The elastic and functional coupling of heart and vessels makes the stroke work （SW） of the heart optimal. Speckle tracking imaging （STI） can evaluate the myocardial strain and function. We studied ventricular-vasc...The elastic and functional coupling of heart and vessels makes the stroke work （SW） of the heart optimal. Speckle tracking imaging （STI） can evaluate the myocardial strain and function. We studied ventricular-vascular coupling in 80 diabetic patients with different systolic function using STI. The patients were divided into two groups according to ejection fraction （EF）： the diabetes mel- litus with normal EF （DMN） group and the diabetes mellitus with abnormal EF （DMA） group. Forty-two volunteers served as control group. The relative wall thickness （RWT）, left ventricular mass index （LVMI）, stroke volume （SV）, SW, rate-pressure product （RPP）, systemic vascular resis- tance index （SVRI）, left ventricular end-systolic elastance （Ees）, effective arterial elasticity （Ea） and ventricular-vascular coupling index （VVI） were measured and calculated by conventional echocardi- ography. The longitudinal strain （LS） at basement （LSBA）, papillary muscle （LSvM） and cardiac apex （LSAv） was assessed with STI. It was found： （A） compared with control group, in DMN and DMA groups, LSBA, LSvM and LSAp decreased, and they were lower in DMA group. （B） VVI, RPP and SVRI increased, and they were higher in DMN group; Ees decreased, and it was lower in DMA group. （C） LSBA, LSpM, and LSAv had negative correlation with VVI. LSAp, RWT, LVMI and SW were independent predictors for VVI. The area under the receiver operating characteristic （ROC） curves was used for identification of DMA and DMN with LSBA, LSpM, and LSAp, and the area under the ROC of LSAp was the largest. This study supports that myocardial LS could reflect the ventricu- lar-vascular coupling. Different segments had an order to “respond to” the state of the coupling, and the cardiac apex might be the earliest.展开更多
This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory...This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory, two steps are necessary to synthesize 2-DoF RPMs except describing the continuous desired motions of the moving platform. They are respectively generation of required open-loop limbs between the fixed base and the moving platform and definition of assembly principles for these limbs. Firstly, all available displacement subgroups or submanifolds are obtained readily according to that the continuous motion of the moving platform is the intersection of those of all open-loop limbs. These subgroups or submanifolds are used to generate all the topology structures of limbs. By describing the characteristics of the displacement subgroups and submanifolds intuitively through employing simple geometrical symbols, their intersection and union operations can be carried out easily. Based on this, the assembly principles of two types are defined to synthesize all 2-DoF RPMs using obtained limbs. Finally, two novel categories of 2-DoF RPMs are provided by introducing a circular track and an articulated rotating platform,respectively. This work can lay the foundations for analysis and optimal design of 2-DoF RPMs that actuate the inter-satellite link antenna.展开更多
The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road ...The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.展开更多
为更准确地提取列车运行轨道特征,生成精确的轨道异物入侵判断边界,提出一种基于模型和规则的列车运行轨道特征提取方法。文章结合轨道特点对YOLO(You Only Look Once)v8n算法进行改进,引入可变核卷积模块到骨干网络以增大感受野,建立...为更准确地提取列车运行轨道特征,生成精确的轨道异物入侵判断边界,提出一种基于模型和规则的列车运行轨道特征提取方法。文章结合轨道特点对YOLO(You Only Look Once)v8n算法进行改进,引入可变核卷积模块到骨干网络以增大感受野,建立长距离依赖,更好地获取轨道长条形大目标特征。设计多特征融合注意力模块,融合浅层、深层和可变核卷积模块的特征,进行注意力加权突出有效轨道信息,获得精确的轨道掩码和位置信息。对轨道分割结果进行初步筛选,并通过阈值和感兴趣区域筛选,避免非运行区域轨道干扰。根据初步筛选结果和先验信息提取列车运行轨道特征。实验结果表明,相较于原始YOLOv8n算法,采用rail-YOLOv8n改进算法,Box mAP@0.5值和Mask mAP@0.5值分别提高0.9%和1.5%,该算法在直道、弯道和道岔等场景均取得了理想效果。展开更多
基金supported by a grant from the Shanghai Health and Family Planning Commission,China(No.201440290)
文摘The elastic and functional coupling of heart and vessels makes the stroke work （SW） of the heart optimal. Speckle tracking imaging （STI） can evaluate the myocardial strain and function. We studied ventricular-vascular coupling in 80 diabetic patients with different systolic function using STI. The patients were divided into two groups according to ejection fraction （EF）： the diabetes mel- litus with normal EF （DMN） group and the diabetes mellitus with abnormal EF （DMA） group. Forty-two volunteers served as control group. The relative wall thickness （RWT）, left ventricular mass index （LVMI）, stroke volume （SV）, SW, rate-pressure product （RPP）, systemic vascular resis- tance index （SVRI）, left ventricular end-systolic elastance （Ees）, effective arterial elasticity （Ea） and