The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In tu...The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.展开更多
With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machine...With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.展开更多
To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro...To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro and micro power supply is designed,which fits the new linear piezoelectric motor.The power supply comprises a control circuit,a voltage conversion circuit,an amplifier circuit,a half-bridge module,an optical isolatorsdrive circuit,etc,where the DSP of TMS320F28335 is used as the controller.When the linear piezoelectric motor working in a macro driven state,the power supply outputs alternating currents with high frequency and high voltage,which drives the linear piezoelectric motor dynamically at an ultrasonic frequency;while working in the micro driven state,the power supply outputs direct currents with high voltage,which drives the linear piezoelectric motor in micro driven statically.Here a prototype of the macro-micro power supply is designed.After a series of experiments on the power supply with and without loads,the results show that the power supply can drive and control the macro micro driven linear piezoelectric motor,and realizes quick and seamless switch between macro and micro drive.In addition,the power supply can drive and control the ultrasonic motor or piezoelectric ceramic micro actuator individually.The power supply achieves the multiple parameters of output signals adjustable simultaneously and exhibits good control characteristics.展开更多
In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility p...In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility parameter and diffusion coefficient) of asphalt binder in different service phases (virgin,modified,aged and rejuvenated) were simulated.Combined with the variation characteristics of asphalt binder macro evaluation indexes (permeability,ductility,viscosity and softening point) in different service phases,the cross-scale correlation of macro-micro evaluation indexes was explored.The results show that the macro and micro evaluation indexes of asphalt binder have different characteristics in different service phases.The essence of the variation in the properties of asphalt binders is the difference in micro composition.In addition,there is a certain correlation between macro and micro evaluation indexes,which can be described by the gray relation theory.The cross-scale correlation of macro-micro evaluation indexes can provide a certain theoretical basis for the development of asphalt binder.展开更多
The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the art...The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the artery into the hyoglossusmuscle is almost constantly along the posterior border of the muscle,where the artery issuperficially located and easily to be exposed,and has a constant relationship with thevein and hypoglossal nerve.Thus the lingual artery can be used as the artery of a recipientarea in case of tongue reconstruction.The deep lingual artery has two types ofbranches;the short ones mainly supply the muscles of tongue while the long ones mainlysupply the mucosa by forming a submucosal network.In the muscles of tongue,minutearterioles run tortuously along the muscular fibers with abundant anastomoses betweeneach other,but no anastomosis is found to cross over the rnidline of the tongue.Be-neath the mucosa,there is an arterial network spreading all over the whole tongue notlimited to one side.The relationship of the arterial architecture to the structure and thefunctions of the tongue and its clinical significance were discussed.展开更多
A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state m...A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state microscopic energy corrections are considered. Although the model contains only six adjustable parameters in its macroscopic part, the quality of mass reproduction is high and comparable with other contemporary mass estimates.Additionally, the fission barrier heights of actinide nuclei evaluated using the topographical theorem of Myers and?wia tecki are close to the data.展开更多
In this study,a uniaxial cyclic compression test is conducted on coal-rock composite structures under two cyclic loads using MTSE45.104 testing apparatus to investigate the macro-mesoscopic deformation,damage behavior...In this study,a uniaxial cyclic compression test is conducted on coal-rock composite structures under two cyclic loads using MTSE45.104 testing apparatus to investigate the macro-mesoscopic deformation,damage behavior,and energy evolution characteristics of these structures under different cyclic stress disturbances.Three loading and unloading rates(LURs)are tested to examine the damage behaviors and energy-driven characteristics of the composites.The findings reveal that the energy-driven behavior,mechanical properties,and macro-micro degradation characteristics of the composites are significantly influenced by the loading rate.Under the gradual cyclic loading and unloading(CLU)path with a constant lower limit(path I)and the CLU path with variable upper and lower boundaries(path II),an increase in LURs from 0.05 to 0.15 mm/min reduces the average loading time by 32.39%and 48.60%,respectively.Consequently,the total number of cracks in the samples increases by 1.66-fold for path I and 1.41-fold for path II.As LURs further increase,the energy storage limit of samples expands,leading to a higher proportion of transmatrix and shear cracks.Under both cyclic loading conditions,a broader cyclic stress range promotes energy dissipation and the formation of internal fractures.Notably,at higher loading rates,cracks tend to propagate along primary weak surfaces,leading to an increased incidence of intermatrix fractures.This behavior indicates a microscopic feature of the failure mechanisms in composite structures.These results provide a theoretical basis for elucidating the damage and failure characteristics of coal-rock composite structures under cyclic stress disturbances.展开更多
A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage ...A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.展开更多
基金Supported by Shanghai Municipal Science and Technology Major Project of China(Grant No.2021SHZDZX).
