以适用于空间在轨服务的腱驱动五指灵巧手为研究对象,设计具有一定实时性的控制系统.为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求,提出基于RTX(real time extension)共享内存的模块化软件架构,可集成人机交互、虚拟显示、遥...以适用于空间在轨服务的腱驱动五指灵巧手为研究对象,设计具有一定实时性的控制系统.为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求,提出基于RTX(real time extension)共享内存的模块化软件架构,可集成人机交互、虚拟显示、遥操作以及数据传输等模块,具有扩展性好、结构清晰、传输效率高的优点.针对腱驱动耦合的问题,提出关节空间到腱空间的解耦矩阵,并据此给出实时多指协调运动控制方法,以确保各手指同时到达期望位置,减小腱驱动迟滞造成的不利影响.最后通过多指灵巧抓取以及遥操作实验,验证所提控制系统的稳定性、可靠性.展开更多
Objective:To observe the effect of catgut-embedding therapy at five neck points in the treatment of cervical spondylotic arteriopathy(CSA)and analyze its effects on the hemodynamics of patients with CSA.Methods:Using ...Objective:To observe the effect of catgut-embedding therapy at five neck points in the treatment of cervical spondylotic arteriopathy(CSA)and analyze its effects on the hemodynamics of patients with CSA.Methods:Using the computer randomization method,72 patients with CSA were divided into a catgutembedding therapy group(n=36,none dropped out)and a western medication group(n=36,none dropped out).In the catgut-embedding therapy group,the therapy was applied to five neck points,i.e.bilateral Jǐngjiājǐ(颈夹脊)at C5,bilateral Jǐngjiājǐ(颈夹脊)at C6,and Dàzhuī(大椎GV14)once a week.One3-week treatment session was required.In the western medication group,flunarizine hydrochloride 5 mg capsules were administered orally once daily for 3 weeks.Efficacy was assessed before and after 3 weeks treatment using a functional evaluation scale for cervical spondylotic arteriopathy(FS-CSA).Changes in vertebral-basilar arterial hemodynamics,serum nitric oxide(NO)level,and plasma endothelin(ET)level were detected.Results:Efficacy was assessed when the treatment session was completed.The total efficacy rate was significantly higher in the catgut-embedding therapy group(86.1%)than in the western medication group(61.1%;P<0.01).The after treatment FS-CSA score was reduced compared with baseline score in both groups(P<0.05),and the reduction in the catgut-embedding therapy group was superior to that in the Western medication group(P<0.05).Compared with baseline,the flow velocity and pulsatility index of the bilateral vertebral and basilar arteries increased at each period in both groups(P<0.05)except for the left systolic velocity of the vertebral artery after treatment.The increase in the catgut-embedding therapy group was greater than that in the western medication group(P<0.05).After treatment,the serum NO concentration was increased and the plasma ET concentration was reduced compared to baseline in both groups(P<0.05),while the improvements in the catgut-embedding therapy group were superior to those in the western medi展开更多
文摘以适用于空间在轨服务的腱驱动五指灵巧手为研究对象,设计具有一定实时性的控制系统.为满足腱驱动灵巧手多指操作对同步性和实时性的特殊要求,提出基于RTX(real time extension)共享内存的模块化软件架构,可集成人机交互、虚拟显示、遥操作以及数据传输等模块,具有扩展性好、结构清晰、传输效率高的优点.针对腱驱动耦合的问题,提出关节空间到腱空间的解耦矩阵,并据此给出实时多指协调运动控制方法,以确保各手指同时到达期望位置,减小腱驱动迟滞造成的不利影响.最后通过多指灵巧抓取以及遥操作实验,验证所提控制系统的稳定性、可靠性.
基金Supported by Heilongjiang Provincial Natural Science Foundation surface project(H2016068)"Excellent Innovative Talents Support Plan"in Heilongjiang University of Chinese Medicine(2018RCD10)。
文摘Objective:To observe the effect of catgut-embedding therapy at five neck points in the treatment of cervical spondylotic arteriopathy(CSA)and analyze its effects on the hemodynamics of patients with CSA.Methods:Using the computer randomization method,72 patients with CSA were divided into a catgutembedding therapy group(n=36,none dropped out)and a western medication group(n=36,none dropped out).In the catgut-embedding therapy group,the therapy was applied to five neck points,i.e.bilateral Jǐngjiājǐ(颈夹脊)at C5,bilateral Jǐngjiājǐ(颈夹脊)at C6,and Dàzhuī(大椎GV14)once a week.One3-week treatment session was required.In the western medication group,flunarizine hydrochloride 5 mg capsules were administered orally once daily for 3 weeks.Efficacy was assessed before and after 3 weeks treatment using a functional evaluation scale for cervical spondylotic arteriopathy(FS-CSA).Changes in vertebral-basilar arterial hemodynamics,serum nitric oxide(NO)level,and plasma endothelin(ET)level were detected.Results:Efficacy was assessed when the treatment session was completed.The total efficacy rate was significantly higher in the catgut-embedding therapy group(86.1%)than in the western medication group(61.1%;P<0.01).The after treatment FS-CSA score was reduced compared with baseline score in both groups(P<0.05),and the reduction in the catgut-embedding therapy group was superior to that in the Western medication group(P<0.05).Compared with baseline,the flow velocity and pulsatility index of the bilateral vertebral and basilar arteries increased at each period in both groups(P<0.05)except for the left systolic velocity of the vertebral artery after treatment.The increase in the catgut-embedding therapy group was greater than that in the western medication group(P<0.05).After treatment,the serum NO concentration was increased and the plasma ET concentration was reduced compared to baseline in both groups(P<0.05),while the improvements in the catgut-embedding therapy group were superior to those in the western medi
