Five cadmium naphthalene-diphosphonates,formulated as[Cd_(1.5)(1,4-ndpaH_(2))2(4,4'-bpyH)(4,4'-bpy)0.5(H_(2)O)_(2)]2(1),[Cd(1,4-ndpaH_(2))(1,4-bib)0.5(H_(2)O)](2),[Cd(1,4-ndpaH3)2(1,2-dpe)(H_(2)O)]·(1,2-d...Five cadmium naphthalene-diphosphonates,formulated as[Cd_(1.5)(1,4-ndpaH_(2))2(4,4'-bpyH)(4,4'-bpy)0.5(H_(2)O)_(2)]2(1),[Cd(1,4-ndpaH_(2))(1,4-bib)0.5(H_(2)O)](2),[Cd(1,4-ndpaH3)2(1,2-dpe)(H_(2)O)]·(1,2-dpe)·7H_(2)O(3),(1,2-bixH)[Cd3(1,4-ndpaH)(1,4-ndpaH_(2))2(H_(2)O)_(2)](4),and[Cd(1,4-ndpaH_(2))(H_(2)O)]·H_(2)O(5),have been synthesized from the selfassembly reactions of 1,4-naphthalenediphosphonic acid(1,4-ndpaH4)with Cd(NO3)2·4H_(2)O by introducing auxiliary ligands with variation of rigidity,such as 4,4'-bipyridine(4,4'-bpy),1,4-bis(1-imidazolyl)benzene(1,4-bib),1,2-di(4-pyridyl)ethylene(1,2-dpe),1,3-di(4-pyridyl)propane(1,3-dpp),and bis(imidazol-1-ylmethyl)benzene(1,2-bix),respectively.Structure resolution by single-crystal X-ray diffraction reveals that compound 1 possesses a layered framework,in which the{Cd3(PO2)2}trimers made up of corner-sharing two{CdO4N2}and one{CdO6}octahedra are connected by phosphonate groups,forming a ribbon,which are cross-linked by 4,4'-bipy ligands,forming a 2D layer.Compound 2 shows a 3D open-framework structure,where chains of corner-sharing{CdO4N}trigonal bipyramids and{PO3C}tetrahedra are cross-linked by 1,4-bib and/or phosphonate groups.A 1D ladder-like chain structure is found in compound 3,where the ladder-like chains made up of corner-sharing{CdO5N}octahedra and{PO3C}tetra hedra are connected by 1,4-ndpaH_(2)^(2-).Both compounds 4 and 5 obtained by the introduction of flexible ligands during the synthesis show a 2D layered structure,which is formed by ligand crosslinking double metal chains.Interestingly,In 4,flexible 1,2-bix was singly protonated,as guest molecules,filled between layer and layer,while flexible ligand 1,3-dpp is absent in 5.Photophysical measurements indicate that compounds 1-5 show ligand-centered emissions.展开更多
The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stif...The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stiffness of joint system, which is neither total pin assumption nor perfect fix condition, is very important to apply to the real single layer space one. Therefore, the purpose of this work was to investigate the buckling behavior of single layer space structure, using the development of the upgraded stiffness matrix for the joint rigidity. To derive tangential stiffness matrix, a displacement function was assumed using translational and rotational displacement at the node. The geometrical nonlinear analysis was simulated not only with perfect model but also with imperfect one. As a result, the one and two free nodal numerical models were investigated using derived stiffness matrix. It was figured out that the buckling load increases in proportion to joint rigidity with rise-span ratio. The stability of numerical model is very sensitive with the initial imperfection, responding of bifurcation in the structure.展开更多
Introduction Cells can sense and respond to the mechanical microenvironment by converting forces into biochemical signals inside the cells,i.e.mechanotransduction<sup>[1-3]</sup>.Focal adhesions are the ma...Introduction Cells can sense and respond to the mechanical microenvironment by converting forces into biochemical signals inside the cells,i.e.mechanotransduction<sup>[1-3]</sup>.Focal adhesions are the major sites of interaction between a cell and its extracellular matrix（ECM）microenvironment,thus outside mechanical signals can be sensed at focal adhesions through transmembrane receptor integrins.In particular,it has been shown that matrix elasticity can control the cell fate<sup>[4]</sup>by modulating the interactions between ECM proteins and their receptor integrins<sup>[5,6]</sup>.For example,different rigidity of polyacrylamide（PA）gels can lead to different density of ECM ancho-展开更多
The clinical and pathological records of eighty-one cases of pheochrcn ocytoma admitted to our hospital between 1960 and 1986, were reexamined. Six cases died of acute cardiac or cerebral vascular complications were a...The clinical and pathological records of eighty-one cases of pheochrcn ocytoma admitted to our hospital between 1960 and 1986, were reexamined. Six cases died of acute cardiac or cerebral vascular complications were analized and to be reported in this paper.展开更多
