目的:利用图像引导设备研究三种固定装置对胸部肿瘤摆位误差大小的影响。方法:回顾性分析我科2015年3月1日至9月30日30例胸部肿瘤患者,三种体位固定方式各入组10例,应用Varian RapidArc Cone-Beam CT(CBCT)对所有入组胸部肿瘤患者进行...目的:利用图像引导设备研究三种固定装置对胸部肿瘤摆位误差大小的影响。方法:回顾性分析我科2015年3月1日至9月30日30例胸部肿瘤患者,三种体位固定方式各入组10例,应用Varian RapidArc Cone-Beam CT(CBCT)对所有入组胸部肿瘤患者进行图像验证,验证患者摆位误差,每例患者行CBCT 10次,共计300次,与原始定位CT图像进行比较,采取骨性配准,得出相应的摆位误差并记录。通过研究患者升降床方向(Vertical,Vrt),进出床方向(Longitudinal,Lng),左右方向(Lateral,Lat)的系统误差值、随机误差值、靶区的偏移量及≤5 mm摆位次数进行比较得出哪种固定方式有较大的优势。结果:三组患者(A组:热塑体模组;B组:负压真空袋组;C组:翼型板联合负压真空垫组)的摆位误差,通过两两比较我们可以发现C组为最优。三组不同固定方式在Vrt(升降床方向)、Lng(进出床方向)和Lat(左右方向)的摆位误差分别为A组(-0.12±0.42)cm、(-0.23±0.70)cm、(-0.04±0.39)cm;B组(0.23±0.31)cm、(-0.21±0.63)cm、(-0.03±0.37)cm;C组(0.23±0.33)cm、(0.05±0.41)cm、(0.06±0.33)cm。在Vrt方向的P值分别为A vs B:P=0.000、A vs C:P=0.000、B vs C:P=0.281;在Lng方向的P值分别为A vs B:P=0.007、A vs C:P=0.871、B vs C:P=0.004;在Lat方向的P值分别为A vs B:P=0.022、A vs C:P=0.489、B vs C:P=0.113。结论:胸部肿瘤放疗时不可避免存在一定程度摆位误差,为减少摆位误差影响,建议使用翼型板联合真空垫对胸部肿瘤患者进行固定。展开更多
The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-sta...The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-stage straight gear reducer. Firstly, the vibration equation of the two-phase hybrid stepping motor is established via simplifying and linearizing the electromagnetic torque.Secondly, based on the vibration equation established, the disturbance torque model of SADA is created via force analysis and force system simplification. Thirdly, for precisely ground measuring the disturbance torque aroused by SADA, a measurement system,including a strain micro-vibrations measurement platform(SMMP) and a set of gravity unloading device(GUD), is designed.Fourthly, the proposed disturbance torque model is validated by measuring and simulating the disturbance torque produced via SADA driving rigid load through GUD. The results indicate that, the proposed disturbance torque model holds the ability to describe the disturbance torque caused by SADA with high precision. Finally, the disturbance torque emitted by SADA driving a flexible load, designed to simulate solar array, is modeled and simulated via using fixed-interface mode synthesis method(FIMSM). All the conclusions drawn from this article do have a meaningful help for studying the disturbance torque produced by SADA driving solar array on orbit.展开更多
In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordin...In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordinated controller is designed to keep the closed-loop system states have a finite settling time bounded by some predefined constants.Secondly,another nonsingular terminal sliding mode surface is designed by combining the artificial potential function and the aforementioned sliding surface,which meets the mutual distance constraint during transition process among spacecraft when it is bounded.Then another coordinated controller with fixed-time observer considering mutual distance constraint is presented,which guarantees the closed-loop system states stable also in bounded settling time.Finally,simulation results are shown to validate the correctness of the proposed theorems.It is worth mentioning that the control schemes also work even though there is a properly limit on the control input.展开更多
