal handling paths,eliminating the traditional reliance on manual operation.It offers efficient and accurate handling,setting a new trend in the handling industry.Additionally,the system integrates seamlessly with parking lot management systems,providing real-time updates on vehicle locations and statuses.This allows managers to monitor the parking lot operations clearly and efficiently.This intelligent coordination greatly enhances overall work efficiency and streamlines parking management.Overall,the innovative design of the intelligent vehicle auxiliary handling system represents a significant breakthrough in both function and performance,gaining user favor with its smooth operation.Looking ahead,continued technological advancements and the expansion of application fields will bring even more vitality and intelligence to societal development.
文摘Aiming at various faults in an air conditioning system,the fault characteristics are analyzed.The influence of the faults on the energy consumption and thermal comfort of the system are also discussed.The simulation results show that the measurement faults of the supply air temperature can lead to the increase in energy consumption.According to the fault characteristics,a data-driven method based on a neural network is presented to detect and diagnose the faults of air handling units.First,the historical data are selected to train the neural network so that it can recognize and predict the operation of the system.Then,the faults can be diagnosed by calculating the relative errors denoting the difference between the measuring values and the prediction outputs.Finally,the fault diagnosis strategy using the neural network is validated by using a simulator based on the TRNSYS platform.The results show that the neural network can diagnose different faults of the temperature,the flow rate and the pressure sensors in the air conditioning system.
文摘A DC to 5GHz series MEMS switch is designed and fabricated for wireless communication applications,and thermal effect and power handling of the series switch are discussed.The switch is made on glass substrate,and gold platinum contact is used to get a stable and little insert loss.From DC to 5GHz,0 6dB insertion loss,30dB isolation,and 30μs delay are demonstrated.Thermal effect of the switch is tested in 85℃ and -55℃ atmosphere separately.From DC to 4GHz,the insert loss of the switch increases 0 2dB in 85℃ and 0 4dB in -55℃,while the isolation holds the same value as that in room temperature.To measure the power handling capability of the switch,we applied a continuous RF power increasing from 10dBm to 35 1dBm with the step of 1 0dBm across the switch at 4GHz.The switch keeps working and shows a decrease of the insert loss for 0 1～0 6dB.The maximum continuous power handling (35 1dBm,about 3 24W) is higer than the reported value of shunt switch (about 420mW),which implies series switches have much better power handling capability.
基金The authors thank the Higher Education Commission,Pakistan,for supporting this research under the project NRPU-8925(M.A.J.and H.U.K.),https://www.hec.gowpk/。
文摘The particle swarm optimization(PSO)algorithm is an established nature-inspired population-based meta-heuristic that replicates the synchronizing movements of birds and sh.PSO is essentially an unconstrained algorithm and requires constraint handling techniques(CHTs)to solve constrained optimization problems(COPs).For this purpose,we integrate two CHTs,the superiority of feasibility(SF)and the violation constraint-handling(VCH),with a PSO.These CHTs distinguish feasible solutions from infeasible ones.Moreover,in SF,the selection of infeasible solutions is based on their degree of constraint violations,whereas in VCH,the number of constraint violations by an infeasible solution is of more importance.Therefore,a PSO is adapted for constrained optimization,yielding two constrained variants,denoted SF-PSO and VCH-PSO.Both SF-PSO and VCH-PSO are evaluated with respect to ve engineering problems:the Himmelblau’s nonlinear optimization,the welded beam design,the spring design,the pressure vessel design,and the three-bar truss design.The simulation results show that both algorithms are consistent in terms of their solutions to these problems,including their different available versions.Comparison of the SF-PSO and the VCHPSO with other existing algorithms on the tested problems shows that the proposed algorithms have lower computational cost in terms of the number of function evaluations used.We also report our disagreement with some unjust comparisons made by other researchers regarding the tested problems and their different variants.
基金The National Natural Science Foundation of China(No60503020)the National Basic Research Program of China (973Program) (No2002CB312000)+1 种基金the Natural Science Foundation of Jiangsu Province (NoBK2006094)the Science Research Foundation of China University of Mining and Technology
文摘To solve the problems that the exception handling code is hard to test and maintain and that it affects the robustness and reliability of software, a method for evaluating the exception handling of programs is presented. The exception propagation graph （EPG） that describes the large programs with exception handling constructs is proposed by simplifying the control flow graph and it is applied to a case to verify its validity. According to the EPG, the exception handling code that never executes is identified; the points that are the most critical to controlling exception propagation are found; and the irrational exception handling code is corrected. The constructing algorithm for the EPG is given; thus, this provides a basis for automatically constructing the EPG and automatically correcting the irrational exception handling code.
