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水下变自由度变胞机构结构及应用研究 被引量:2
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作者 李瑞先 郭宗和 《山东理工大学学报(自然科学版)》 CAS 2023年第3期62-65,共4页
提出了变自由度变胞机构结构的3种分类,从8个方面总结了变胞机构的结构特征。研究了变自由度变胞机构的自由度,基于自由度计算公式,研究了从构态i到构态i+1机构相邻两构态的第二类自由度按增加的变化规律。设计了一种新型的刚柔体变胞机... 提出了变自由度变胞机构结构的3种分类,从8个方面总结了变胞机构的结构特征。研究了变自由度变胞机构的自由度,基于自由度计算公式,研究了从构态i到构态i+1机构相邻两构态的第二类自由度按增加的变化规律。设计了一种新型的刚柔体变胞机构,为研究水下环境的变胞机构动力学、适应变胞控制和姿态优化控制算法及姿态平衡控制算法奠定了坚实的基础。 展开更多
关键词 自由度 刚柔结构 变胞结构 结构设计
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含变胞运动副结构的约束变胞机构构型综合 被引量:9
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作者 杨强 王洪光 +1 位作者 李树军 戴建生 《机械工程学报》 EI CAS CSCD 北大核心 2014年第13期1-8,共8页
同一种变胞源机构由于变胞运动副约束形式或结构的不同,可获取多种约束变胞机构实现预定的作业任务。即根据工作构态变换对变胞运动副的约束力性态变化要求,给出一种反求相应变胞运动副约束形式和结构的约束变胞机构构型综合方法。根据... 同一种变胞源机构由于变胞运动副约束形式或结构的不同,可获取多种约束变胞机构实现预定的作业任务。即根据工作构态变换对变胞运动副的约束力性态变化要求,给出一种反求相应变胞运动副约束形式和结构的约束变胞机构构型综合方法。根据基于任务的变胞源机构的运动循环图,建立一种对应的变胞运动副运动状态矩阵和约束状态矩阵。根据变胞运动副的等效阻力梯度线图并参照约束状态矩阵,获取约束变胞运动副的等效阻力矩阵。通过归纳变胞运动副的约束形式和约束力性态的矢量表示,对比等效阻力矩阵建立约束变胞机构构型矩阵,给出基于构型矩阵的构型综合方法。以粉料压片机机构的设计为例,求出了12种典型约束变胞构型矩阵及其机构运动简图。 展开更多
关键词 运动状态 等效阻力 约束形式 结构 构型综合
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轨道式多臂铸件清理机器人结构设计与分析 被引量:1
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作者 王成军 邾志伟 +1 位作者 郭永存 任润润 《制造业自动化》 CSCD 2019年第7期98-102,共5页
针对现有铸件清理技术的不足,为解决人工清理铸件和串联机器人固定工位搬运存在的负载小、柔性度不足和工作效率低等问题,基于机构拓扑结构理论设计一种混联且多臂执行部为变胞结构的铸件清理机器人。介绍了铸件清理机器人的总体设计方... 针对现有铸件清理技术的不足,为解决人工清理铸件和串联机器人固定工位搬运存在的负载小、柔性度不足和工作效率低等问题,基于机构拓扑结构理论设计一种混联且多臂执行部为变胞结构的铸件清理机器人。介绍了铸件清理机器人的总体设计方案和工作原理,完成并联工作臂的设计和自由度计算;并运用ANSYS Workbench软件对铸件清理机器人抓取铸件的过程进行静力学仿真,并对结果进行优化,使得铸件清理机器人的结构设计可靠合理。所设计的铸件清理机器人能够满足铸件清理要求,提高了铸件清理的效率。 展开更多
关键词 铸件清理机器人 轨道式 混联机构 变胞结构 静力学分析
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关于记忆合金在变体机翼上的应用设想
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作者 贾临江 《通讯世界》 2019年第2期257-258,共2页
本文首先利用记忆合金丝的形状记忆效应,结合弹簧储能元件,设计了一种变高度单胞元结构,该单胞元结构具有主动、往复的高度调节功能。并将其应用到变体机翼的变厚度调节中。然后将变高度单胞元结构在空间内以一定规律进行生长,得到零泊... 本文首先利用记忆合金丝的形状记忆效应,结合弹簧储能元件,设计了一种变高度单胞元结构,该单胞元结构具有主动、往复的高度调节功能。并将其应用到变体机翼的变厚度调节中。然后将变高度单胞元结构在空间内以一定规律进行生长,得到零泊松比多胞元结构,将其应用在变体机翼变厚度调节中,可以使机翼具有多点、多尺度的变厚度调节,使机翼可以在多种飞行环境中保持性能最优。 展开更多
关键词 记忆合金 高度多结构 体机翼 厚度调节
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轨道式多臂铸件清理机器人的设计与分析 被引量:4
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作者 王成军 邾志伟 +1 位作者 郭永存 任润润 《铸造技术》 CAS 2019年第1期81-84,88,共5页
针对现有铸件清理工作费工费时且需要大量劳动力问题,基于TRIZ理论进行系统功能和冲突矩阵分析,结合多用性原理、动态化原理、小人法和拓扑结构设计了一种悬挂轨道式多臂型铸件清理机器人。结果表明,该机器人能够完成铸件清理的所有工序... 针对现有铸件清理工作费工费时且需要大量劳动力问题,基于TRIZ理论进行系统功能和冲突矩阵分析,结合多用性原理、动态化原理、小人法和拓扑结构设计了一种悬挂轨道式多臂型铸件清理机器人。结果表明,该机器人能够完成铸件清理的所有工序,且其适应性和多用性较好,能够克服现有铸件清理机器人存在的技术缺陷,并为机器人样机制作提供理论依据,为新产品研发提供实时指导。 展开更多
关键词 铸件清理机器人 TRIZ理论 悬挂轨道 多臂机器人 变胞结构
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Seasonal Changes in the Ultrastructure of the Vascular Cambium in Shoots of Populus tomentosa 被引量:1
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作者 殷亚方 姜笑梅 崔克明 《Acta Botanica Sinica》 CSCD 2002年第11期1268-1277,共10页
Wood is the product of cambial activity in trees, and the seasonal activity style of cambium directly influences wood biomass production, structures and properties. The seasonal changes in the ultrastructure of the va... Wood is the product of cambial activity in trees, and the seasonal activity style of cambium directly influences wood biomass production, structures and properties. The seasonal changes in the ultrastructure of the vascular cambium activity of Populus tonientosa Carr. planted in Beijing area were examined in shoot tissues collected during 15 months by means of transmission electron microscopy. Before xylem mother cells reactivated completely, the dividing fusiform cells in cambium and new phloem cells had appeared at the same time. The initiation of cambial activity may be related to the bud sprouting and the young leaf