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SCARA机器人高斯过程动力学建模研究 被引量:5
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作者 王郝 刘海瑞 +1 位作者 邹上元 刘艳梨 《机械设计与制造》 北大核心 2019年第10期235-237,共3页
实现机器人的精确控制需要将机器人动力学模型加入控制律中,但是动力学建模过程中引入的测量误差以及摩擦力、驱动器动力学特性等非线性因素会引起较大的建模误差,从而影响机器人的控制精度。针对这个问题,以SCARA机器人为研究对象,采... 实现机器人的精确控制需要将机器人动力学模型加入控制律中,但是动力学建模过程中引入的测量误差以及摩擦力、驱动器动力学特性等非线性因素会引起较大的建模误差,从而影响机器人的控制精度。针对这个问题,以SCARA机器人为研究对象,采用高斯过程回归方法,直接通过SCARA机器人的输入与输出量对其逆向动力学模型进行估计。并将估计模型用于机器人的计算力矩控制。通过ADAMS和Simulink联合仿真的方式,对基于回归预测模型的计算力矩控制与采用解析模型的计算力矩控制进行了仿真对比实验,结果表明基于高斯过程回归模型的计算力矩控制有更好的位置跟踪效果。 展开更多
关键词 SCARA机器人 逆向动力学 计算力矩控制 高斯过程
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Pharmacokinetics of Milbemycin Oxime in Dogs Following Its Intravenous and Oral Administration 被引量:1
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作者 Lu Yi-tong Qi Lian-wen +4 位作者 Xu Qian-qian Ding Liang-jun Wang Bo liu hai-rui Li Ji-chang 《Journal of Northeast Agricultural University(English Edition)》 CAS 2018年第1期47-54,共8页
The pharmacokinetics of milbemycin oxime was investigated in dogs following oral(per os, PO) and intravenous(IV) administration. Three groups of dogs received milbemycin oxime tablets as a single PO dose equal to 0.25... The pharmacokinetics of milbemycin oxime was investigated in dogs following oral(per os, PO) and intravenous(IV) administration. Three groups of dogs received milbemycin oxime tablets as a single PO dose equal to 0.25, 0.5 and 1.0 mg · kg-1 of milbemycin oxime, respectively, another group received a single IV dose of 0.5 mg · kg-1. Blood samples were collected at predetermined times after drug administration and the milbemycin oxime concentrations in plasma were determined by LC-MS/MS. The drug protein binding in dog plasma in vitro was determined by equilibrium dialysis at concentrations spanning the range of values observed in vivo in dog plasma. After PO administration at doses of 0.25, 0.5 and 1.0 mg · kg-1, milbemycin oxime was slowly absorbed and eliminated, the time to reach the maximum plasma concentration(Tmax) was 4.14±0.20, 4.27±0.14 and 4.06±0.13 h, the mean absorption time(MAT) was 19.06, 13.67 and 11.77 h, the terminal rate half-life(t1/2λz) was 15.06±0.37, 11.09±0.54 and 9.76±0.89 h and the total body clearance(Cl) was 1.15±0.05, 1.18±0.03 and 1.17±0.07 m L · min-1 · kg-1, respectively. The maximum plasma concentration(Cmax, 36.50±1.40, 76.11±2.77 and 182.05±7.20 ng · m L-1, respectively) and the area under the first-moment curve(AUC-10→∞, 985.83±49.46, 1 663.12±51.42 and 3 558.04±197.88 mg · h · L, respectively) increased accordingly to the administered dose rates; the oral bioavailabilities were estimated to be 88.61%, 74.75% and 79.96%, respectively. The values of fu were 0.12%, 0.14% and 0.13% in dog plasma, respectively. In conclusion, the pharmacokinetics of milbemycin oxime in dogs following oral administration revealed its higher oral bioavailability and advantageous pharmacokinetic properties, such as its lower total body clearance and longer elimination half-life, and indicated that the single oral dose of 0.50 mg · kg-1 of milbemycin oxime which was recommended in all the parasitological efficacy studies allowed an adequate concentration of the drug. 展开更多
关键词 PHARMACOKINETIC MACROLIDE milbemycin oxime oral administration DOG
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