Dynamic responses of a 2R manipulator in zero-gravity state excited by ender impacts and base motions

In this paper dynamic responses of a 2R manipulator which operates in zero-gravity state of out-space station are studied, specially considering both the impacts which are applied on its link ender and the base motion excitation. The ender impact and joint impact refer to the forces induced by capturing free-flying target or sudden locked of joint respectively, whereas the base motion excitation of the manipulator refers to the motion of its attached spacecraft. Firstly the governing equations of the 2R manipulator subjected to above two categories of excitations are established. The joint frictions are also included and expressed by Stribeck friction model together with flexible stiffnesses of joints. Numerical simulations of the dynamic model of the system under different cases of impact and base motion excitations show that the dynamic behaviors of the ender of the manipulator are differently described by both transient trajectories in time-domain and amplitude-frequency spectra in frequency domain

Design, Analysis and Testing of Piezoelectric Tool Actuator for Elliptical Vibration Cutting

In the field of ultraprecision machining, the structured surfaces with various micro/nano characteristics may have different advanced functions, such as wettability modifications, tribological control and hybrid micro-optics. However, the machining of micro/nano structured surfaces is becoming a challenge for present cutting method. Especially for the difficult-to-cut materials, it is impossible to manufacture complex micro/nano features by using traditional cutting methods. The complex features require a cutting tool no longer confined to the traditional motion guide. The cutting tool should have more quick response velocity and flexible modulated ability. This chapter aims to make an introduction for piezoelectric tool actuator used in elliptical vibration cutting, which can be offering tertiary cutting operations with quick response and flexible modulated ability. The content covers the working principle of piezoelectric tool actuator, compliant mechanism design, static modeling, kinematic and dynamic modeling, structure optimization and offline testing

RaBit: Parametric Modeling of 3D Biped Cartoon Characters with a Topological-consistent Dataset

Assisting people in efficiently producing visually plausible 3D characters has always been a fundamental research topic in computer vision and computer graphics. Recent learning-based approaches have achieved unprecedented accuracy and efficiency in the area of 3D real human digitization. However, none of the prior works focus on modeling 3D biped cartoon characters, which are also in great demand in gaming and filming. In this paper, we introduce 3DBiCar, the first large-scale dataset of 3D biped cartoon characters, and RaBit, the corresponding parametric model. Our dataset contains 1,500 topologically consistent high-quality 3D textured models which are manually crafted by professional artists. Built upon the data, RaBit is thus designed with a SMPL-like linear blend shape model and a StyleGAN-based neural UV-texture generator, simultaneously expressing the shape, pose, and texture. To demonstrate the practicality of 3DBiCar and RaBit, various applications are conducted, including single-view reconstruction, sketch-based modeling, and 3D cartoon animation. For the single-view reconstruction setting, we find a straightforward global mapping from input images to the output UV-based texture maps tends to lose detailed appearances of some local parts (e.g., nose, ears). Thus, a part-sensitive texture reasoner is adopted to make all important local areas perceived. Experiments further demonstrate the effectiveness of our method both qualitatively and quantitatively. 3DBiCar and RaBit are available at gaplab.cuhk.edu.cn/projects/RaBit.Comment: CVPR 2023, Project page: https://gaplab.cuhk.edu.cn/projects/RaBit

Immune checkpoints expression patterns in early-stage triple-negative breast cancer predict prognosis and remodel the tumor immune microenvironment

BackgroundCurrently, targeting immune checkpoint molecules holds great promise for triple-negative breast cancer (TNBC). However, the expression landscape of immune checkpoint genes (ICGs) in TNBC remains largely unknown.MethodHerein, we systematically investigated the ICGs expression patterns in 422 TNBC samples. We evaluated the ICGs molecular typing based on the ICGs expression profile and explored the associations between ICGs molecular subtypes and tumor immune characteristics, clinical significance, and response to immune checkpoint inhibitors (ICIs).ResultsTwo ICGs clusters and two ICGs-related gene clusters were determined, which were involved in different survival outcomes, biological roles and infiltration levels of immune cells. We established a quantification system ICGs riskscore (named IRS) to assess the ICGs expression patterns for individuals. TNBC patients with lower IRS were characterized by increased immune cell infiltration, favorable clinical outcomes and high sensitivity to ICIs therapy. We also developed a nomogram model combining clinicopathological variables to predict overall survival in TNBC. Genomic feature analysis revealed that high IRS group presented an increased tumor mutation burden compared with the low IRS group.ConclusionCollectively, dissecting the ICGs expression patterns not only provides a new insight into TNBC subtypes but also deepens the understanding of ICGs in the tumor immune microenvironment

