科创中国

Steering control of a capsule robot in curve environment by magnetic navigation is not yet solved completely.A petal-shaped capsule robot with less steering resistance based on multiple wedge effects is presented,and an optimization method with two processes for determining the orientation of a pre-applied universal magnetic spin vector is proposed.To realize quick and non-contact steering swimming,a fuzzy comprehensive evaluation method for optimizing the steering driving angle is presented based on two evaluation indexes including the average steering speed and the average steering trajectory deviation,achieving the initial optimal orientation of a universal magnetic spin vector.To further reduce robotic magnetic vibration,a main target method for optimizing its final orientation,which is used for fine adjustment,is employed under the constrains of the magnetic moments.Swimming experimental results in curve pipe verified the effectiveness of the optimization method,which can be effectively used to realize non-contact steering swimming of the petal-shaped robot and reduce its vibration.

Expandable profile liner(EPL) is a promising new oil well casing cementing technique, and welding is a major EPLs connection technology. Connection of EPL is still in the stage of manual welding so far, automatic welding technology is a hotspot of EPL which is one of the key technologies to be solved. A robot for automatic welding of "8" type EPL is studied. Four quadrants of mathematical equations of the 8-shaped cross-section track of EPL, consisting of multiple arcs, are established. Mechanism program for complex cross-section welding of EPL based on angle detection is proposed according to characteristics of small size, small valleys, and large forming errors, etc. A welding velocity vector control model is established by linkage control of a welding vehicle, a small driven actuator, and a height tracking mechanism. A constant speed control model based on an angle and symmetrical analysis model of rectangular coordinate system for EPL is built. Constraint conditions of constant speed control between each section are analyzed with 4 sections in first quadrant as an example, and cooperation work mechanism of the welding vehicle and the small tracking actuator is established based on pressure detection. The constant speed control model using angle self-test can be used to avoid the need for a precise mathematical model for tracking control and to adapt manufacture and installation deviation of EPL workpiece. The model is able to solve constant speed and trajectory tracking problems of EPL cross-section welding. EPL seams welded by the studied robot are good in appearance, and non-destructive testing(NDT) shows the seams are good in quality with no welding defects. Bulge tests show that the maximum pressure of welded EPL is 35 MPa, which can fulfill expansion performance requirements.

为了解决井下链状无线传感器网络中距离Sink节点越近的节点越早死亡的问题,提出了一种井下WSN基于SPIN路由协议的改进算法,该算法结合狭长直巷道模型与多重覆盖模型,运用梯度划分的方法,通过判定彼此梯度信息决定数据信息接收方,来均衡整个网络的能量消耗,延长网络寿命。对比改进前后的能量损耗模型可知,改进后的算法能有效延长网络寿命,实验表明,该算法较NCWSNFGM方案可延长至少5%的网络寿命。

详细介绍了SVPWM的原理.采用一种易于数字化实现的SVPWM算法实现三相电压型SVPWM整流器,该整流器采用dq坐标系下的双闭环控制.给出了PI调节器参数,以及主电路电感、电容的计算公式.在Matlab Simulink环境下搭建整流器仿真器模型.仿真结果表明,整流器能实现单位功率因数整流和能量双向流动,验证了SVPWM算法和控制系统设计方法的正确性.

目的通过分析磁共振T1WI-SPIR序列半月板撕裂的征象并与关节镜结果对比以探讨其在半月板撕裂诊断中的临床应用价值.方法回顾性分析45例经关节镜证实的半月板撕裂病人T1WI-SPIR表现并与关节镜结果对比.结果45例90个半月板T1WI-SPIR诊断撕裂70个,关节镜证实50个,MR敏感性100%,准确率71%.结论磁共振T1WI-SPIR序列诊断半月板撕裂较为敏感,但存在一定假阳性.

利用第一性原理方法研究了一系列正交结构锰酸盐Gd1-xHoxMnO3(0.0≤x≤0.5)的电子结构和磁学性质.我们研究的所有组分的Gd1xHoxMnO3都能保持单一的立方结构,单胞的体积也随着x的增大线性减小,Mn -O - Mn键的键角也随着Ho的掺杂而线性的减小.我们的磁属性研究表明随着Ho的掺杂反铁磁-E相变越来越稳定,Mn的磁矩随着x的增大基本不变.