文摘Objectives: This paper examines the basic knowledge ofAIDS and HIV transmission through unsafe blood collec-tion and supply among rural Chinese doctors. It also ex-plores the accessibility of AIDS intervention methods inrural area. Methods: We did Case studies, held focus group discus-sions and provided questionnaires to all rural doctors inone township where the epidemic of HIV was known to bespread through blood collection and supply. Data were col-lected and analyzed with software EPI 6.0.Results: The effective response rate to the questionnairewas 100%. The results showed that more than 95% of in-formants gave correct answers to the questions about thesexual and blood-bourne transmission of HIV as well as itscontagiousness. Half of the participants were ignorant aboutmother to child transmission of HIV and did not know thatHIV couldn’t be transmitted by saliva, sweat, mosquito bites,sharing of bathtubs or toilets. More than 80% of infor-mants were opposed to blood selling and reportedly under-stood the objective of the blood organizers in their villages,knew the peak time of blood selling by the villagers, and ,were aware of the risks of diseases being spread throughblood. . 27.3% used disposable syringes ‘once in a while’,and 15.2% discarded or sold used disposable syringes.Conclusions: The authors assert that there are severe lurk-ing perils of iatrogenic cross infection in rural areas. Ruraldoctors urgently need formal training on prevention andtreatment of HIV infection. We believe that rural doctorsshould become the key force in AIDS prevention and con-trol in rural area.
文摘A control algorithm for improving vehicle handling was proposed by applying right angle to the steering wheel,based on the nonlinear adaptive optimal control(NAOC).A nonlinear 4-DOF model was initially developed,then it was simplified to a 2-DOF model with reasonable assumptions to design observer and optimal controllers.Then a simplified model was developed for steering system.The numerical simulations were carried out using vehicle parameters for standard maneuvers in dry and wet road conditions.Moreover,the hardware in the loop method was implemented to prove the controller ability in realistic conditions.Simulation results obviously show the effectiveness of NAOC on vehicle handling and reveal that the proposed controller can significantly improve vehicle handling during severe maneuvers.
基金supported by "the Fundamental Research Funds for the Central Universities" (14CX05017A)the Natural Science Foundation of China (41330313)+1 种基金Program for New Century Excellent Talents in Heilongjiang Provincial University (1252-NCET-012)CNPC Innovation Foundation (2011D-5006-0101)
文摘In China, hot researches on shale oil were raised by the important breakthrough of shale oil in America. Obviously, the first important issue is the actual shale oil resource potential of China, and the selection of the key appraisement parameter is vital to the shale oil resource amount. Among the appraisement parameters, the oil content parameter（S1） is the key one, but the evaluation result is generally lower because of light hydrocarbon losing and heavy hydrocarbon handling. And the more important thing is that the light hydrocarbon with small molecular weight is more recoverable, and therefore its amount is important to the total shale oil yields. Based on pyrolysis experiments and the kinetic model of hydrocarbon generation, correction factors and a model of light hydrocarbon losing and heavy hydrocarbon handling were established. The results show that the correction factor of heavy hydrocarbon handling is 3.2, and that of light hydrocarbon losing is controlled by kerogen type, maturity and hydrocarbon generation environment（closed or open）.
文摘This paper presents a novel five degrees of freedom (DOF) two-wheeled robotic machine (TWRM) that delivers solutions for both industrial and service robotic applications by enlarging the vehicle′s workspace and increasing its flexibility. Designing a two-wheeled robot with five degrees of freedom creates a high challenge for the control, therefore the modelling and design of such robot should be precise with a uniform distribution of mass over the robot and the actuators. By employing the Lagrangian modelling approach, the TWRM′s mathematical model is derived and simulated in Matlab/Simulink?. For stabilizing the system′s highly nonlinear model, two control approaches were developed and implemented: proportional-integral-derivative (PID) and fuzzy logic control (FLC) strategies. Considering multiple scenarios with different initial conditions, the proposed control strategies′ performance has been assessed.
