It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on l...It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.展开更多
A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment： i） uncertainties in en...A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment： i） uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii） stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it environment with complex characteristics. Finally, numerical robot manipulator. also shows robustness of the proposed controller to uncertain simulation verifies results via contact task of a two rigid-links展开更多
A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both rob...A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal tracking. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system’s performance under parameter uncertainties as well as obtaining the H2/H∞tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.展开更多
This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is des...This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.展开更多
This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- ...This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.展开更多
If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle...If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-展开更多
The single-point bending method,based on atomic force microscopy(AFM),has been extensively validated for characterizing the structural mechanical properties of micro-and nanobeams.Nevertheless,the influence of AFM pro...The single-point bending method,based on atomic force microscopy(AFM),has been extensively validated for characterizing the structural mechanical properties of micro-and nanobeams.Nevertheless,the influence of AFM probe loading and positioning has yet to be subjected to comprehensive investigation.This paper proposes a novel bending-test method based on sequential loading points,in which a series of evenly distributed loads are applied along the length of the central axis on the upper surface of the cantilever.The preliminary measured values of Young’s modulus for an unknown alloy material were 193,178,and 176 GPa,exhibiting a considerable degree of dispersion.An algorithm for self-correction of the positioning error was developed,and this resulted in a positioning error of 53 nm and a final converged Young’s modulus of 161 GPa.展开更多
To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization met...To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization method for force and position.Based on the analysis of the kinematics and dynamics of the system,the inverse kinematics and inverse dynamics of the system are solved using the least variance method.The obstacle avoidance planning is performed in the solved collisionfree feasible space using the stable dung beetle optimization(SDBO)algorithm,which ensures that the suspended object can move stably to the target point in the workspace.The optimal obstacle avoidance trajectory of the multi-robot suspension system can be accurately determined by using the collaborative optimization method for force and position to plan the towing robot and the cable.Finally,the correctness of the obstacle avoidance planning method is verified by simulations.By taking a special scenario,the remarkable findings reveal that the SDBO algorithm outperforms the dung beetle optimization algorithm by reducing the length of the planned trajectory of the suspended object by 14.51%and the height by 79.88%,and reducing the minimum fitness by 95.84%and the average fitness by 94.77%.The results can help the multi-robot suspension system to perform various towing tasks safely and stably,and extend the related planning and control theory.展开更多
A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to ge...A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.展开更多
Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pell...Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.展开更多
Background:Pressure injury(PI)is a prevalent complication in pediatric cardiac surgery,with higher incidence than in general pediatric populations due to children’s thin skin,underdeveloped subcutaneous tissue,and pr...Background:Pressure injury(PI)is a prevalent complication in pediatric cardiac surgery,with higher incidence than in general pediatric populations due to children’s thin skin,underdeveloped subcutaneous tissue,and prolonged intraoperative pressure.Objective:To evaluate the effectiveness of the curvilinear supine position(CSP)in preventing PI among children undergoing congenital heart disease(CHD)surgery.Methods:Between October 2024 and February 2025,a single-center randomized controlled trial was conducted.Of the 80 children initially enrolled for congenital heart disease(CHD)surgery,77(aged 1 month to 14 years)completed the study and were included in the final analysis after 3 were excluded due to protocol violations.Participants were randomly assigned to the CSP group(n=38)or the conventional supine position group(n=39).Results:The incidence of PI was significantly lower in the CSP group(2.6%)compared to the control group(20.5%)(p=0.029).Postoperative LDH levels were also significantly reduced in the CSP group(422.67±86.52 U/L vs.592.92±215.71 U/L;p=0.031),while preoperative LDH and surgical variables(e.g.,cardiopulmonary bypass time)were comparable between groups.Although the CSP group had a shorter hospital stay(17.24 vs.22.51 days),the difference was not statistically significant(p=0.085).Caregiver satisfaction was significantly higher in the CSP group(100.0%vs.84.6%;p=0.025).Conclusion:CSP effectively reduces PI incidence,mitigates tissue injury,and enhances caregiver satisfaction in pediatric cardiac surgery,offering a safe and feasible strategy for perioperative PI prevention.展开更多
Severe acute pancreatitis(SAP)can induce acute respiratory distress syndrome(ARDS)and abdominal compartment syndrome(ACS).Although prone position ventilation(PPV)can improve outcomes in patients with ARDS,there is sig...Severe acute pancreatitis(SAP)can induce acute respiratory distress syndrome(ARDS)and abdominal compartment syndrome(ACS).Although prone position ventilation(PPV)can improve outcomes in patients with ARDS,there is significant controversy regarding its concurrent use with ACS owing to concerns of increased risk of intra-abdominal pressure(IAP).[1]We present a case of successful PPV application without adverse eff ects.展开更多