According to the dimensionless formulae of DOP(depth of penetration) of a rigid projectile into different targets,the resistive force which a target exerts on the projectile during the penetration of rigid projectile ...According to the dimensionless formulae of DOP(depth of penetration) of a rigid projectile into different targets,the resistive force which a target exerts on the projectile during the penetration of rigid projectile is theoretically analyzed.In particular,the threshold V_C of impact velocity applicable for the assumption of constant resistive force is formulated through impulse analysis.The various values of V_C corresponding to different pairs of projectile-target are calculated,and the consistency of the relative test data and numerical results is observed.展开更多
The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of be...The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.展开更多
A perforation model is developed to predict the attitude deflection in the oblique perforation of concrete targets by a rigid projectile,in which the inertial moment of the projectile is introduced,together with takin...A perforation model is developed to predict the attitude deflection in the oblique perforation of concrete targets by a rigid projectile,in which the inertial moment of the projectile is introduced,together with taking the attitude deflection during the shear plugging sub-stage into account,and the shape of the plug formed on the rear surface of target is also re-investigated.Moreover,a new classification of concrete targets is proposed based on the target thickness,with which the attitude deflections in different kinds of concrete targets are analyzed.It is found that the numerical results by using the new perforation model are in good agreement with the previous experimental data and simulated results.Furthermore,the variations of the attitude deflection with the initial conditions(the initial attitude angle and the initial impact velocity) are investigated.展开更多
Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of e...Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of embedment depth when assessing the seismic stability of gravity retaining walls with the pattern of pure rotation. In the framework of upper bound theorem of limit analysis, pseudo-static method was applied into two groups of parallel rigid soil slices methods in order to account for the effect of embedment depth on evaluating the critical acceleration of wall-soil system. The present analytical solution is identical to the results obtained from using limit equilibrium method, and the two methods are based on different theory backgrounds. Parameter analysis indicates that the critical acceleration increases slowly when the ratio of the embedment depth to the total height of the wall is from 0 to 0.15 and increases drastically when the ratio exceeds 0.15.展开更多
When conducting dynamic tests of underground structure by a rigid container, reasonable boundary conditions are one of the essential factors related to the accuracy of test results, especially the artificial boundary ...When conducting dynamic tests of underground structure by a rigid container, reasonable boundary conditions are one of the essential factors related to the accuracy of test results, especially the artificial boundary perpendicular to the excitation direction. On the basis of numerous studies, shaking table tests with four different typical boundaries are performed in this study. The tests consider the seismic intensity and seismic wave types. Then, the simulation effects of the four boundary conditions are evaluated from four aspects as follows: the differential rate of peak acceleration, acceleration curve, similarity of Fourier frequency spectra, and uneven soil settlement in rigid containers. Results show that the simulation effects of the boundary conditions are not only affected by the nature of the boundary material but also related to the seismic intensity, types of seismic waves, and filter characteristic of the filling medium in containers. In comparison with the other three types of boundary condition, foamed polyethylene shows the best simulation effect and its effect decreases gradually with the increase in earthquake intensity. Finally, on the basis of existing studies, the evaluation criteria of boundary effect, the principle for the selection of boundary material type and the thickness of boundary material are discussed and summarized, and the corresponding design methods and suggestions are then provided.展开更多
