The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction bet...The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.展开更多
AIM: To investigate the potential role of continuous venovenous hemofiltration (CVVH) in hemodynamics and oxygen metabolism in pigs with severe acute pancreatitis (SAP). METHODS: SAP model was produced by intraductal ...AIM: To investigate the potential role of continuous venovenous hemofiltration (CVVH) in hemodynamics and oxygen metabolism in pigs with severe acute pancreatitis (SAP). METHODS: SAP model was produced by intraductal injection of sodium taurocholate [4%, 1 mL/kg body weight (BW)] and trypsin (2 U/kg BW). Animals were allocated either to untreated controls as group 1 or to one of two treatment groups as group 2 receiving a low-volume CVVH [20 mL/(kg·h)], and group 3 receiving a high-volume CVVH [100 (mL/kg·h)]. Swan-Ganz catheter was inserted during the operation. Heart rate, arterial blood pressure, cardiac output, mean pulmonary arterial pressure, pulmonary arterial wedge pressure, central venous pressure, systemic vascular resistance, oxygen delivery, oxygen consumption, oxygen extraction ratio, as well as survival of pigs were evaluated in the study. RESULTS: Survival time was significantly prolonged by low-volume and high-volume CVVHs, which was more pronounced in the latter. High-volume CVVH was significantly superior compared with less intensive treatment modalities (low-volume CVVH) in systemic inflammatory reaction protection. The major hemodynamic finding was that pancreatitis-induced hypotension was significantly attenuated by intensive CVVH (87.4±12.5 kPa vs116.3±7.8 kPa,P＜0.01). The development of hyperdynamic circulatory failure was simultaneously attenuated, as reflected by a limited increase in cardiac output, an attenuated decrease in systemic vascular resistance and an elevation in oxygen extraction ratio. CONCLUSION: CVVH blunts the pancreatitis-induced cardiovascular response and increases tissue oxygen extraction. The high-volume CVVH is distinctly superior in preventing sepsis-related hemodynamic impairment.展开更多
The effect of magnetic field on a-amylase was studied. Under the experimental conditions, a-amylase solution was treated by 0.15 T, 0.30 T and 0.45 T static magnetic fields for a known period of time, then the activit...The effect of magnetic field on a-amylase was studied. Under the experimental conditions, a-amylase solution was treated by 0.15 T, 0.30 T and 0.45 T static magnetic fields for a known period of time, then the activity, kinetic parameters, and the secondary conformation were investigated. The results showed that there was a considerable effect of the magnetic exposure on the α-amylase. The activity was increased by 27%, 34.1%, 37.8% compared with the control. It was also found that both kinetic parameters Km and Vm could be decreased due to the increasing magnetic field, Km decreased from 2.20×10^2 to 0.87×10^2, whereas Vm decreased from 2.0×10^3 g/min to 1.1 ×10^3 g/min. At the same time, there were some irregular changes in a-amylase secondary conformation.展开更多
A high-altitude long-endurance aircraft with high-aspect-ratio wing usually generates large deformation,which brings the geometric nonlinear aeroelastic problems.In recent decades,it has become a key focus of the inte...A high-altitude long-endurance aircraft with high-aspect-ratio wing usually generates large deformation,which brings the geometric nonlinear aeroelastic problems.In recent decades,it has become a key focus of the international researchers of aeroelasticity.But some critical technologies are not developed systematically,such as aerodynamic calculation methods of the curved wing with deformation,moreover,there are few experimental validations of these technologies.In this paper,we established the steady aerodynamic calculating method of the curved wing with quite large deformation based on the extended lifting line method,and calculated the unsteady aerodynamics using the strip theory considering curved surface effects.Combining the structure geometrical nonlinear finite element method,we constructed a systematic analytic approach for the static aeroelasticity and flutter of very flexible wing,and further designed the ground vibration and wind tunnel test to verify this approach.Through the test and the theoretic results comparison,we concluded that the extended lifting line method has adaptable precision for the static aeroealsticity and the strip theory considering curved surface effects for flutter analysis can give exact critical speed and flutter mode when the dynamic stall does not happen.The work in this paper shows that the geometric nonlinear aeroelastic analytic approach for very flexible wing has very high efficiency and adaptable precision.It can be used in the engineering applications,especially the iterated design in preliminary stage.展开更多
文摘The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the workpiece causes essential elastic deflections of the manipulator components that should be compensated by the robot controller using relevant elastostatic model of this mechanism. To estimate parameters of this model, an advanced calibration technique is applied that is based on the non-linear experiment design theory, which is adopted for this particular application. In contrast to previous works, it is proposed a concept of the user-defined test-pose, which is used to evaluate the calibration experiments quality. In the frame of this concept, the related optimization problem is defined and numerical routines are developed, which allow generating optimal set of manipulator configurations and corresponding forces/torques for a given number of the calibration experiments. Some specific kinematic constraints are also taken into account, which insure feasibility of calibration experiments for the obtained configurations and allow avoiding collision between the robotic manipulator and the measurement equipment. The efficiency of the developed technique is illustrated by an application example that deals with elastostatic calibration of the serial manipulator used for robot-based machining.