The fluorination strategy has been proven effective in significantly enhancing the photovoltaic performance of organic solar cells(OSCs) based on non-fused ring electron acceptors(NFREAs).However,research on the impac...The fluorination strategy has been proven effective in significantly enhancing the photovoltaic performance of organic solar cells(OSCs) based on non-fused ring electron acceptors(NFREAs).However,research on the impact of fluorination positions at side chains on NFREAs device performance remains scant.In this study,we introduce two isomeric NFREAs,designated as GA-2F-E and GA-2F,distinguished by their fluorination positions at the side chains.Both NFREAs share a thiophene[3,2-b]thiophene core,but their side chains differ:GA-2F-E features two(4-butylphenyl)-N-(4-fluorophenyl) amino groups,whereas GA-2F's side chains consist of bis(4-fluorophenyl)amino and bis(4-butylphenyl)amino groups attached to opposite sides of the core.To delve into the influence of fluorination positions on the optoelectronic properties,aggregation behavior,and overall efficiency of the acceptor molecules,a comprehensive investigation was conducted.The findings reveal that,despite similar photophysical properties and comparable absorption bandwidths,GA-2F-E,with fluorine atoms positioned on both sides of the molecular framework,demonstrates more compact π-π stacking,reduced bimolecular recombination,superior exciton transport,and a more balanced,higher mobility.As a result of these advantages,OSCs optimized with D18:GA-2F-E achieve a remarkable power conversion efficiency(PCE) of 16.45 %,surpassing the 15.83 %PCE of devices utilizing D18:GA-2F.This research underscores the potential of NFREAs in future applications and highlights the significance of fluorination positions in enhancing OSC performance,paving the way for the development of more efficient NFREAs.展开更多
In the context of the coordinated pursuit of"carbon peak and neutrality"objectives,alongside the strategy to establish a robust agricultural nation,the economic and social development of rural areas is under...In the context of the coordinated pursuit of"carbon peak and neutrality"objectives,alongside the strategy to establish a robust agricultural nation,the economic and social development of rural areas is undergoing a profound paradigm shift.The traditional rural division of labor pattern,which depends on tangible factors such as land,labor,and capital,has increasingly encountered developmental challenges characterized by diminishing marginal returns and a detrimental cycle of internal competition.The new quality productive force,centered on data,algorithms,green technologies,bioengineering,and clean energy,offers a potential pathway for the rural division of labor system to overcome the"low-level equilibrium".This force is characterized by attributes such as non-exclusivity,replicability,network collaboration,and ecological compatibility.This paper develops a three-dimensional collaborative analytical framework encompassing"technology,institution,and culture".It systematically elucidates the internal logic by which new quality productive forces drive the transformation of the rural division of labor from"quantitative factor matching"to"qualitative structural reorganization"through three principal mechanisms:technology embedding,institutional reconstruction,and cultural coupling.Furthermore,the study proposes corresponding policy recommendations,thereby offering theoretical insights to support the modernization of China s agriculture and rural areas,as well as the development of a strong agricultural country.展开更多
A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooper...A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.展开更多
A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedba...A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.展开更多
An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For s...An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.展开更多
Objective:To explore the effect of narrative nursing combined with positive reinforcement nursing intervention on the psychological state of patients with gynecological cancer chemotherapy.Methods:From January 2022 to...Objective:To explore the effect of narrative nursing combined with positive reinforcement nursing intervention on the psychological state of patients with gynecological cancer chemotherapy.Methods:From January 2022 to December 2023,99 cancer patients with postoperative chemotherapy admitted to the Department of Gynecology in the author’s ClassⅲGrade A hospital were selected as the research objects,and they were divided into the control group(49 cases)and the observation group(50 cases)by random number method.The control group was intervened by the nursing model based on positive reinforcement theory,while the observation group received narrative nursing intervention measures on this basis.The self-rating Anxiety scale(SAS),self-rating depression scale(SDS),distress thermometer(DT),Pittsburgh sleep quality index(PSQI),and General Self-Efficacy Scale(GSES)were used to evaluate and compare the changes of various indicators between the two groups after intervention.Results:There were no significant differences in the scores of SAS,SDS,DT,PSQI,and GSES between the two groups at the time of intervention(P>0.05).After chemotherapy,the SAS,SDS,and DT scores of the observation group were significantly lower than those of the control group(P<0.05),and the PSQI and GSES scores were significantly better than those of the control group(P<0.01).Conclusion:Compared with the simple positive reinforcement nursing model,narrative nursing combined with positive reinforcement nursing intervention has more advantages in improving the mental health status of patients with gynecological cancer chemotherapy.It can significantly relieve the negative emotions,such as anxiety and depression of patients,effectively improve their self-efficacy level,optimize their sleep quality,and provide more comprehensive support for the physical and mental rehabilitation of patients.展开更多
文摘It is crucial for implementing force/position control of robotic manipulator under the constraint of unknown environment to determine the force control and the position control directions. This paper presents an on line algorithm to real timely estimate the tangent and the normal vectors of the constraint surface based on the measured contact force under the consideration of frictional force. A fuzzy synthesis policy is proposed to coordinate the conflict between the compliant force control and the stiff position control. An experimental study on an AdeptThree, a SCARA type robotic manipulator, is conducted. The experimental results show that the policy presented in the paper is effective.
