Finite element analysis and experiments of saw chip formation for bearing steel GCr15 in hard cutting process

The major characteristic is easy to produce saw chip in hard cutting process; the deformation process of chip has a huge impact on machining. Aimed at the generation of saw chip for the hardened bearing steel GCr15 in hard cutting process, the finite element model of 2D orthogonal cutting was built based on DEFORM, which made the simulation analysis on the distribution change the rule of stress field, strain field, temperature field and dynamic cutting force. Based on the method of hard cutting experiment combined with the 2D cutting finite element simulation and the chip cross-sectional microscopic analysis, this paper researched the deformation mechanism of saw chip forming process. When shear instability happened, the cutting tool squeezed the cut layer, and made the deformation and temperature higher on the tip of the cutting tool, which was easy to form the heat softening area. It appeared overload by reducing the loaded area of the chip root sliding area due to the heat softening area exist, the primary cause of saw chip formation is periodic adiabatic shear fracture for the hardened bearing steel GCr15. The deformation process of saw chip can be divided into the follow three stages: the cutting material changed trapezoid, adiabatic sheared slip, continued to slip formed chip unit

Early-onset pancreatic neuroendocrine neoplasms: A distinct disease with improved survival compared with old individuals

BackgroundThe incidence, clinicopathologic characteristics, treatment patterns, and survival of early-onset pancreatic neuroendocrine neoplasms (EOPanNENs) have not been well explored.MethodsPatients diagnosed with PanNENs were identified from the SEER database between 2000 and 2018. EOPanNENs were defined as diagnosis in patients aged less than 50 years, while the remaining were defined as later-onset pancreatic neuroendocrine neoplasms (LOPanNENs). Incidence, clinical features, management, and prognosis were analyzed in our study. Multivariable analyses were performed to identify factors associated with overall survival (OS) in EOPanNENs and LOPanNENs, respectively.ResultsA total of 5172 patients with PanNENs were included: 1267 (24.5%) in the EOPanNENs cohort and 3905 (75.5%) in the LOPanNENs cohort. The age-adjusted incidence rate significantly increased among later-onset cases, while it remained relatively stable in early-onset cases. EOPanNENs were more frequently to be female, unmarried, and with better tumor differentiation compared with LOPanNENs. Of note, early-onset patients presented with a higher rate of lymph node involvement, and they were more likely to receive surgical treatment. For local-regional disease at presentation, surgery alone was the most frequently used regimen over the last two decades. With regard to distant stage, a combination of surgery and chemotherapy was more often utilized. Risk factors for PanNENs survival were more correlated with LOPanNENs compared with EOPanNENs. The OS and cancer-specific survival (CSS) were significantly better in the EOPanNENs group. Further analyses showed that EOPanNENs ≤ 2cm were associated with more favorable survival outcomes than EOPanNENs>2cm.ConclusionEOPanNENs are a clinically rare and distinct entity from LOPanNENs. The advantages in survival for the EOPanNENs cohort over time were largely driven by the indolent clinical courses including better tumor differentiation and intensified surgical treatment. Further investigations are warranted to better understand the characteristics of this disease subgroup

Robust Control of An Aerial Manipulator Based on A Variable Inertia Parameters Model

Aerial manipulator, which is composed of an UAV (Unmanned Aerial Vehicle) and a multi-link manipulator and can perform aerial manipulation, has shown great potential of applications. However, dynamic coupling between the UAV and the manipulator makes it difficult to control the aerial manipulator with high performance. In this paper, system modeling and control problem of the aerial manipulator are studied. Firstly, an UAV dynamic model is proposed with consideration of the dynamic coupling from an attached manipulator, which is treated as disturbance for the UAV. In the dynamic model, the disturbance is affected by the variable inertia parameters of the aerial manipulator system. Then, based on the proposed dynamic model, a disturbance compensation robust $H_{\infty}$ controller is designed to stabilize flight of the UAV while the manipulator is in operation. Finally, experiments are conducted and the experimental results demonstrate the feasibility and validity of the proposed control scheme

Fault Tolerant Free Gait and Footstep Planning for Hexapod Robot Based on Monte-Carlo Tree