基金Supported by the Social Development Foundation of Jiangsu Province, No.BS2000051
文摘AIM: To investigate the potential role of continuous venovenous hemofiltration (CVVH) in hemodynamics and oxygen metabolism in pigs with severe acute pancreatitis (SAP). METHODS: SAP model was produced by intraductal injection of sodium taurocholate [4%, 1 mL/kg body weight (BW)] and trypsin (2 U/kg BW). Animals were allocated either to untreated controls as group 1 or to one of two treatment groups as group 2 receiving a low-volume CVVH [20 mL/(kg·h)], and group 3 receiving a high-volume CVVH [100 (mL/kg·h)]. Swan-Ganz catheter was inserted during the operation. Heart rate, arterial blood pressure, cardiac output, mean pulmonary arterial pressure, pulmonary arterial wedge pressure, central venous pressure, systemic vascular resistance, oxygen delivery, oxygen consumption, oxygen extraction ratio, as well as survival of pigs were evaluated in the study. RESULTS: Survival time was significantly prolonged by low-volume and high-volume CVVHs, which was more pronounced in the latter. High-volume CVVH was significantly superior compared with less intensive treatment modalities (low-volume CVVH) in systemic inflammatory reaction protection. The major hemodynamic finding was that pancreatitis-induced hypotension was significantly attenuated by intensive CVVH (87.4±12.5 kPa vs116.3±7.8 kPa,P＜0.01). The development of hyperdynamic circulatory failure was simultaneously attenuated, as reflected by a limited increase in cardiac output, an attenuated decrease in systemic vascular resistance and an elevation in oxygen extraction ratio. CONCLUSION: CVVH blunts the pancreatitis-induced cardiovascular response and increases tissue oxygen extraction. The high-volume CVVH is distinctly superior in preventing sepsis-related hemodynamic impairment.
基金Supported by Tianjin Natural Science Foundation (No033603611)
文摘The effect of magnetic field on a-amylase was studied. Under the experimental conditions, a-amylase solution was treated by 0.15 T, 0.30 T and 0.45 T static magnetic fields for a known period of time, then the activity, kinetic parameters, and the secondary conformation were investigated. The results showed that there was a considerable effect of the magnetic exposure on the α-amylase. The activity was increased by 27%, 34.1%, 37.8% compared with the control. It was also found that both kinetic parameters Km and Vm could be decreased due to the increasing magnetic field, Km decreased from 2.20×10^2 to 0.87×10^2, whereas Vm decreased from 2.0×10^3 g/min to 1.1 ×10^3 g/min. At the same time, there were some irregular changes in a-amylase secondary conformation.
基金supported by the National Natural Science Foundation of China (Grant Nos. 90716006,10902006)the Research Fund for the Doctoral Program of Higher Education of China (Grant No. 20091102110015)
文摘A high-altitude long-endurance aircraft with high-aspect-ratio wing usually generates large deformation,which brings the geometric nonlinear aeroelastic problems.In recent decades,it has become a key focus of the international researchers of aeroelasticity.But some critical technologies are not developed systematically,such as aerodynamic calculation methods of the curved wing with deformation,moreover,there are few experimental validations of these technologies.In this paper,we established the steady aerodynamic calculating method of the curved wing with quite large deformation based on the extended lifting line method,and calculated the unsteady aerodynamics using the strip theory considering curved surface effects.Combining the structure geometrical nonlinear finite element method,we constructed a systematic analytic approach for the static aeroelasticity and flutter of very flexible wing,and further designed the ground vibration and wind tunnel test to verify this approach.Through the test and the theoretic results comparison,we concluded that the extended lifting line method has adaptable precision for the static aeroealsticity and the strip theory considering curved surface effects for flutter analysis can give exact critical speed and flutter mode when the dynamic stall does not happen.The work in this paper shows that the geometric nonlinear aeroelastic analytic approach for very flexible wing has very high efficiency and adaptable precision.It can be used in the engineering applications,especially the iterated design in preliminary stage.