文摘A simple robust scheme of parallel force/position control is proposed in this paper to deal with two problems for non-planar constraint surface and nonlinear mechanical feature of environment： i） uncertainties in environment that are usually not available or difficult to be determined in most practical situations; ii） stability problem or/and integrator windup due to the integration of force error in the force dominance rule in parallel force/position control. It shows that this robust scheme is a good alternative for anti-windup. In the presence of environment uncertainties, global asymptotic stability of the resulting closed-loop system is guaranteed; it environment with complex characteristics. Finally, numerical robot manipulator. also shows robustness of the proposed controller to uncertain simulation verifies results via contact task of a two rigid-links
文摘A neural network control scheme with mixed H2/H∞performance was proposed for robot force/position control under parameter uncertainties and external disturbances. The mixed H2/H∞tracking performance ensures both robust stability under a prescribed attenuation level for external disturbance and H2optimal tracking. The neural network was introduced to adaptively estimate nonlinear uncertainties, improving the system’s performance under parameter uncertainties as well as obtaining the H2/H∞tracking performance. The simulation shows that the control method performs better even when the system is under large modeling uncertainties and external disturbances.
基金Supported by the National Natural Science Foundation of China （60875055）, the Program for New Century Excellent Talents in University （NCET-06- 0210） and the Natural Science Foundation of Tianjin （08JCZDJC21800）.
文摘This paper proposes a feasible force/position control method for industrial robots utilized for such tasks as grinding, polishing, deburring, and so on. Specifically, an adaptive force/position control strategy is designed in this paper which regulates the contact force between a robot and a workpiece to reach any given set-point exponentially fast, and enables the robot to follow a chosen trajectory simultaneously without requiring prior knowledge of the system parameters. The stability of the closed-loop system is analyzed by Lyapunov techniques. To test the validity of the force/position control method, some simulation results are first collected for the closed-loop system. Furthermore, some experiments are implemented on a 5DOF （degree of freedom） industrial robot for the constructed adaptive force controller. Both simulation and experiment results demonstrate the superior performance of the designed adaptive force/position control strategy.
文摘This paper reviews robotic position and force control techniques. The existing fundamental force control algorithms are compared and discussed, including explicit/implicit control, stiffness control, impedance/admit- tance control, and hybrid position/force control. This work is intended to give a basic guidance for understanding and utilization of the fundamental robotic control algorithm.
基金Supported by the Major State Basic Research Development Program of China(No.2006CB5406)Important National Science&Technology Specific Projects(No.2009ZX04002-061,2009ZX04004-102)
文摘If the rigidity of a mechanism is stiff enough, the position synchronous error of the two cylinders driving one degree-of-freedom （DOF） of the mechanism may be less than the resolution of position sensors. To handle this synchronization problem this paper proposes a force/position switching scheme, which partitions the two cylinders into a master cylinder and a slave cylinder. The master cylinder is always position tracking controlled by a second-order sliding mode controller and the slave cylinder is integrated with a force tracking controller which is a first order sliding mode controller. When the position tracking error is less than a given value, the slave cylinder switches to be force controlled. Two synchronization control methods are presented based on the switching scheme： the master - master ＋ force/position switching control and the master - slave ＋ force/position switching control. Simulations show that the formance compared with two given proposed synchronization control position-based control methods. methods can get a better per-
文摘The single-point bending method,based on atomic force microscopy(AFM),has been extensively validated for characterizing the structural mechanical properties of micro-and nanobeams.Nevertheless,the influence of AFM probe loading and positioning has yet to be subjected to comprehensive investigation.This paper proposes a novel bending-test method based on sequential loading points,in which a series of evenly distributed loads are applied along the length of the central axis on the upper surface of the cantilever.The preliminary measured values of Young’s modulus for an unknown alloy material were 193,178,and 176 GPa,exhibiting a considerable degree of dispersion.An algorithm for self-correction of the positioning error was developed,and this resulted in a positioning error of 53 nm and a final converged Young’s modulus of 161 GPa.
