摘要：Powered lower limb exoskeletons have traditionally used four or more powered joints to provide ambulation assistance for individuals with spinal cord *** with numerous powered joints commonly lost some excellent features of passive orthoses and further decreased utility due to added weight and increased control *** work adopts joints coupling mechanism to design a powered exoskeleton to minimize the number of actuated joints and control *** conventional powered exoskeletons,the joint-coupled-powered exoskeleton only has a single motor-actuated joint for each exoskeleton leg in conjunction with a unique knee coupled system to enable their users to walk,sit,and *** two types of joint coupled systems are designed,respectively,hip-knee coupled and knee-ankle *** joint-coupled-powered exoskeleton system allows a single actuator to power the hip motion,and allows activate knee motion through the coupled motions of the hip or *** specifically,when the mechanical coupled system is activated,the knee joint is unlocked,resulting in synchronized hip-knee or ankle-knee flexion and *** coupling mechanism is switched on and off at specific phases of the gait(the stance phase and the swing phase)to generate the desired *** research work proves that minimal actuated robotic systems with joint coupled could achieve safe and natural walking.

摘要：Product innovation can be achieved by analyzing leading products patents in the *** methods have been proposed for design around patent,commonly using the elimination or replacement of a single patent element However,the existing research fails to restore the position and function of the design around object in the original patent portfolio of enterprises,which often leads to the phenomenon of evading one patent and violating *** paper proposes a method for design around patent through using the fusion of technologies of the evolution theory and bundle-type patent portfolio analysis in the initial stage of product *** object system is analyzed to select technical opportunities through the evolutionary path of technologies and functional trimming methods to achieve circumvent barriers of bundle-type *** bundle patent portfolio is analyzed for the product evolution with a radar *** technological evolution path is combined with the TRIZ innovation method to identify and solve the design *** of the new design is evaluated using the patent system rules for innovative scheme difference from the original patent *** method is verified in a case study for the design of a glass-wiping *** design solution has been patented.

摘要：An approach to design and implement the control function of LD (Ladder Diagram) in the hydropower simulation system based on all paths searching algorithm is proposed in this paper. LD is widely used as a programming language for PLC (Programmable Logic Controller), but it doesn’t be executed automatically in the hydropower simulation system which is a software system, and there is no compiler or interpretation for LD in it. The approach in this paper is not only to present a graphical interface to design LD, but also implement its control function through transforming it to a corresponding undigraph, in which, all paths be-tween two vertexes (live wire and null line) are searched by the proposed algorithm. An application example is presented to verify the validity of the algorithm and shows that the algorithm is correct and practicable. In addition, how to implement the control function based on object-oriented thought is introduced. The running time is shown at last, which proves that the system with the algorithm can meet the real-time request in the hydropower simulation system.

摘要：面向本科机器人方向实践教学,设计一款轮式格斗机器人。该机器人可以实现自主登台、自动巡航、自主视觉寻敌攻击、落台后重新登台等功能。首先,进行机器人的机械结构设计。通过合理的机械结构设计以及合理的传感器安装布置,可以有效改善机器人的结构强度、灵活性、稳定性和机动性。其次,进行机器人控制系统设计,其中,包括机器人控制系统元器件选型设计、机器人的控制策略及控制算法设计、路径规划算法设计、目标识别与视觉跟踪算法设计。最后,采用现场测试的方法对机器人的性能进行优化提升。在不同环境下,通过机器人现场表现进行测试和分析,评估机器人的性能和稳定性,并针对性地进行改进和优化。通过轮式格斗机器人的设计与实现训练,有助于提升机器人工程专业本科生在机器人领域的设计实践和问题分析能力。

摘要：To search for the Design Patterns’ influence on the software, the paper abstracts the feature models of 9 kinds of classic exiting design patterns among the 23 kinds and describes the features with algorithm language. Meanwhile, searching for the specific structure features in the network, the paper designs 9 matching algorithms of the 9 kinds design patterns mentioned above to research on the structure of the design patterns in the software network. At last, the paper analyzes the evolving trends of the software scale and the application frequency of the 9 kinds of design patterns as the software evolves, and search for the rules how these design patterns are applied into 4 kinds of typical software.