In this paper the method of design of kinematical and dynamical equations of mechanical systems, applied to numerical ealization, is proposed. The corresponding difference equations, which are obtained, give a guarant...In this paper the method of design of kinematical and dynamical equations of mechanical systems, applied to numerical ealization, is proposed. The corresponding difference equations, which are obtained, give a guarantee of computations with a given precision. The equations of programmed constraints and those of constraint perturbations are defined. The stability of the programmed manifold for numerical solutions of the kinematical and dynamical equations is obtained by corresponding construction of the constraint perturbation equations. The dynamical equations of system with programmed constraints are set up in the form of Lagrange’s equations in generalized coordinates. Certain inverse problems of rigid body dynamics are examined.展开更多
This paper investigates the node localization problem for wireless sensor networks in three-dimension space. A distributed localization algorithm is presented based on the rigid graph. Before location, the communicati...This paper investigates the node localization problem for wireless sensor networks in three-dimension space. A distributed localization algorithm is presented based on the rigid graph. Before location, the communication radius is adaptively increasing to add the localizability. The localization process includes three steps: firstly, divide the whole globally rigid graph into several small rigid blocks; secondly, set up the local coordinate systems and transform them to global coordinate system; finally, use the quadrilateration iteration technology to locate the nodes in the wireless sensor network. This algorithm has the advantages of low energy consumption, low computational complexity as well as high expandability and high localizability. Moreover, it can achieve the unique and accurate localization. Finally, some simulations are provided to demonstrate the effectiveness of the proposed algorithm.展开更多
As the stiffness of the elastic support varies with the physical-chemical erosion and mechanical friction, model catastrophe of a single degree-of-freedom(DOF) isolation system may occur. A 3-DOF four-point-elastic-su...As the stiffness of the elastic support varies with the physical-chemical erosion and mechanical friction, model catastrophe of a single degree-of-freedom(DOF) isolation system may occur. A 3-DOF four-point-elastic-support rigid plate(FERP) structure is presented to describe the catastrophic isolation system. Based on the newly-established structure, theoretical derivation for stiffness matrix calculation by free response(SMCby FR) and the method of stiffness identification by stiffness matrix disassembly(SIby SMD)are proposed. By integrating the SMCby FR and the SIby SMD and defining the stiffness assurance criterion(SAC), the procedures for stiffness identification of a FERP structure(SIFERP) are summarized. Then, a numerical example is adopted for the SIFERP validation, in which the simulated tested free response data are generated by the numerical methods, and operation for filtering noise is conducted to imitate the practical application. Results in the numerical example demonstrate the feasibility and accuracy of the developed SIFERP for stiffness identification.展开更多
The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The positi...The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.展开更多
Background&Objective Tumor-associated macrophages(TAM)are induced by many cytokines,such as IL-4,IL-10,IL-13,and are considered to be of the M2 phenotype,which provides an immunosuppressive microenvironment for tu...Background&Objective Tumor-associated macrophages(TAM)are induced by many cytokines,such as IL-4,IL-10,IL-13,and are considered to be of the M2 phenotype,which provides an immunosuppressive microenvironment for tumor growth.However,biomechanistssuggest that cells in the tumor microenvironment are affected not only by chemical signals but also mechanical factors,of which the stiffness of tissues is a major determinant.Compared with normal tissues,including the peri-tumor tissues,tumor tissues are more rigid.Heretofore,the influence,on the differentiation and function of macrophages,of the differences in such physical aspect between展开更多
