自动折叠喷洒臂的设计及运动学特性

为了解决当前卷盘式喷灌机所配套的喷灌车自动化水平较低的问题,设计了一种基于电动缸驱动的自动折叠喷洒臂,并在喷洒臂之间连接处设计了一种当喷洒臂完全展开时能够实现自密封的端面密封铰链.基于喷洒臂完全折叠时收拢于车架两侧,完全伸展时铰链左右铰合密封等特征建立各杆件参数约束方程,确定了喷洒臂的各杆件尺寸.通过矢量方程法对喷洒臂进行运动学分析,以电动杆推杆的转角、位移、速度、加速度为输入量,各杆件的角位移、角速度、角加速度为输出量,通过Simulink搭建喷洒臂的运动仿真框图并进行分析.结果表明:完全折叠时,喷管1与水平方向呈90°夹角;伸展过程中,各喷管运动平稳,且始终保持在水平直线方向;完全展开时,3个喷管转动90°,且各喷管铰接处完全闭合不发生水泄漏现象,说明设计具有一定的合理性.     

类人机器人全能运动的稳定性研究

类人机器人全能运动包括不同粗糙平面上的快速行走、越障、踢球、格斗等,稳定性是上述运动的关键环节。本文从分析机器人关节角与零力矩点（ZMP）的关系入手,研究提高机器人运动稳定性的新方法。具体步骤是先粗调校正机器人姿态,然后确定各关节角度,得到保证稳定运动的关节角范围。最后依托韩国GP型机器人进行测试,结果表明了所提出方法的有效性。     

常利率通货膨胀下有扰动的双复合Poisson-Geometric过程的两险种风险模型

考虑常利率及通货膨胀下有扰动的双复合Poisson-Geometric过程的两险种风险模型,运用鞅方法得到破产概率满足的Lundberg不等式和一般公式,当保费和索赔服从指数分布和混合指数分布时,得到破产概率的精确表达式。     

持续被动运动通过抑制软骨细胞NO合成下调MMP-1和MMP-13表达

目的：观察持续被动运动（CPM）和补充一氧化氮（NO）供体——硝酸甘油（NG）对兔骨关节炎（OA）模型中软骨基质金属蛋白酶-1（MMP-1）和MMP-13表达以及NO含量的影响，探讨CPM下调MMPs的可能机制。方法：30只3~4月龄雄性新西兰大白兔，其中6只进行假手术作为正常对照组（NC组），另外24只建立膝关节OA模型，术后随机分为4组，即OA对照组（OA组）、OA硝酸甘油给药组（NG组）、OA持续被动运动组（CPM组）、OA持续被动运动+硝酸甘油给药组（CPM+NG组），每组各6只。NC组和OA组不作处理，NG组给予NG软膏膝关节局部涂抹，CMP组在CPM训练仪上进行膝关节持续被动运动，CMP+NG组即在运动干预的同时给予NG局部涂抹。4周后取各组软骨组织，硝酸还原酶法测定NO含量，HE染色观察软骨形态学变化并进行Mankin''s评分，实时荧光定量PCR（RQ-PCR）检测MMP-1和MMP-13 mRNA水平，免疫组织化学法测定MMP-1和MMP-13蛋白表达量。结果：NO含量、Mankin''s评分以及MMP-1和MMP-13 mRNA和蛋白水平在OA组明显高于NC组（P<0.01），NG组高于OA组（P<0.01），CPM组低于OA组和NG组（P<0.01），CPM+NG组低于NG组（P<0.01），但高于CPM组（P<0.01）。结论：CPM通过抑制软骨细胞NO合成下调MMP-1和MMP-13表达，进而对软骨细胞起保护作用。     

Ultrasound-guided modified subcostal transversus abdominis plane block and influence of recumbency position on dye spread in equine cadavers