基金supported by the Excellent Graduate Student“Innovation Star”project of Education Department of Gansu Province(Grant No.2025CXZX-675)the National Natural Science Foundation of China(Grant No.51965032)+3 种基金the National Natural Science Foundation of Gansu Province of China(Grant No.22JR5RA319)the Excellent Doctoral Student Foundation of Gansu Province of China(Grant No.23JRRA842)the Open Project of State Key Laboratory of Rail Transit Vehicle System,Southwest Jiaotong University(Grant No.RVL2411)the Key Research and Development Project of Lanzhou Jiaotong University(Grant No.LZJTU-ZDYF2302).
文摘To avoid collisions between a suspended object,cables,towing robots,and obstacles in the environment in a multi-robot suspension system,obstacle avoidance planning was studied based on a collaborative optimization method for force and position.Based on the analysis of the kinematics and dynamics of the system,the inverse kinematics and inverse dynamics of the system are solved using the least variance method.The obstacle avoidance planning is performed in the solved collisionfree feasible space using the stable dung beetle optimization(SDBO)algorithm,which ensures that the suspended object can move stably to the target point in the workspace.The optimal obstacle avoidance trajectory of the multi-robot suspension system can be accurately determined by using the collaborative optimization method for force and position to plan the towing robot and the cable.Finally,the correctness of the obstacle avoidance planning method is verified by simulations.By taking a special scenario,the remarkable findings reveal that the SDBO algorithm outperforms the dung beetle optimization algorithm by reducing the length of the planned trajectory of the suspended object by 14.51%and the height by 79.88%,and reducing the minimum fitness by 95.84%and the average fitness by 94.77%.The results can help the multi-robot suspension system to perform various towing tasks safely and stably,and extend the related planning and control theory.
文摘A force control strategy for position controlled robotic manipulators is presented. On line force feedback data are employed to estimate the local shape of the unknown constraint. The estimated vectors are used to generate the virtual reference trajectory for the target impedance model that is driven by the force error to produce command position. By following the command position trajectory the robotic manipulator can follow the unknown constraint surface while keeping an acceptable force error in a manner depicted by the target impedance model. Computer simulation on a 3 linked planar manipulator and experimental studies on an Adept 3, an SCARA type robotic manipulator, are conducted to verify the force tracking capability of the proposed control strategy.
基金financial support by the National Key Research and Development Program of China(No.2023YFC2907801)the Hunan Provincial Natural Science Foundation of China(No.2023JJ40760)the Scientific and Technological Project of Yunnan Precious Metals Laboratory,China(No.YPML-2023050276)。
文摘Bentonite is a necessary binder in producing pellets.Its excessive use reduces the iron grade of pellets and increases production costs.Minimizing bentonite dosage is essential for producing high-quality iron ore pellets.Addressing the gap in the application of organically-intercalated modified bentonite in the pelletizing field,this study introduces an innovative modification process for bentonite that employs the synergistic effect of mechanical force and dimethyl sulfoxide to enhance the intercalation of organic compounds within bentonite,thus significantly enhancing its binding performance.The colloid value and swell capacity of modified bentonite(98.5 m L/3g and 55.0 m L/g)were much higher than the original bentonite(90.5 m L/3g and 17.5 m L/g).With the decrease of bentonite dosage from1.5wt%to 1.0wt%,the drop number of green pellets from a height of 0.5 m and the compressive strengths of roasted pellets using the modified bentonite(6.0 times and 2916 N per pellet)were significantly higher than those of the original bentonite(4.0 times and 2739 N per pellet).This study provides a comprehensive analysis of the intercalation modification mechanism of bentonite,offering crucial technical insights for the development of high-performance modified bentonite as iron ore pellet binders.