growth in shoots. More details about the ultrastructural changes of cambial cells at the onset of cambial activity have been gained. When the large vacuole in active cambial cells divided into smaller ones during the dormant phase, proteinaceous material that disappeared in active cambial cells refilled many of these small vactioles. In addition, lipid droplets and starch granules had the same cycles as proteinaceous material. The plasmalemma invaginations of fusiform cells were observed not only in active phase but also in dormancy. The endomembrane system consisting of nuclear membrane, endoplasmic reticulum (ER), dictyosomes and their secretory vesicles, changed in form and distribution at different phases during a cycle and performed important roles at the onset of active cambium and during the wall formation process of secondary xylem cells. The tangential walls remained relatively thin throughout the year but the radial walls thickened markedly when the cambium was dormant. During the transition from dormancy to activity, a partial autolysis occurred in the radial walls of the cambial cells, especially at the cell wall junctions. A notable feature of the cells at the onset of cambial activity was the thinning of the radial walls. 展开更多
关键词 vascular cambium ULTRASTRUCTURE endomembrane system cell wall seasonal changes Populus tomentosa
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平面约束变胞机构构态切换能力的概率评估模型 被引量:3
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作者 孙本奇 杨强 +3 位作者 孙志礼 李树军 马宏坤 王若男 《航空学报》 EI CAS CSCD 北大核心 2023年第4期261-273,共13页
构态切换过程的力学调控机理和构态切换能力的定义及评价是变胞机构实现构态平稳切换的理论基础。考虑工程实际中的误差随机性问题,建立构态切换能力的概率评估模型是降低变胞机构运动功能失效概率的关键。基于多构态欠驱动约束变胞源... 构态切换过程的力学调控机理和构态切换能力的定义及评价是变胞机构实现构态平稳切换的理论基础。考虑工程实际中的误差随机性问题,建立构态切换能力的概率评估模型是降低变胞机构运动功能失效概率的关键。基于多构态欠驱动约束变胞源机构的结构组成原理建立了含变胞副的扩展Assur杆组模块化受力分析模型。根据变胞副的等效阻力梯度模型,完成了确定性条件下约束变胞机构构态切换的力学机理建模。进而,考虑系统内外部误差的随机性,建立了约束变胞机构构态切换时刻的可靠性评估模型。考虑构态切换相邻时刻运动功能失效的影响,利用系统可靠性理论提出了约束变胞机构构态切换的区间可靠度计算模型。最后,以折纸变胞机构为例,验证了提出的构态切换能力概率评估方法的可行性和有效性。为开展以获得高概率的构态切换重复执行能力为目标的约束变胞机构可靠性优化设计奠定了基础,同时对推进变胞机构的工程应用具有理论和实际意义。 展开更多
关键词 平面约束机构 构态切换 概率 可靠性 等效阻力 结构
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Altered cytoskeletal structures in transformed cells exhibiting obviously metastatic capabilities 被引量:2
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作者 LINZHONGXIANG WUBINGQUAN 《Cell Research》 SCIE CAS CSCD 1990年第2期141-151,共11页
Oytoskeletal changes in transformed cells (LM-51) exhibiting obviously metastatie eapabilities were investigated by utilization of double-fluorescent labelling through combinations of:(1) tubulin indirect immunofluore... Oytoskeletal changes in transformed cells (LM-51) exhibiting obviously metastatie eapabilities were investigated by utilization of double-fluorescent labelling through combinations of:(1) tubulin indirect immunofluoresoenoe plus Khodamine-phalloidin staining of F-artins;(2) indirect immunofluorescent staining with α-aotinin polyolonal- and vinoulin monoclonal antibodies. The LM-51 cells which showed metastatic index of >50% were derived from lung metastasis in nude mice after subcutaneous inoculation of human highly metastatic tumor DNA transfected NIH3T3 cell transformants. The parent NIH3T3 cells exhibited well-organized miorotubu-les, prominent stress fibers and adhesion plaques while their transformants showed remarkable oytoskeletal alterations: (1) reduced microtubules but increased MTOC fluorescence; (2) disrupted stress fibers and fewer adhesion plaques with their protein components redistributed in the cytoplasm; (3) F-aotin-and α-actinin/vinculin aggregates appeared in the cytoplasm. These aggregates were dot-like, varied in size (0.1-0.4u,m) and number, located near the ventral surface of the cells. TPA-induced aotin/vinoulin bodies were studied too. Indications that aotin and α-actinin/vinoulin redistribution might be important alterations involved in the expression of metastatio capabilities of LM-51 transformed cells were discussed. 展开更多