ventricular-vascular coupling index （VVI） were measured and calculated by conventional echocardi- ography. The longitudinal strain （LS） at basement （LSBA）, papillary muscle （LSvM） and cardiac apex （LSAv） was assessed with STI. It was found： （A） compared with control group, in DMN and DMA groups, LSBA, LSvM and LSAp decreased, and they were lower in DMA group. （B） VVI, RPP and SVRI increased, and they were higher in DMN group; Ees decreased, and it was lower in DMA group. （C） LSBA, LSpM, and LSAv had negative correlation with VVI. LSAp, RWT, LVMI and SW were independent predictors for VVI. The area under the receiver operating characteristic （ROC） curves was used for identification of DMA and DMN with LSBA, LSpM, and LSAp, and the area under the ROC of LSAp was the largest. This study supports that myocardial LS could reflect the ventricu- lar-vascular coupling. Different segments had an order to “respond to” the state of the coupling, and the cardiac apex might be the earliest.
基金supported by the National Natural Science Foundation of China (No. 51475321)Tianjin Research Program of Application Foundation and Advanced Technology (No. 15JCZDJC38900 and No. 16JCYBJC19300)
文摘This paper focuses on the type synthesis of two degree-of-freedom(2-DoF) rotational parallel mechanisms(RPMs) that would be applied as mechanisms actuating the inter-satellite link antenna. Based upon Lie group theory, two steps are necessary to synthesize 2-DoF RPMs except describing the continuous desired motions of the moving platform. They are respectively generation of required open-loop limbs between the fixed base and the moving platform and definition of assembly principles for these limbs. Firstly, all available displacement subgroups or submanifolds are obtained readily according to that the continuous motion of the moving platform is the intersection of those of all open-loop limbs. These subgroups or submanifolds are used to generate all the topology structures of limbs. By describing the characteristics of the displacement subgroups and submanifolds intuitively through employing simple geometrical symbols, their intersection and union operations can be carried out easily. Based on this, the assembly principles of two types are defined to synthesize all 2-DoF RPMs using obtained limbs. Finally, two novel categories of 2-DoF RPMs are provided by introducing a circular track and an articulated rotating platform,respectively. This work can lay the foundations for analysis and optimal design of 2-DoF RPMs that actuate the inter-satellite link antenna.
基金supported by National Natural Science Foundation of China (Grant No. 51005115, No. 51005248)Science Fund of State Key Laboratory of Automotive Safety and Energy of China (Grant No. KF11201)
文摘The tracking performance of motor current is an important factor that affects the assistance torque of electric power steering （EPS） system. Bad tracking performance will cause assistant torque delay, and make road feeling bad, and is influenced by the input steering torque and system measuring noise. However the existing methods have some shortages on system＇s robust dynamic performance and robust stability. The mixed H2/H∞ strategy for recirculating ball-type EPS system in a pure electric bus is proposed, and vehicle dynamic model of the system is established. Due to the existence of system model uncertainty, disturbance signals, sensor noises and the demand of system dynamic performance, the indexes of robust performance and road feeling for drivers are defined as the appraisal control objectives. The H∞ method is introduced to design the H∞ controller, and the H2 method is applied to optimize the H∞ controller, thus the mixed H2/H∞ controller is designed. The response of EPS system to the motor current command with amplitude of 20 A, the road disturbance with amplitude of 500 N and the sensor random noise with the amplitude of 1 A is simulated. The simulation results show that the recirculating ball-type EPS system with the mixed H2/H∞ controller can attenuate the random noises and disturbances and track the boost curve well, so the mixed H2/H∞ controller can improve the system＇s robust performance and dynamic performance. For the purpose of verifying the performance of the designed control strategy, the motor current tracking performance ground tests are conducted with step response input of the steering wheel, double-lane steering test and lemniscate steering test, respectively. The tests show that the mixed H2/H∞ controller for the recirculating ball-type EPS system of pure electric bus is feasible. The designed controller can solve the robust performance and robust stability of the system, thus improve the tracking performance of the EPS system and provide satisfied road feeling for the drivers.