文摘The advancement and development of medical surgical robots have provided new technological support for brain surgery and neurosurgical procedures,improving the reliability of highly complex and precise surgeries.In turn,this urges the design and development of novel surgical robots to possess higher precision,stability,and enhanced motion capabilities.In response to this practical demand,this paper introduces a macro-micro integrated medical brain surgery robot system based on the concept of modular PMs(parallel mechanisms),which have a total of 13 active DOFs(degrees of freedom).This system divides the motion process of brain surgery into a large-scale macro-motion space and a small-scale high-precision motion space for design and planning control.The introduction of the design concept that combines multiple modular parallel sub-mechanisms has brought a significant level of decoupling characteristics to the mechanism itself.A comprehensive introduction and analysis of the surgical robot are provided,covering aspects such as design,kinematics,motion planning,and performance indicators.To address the pose allocation and coordination of motion between the macro platform and the micro platform,a pose allocation algorithm based on the decoupling and non-decoupling characteristics in various dimensions of the macro-micro platform is proposed.The designed measurement experiments have demonstrated that the repeatability in positioning accuracy of the macro and micro platform reaches the level of micron and submicron respectively.Practical experiments of motion control and simulated brain electrode implantation validate the excellent performance and stability of the entire surgical robot system.This research contributes innovative insights to the development of medical surgical robot systems,particularly in the domain of mechanism design.
基金This research was supported financially by the China Postdoctoral Science Foundation,the National Natural Science Foundation of China(Grant No.51705132)the Young Backbone Teacher Training Program in Henan University of Technology,the Education Department of Henan Province Natural Science Project(Grant No.21A460006)the Natural Science Project of Henan Provincial Department of Science and Technology(Grant No.222102220088).
文摘With ongoing economic,scientific,and technological developments,the electronic devices used in daily lives are developing toward precision and miniaturization,and so the demand for high-precision manufacturing machinery is expanding.The most important piece of equipment in modern high-precision manufacturing is the macro-micro motion platform(M3P),which offers high speed,precision,and efficiency and has macro-micro motion coupling characteristics due to its mechanical design and composition of its driving components.Therefore,the design of the control system is crucial for the overall precision of the platform;conventional proportional–integral–derivative control cannot meet the system requirements,and so M3Ps are the subject of a growing range of modern control strategies.This paper begins by describing the development history of M3Ps,followed by their platform structure and motion control system components,and then in-depth assessments of the macro,micro,and macro-micro control systems.In addition to examining the advantages and disadvantages of current macro-micro motion control,recent technological breakthroughs are noted.Finally,based on existing problems,future directions for M3P control systems are given,and the present conclusions offer guidelines for future work on M3Ps.
基金supported by the National Natural Science Foundation of China(No.51177053)the Specialized Research Fund for the Doctoral Program of Higher Education of China(No.2012CXZD0016)+1 种基金the Key Project of Department of Education of Guangdong Province(No.20124404110003)Guangzhou Science and Technology Project(No.201510010227)
文摘To investigate a novel macro and micro driven linear piezoelectric motor composed of an ultrasonic motor with macro movement and a piezoelectric actuator with micro movement,a digital signal processing(DSP)based macro and micro power supply is designed,which fits the new linear piezoelectric motor.The power supply comprises a control circuit,a voltage conversion circuit,an amplifier circuit,a half-bridge module,an optical isolatorsdrive circuit,etc,where the DSP of TMS320F28335 is used as the controller.When the linear piezoelectric motor working in a macro driven state,the power supply outputs alternating currents with high frequency and high voltage,which drives the linear piezoelectric motor dynamically at an ultrasonic frequency;while working in the micro driven state,the power supply outputs direct currents with high voltage,which drives the linear piezoelectric motor in micro driven statically.Here a prototype of the macro-micro power supply is designed.After a series of experiments on the power supply with and without loads,the results show that the power supply can drive and control the macro micro driven linear piezoelectric motor,and realizes quick and seamless switch between macro and micro drive.In addition,the power supply can drive and control the ultrasonic motor or piezoelectric ceramic micro actuator individually.The power supply achieves the multiple parameters of output signals adjustable simultaneously and exhibits good control characteristics.
基金Funded by the Fundamental Research Funds for the Central Universities (No. 2572021AW10)。
文摘In order to further study the reliability of macro evaluation indexes,molecular dynamics (MD) was applied to the evaluation of asphalt binder.Micro evaluation indexes (potential energy,surface free energy,solubility parameter and diffusion coefficient) of asphalt binder in different service phases (virgin,modified,aged and rejuvenated) were simulated.Combined with the variation characteristics of asphalt binder macro evaluation indexes (permeability,ductility,viscosity and softening point) in different service phases,the cross-scale correlation of macro-micro evaluation indexes was explored.The results show that the macro and micro evaluation indexes of asphalt binder have different characteristics in different service phases.The essence of the variation in the properties of asphalt binders is the difference in micro composition.In addition,there is a certain correlation between macro and micro evaluation indexes,which can be described by the gray relation theory.The cross-scale correlation of macro-micro evaluation indexes can provide a certain theoretical basis for the development of asphalt binder.