文摘Background:Pressure injury(PI)is a prevalent complication in pediatric cardiac surgery,with higher incidence than in general pediatric populations due to children’s thin skin,underdeveloped subcutaneous tissue,and prolonged intraoperative pressure.Objective:To evaluate the effectiveness of the curvilinear supine position(CSP)in preventing PI among children undergoing congenital heart disease(CHD)surgery.Methods:Between October 2024 and February 2025,a single-center randomized controlled trial was conducted.Of the 80 children initially enrolled for congenital heart disease(CHD)surgery,77(aged 1 month to 14 years)completed the study and were included in the final analysis after 3 were excluded due to protocol violations.Participants were randomly assigned to the CSP group(n=38)or the conventional supine position group(n=39).Results:The incidence of PI was significantly lower in the CSP group(2.6%)compared to the control group(20.5%)(p=0.029).Postoperative LDH levels were also significantly reduced in the CSP group(422.67±86.52 U/L vs.592.92±215.71 U/L;p=0.031),while preoperative LDH and surgical variables(e.g.,cardiopulmonary bypass time)were comparable between groups.Although the CSP group had a shorter hospital stay(17.24 vs.22.51 days),the difference was not statistically significant(p=0.085).Caregiver satisfaction was significantly higher in the CSP group(100.0%vs.84.6%;p=0.025).Conclusion:CSP effectively reduces PI incidence,mitigates tissue injury,and enhances caregiver satisfaction in pediatric cardiac surgery,offering a safe and feasible strategy for perioperative PI prevention.
文摘Severe acute pancreatitis(SAP)can induce acute respiratory distress syndrome(ARDS)and abdominal compartment syndrome(ACS).Although prone position ventilation(PPV)can improve outcomes in patients with ARDS,there is significant controversy regarding its concurrent use with ACS owing to concerns of increased risk of intra-abdominal pressure(IAP).[1]We present a case of successful PPV application without adverse eff ects.
基金financially supported by the National Natural Science Foundation of China (Nos.22375024,21975031,51933001,and 21734009)。
文摘The fluorination strategy has been proven effective in significantly enhancing the photovoltaic performance of organic solar cells(OSCs) based on non-fused ring electron acceptors(NFREAs).However,research on the impact of fluorination positions at side chains on NFREAs device performance remains scant.In this study,we introduce two isomeric NFREAs,designated as GA-2F-E and GA-2F,distinguished by their fluorination positions at the side chains.Both NFREAs share a thiophene[3,2-b]thiophene core,but their side chains differ:GA-2F-E features two(4-butylphenyl)-N-(4-fluorophenyl) amino groups,whereas GA-2F's side chains consist of bis(4-fluorophenyl)amino and bis(4-butylphenyl)amino groups attached to opposite sides of the core.To delve into the influence of fluorination positions on the optoelectronic properties,aggregation behavior,and overall efficiency of the acceptor molecules,a comprehensive investigation was conducted.The findings reveal that,despite similar photophysical properties and comparable absorption bandwidths,GA-2F-E,with fluorine atoms positioned on both sides of the molecular framework,demonstrates more compact π-π stacking,reduced bimolecular recombination,superior exciton transport,and a more balanced,higher mobility.As a result of these advantages,OSCs optimized with D18:GA-2F-E achieve a remarkable power conversion efficiency(PCE) of 16.45 %,surpassing the 15.83 %PCE of devices utilizing D18:GA-2F.This research underscores the potential of NFREAs in future applications and highlights the significance of fluorination positions in enhancing OSC performance,paving the way for the development of more efficient NFREAs.
基金Supported by Key Project of Jiangsu Education Science Planning"Research on the Structural Adjustment of Higher Education in Jiangsu in the Context of High-Quality Economic Development"(B/2021/01/67).
文摘In the context of the coordinated pursuit of"carbon peak and neutrality"objectives,alongside the strategy to establish a robust agricultural nation,the economic and social development of rural areas is undergoing a profound paradigm shift.The traditional rural division of labor pattern,which depends on tangible factors such as land,labor,and capital,has increasingly encountered developmental challenges characterized by diminishing marginal returns and a detrimental cycle of internal competition.The new quality productive force,centered on data,algorithms,green technologies,bioengineering,and clean energy,offers a potential pathway for the rural division of labor system to overcome the"low-level equilibrium".This force is characterized by attributes such as non-exclusivity,replicability,network collaboration,and ecological compatibility.This paper develops a three-dimensional collaborative analytical framework encompassing"technology,institution,and culture".It systematically elucidates the internal logic by which new quality productive forces drive the transformation of the rural division of labor from"quantitative factor matching"to"qualitative structural reorganization"through three principal mechanisms:technology embedding,institutional reconstruction,and cultural coupling.Furthermore,the study proposes corresponding policy recommendations,thereby offering theoretical insights to support the modernization of China s agriculture and rural areas,as well as the development of a strong agricultural country.