ObjectiveTo describe and evaluate an ultrasound-guided modified subcostal approach for the transversus abdominis plane (TAP) block in horse cadavers in lateral or dorsal recumbency.Study designProspective, experimental cadaveric study.AnimalsStudy of one preserved foal and eight fresh adult horse cadavers.MethodsThe lateral and ventral abdominal wall of a preserved cadaver was dissected to identify the muscles and nerves. A unilateral standard TAP block technique was performed (60 mL of methylene blue dye–bupivacaine) on a fresh cadaver in right lateral recumbency. A modified subcostal technique was performed on the opposite side using a linear ultrasound transducer and in-plane approach. Injection points (two 30 mL dye) were at the level of the TAP (between the rectus abdominis and transversus abdominis muscles and ventral to the cutaneous trunci muscle) perpendicular to: 1) the mid-point between the xiphoid cartilage and umbilical scar; and 2) at a point between the caudal and middle thirds of the abdomen measured from the first injection point to the umbilical scar. The modified subcostal approach was performed in seven additional cadavers in both hemiabdomens, with three cadavers in lateral and four cadavers in dorsal recumbency. Ultrasound guidance was used with all injections.ResultsThe standard approach stained the sixteenth to eighteenth thoracic nerves (T16–T18). The modified subcostal approach performed in lateral recumbency provided greater spread (T9–T17) than dorsal recumbency (T12–T18) (p = 0.016).Conclusions and clinical relevanceThe modified subcostal TAP approach resulted in extensive staining exceeding the standard approach. The nerves stained are consistent with production of ventral abdominal wall anesthesia in horses. Clinical studies are needed to verify these findings.     

手扶便携式插秧机数字建模及运动仿真研究

针对丘陵和山地开发便携式插秧机已成为农业机械化的重要课题。为此,研制了一种新型手扶便携式插秧机,采用轻量化设计,无需其他动力源。同时,详细论述了该插秧机的工作原理,用SolidWorks Motion软件进行数字样机建模,并通过SolidWorks Motion仿真插件对手扶式插秧机进行运动仿真研究。仿真结果表明,该插秧机插秧深度为30cm,最佳牵引速度为0.73m/s,需要工作牵引力为26.57N。     

Evaluation of hemostatic derangements associated with canine anaphylaxis and the relationship to syndrome severity

Objective

To describe hemostatic derangements associated with canine anaphylaxis and to assess for association with syndrome severity.

Design

Prospective observational study.

Setting

University teaching hospital.

Animals

Twenty-seven client-owned dogs, recruited from November 2018 to January 2022, diagnosed with anaphylaxis of varying severity were included. Study inclusion required presentation <6 hours after initiation of clinical signs, no medications or history of illness within the prior 2 weeks, lack of comorbidities expected to affect hemostasis, and lack of a disease state that could alternatively explain the clinical presentation.

Interventions

Blood samples were collected within the first hour of presentation for CBC, serum biochemistry, prothrombin time (PT), activated partial thromboplastin time (aPTT), and viscoelastic coagulation testing for use with a cartridge-based point-of-care device.

Measurements and main results

Clotting time and clot formation time were prolonged, alpha angle and maximum clot firmness were decreased, PT and aPTT were prolonged, and platelet counts were lower in severe cases compared to mild and moderate cases. There were no differences for any parameter between mild and moderate cases. The presence or absence of abdominal effusion was not associated with hemostatic status.

Conclusions

Global hemostatic derangements consistent with hypocoagulability are a prominent feature of severe anaphylaxis in dogs and should be considered for routine evaluation.     

3-RPS并联机构奇异位形及工作空间研究

提出一种求解并联机构无奇异位形工作空间的方法。通过分析3-RPS并联机构在奇异位形时动平台的微分运动与结构约束及关节约束的关系，得到机构奇异位形判别方程和奇异位形曲面方程。探索了工作空间边界，综合分析了机构奇异位形与工作空间的关系。合理选择机构结构参数和关节变化范围，得到了无奇异位形的工作空间。