文摘Five cadmium naphthalene-diphosphonates,formulated as[Cd_(1.5)(1,4-ndpaH_(2))2(4,4'-bpyH)(4,4'-bpy)0.5(H_(2)O)_(2)]2(1),[Cd(1,4-ndpaH_(2))(1,4-bib)0.5(H_(2)O)](2),[Cd(1,4-ndpaH3)2(1,2-dpe)(H_(2)O)]·(1,2-dpe)·7H_(2)O(3),(1,2-bixH)[Cd3(1,4-ndpaH)(1,4-ndpaH_(2))2(H_(2)O)_(2)](4),and[Cd(1,4-ndpaH_(2))(H_(2)O)]·H_(2)O(5),have been synthesized from the selfassembly reactions of 1,4-naphthalenediphosphonic acid(1,4-ndpaH4)with Cd(NO3)2·4H_(2)O by introducing auxiliary ligands with variation of rigidity,such as 4,4'-bipyridine(4,4'-bpy),1,4-bis(1-imidazolyl)benzene(1,4-bib),1,2-di(4-pyridyl)ethylene(1,2-dpe),1,3-di(4-pyridyl)propane(1,3-dpp),and bis(imidazol-1-ylmethyl)benzene(1,2-bix),respectively.Structure resolution by single-crystal X-ray diffraction reveals that compound 1 possesses a layered framework,in which the{Cd3(PO2)2}trimers made up of corner-sharing two{CdO4N2}and one{CdO6}octahedra are connected by phosphonate groups,forming a ribbon,which are cross-linked by 4,4'-bipy ligands,forming a 2D layer.Compound 2 shows a 3D open-framework structure,where chains of corner-sharing{CdO4N}trigonal bipyramids and{PO3C}tetrahedra are cross-linked by 1,4-bib and/or phosphonate groups.A 1D ladder-like chain structure is found in compound 3,where the ladder-like chains made up of corner-sharing{CdO5N}octahedra and{PO3C}tetra hedra are connected by 1,4-ndpaH_(2)^(2-).Both compounds 4 and 5 obtained by the introduction of flexible ligands during the synthesis show a 2D layered structure,which is formed by ligand crosslinking double metal chains.Interestingly,In 4,flexible 1,2-bix was singly protonated,as guest molecules,filled between layer and layer,while flexible ligand 1,3-dpp is absent in 5.Photophysical measurements indicate that compounds 1-5 show ligand-centered emissions.
基金Project(12 High-tech Urban C11) supported by High-tech Urban Development Program of Ministry of Land,Transport and Maritime Affairs,Korea
文摘The buckling behavior of single layer space structure is very sensitive. The joint rigidity, moreover, is one of the main factors of stability which may determine the entire failure behavior. Thus, the reasonable stiffness of joint system, which is neither total pin assumption nor perfect fix condition, is very important to apply to the real single layer space one. Therefore, the purpose of this work was to investigate the buckling behavior of single layer space structure, using the development of the upgraded stiffness matrix for the joint rigidity. To derive tangential stiffness matrix, a displacement function was assumed using translational and rotational displacement at the node. The geometrical nonlinear analysis was simulated not only with perfect model but also with imperfect one. As a result, the one and two free nodal numerical models were investigated using derived stiffness matrix. It was figured out that the buckling load increases in proportion to joint rigidity with rise-span ratio. The stability of numerical model is very sensitive with the initial imperfection, responding of bifurcation in the structure.
基金supported by National Natural Science Foundation of China (No.51065026)Doctoral Foundation of Ministry of Education of China (No.20106501110001)Natural Science Foundation of Autonomous Region (No.2011211A002)
基金supported in part by NIH HL098472NSF CBET0846429
文摘Introduction Cells can sense and respond to the mechanical microenvironment by converting forces into biochemical signals inside the cells,i.e.mechanotransduction<sup>[1-3]</sup>.Focal adhesions are the major sites of interaction between a cell and its extracellular matrix（ECM）microenvironment,thus outside mechanical signals can be sensed at focal adhesions through transmembrane receptor integrins.In particular,it has been shown that matrix elasticity can control the cell fate<sup>[4]</sup>by modulating the interactions between ECM proteins and their receptor integrins<sup>[5,6]</sup>.For example,different rigidity of polyacrylamide（PA）gels can lead to different density of ECM ancho-
文摘The clinical and pathological records of eighty-one cases of pheochrcn ocytoma admitted to our hospital between 1960 and 1986, were reexamined. Six cases died of acute cardiac or cerebral vascular complications were analized and to be reported in this paper.
基金supported by the National Outstanding Young Scientist Foundation of China(11225213)Major Program of National Natural Science Foundation of China(Grant No.11390362)
文摘According to the dimensionless formulae of DOP(depth of penetration) of a rigid projectile into different targets,the resistive force which a target exerts on the projectile during the penetration of rigid projectile is theoretically analyzed.In particular,the threshold V_C of impact velocity applicable for the assumption of constant resistive force is formulated through impulse analysis.The various values of V_C corresponding to different pairs of projectile-target are calculated,and the consistency of the relative test data and numerical results is observed.
