Design and fabrication of uncemented femoral prosthesis using CAD/CAM/Robotic integration method

背景:生物型股骨柄假体无菌松动是全髋关节置换失败的主要因素,减少无菌松动的先决条件是增加股骨柄假体在股骨髓腔中的填充率。目的:得到定制式股骨柄假体在髓腔中的填充率,验证计算机辅助设计/计算机辅助制造/工业机器人加工(CAd/CAM/rObOTIC)集成方法和机器人磨削的有效性。方法:利用CT数据重建股骨髓腔三维模型,在此三维模型基础上设计股骨柄假体的柄体,依据标准直柄股骨柄假体近端模型设计股骨柄假体的其余部分。将设计的股骨柄假体模型导入CAd/CAM/rObOTIC集成系统生成机器人磨削轨迹,利用该轨迹对股骨柄假体进行磨削加工。将加工好的股骨柄假体与股骨髓腔匹配,分析股骨柄假体在髓腔中的填充率。结果与结论:实验结果表明,定制式股骨柄假体在髓腔中有良好的填充率,髓腔的解剖结构可以阻止股骨柄假体的扭转,获得股骨柄假体在髓腔中的稳定固定。BACKGROUND: In total hip replacements, aseptic loosening of uncemented femoral hip prosthesis is the main reason for the failure of artificial hip replacement, the prerequisite of reducing aseptic loosening of prosthesis is to increase filling area of femoral prosthesis in femoral cavity.OBJECTIVE: To obtain the filling rate of customized femoral prosthesis in femoral cavity and verify the validity of the methods of CAD/CAM/Robotic integration and the robot grind.METHODS: In this paper, the CT data of femur were used to reconstruct three-dimensional model of femoral cavity.According to this model, a custom uncemented femoral hip prosthesis was designed, then the model of this custom prosthesis was imported into the CAD/CAM/Robotic software to generate cut path.After the cut path was imported into the robotic controller, the custom prosthesis can be fabricated, then this custom prosthesis was inserted into the femoral cavity, and the filling result of the custom prosthesis in femoral cavity was analyzed.RESULTS AND CONCLUSION: The experiment results showed that the customized prosthesis in femoral cavity achieved good filling result, the structure of femoral cavity resisted the rotation of the customized prosthesis in femoral cavity, and the customized prosthesis obtained stable fixation in the femoral cavity

Long-range Correlation in the Dissipative Heavy Ion Collisions

本论文介绍了重离子耗散反应产物激发函数中能量结构研究的概况及相关的理论模型，描述了重离子耗散反应激发函数测量实验的基本技术和数据分析方法，并着重分析了19F+27Al耗散反应产物激发函数之间的关联特性。重离子耗散反应产物激发函数的涨落结构研究，是分析重离子耗散反应中各物理量随时间的演化过程的有效方法。本论文报道了实验室系110.25―118.75MeV 19F+27Al耗散反应产物激发函数测量的实验结果，通过对激发函数的涨落结构进行关联函数分析，结合有关理论模型，探讨了耗散反应产物激发函数的能量结构的物理本质。 19F+27Al耗散反应中，不同角度测量到的类弹产物的激发函数之间存在强烈的关联，当出射产物在质心系180±对称时，这种关联有一个极大值。以“时间―功率谱”方法分析数据，运用态叠加原理和宇称守恒在弹靶核组成的中间双核系统的演化过程中，可以合理地解释观测到的实验现象，阐述耗散反应中长程角度关联的物理本质。 19F+27Al耗散反应中，同一角度测量到的不同类弹产物的激发函数之间也存在着强烈的关联。这种关联随着耗散程度的加深而减弱，它与耗散反应的“弛豫”过程是一致的。耗散反应中的这种关联起源于弹靶核组成的中间双核系统中不同角动量之间的干涉以及中间双核系统极其缓慢的退相干过程本论文介绍了重离子耗散反应产物激发函数中能量结构研究的概况及相关的理论模型，描述了重离子耗散反应激发函数测量实验的基本技术和数据分析方法，并着重分析了19F+27Al耗散反应产物激发函数之间的关联特性。重离子耗散反应产物激发函数的涨落结构研究，是分析重离子耗散反应中各物理量随时间的演化过程的有效方法。本论文报道了实验室系110.25―118.75MeV 19F+27Al耗散反应产物激发函数测量的实验结果，通过对激发函数的涨落结构进行关联函数分析，结合有关理论模型，探讨了耗散反应产物激发函数的能量结构的物理本质。 19F+27Al耗散反应中，不同角度测量到的类弹产物的激发函数之间存在强烈的关联，当出射产物在质心系180±对称时，这种关联有一个极大值。以“时间―功率谱”方法分析数据，运用态叠加原理和宇称守恒在弹靶核组成的中间双核系统的演化过程中，可以合理地解释观测到的实验现象，阐述耗散反应中长程角度关联的物理本质。 19F+27Al耗散反应中，同一角度测量到的不同类弹产物的激发函数之间也存在着强烈的关联。这种关联随着耗散程度的加深而减弱，它与耗散反应的“弛豫”过程是一致的。耗散反应中的这种关联起源于弹靶核组成的中间双核系统中不同角动量之间的干涉以及中间双核系统极其缓慢的退相干过