文摘目的:利用图像引导设备研究三种固定装置对胸部肿瘤摆位误差大小的影响。方法:回顾性分析我科2015年3月1日至9月30日30例胸部肿瘤患者,三种体位固定方式各入组10例,应用Varian RapidArc Cone-Beam CT(CBCT)对所有入组胸部肿瘤患者进行图像验证,验证患者摆位误差,每例患者行CBCT 10次,共计300次,与原始定位CT图像进行比较,采取骨性配准,得出相应的摆位误差并记录。通过研究患者升降床方向(Vertical,Vrt),进出床方向(Longitudinal,Lng),左右方向(Lateral,Lat)的系统误差值、随机误差值、靶区的偏移量及≤5 mm摆位次数进行比较得出哪种固定方式有较大的优势。结果:三组患者(A组:热塑体模组;B组:负压真空袋组;C组:翼型板联合负压真空垫组)的摆位误差,通过两两比较我们可以发现C组为最优。三组不同固定方式在Vrt(升降床方向)、Lng(进出床方向)和Lat(左右方向)的摆位误差分别为A组(-0.12±0.42)cm、(-0.23±0.70)cm、(-0.04±0.39)cm;B组(0.23±0.31)cm、(-0.21±0.63)cm、(-0.03±0.37)cm;C组(0.23±0.33)cm、(0.05±0.41)cm、(0.06±0.33)cm。在Vrt方向的P值分别为A vs B:P=0.000、A vs C:P=0.000、B vs C:P=0.281;在Lng方向的P值分别为A vs B:P=0.007、A vs C:P=0.871、B vs C:P=0.004;在Lat方向的P值分别为A vs B:P=0.022、A vs C:P=0.489、B vs C:P=0.113。结论:胸部肿瘤放疗时不可避免存在一定程度摆位误差,为减少摆位误差影响,建议使用翼型板联合真空垫对胸部肿瘤患者进行固定。
文摘The disturbance torque generated via solar array drive assembly(SADA) can significantly degrade the key performance of satellite.The discussed SADA is composed of a two-phase hybrid stepping motor and a set of two-stage straight gear reducer. Firstly, the vibration equation of the two-phase hybrid stepping motor is established via simplifying and linearizing the electromagnetic torque.Secondly, based on the vibration equation established, the disturbance torque model of SADA is created via force analysis and force system simplification. Thirdly, for precisely ground measuring the disturbance torque aroused by SADA, a measurement system,including a strain micro-vibrations measurement platform(SMMP) and a set of gravity unloading device(GUD), is designed.Fourthly, the proposed disturbance torque model is validated by measuring and simulating the disturbance torque produced via SADA driving rigid load through GUD. The results indicate that, the proposed disturbance torque model holds the ability to describe the disturbance torque caused by SADA with high precision. Finally, the disturbance torque emitted by SADA driving a flexible load, designed to simulate solar array, is modeled and simulated via using fixed-interface mode synthesis method(FIMSM). All the conclusions drawn from this article do have a meaningful help for studying the disturbance torque produced by SADA driving solar array on orbit.
基金supported by the Major Program of Natural Science Foundation of China(No.61690210)the Science Fund for Excellent Young Scholars of Heilongjiang Province,China(No.YQ2020F007)National Natural Science Foundation of China(No.6191101340)。
文摘In this paper,the fixed-time stability of spacecraft formation reconfiguration(position tracking)is studied.Firstly,a novel nonsingular terminal sliding mode surface is designed and based on which a fixed-time coordinated controller is designed to keep the closed-loop system states have a finite settling time bounded by some predefined constants.Secondly,another nonsingular terminal sliding mode surface is designed by combining the artificial potential function and the aforementioned sliding surface,which meets the mutual distance constraint during transition process among spacecraft when it is bounded.Then another coordinated controller with fixed-time observer considering mutual distance constraint is presented,which guarantees the closed-loop system states stable also in bounded settling time.Finally,simulation results are shown to validate the correctness of the proposed theorems.It is worth mentioning that the control schemes also work even though there is a properly limit on the control input.