基金Projects(2014QNB18,2015XKMS022)supported by the Fundamental Research Funds for the Central Universities of ChinaProjects(51475456,51575511)supported by the National Natural Science Foundation of China+1 种基金Project supported by the Priority Academic Programme Development of Jiangsu Higher Education InstitutionsProject supported by the Visiting Scholar Foundation of China Scholarship Council
文摘The dynamics of spatial parallel manipulator with rigid and flexible links is explored. Firstly, a spatial beam element model for finite element analysis is established. Then, the differential equation of motion of beam element is derived based on finite element method. The kinematic constraints of parallel manipulator with rigid and flexible links are obtained by analyzing the motive parameters of moving platform and the relationships of movements of kinematic chains, and the overall kinetic equation of the parallel mechanism with rigid and flexible links is derived by assembling the differential equations of motion of components. On the basis of abovementioned analyses, the dynamic mechanical analysis of the spatial parallel manipulator with rigid and flexible links is conducted. After obtaining the method for force analysis and expressions for the calculation of dynamic stress of flexible components, the dynamic analysis and simulation of spatial parallel manipulator with rigid and flexible links is performed. The result shows that because of the elastic deformation of flexible components in the parallel mechanism with rigid and flexible links, the force on each component in the mechanism fluctuates sharply, and the change of normal stress at the root of drive components is also remarkable. This study provides references for further studies on the dynamic characteristics of parallel mechanisms with rigid and flexible links and for the optimization of the design of the mechanism.
基金This work was supported by the National Natural Science Foundation of China[grant numbers 11521062].
文摘A perforation model is developed to predict the attitude deflection in the oblique perforation of concrete targets by a rigid projectile,in which the inertial moment of the projectile is introduced,together with taking the attitude deflection during the shear plugging sub-stage into account,and the shape of the plug formed on the rear surface of target is also re-investigated.Moreover,a new classification of concrete targets is proposed based on the target thickness,with which the attitude deflections in different kinds of concrete targets are analyzed.It is found that the numerical results by using the new perforation model are in good agreement with the previous experimental data and simulated results.Furthermore,the variations of the attitude deflection with the initial conditions(the initial attitude angle and the initial impact velocity) are investigated.
基金Project(41472245)supported by the National Natural Science Foundation of ChinaProject(CQGT-KJ-2014049)supported by the Chongqing Administration of Land,Resources and Housing,ChinaProject(106112014CDJZR200009)supported by the Fundamental Research Funds for the Central Universities,China
文摘Stability analysis of gravity retaining wall was currently based on the assumption that the wall had no embedment depth. The effect of earth berm was usually neglected. The present work highlighted the importance of embedment depth when assessing the seismic stability of gravity retaining walls with the pattern of pure rotation. In the framework of upper bound theorem of limit analysis, pseudo-static method was applied into two groups of parallel rigid soil slices methods in order to account for the effect of embedment depth on evaluating the critical acceleration of wall-soil system. The present analytical solution is identical to the results obtained from using limit equilibrium method, and the two methods are based on different theory backgrounds. Parameter analysis indicates that the critical acceleration increases slowly when the ratio of the embedment depth to the total height of the wall is from 0 to 0.15 and increases drastically when the ratio exceeds 0.15.
基金Projects(51978669,U1734208)supported by the National Natural Science Foundation of ChinaProject(2018JJ3657)supported by the Natural Science Foundation of Hunan Province,China
文摘When conducting dynamic tests of underground structure by a rigid container, reasonable boundary conditions are one of the essential factors related to the accuracy of test results, especially the artificial boundary perpendicular to the excitation direction. On the basis of numerous studies, shaking table tests with four different typical boundaries are performed in this study. The tests consider the seismic intensity and seismic wave types. Then, the simulation effects of the four boundary conditions are evaluated from four aspects as follows: the differential rate of peak acceleration, acceleration curve, similarity of Fourier frequency spectra, and uneven soil settlement in rigid containers. Results show that the simulation effects of the boundary conditions are not only affected by the nature of the boundary material but also related to the seismic intensity, types of seismic waves, and filter characteristic of the filling medium in containers. In comparison with the other three types of boundary condition, foamed polyethylene shows the best simulation effect and its effect decreases gradually with the increase in earthquake intensity. Finally, on the basis of existing studies, the evaluation criteria of boundary effect, the principle for the selection of boundary material type and the thickness of boundary material are discussed and summarized, and the corresponding design methods and suggestions are then provided.