Legged robots can pass through complex field environments by selecting gaits and discrete footholds carefully. Traditional methods plan gait and foothold separately and treat them as the single-step optimal process. However, such processing causes its poor passability in a sparse foothold environment. This paper novelly proposes a coordinative planning method for hexapod robots that regards the planning of gait and foothold as a sequence optimization problem with the consideration of dealing with the harshness of the environment as leg fault. The Monte Carlo tree search algorithm(MCTS) is used to optimize the entire sequence. Two methods, FastMCTS, and SlidingMCTS are proposed to solve some defeats of the standard MCTS applicating in the field of legged robot planning. The proposed planning algorithm combines the fault-tolerant gait method to improve the passability of the algorithm. Finally, compared with other planning methods, experiments on terrains with different densities of footholds and artificially-designed challenging terrain are carried out to verify our methods. All results show that the proposed method dramatically improves the hexapod robot's ability to pass through sparse footholds environment

Rotor-Flying Manipulator: Modeling, Analysis, and Control

Equipping multijoint manipulators on a mobile robot is a typical redesign scheme to make the latter be able to actively influence the surroundings and has been extensively used for many ground robots, underwater robots, and space robotic systems. However, the rotor-flying robot (RFR) is difficult to be made such redesign. This is mainly because the motion of the manipulator will bring heavy coupling between itself and the RFR system, which makes the system model highly complicated and the controller design difficult. Thus, in this paper, the modeling, analysis, and control of the combined system, called rotor-flying multijoint manipulator (RF-MJM), are conducted. Firstly, the detailed dynamics model is constructed and analyzed. Subsequently, a full-state feedback linear quadratic regulator (LQR) controller is designed through obtaining linearized model near steady state. Finally, simulations are conducted and the results are analyzed to show the basic control performance

High-risk histological subtype-related FAM83A hijacked FOXM1 transcriptional regulation to promote malignant progression in lung adenocarcinoma

Background According to the histopathology, lung adenocarcinoma (LUAD) could be divided into five distinct pathological subtypes, categorized as high-risk (micropapillary and solid) group, intermediate-risk (acinar and papillary) group, and low-risk (lepidic) group. Despite this classification, there is limited knowledge regarding the role of transcription factors (TFs) in the molecular regulation of LUAD histology patterns. Methods Publish data was mined to explore the candidate TFs associated with high-risk histopathology in LUAD, which was validated in tissue samples. Colony formation, CCK8, EdU, transwell, and matrigel assays were performed to determine the biological function of FAM83A in vitro. Subcutaneous tumor-bearing in BALB/c nude mice and xenograft perivitelline injection in zebrafish were utilized to unreal the function of FAM83A in vivo. We also performed chromatin immunoprecipitation (ChIP), dual-luciferase reporter, and rescue assays to uncover the underline mechanism of FAM83A. Immunohistochemistry (IHC) was performed to confirm the oncogenic role of FAM83A in clinical LUAD tissues. Results Screening the transcriptional expression data from TCGA-LUAD, we focus on the differentially expressed TFs across the divergent pathological subtypes, and identified that the expression of FAM83A is higher in patients with high-risk groups compared with those with intermediate or low-risk groups. The FAM83A expression is positively correlated with worse overall survival, progression-free survival, and advanced stages. Gain- and loss-of-function assays revealed that FAM83A promoted cell proliferation, invasion, and migration of tumor cell lines both in vivo and in vitro. Pathway enrichment analysis shows that FAM83A expression is significantly enriched in cell cycle-related pathways. The ChIP and luciferase reporter assays revealed that FAM83A hijacks the promoter of FOXM1 to progress the malignant LUAD, and the rescue assay uncovered that the function of FAM83A is partly dependent on FOXM1 regulation. Additionally, patients with high FAM83A expression positively correlated with higher IHC scores of Ki-67 and FOXM1, and patients with active FAM83A/FOXM1 axis had poor prognoses in LUAD. Conclusions Taken together, our study revealed that the high-risk histological subtype-related FAM83A hijacks FOXM1 transcriptional regulation to promote malignant progression in lung adenocarcinoma, which implies targeting FAM83A/FOXM1 is the therapeutic vulnerability