基金supported in part by grants from the National Natural Science Foundation of China(31772475 31672307+1 种基金31401981 31372215)
文摘In some non-human primates, infants function as a social tool that can bridge relationships among group members. Infants are a desired commodity for group members, and mothers control access to them. The biological market theory suggests that grooming is widespread and represents a commodity that can be exchanged for infant handling. As a limited resource, however, the extent to which infants are interchanged between mothers(females with an infant) and non-mothers(potential handlers,females without an infant) remains unclear. In this study, we collected behavioral data to investigate the relationship between grooming and infant handling in free-ranging Tibetan macaques(Macaca thibetana)at Mt. Huangshan, China. Our results showed that females with infants received more grooming than females without infants. After her infant was handled,mother females received more grooming than they did during daily grooming interactions. However, with the increasing number of infants within the social group, both the grooming that mothers received and the grooming that non-mothers invested for handling infants decreased. We also found that non-mothers invested more time in grooming to gain access to younger infants than older infants. Our results provide evidence that infants are social commodities for both mother and non-mother females. Mothers use infants for obtain grooming and non-mothers use grooming to gain access to infants. The current study implies a bidirectional and complex interchange pattern between grooming and infant handling to compensate for the dyadic grooming disparity in non-human primates.
基金Supported by National Basic Research Program of China(973 Program,Grant No.2011CB711200)National Science and Technology Support Program of China(Grant No.2015BAG17B00)National Natural Science Foundation of China(Grant No.51475333)
文摘For a distributed drive electric vehicle（DDEV） driven by four in-wheel motors, advanced vehicle dynamic control methods can be realized easily because motors can be controlled independently, quickly and precisely. And direct yaw-moment control（DYC） has been widely studied and applied to vehicle stability control. Good vehicle handling performance： quick yaw rate transient response, small overshoot, high steady yaw rate gain, etc, is required by drivers under normal conditions, which is less concerned, however. Based on the hierarchical control methodology, a novel control system using direct yaw moment control for improving handling performance of a distributed drive electric vehicle especially under normal driving conditions has been proposed. The upper-loop control system consists of two parts： a state feedback controller, which aims to realize the ideal transient response of yaw rate, with a vehicle sideslip angle observer; and a steering wheel angle feedforward controller designed to achieve a desired yaw rate steady gain. Under the restriction of the effect of poles and zeros in the closed-loop transfer function on the system response and the capacity of in-wheel motors, the integrated time and absolute error（ITAE） function is utilized as the cost function in the optimal control to calculate the ideal eigen frequency and damper coefficient of the system and obtain optimal feedback matrix and feedforward matrix. Simulations and experiments with a DDEV under multiple maneuvers are carried out and show the effectiveness of the proposed method： yaw rate rising time is reduced, steady yaw rate gain is increased, vehicle steering characteristic is close to neutral steer and drivers burdens are also reduced. The control system improves vehicle handling performance under normal conditions in both transient and steady response. State feedback control instead of model following control is introduced in the control system so that the sense of control intervention to drivers is relieved.
基金supported by National Natural Science Foundation of China (Grant No. 50675027)
文摘Compared with traditional mechanical seals,magnetic fluid seals have unique characters of high airtightness,minimal friction torque requirements,pollution-free and long life-span,widely used in vacuum robots.With the rapid development of Integrate Circuit（IC）,there is a stringent requirement for sealing wafer-handling robots when working in a vacuum environment.The parameters of magnetic fluid seals structure is very important in the vacuum robot design.This paper gives a magnetic fluid seal device for the robot.Firstly,the seal differential pressure formulas of magnetic fluid seal are deduced according to the theory of ferrohydrodynamics,which indicate that the magnetic field gradient in the sealing gap determines the seal capacity of magnetic fluid seal.Secondly,the magnetic analysis model of twin-shaft magnetic fluid seals structure is established.By analyzing the magnetic field distribution of dual magnetic fluid seal,the optimal value ranges of important parameters,including parameters of the permanent magnetic ring,the magnetic pole tooth,the outer shaft,the outer shaft sleeve and the axial relative position of two permanent magnetic rings,which affect the seal differential pressure,are obtained.A wafer-handling robot equipped with coaxial twin-shaft magnetic fluid rotary seals and bellows seal is devised and an optimized twin-shaft magnetic fluid seals experimental platform is built.Test result shows that when the speed of the two rotational shafts ranges from 0-500 r/min,the maximum burst pressure is about 0.24 MPa.Magnetic fluid rotary seals can provide satisfactory performance in the application of wafer-handling robot.The proposed coaxial twin-shaft magnetic fluid rotary seal provides the instruction to design high-speed vacuum robot.