基金Supported by Russian Fund of Fund amental Investigations(Pr.990101064)and Russian Minister of Educatin
文摘In this paper the method of design of kinematical and dynamical equations of mechanical systems, applied to numerical ealization, is proposed. The corresponding difference equations, which are obtained, give a guarantee of computations with a given precision. The equations of programmed constraints and those of constraint perturbations are defined. The stability of the programmed manifold for numerical solutions of the kinematical and dynamical equations is obtained by corresponding construction of the constraint perturbation equations. The dynamical equations of system with programmed constraints are set up in the form of Lagrange’s equations in generalized coordinates. Certain inverse problems of rigid body dynamics are examined.
基金supported by the National Natural Science Foundation of China(61375105 61403334)
文摘This paper investigates the node localization problem for wireless sensor networks in three-dimension space. A distributed localization algorithm is presented based on the rigid graph. Before location, the communication radius is adaptively increasing to add the localizability. The localization process includes three steps: firstly, divide the whole globally rigid graph into several small rigid blocks; secondly, set up the local coordinate systems and transform them to global coordinate system; finally, use the quadrilateration iteration technology to locate the nodes in the wireless sensor network. This algorithm has the advantages of low energy consumption, low computational complexity as well as high expandability and high localizability. Moreover, it can achieve the unique and accurate localization. Finally, some simulations are provided to demonstrate the effectiveness of the proposed algorithm.
基金Project(51221462)supported by the National Natural Science Foundation of ChinaProject(20120095110001)supported by the PhD Programs Foundation of Ministry of Education of ChinaProject(CXZZ13_0927)supported by Research and Innovation Project for College Graduates of Jiangsu Province,China
文摘As the stiffness of the elastic support varies with the physical-chemical erosion and mechanical friction, model catastrophe of a single degree-of-freedom(DOF) isolation system may occur. A 3-DOF four-point-elastic-support rigid plate(FERP) structure is presented to describe the catastrophic isolation system. Based on the newly-established structure, theoretical derivation for stiffness matrix calculation by free response(SMCby FR) and the method of stiffness identification by stiffness matrix disassembly(SIby SMD)are proposed. By integrating the SMCby FR and the SIby SMD and defining the stiffness assurance criterion(SAC), the procedures for stiffness identification of a FERP structure(SIFERP) are summarized. Then, a numerical example is adopted for the SIFERP validation, in which the simulated tested free response data are generated by the numerical methods, and operation for filtering noise is conducted to imitate the practical application. Results in the numerical example demonstrate the feasibility and accuracy of the developed SIFERP for stiffness identification.
基金Project(51221004)supported by the Science Fund for Creative Research Groups of National Natural Science Foundation of ChinaProject supported by the Program for Zhejiang Leading Team of S&T Innovation,China
文摘The semi-round rigid feet would cause position-posture deviation problem because the actual foothold position is hardly known due to the rolling effect of the semi-round rigid feet during the robot walking. The position-posture deviation problem may harm to the stability and the harmony of the robot, or even makes the robot tip over and fail to walk forward. Focused on the position-posture deviation problem of multi-legged walking robots with semi-round rigid feet, a new method of position-posture closed-loop control is proposed to solve the position-posture deviation problem caused by semi-round rigid feet, based on the inverse velocity kinematics of the multi-legged walking robots. The position-posture closed-loop control is divided into two parts: the position closed-loop control and the posture closed-loop control. Thus, the position-posture control for the robot which is a tight coupling and nonlinear system is decoupled. Co-simulations of position-posture open-loop control and position-posture closed-loop control by MATLAB and ADAMS are implemented, respectively. The co-simulation results verify that the position-posture closed-loop control performs well in solving the position-posture deviation problem caused by semi-round rigid feet.
文摘Background&Objective Tumor-associated macrophages(TAM)are induced by many cytokines,such as IL-4,IL-10,IL-13,and are considered to be of the M2 phenotype,which provides an immunosuppressive microenvironment for tumor growth.However,biomechanistssuggest that cells in the tumor microenvironment are affected not only by chemical signals but also mechanical factors,of which the stiffness of tissues is a major determinant.Compared with normal tissues,including the peri-tumor tissues,tumor tissues are more rigid.Heretofore,the influence,on the differentiation and function of macrophages,of the differences in such physical aspect between