ROBOT TRANSITION CONTROL BASED ON STATES FEEDBACK

针对机器人从自由空间运动控制过渡到约束空间力控制的过程中，存在冲撞、振荡甚至不稳定等问题，提出了利用加速度反馈为力控制提供阻尼，克服单纯依靠速度反馈的局限，进而稳定力控制系统的方法．这种方法不增加系统的复杂性，易于实现．本文对控制系统结构及控制策略作了分析．在一个直接驱动关节上的实验结果证明了本文分析的正确性，与只采用速度反馈的接触力控制相比，显示了这种方法的有效性

Harmonic driving device based on sensor

本实用新型涉及机电驱动,具体说是一种基于传感器的谐波驱动装置。由电机、连轴结、谐波减速器组成,其中所述电机上装有编码器,安装于机座上,其输出轴通过连轴结与谐波减速器相耦合,还包括力矩传感器、附加连杆及加速度传感器,在谐波减速器与负载之间安装一力矩传感器,在谐波减速器的输出端安装一附加连杆,附加连杆上设有两个测量驱动装置转动加速度用的加速度传感器。它抗干扰和逆向可驱动能力强,轨迹跟踪精度高,结构简单

重离子弹性散射中的角分散研究

简要评述了重离子弹性散射角分散研究的内容、方法及物理意义。通过前角区重离子弹性散射产物微分截面的角分布测量,作出角分散图ln(dσ/dθ)-θ2。分析经典偏转函数,从而在实验上确定了反应系统的核虹角。在低能、重靶的重离子反应系统中,核虹角远小于擦边角。晕核及弱束缚核比稳定核具有更小的核虹角和更大的核相互作用范围。经典偏转函数的计算有助于提供一套光学势参数,以便于拟合弹性散射产物的微分截面

Research on resisting the vibration of harmonic drive system by using acceleration feedback control

在分析谐波传动系统特性的基础上，建立了谐波传动系统的基于加速度传感器反馈控制的数学模型，通过仿真分析和实验研究结果表明，加速度反馈控制能有效地换制谐波传动系统负载端的振动

Trajectory generation in relative velocity coordinates using mixed integer linear programming with IHDR guidance

Mixed-integer linear programming (MILP) for trajectory generation of mobile robot suffers from nonlinear constraints due to complex obstacle contours and dynamic environment. In this paper, firstly, we introduce a relative velocity coordinates MILP (RVCs-MILP) for solving the nonlinear constraints problem in the trajectory generation of the target pursuit and multiple-obstacle avoidance (TPMOA). The computational load of the RVCs-MILP does not increase with the complexity of obstacle contour but only relates to the number of the obstacles. It can be applied in real time when the number of the obstacles is small. For the large numbers of obstacles avoidance, further, we propose an IHDR based online learning mechanism. It sets up a "scenario-action mapping" knowledge base by continuously offline training and online updating. For a trajectory generation task, it will search a best match path of the current state in the knowledge base according to the external environments and the state of the robot in real time. Simulations are presented in comparison with the evolution algorithms (EA) and IHDR. The former shows significant improvement in a number of aspects. The latter confirms the validation of the proposed IHDR methods

a practical hierarchical key management scheme based on one-way hash function

针对等级角色的权限管理和访问控制,形式化地定义与分析了等级密钥管理问题,提出了一个基于单向散列函数的实用的等级密钥管理方案.该方案允许各等级角色自主选择主密钥,并利用安全的单向散列函数和公开的辅助参数构造角色间的等级权限关系,其密钥生成与密钥推导过程简单快捷,能够有效地满足等级系统权限管理的安全需求.与目前已有的等级密钥管理方案相比较,密钥推导效率及存储开销均有所优化,同时能够更好地适应等级角色访问控制的动态变化

Contact transition and force tracking control with joint acceleration feedback damping

Joint acceleration feedback control of high bandwidth is employed to damp oscillations during both the contact transition and force tracking phase. In this control scheme, a classical integral force controller is refined by means of joint acceleration and velocity feedback. This is intended to achieve a stable contact transition without need for adjusting the controller parameters adaptive to the unknown or changing environments, and also to stabilize the force tracking control in the presence of abrupt disturbances during the post-contact phase. Extensive experiments are conducted on the third joint of a three-link direct-drive robot to verify the proposed scheme for various stiffness of the contacted environments, including elastic (sponge) less elastic (cardboard) and hard (steel plate) surfaces. Results are compared with experimental ones by transition control without acceleration feedback