α-乳清蛋白(α-lactalbumin,α-LA)是哺乳动物乳汁中一种重要的蛋白质,富含机体必需氨基酸和支链氨基酸,其极佳的氨基酸比例、易吸收性以及功能特异性,使得α-LA在婴幼儿个体正常生长中具有重要的意义.本实验旨在构建人α-乳清蛋白真核表达载体pIRES2-ZsGreenl-opLA,将其转染至猪(Sus scrofa)的成纤维细胞,获得稳定表达人仪一LA的细胞.根据猪基因密码子偏爱性优化并合成人α-乳清蛋白基因mRNA序列opLA,并将其定向克隆入pIRES2一ZsGreenl真核表达载体,双酶切及测序方法鉴定重组载体;脂质体介导的方法将载体转染入培养的猪成纤维细胞,荧光显微镜下观察转染效果,G418抗性筛选重组细胞;RT-PCR方法检测目的基因的表达.结果表明,通过酶切以及测序鉴定得到的重组载体pIRES2一ZsGreenl-opLA构建成功;荧光显微镜下观察,转染了plRES2-ZsGreenl-opLA和pIRES2一ZsGreenl空载体的细胞均发出绿色荧光,且荧光多集中于细胞核;筛选重组细胞的最小G418浓度为400ng/μL;RT-PCR法检测到与目的基因大小一致的片段,而未转染组和转染空载体组均未检测到.本实验成功构建真核表达载体pIRES2-ZsGreenl-opLA,并获得稳定表达目的基因的猪成纤维细胞,该细胞可作为进一步研究转基因克隆猪的供体细胞.

针对为胶囊内窥镜供能的无线能量传输技术在应用过程中对人体组织可能造成伤害的问题,进行了无线能量传输系统发射线圈优化设计研究.分析了人体组织安全性与无线能量传输系统发射线圈之间的关系,提出用磁场均匀度、频率稳定度等指标来评价发射线圈性能,并建立了以能量传输效率为目标函数、以人体安全性和能量需求为约束条件的最优化模型.该模型可用来全面评价发射线圈性能,从而为发射线圈的设计提供依据.采用上述方法对4种类型的发射线圈进行了评价,评价结果证明了该方法的可行性.

信息社会中在线百科已成为人们获取知识的重要途径,而在线百科的标签系统作为其重要组成部分,不仅可以帮助人们在浏览某张页面时获取其他相关页面的信息,而且对于海量文本分类,以及提高在线百科检索系统的检索效率都有很大帮助.充分利用在线百科页面间的链接关系,提出了一种基于页面间的同质性原理和向量空间模型的全新针对在线百科的标签推荐算法HVSM(homogeneous principle based vector spacemodel).该标签推荐算法具有普适性,可在不同在线百科系统间推荐标签.实验结果表明,通过与朴素推荐算法NAM(nawere commendation model)进行比较,新的推荐算法可以达到更高的准确率.并且通过对实验数据进行分析,得到了若干有益的结论,为今后的研究工作奠定了基础.

目的研究急性胰腺炎磁共振严重度指数(MR Severity Index,MRSI)与急性生理与慢性健康状况评分系统(the Acute Playsiology And Chronic Healthy Evaluation,APACHEⅡ)之间的相关性,探讨是否可以利用MRSI来评估急性胰腺炎的严重程度.方法回顾性分析119例急性胰腺炎患者的MRI表现.每侧AP息者在MR上的严重程度用MR严重程度指数(MR Severity score iridex,MRSI)进行分级,MRSI 0-2分为轻型,3-6分中度,7-10分为重型.同时根据患者的临床和实验室参数对每例患者行APACHEⅡ评分,并对MRSI与APACHEⅡ评分进行相关性分析.结果根据MRSI,119例急性胰腺炎中,轻型急性胰隙炎48例,中度59例,重症急性胰腺炎12例.53例APACHEⅡ≤7分,66例APACHEⅡ≥8分.MRSI与APACHEⅡ评分存在弱的正相关关系(r=0.314,P〈0.01).结论MRSI能在一定程度上反映急性胰腺炎的临床严重程度,应纳入全面评价急性严重程度的评价体系中.