基金Project(61374051,61603387)supported by the National Natural Science Foundation of ChinaProjects(20150520112JH,20160414033GH)supported by the Scientific and Technological Development Plan in Jilin Province of ChinaProject(20150102)supported by Opening Funding of State Key Laboratory of Management and Control for Complex Systems,China
文摘A decentralized adaptive neural network sliding mode position/force control scheme is proposed for constrained reconfigurable manipulators. Different from the decentralized control strategy in multi-manipulator cooperation, the proposed decentralized position/force control scheme can be applied to series constrained reconfigurable manipulators. By multiplying each row of Jacobian matrix in the dynamics by contact force vector, the converted joint torque is obtained. Furthermore, using desired information of other joints instead of their actual values, the dynamics can be represented as a set of interconnected subsystems by model decomposition technique. An adaptive neural network controller is introduced to approximate the unknown dynamics of subsystem. The interconnection and the whole error term are removed by employing an adaptive sliding mode term. And then, the Lyapunov stability theory guarantees the stability of the closed-loop system. Finally, two reconfigurable manipulators with different configurations are employed to show the effectiveness of the proposed decentralized position/force control scheme.
基金supported by National Natural Science Foundation of China(No.61105036 and 61227804)
文摘A position/force hybrid control system based on impedance control scheme is designed to align a small gripper to a special ring object. The vision information provided by microscope vision system is used as the feedback to indicate the position relationship between the gripper and the ring object. Multiple image features of the gripper and the ring object are extracted to estimate the relative positions between them. The end-effector of the gripper is tracked using the extracted features to keep the gripper moving in the field of view. The force information from the force sensor serves as the feedback to ensure that the contact force between the gripper and the ring object is limited in a small safe range. Experimental results verify the effectiveness of the proposed control strategy.
文摘An improved hybrid position/force controller design of a flexible robot manipulator is presented using a sliding observer. The friction between the end effector and the environment is considered and compensated. For systematic reasons the controller is designed taking into consideration the rigid link subsystems and the flexible joints. The proposed control system satisfies the stability of the two subsystems and copes with the uncertainty of robot dynamics. A sliding observer is designed to estimate the time derivative of the torque applied as input to the rigid part of the robot. For the stability of the observer, it is assumed that the uncertainty of the observed system is bounded. A MRAC algorithm is used for the estimation of the friction forces at the contact point between the end effector and the environment. Finally simulation and experimental results are given, to demonstrate the effectiveness of the proposed controller.
基金the First Affiliated Hospital of Shihezi University(Project No.:HL202110)。
文摘Objective:To explore the effect of narrative nursing combined with positive reinforcement nursing intervention on the psychological state of patients with gynecological cancer chemotherapy.Methods:From January 2022 to December 2023,99 cancer patients with postoperative chemotherapy admitted to the Department of Gynecology in the author’s ClassⅲGrade A hospital were selected as the research objects,and they were divided into the control group(49 cases)and the observation group(50 cases)by random number method.The control group was intervened by the nursing model based on positive reinforcement theory,while the observation group received narrative nursing intervention measures on this basis.The self-rating Anxiety scale(SAS),self-rating depression scale(SDS),distress thermometer(DT),Pittsburgh sleep quality index(PSQI),and General Self-Efficacy Scale(GSES)were used to evaluate and compare the changes of various indicators between the two groups after intervention.Results:There were no significant differences in the scores of SAS,SDS,DT,PSQI,and GSES between the two groups at the time of intervention(P>0.05).After chemotherapy,the SAS,SDS,and DT scores of the observation group were significantly lower than those of the control group(P<0.05),and the PSQI and GSES scores were significantly better than those of the control group(P<0.01).Conclusion:Compared with the simple positive reinforcement nursing model,narrative nursing combined with positive reinforcement nursing intervention has more advantages in improving the mental health status of patients with gynecological cancer chemotherapy.It can significantly relieve the negative emotions,such as anxiety and depression of patients,effectively improve their self-efficacy level,optimize their sleep quality,and provide more comprehensive support for the physical and mental rehabilitation of patients.