摘要：Unlike the previous research works analyzing the stability of the T-S （Takagi-Sugeno） fuzzy model, an extension on the stability condition of T-S fuzzy systems with a different strategy is provided. In the strategy a new variable, which is relative to the grade of fuzzy membership function, is introduced to the stability analysis and a new stability conclusion is deduced. The definition of stability condition in this paper is different from previous works, though they are similar in form. With the proposed method, the simulation in flight control law shows a better effectiveness.

摘要：胸外科手术技术已发生革命性变化,胸腔镜手术(video-assisted thoracic surgery,VATS)已经、正在成为各类胸部手术的主流方式。安全、高质、艺术化的VATS离不开扶镜手与术者默契的团队配合,如果说优秀的开放手术是术者脑、眼、手、体并用并无缝连接的整体配合的结果,那么,VATS的扶镜手则担负着两个人的眼睛,即本人和术者,这比照顾一个人脑、眼、手、体更为精细,更为困难。当然,优秀的扶镜手必将成长为不久将来优秀的术者。

摘要：Cell spheroids are markedly more representative of the native tissue and the in vivo environment than traditional two-dimensional(2D)cultured cells,thus offering tremendous potential in cell biology research,tissue engineering,and drug ***,it is crucial to develop materials and methods for efficient production of cell ***,currently developed materials,including natural and synthetic hydrogels,present drawbacks,such as undefined ingredients and imperfect biocompatibility,which hinder their widespread *** this study,we have rationally designed biotinylated peptides that can self-assemble into supramolecular hydrogels(termed SupraGel)for 3D cell *** introduction of one D-amino acid in the peptide may decrease cell-matrix interactions,thus facilitating spontaneous cell spheroid *** cancer cell lines,MCF-7 and 4T1,and intestinal stem cells(ISCs)can efficiently divide into cell spheroids when cultured in *** reversible shear-thinning and recovery behavior of SupraGel is highly suitable for live-cell embedding and cell spheroid *** mechanical properties of SupraGel can be easily tuned by adjusting the peptide concentration,thus enabling its suitability for the 3D culture of diverse cell *** envision the significant potential of our SupraGel for applications in cell therapy,regenerative medicine,and drug screening.

摘要：3D打印技术日益流行,尤其在医疗领域展现出巨大的潜力。该文探讨了3D打印技术在兽医手术工具设计中的应用,分析了其原理、材料特性以及在畜牧兽医手术中的需求。通过对现有手术工具的局限性进行分析,指出3D打印技术在设计中的优势。论文详细阐述了3D打印手术工具的设计流程,包括需求收集、模型设计、验证测试及用户反馈。最后,结合临床应用案例,探讨了3D打印手术工具的经济性、可持续性以及对动物福利的影响。通过对技术挑战和伦理问题的讨论,提出未来发展方向和建议,为畜牧兽医领域的实践提供参考。

摘要：提出了一种基于STM32微控制器的电阻型湿度传感器校准系统,旨在提高传感器的工作性能,特别是要减少因湿滞和温度噪声等带来的误差。主要包括基于PID(比例微分积分)算法与PWM(脉宽调制)控制的饱和盐溶液相对湿度参考标准测试环境,干湿球温度计湿度辅助测试定标系统,以及Buck(降压斩波)开关电源和LDO(低压差线性稳压)电路组成的电源电路、恒温电路、气压检测电路、电机驱动电路和输出显示电路等模块的软硬件设计。最后自制GO/ZnO/PCF(氧化石墨烯/氧化锌/植物纤维素薄膜)电阻型湿度传感器,把该电阻型湿度传感器放置在各相对湿度参考标准测试环境中实时记录传感器输出电阻值并对其进行校准测试,经多轮试验和数据处理,运用二分查找算法获取该传感器对应湿度数据。研究结果表明,所设计的校准系统可以将湿度传感器误差控制在±2%RH内,并在标准湿度测试环境中实现10 s内达到90%的稳定响应。此外,经过误差校准后,传感器恢复至新的稳定状态所需的时间不超过30 s。该校准系统具有低成本、简便操作和便携性等显著优势,具有重要的实用价值。