文摘The macro-micro-anatomy of the lingual artery of 25 adult cadavers wasstudied.The origin of the artery is rather concentrated and the greater cornu of thehyoid bone can be used as the indicator.The entrance of the artery into the hyoglossusmuscle is almost constantly along the posterior border of the muscle,where the artery issuperficially located and easily to be exposed,and has a constant relationship with thevein and hypoglossal nerve.Thus the lingual artery can be used as the artery of a recipientarea in case of tongue reconstruction.The deep lingual artery has two types ofbranches;the short ones mainly supply the muscles of tongue while the long ones mainlysupply the mucosa by forming a submucosal network.In the muscles of tongue,minutearterioles run tortuously along the muscular fibers with abundant anastomoses betweeneach other,but no anastomosis is found to cross over the rnidline of the tongue.Be-neath the mucosa,there is an arterial network spreading all over the whole tongue notlimited to one side.The relationship of the arterial architecture to the structure and thefunctions of the tongue and its clinical significance were discussed.
基金Supported by the Polish National Science Center (2023/49/B/ST2/01294)the Natural Science Foundation of China (11961131010, 12335008)。
文摘A new liquid drop model with iso-scalar volume and surface energy terms is applied to reproduce experimentally known masses of nuclei with a number of protons and neutrons larger or equal to twenty. The ground-state microscopic energy corrections are considered. Although the model contains only six adjustable parameters in its macroscopic part, the quality of mass reproduction is high and comparable with other contemporary mass estimates.Additionally, the fission barrier heights of actinide nuclei evaluated using the topographical theorem of Myers and?wia tecki are close to the data.
基金Project(2023YFC3009003) supported by the National Key R&D Program of ChinaProjects(52130409, 52121003, 52374249, 52204220) supported by the National Natural Science Foundation of ChinaProject(2024JCCXAQ01) supported by the Fundamental Research Funds for the Central Universities,China。
文摘In this study,a uniaxial cyclic compression test is conducted on coal-rock composite structures under two cyclic loads using MTSE45.104 testing apparatus to investigate the macro-mesoscopic deformation,damage behavior,and energy evolution characteristics of these structures under different cyclic stress disturbances.Three loading and unloading rates(LURs)are tested to examine the damage behaviors and energy-driven characteristics of the composites.The findings reveal that the energy-driven behavior,mechanical properties,and macro-micro degradation characteristics of the composites are significantly influenced by the loading rate.Under the gradual cyclic loading and unloading(CLU)path with a constant lower limit(path I)and the CLU path with variable upper and lower boundaries(path II),an increase in LURs from 0.05 to 0.15 mm/min reduces the average loading time by 32.39%and 48.60%,respectively.Consequently,the total number of cracks in the samples increases by 1.66-fold for path I and 1.41-fold for path II.As LURs further increase,the energy storage limit of samples expands,leading to a higher proportion of transmatrix and shear cracks.Under both cyclic loading conditions,a broader cyclic stress range promotes energy dissipation and the formation of internal fractures.Notably,at higher loading rates,cracks tend to propagate along primary weak surfaces,leading to an increased incidence of intermatrix fractures.This behavior indicates a microscopic feature of the failure mechanisms in composite structures.These results provide a theoretical basis for elucidating the damage and failure characteristics of coal-rock composite structures under cyclic stress disturbances.
基金Supported by the National Natural Science Foundation of China(Grant No.50705027)the National High Technology Research and Development Program of China("863"Program)(Grant No.2007AA04Z315)Self-Planned Task of State Key Laboratory of Robotics and System(HIT)(Grant No.SKLRS200804B)
文摘A macro-micro dual-drive positioning system showing good potential for high acceleration and high precision positioning required in IC packaging applications is devised in this paper. The dual-drive positioning stage uses a VCM (voice coil motor) driven macro positioning stage and a PZT piezo-electric driven micro positioning stage. The coupling characteristics of the system are analyzed to produce a control structure with a micro positioning stage that can dynamically compensate for the positioning error produced by the macro positioning stage. Models of the two positioning stages are described. The models cover both the mechanism and the actuator. For the macro positioning stage, friction characteristics are taken into account, and a controller with an LQG (linear-quadratic-Gaussian) control algorithm combining a feed-forward compensation algorithm is derived. A PID controller is used to control the micro positioning stage. Detailed designs are derived for the proposed approach, and the performance is validated by simulation.