基金Project 863-2.5.2.25 supported by the National High Technology Research & Development (863) Program of China
文摘The Main Optical Telescope (MOT) is an important payload of the Space Solar Telescope (SST) with various instruments and observation modes. Its real-time data handling and management and control tasks are arduous. Based on the advanced techniques of foreign countries, an improved structure of onboard data handling systems feasible for SST, is proposed. This article concentrated on the development of a Central Management & Control Unit (MCU) based on FPGA and DSP. Through reconfigurating the FPGA and DSP programs, the prototype could perform different tasks. Thus the inheritability of the whole system is improved. The completed dual-channel prototype proves that the system meets all requirements of the MOT. Its high reliability and safety features also meet the requirements under harsh conditions such as mine detection.
基金National Key Technology Support Program,China(No.2012BAF13B03)Program for Changjiang Scholars and Innovative Research Team in University,China(No.IRT1220)
文摘This study deals with a robot manipulator for yarn bobbin handling in the cotton yarns lattice distortion modification system.The aim is to achieve an operation of yarn bobbin handling with minimal execution time,energy consumption and jerk in motion together.The placement of the robot,in relation to the yarn bobbin stations,is also optimized in conjunction of trajectory optimization.Three possible techniques for building the handling traj'ectory were considered:the quaternion spherical linear interpolation in Cartesian space,the quintic polynomial spline and quintic B-spline in joint space.The genetic algorithm(GA) was used to optimize the trajectories of the robot,with a penalty function to handle nonlinear constraints associated in the robot motion.Two simulations of the optimal trajectory in joint space and the placement of robot were carried out and the results obtained were presented and discussed.It is concluded that the quintic polynomial spline constructs a better trajectory in joint space and the proper placement of robot makes better performance.
基金National Natural Science Foundation of China,Grant/Award Number:No.31572341
文摘The Mongolian gerbil has been widely used in many research fields and has been reported to be a diurnal laboratory animal. The circadian rhythmicity of these gerbils was investigated in the present study by measuring two hormones that show daily oscillations, cortisol and ACTH, in serum using ELISA kits. The levels of the two hormones were highest at 8:00 am and their rhythmic changes were similar to those in humans. In addition, the influence of stress of handling and blood collection on the physiological parameters of the gerbils was examined. After adaptation to handling for 1 week, some serum parameters in the animals changed. Handling and blood collection did not impact significantly on the following parameters: creatine kinase (CK), lactate dehydrogenase (LD), alanine aminotransferase (ALT), aspartate transaminase (AST), blood urea nitrogen (BUN), and albumin (ALB). However, blood glucose (GLU), total protein (TP) and globulin (GLB) significantly increased while creatinine (CRE) and albumin/globulin (A/G) significantly decreased after adaptation. This work further confirms that the Mongolian gerbil is a diurnal animal and also indicates that a suitable adaptation procedure is necessary for getting reliable results when performing experiments using these animals.
基金Supported by National Natural Science Foundation of China(Grant No.51275307)
文摘As a key to improve the performance of the interbay automated material handling system （AMHS） in 300 mm semiconductor wafer fabrication system, the real- time overhead hoist transport （OHT） dispatching problem has received much attention. This problem is first formu- lated as a special form of assignment problem and it is proved that more than one solution will be obtained by Hungarian algorithm simultaneously. Through proposing and strictly proving two propositions related to the char- acteristics of these solutions, a modified Hungarian algo- rithm is designed to distinguish these solutions. Finally, a new real-time OHT dispatching method is carefully designed by implementing the solution obtained by the modified Hungarian algorithm. The experimental results of discrete event simulations show that, compared with con- ventional Hungarian algorithm dispatching method, the proposed dispatching method that chooses the solution with the maximum variance respectively reduces on average 4 s of the average waiting time and average lead time of wafer lots, and its performance is rather stable in multiple dif- ferent scenarios of the interbay AMHS with different quantities of shortcuts. This research provides an efficient real-time OHT dispatching mechanism for the interbay AMHS with shortcuts and bypasses.