关键词 MICROTUBULE stress fibers adhesion plaques actin and α-actinin/vinculin aggregates.
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Effects of carbohydrate supplements on exercise-induced menstrual dysfunction and ovarian subcellular structural changes in rats
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作者 Can Zhao Xiao-Li Liu +3 位作者 Run-Xiao Hong He Li Rena Li Ren-Wei Wang 《Journal of Sport and Health Science》 SCIE 2014年第3期189-195,共7页
Background: Exercise-associated menstrual dysfunction (EAMD) is a common health problem in female athletes as a part of female athlete triad (FAT), a condition related to low energy availability. In this study, w... Background: Exercise-associated menstrual dysfunction (EAMD) is a common health problem in female athletes as a part of female athlete triad (FAT), a condition related to low energy availability. In this study, we explored the possibility that carbohydrate supplements can improve the status of EAMD and prevent exercise-induced ovarian injury in a FAT rat model. This research aimed to provide experimental evidence with regard to the relationship of energy intervention and EAMD. Methods: Forty-five female Sprague-Dawley rats (2 months old) were randomly divided into five experimental groups: control group (C), 9-week exercise as model for EAMD (E), post-EAMD recovery group (R), oligosaccharide intervention group (O), and glucose intervention group (G). All rats were sacrificed at the end of 9 weeks. Serum samples were collected for measuring gonadotropin releasing hormone, follicle stimulating hormone, luteinizing hormone, 1713-estradiol and progesterone levels. The ovaries were taken for investigation of exercise- and carbohydrate-induced follicular subcellular structure changes. Results: Exercise induced irregular menstrual cycles and ovary subcellular structural damages, such as swollenness of mitochondria in rats from groups E and R. Both glucose and oligosaccharide supplements restored well-differentiated mitochondria in the ovarian follicular cells, and a significant improvement of endoplasmic reticulum and Golgi in swollenness in theca cells in groups O and G compared to groups C, E, and R. There was no difference in mitochondria subcellular structural changes between groups O and G. Group E showed attenuation of serum levels of 17β-estradiol and progesterone compared to C. There were no differences of 17β-estradiol serum levels among groups O, G, and R, while group G showed a lower level of progesterone than C. Conclusion: Female adult rats with 9-week continuous exercise can cause menstrual dysregulation as a model for EAMD. Post-EAMD intervention with glucose and oligosaccharide intake can normalize the menstrual cycle, restore the follicular subcellular structure, and reverse the exercise-induced reduction of ovary sex hormones. It suggests a positive feedback of hypothalamus-pituitary-ovary axis might be involved in the molecular mechanisms of energy intake in treating EAMD. 展开更多
关键词 Carbohydrate supplement ESTRADIOL Estrous cycle restrain Follicular subcellular injury Ovary PROGESTERONE RATS
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Clinicopathologic features and immunohistochemical analysis of 67 gastric adenoma patients
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作者 Xiuli Wang Yangkun Wang Yingchao Wu Xuexia Lv Nianlong Meng Jian Yin Xutao Yuan 《The Chinese-German Journal of Clinical Oncology》 CAS 2010年第9期511-515,共5页
Objective: The aim of this study was to investigate the clinicopathologic features of gastric adenoma. Methods: Sixty-seven cases of adenoma diagnosis of gastric biopsy specimens using light microscopy, immunohistoc... Objective: The aim of this study was to investigate the clinicopathologic features of gastric adenoma. Methods: Sixty-seven cases of adenoma diagnosis of gastric biopsy specimens using light microscopy, immunohistochemistry, and follow-up methods were studied. Results: Histopathology of gastric adenoma characteristics: nuclear anaplasia, showing increase of nuclear volume and irregular, and the emergence of one or more nucleoli, mitotic ≤ 2/10 high power field (HPF). Structural changes in the gland: adenoma of the duct much more consistent, sometimes the size of the gland and irregular contour, might be associated with intestinal metaplasia. Increased significantly when the nuclear volume, mitotic 〉 2/10 HPF, irregular gland distortion, branched structures, suggesting the development of adenomas. Immunophenotype: tumor-associated carbohydrate antigens had a higher expression; adenomatous polyposis coli gene (APC) and carcinoembryonic antigen (CEA) expression of closely related with the formation of adenoma. Mucin muc-2 high expression was negatively correlated with muc-1 low expression, the combination of both can help to determine the development and changes in gastric adenoma. Survivin, Bcl-2, p21 and p53 protein expression rare cases, four were combined with the malignant transformation of gastric adenoma was important discriminant. Ki-67 positive cells 20%-40%, and could be used as degree of cell proliferation, a reference indicator of prognosis. Thirty-six to 49 months of follow-up results showed that cured 44.8% (30/67), there adenomatous hyperplasia 35.8% (24167), with the development of dysplasia showed 14.4% (11/67), the development of intramucosal carci- noma were 3.0% (2/67). Conclusion: Gastric adenomas occur significantly increased nuclear volume, mitotic 〉 2/10 HPF, ir- regular gland distortion, branch-like structure; immunohistochemical staining showed positive expression of muc-2 decreased, muc-1 positive expression; cell proliferation index Ki -67 〉 40%; p21, p53 protein expression occurred, suggesting a tendency to cancer, endoscopic mucosal resection should be as soon as possible. 展开更多
关键词 gastric biopsy ADENOMA PATHOLOGY IMMUNOHISTOCHEMISTRY
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Critical role of Dengue Virus NS1 protein in viral replication 被引量:4
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作者 Jingjing Fan Yi Liu Zhiming Yuan 《Virologica Sinica》 SCIE CAS CSCD 2014年第3期162-169,共8页
Dengue virus(DENV) nonstructural protein 1(NS1) is a highly conserved 46-kDa protein that contains 2 glycosylation sites(Asn-130 and Asn-207) and 12 conserved cysteine(Cys) residues. Here, we performed site-directed m... Dengue virus(DENV) nonstructural protein 1(NS1) is a highly conserved 46-kDa protein that contains 2 glycosylation sites(Asn-130 and Asn-207) and 12 conserved cysteine(Cys) residues. Here, we performed site-directed mutagenesis to generate systematic mutants of viral strain TSV01. The results of the subsequent analysis showed that an alanine substitution at the second N-linked glycan Asn-207 in NS1 delayed viral RNA synthesis, reduced virus plaque size, and weakened the cytopathic effect. Three mutants at Cys sites(Cys-4, Cys-55, Cys-291) and a C-terminal deletion(ΔC) mutant significantly impaired RNA synthesis, and consequently abolished viral growth, whereas alanine mutations at Asn-130 and Glu-173 resulted in phenotypes that were similar to the wild-type(WT) virus. Further analysis showed that the Asn-207 mutation slightly delayed viral replication. These results suggest that the three conserved disulfide bonds and the second N-linked glycan in NS1 are required for DENV-2 replication. 展开更多
关键词 dengue type 2 virus NS1 replication glycosylation site
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