A nonlinear analytical model of composite plate structure with an MRE function layer considering internal magnetic and temperature fields

To better exert the vibration suppression effect of magnetorheological elastomer (MRE) embedded into a composite structure with structural and functional integration advantage, this study proposes a nonlinear analytical model of such composite plate with an MRE function (MREF) layer, accounting for internal magnetic and temperature fields for the first time. Initially, a 9-layer fiber metal laminated (FML) plate with the MREF composites, consisting of two layers of metal protective skins, two layers of fiber-reinforced polymer (FRP) and one layer of MREF, is taken as an example to describe such a modelling method. Nonlinear expressions of elastic moduli of MRE and FRP involving thermal and magnetic fitting coefficients are also proposed, followed by derivation of the energy expressions of the constituent layers by the Rayleigh-Ritz method. After the free and forced vibrations are solved, the identification procedure of fitting coefficients is described and some literature results are employed to preliminarily validate this model without consideration of internal magnetic field or temperature field or both. Finally, dynamic experiments under different magnetic and temperature conditions are undertaken. The detailed comparison of the natural frequencies and resonant responses are conducted to provide a solid validation of the model developed. It has been found that enlarging the magnetic and temperature fields both facilitate the improvement of the anti-vibration performance. Also, by further increasing the shear modulus of MRE, the volume fraction of carbonyl iron particles or the thickness ratio of the MRE layer to the overall structure, a better vibration suppression capability can be obtained

Clinical Study Efficacy of Combined Laparoscopic and Hysteroscopic Repair of Post-Cesarean Section Uterine Diverticulum: A Retrospective Analysis

Background. Diverticulum, one of the long-term sequelae of cesarean section, can cause abnormal uterine bleeding and increase the risk of uterine scar rupture. In this study, we aimed to evaluate the efficacy of combined laparoscopic and hysteroscopic repair, a newly occurring method, treating post-cesarean section uterine scar diverticulum. Methods. Data relating to 40 patients with post-cesarean section uterine diverticulum who underwent combined laparoscopic and hysteroscopic repair were retrospectively analyzed. Preoperative clinical manifestations, size of uterine defects, thickness of the lower uterine segment (LUS), and duration of menstruation were compared with follow-up findings at 1, 3, and 6 months after surgery. Results. The average preoperative length and width of uterine diverticula and thickness of the lower uterine segment were recorded and analyzed. The average durations of menstruations at 1, 3, and 6 months after surgery were significantly shorter than the preoperative one ( < 0.05), respectively. At 6 months after surgery, the overall success improvement rate of surgery was 90% (36/40). Three patients (3/40 = 7.5%) developed partial improvement, and 1/40 (2.5%) was lost to follow-up. Conclusions. Our findings showed that combined treatment with laparoscopy and hysteroscopy was an effective method for the repair of post-cesarean section uterine diverticulum

Dual Antiplatelet Treatment up to 72 Hours after Ischemic Stroke

BackgroundDual antiplatelet treatment has been shown to reduce recurrence of stroke compared to aspirin alone when initiated early after an acute stroke. The effect of clopidogrel and aspirin versus aspirin alone within 72 hours of acute cerebral ischemia from atherosclerosis has not been well studied.MethodsWe conducted a randomized, double-blind, placebo-controlled, 2-by-2 factorial trial in patients with mild ischemic stroke or high-risk transient ischemic attack (TIA) of presumed atherosclerotic cause, not receiving thrombolysis or thrombectomy in 222 hospitals in China. Patients were randomly assigned within 72 hours after symptom onset in a 1:1 ratio, to receive clopidogrel (300mg on day 1, 75mg daily on days 2-90) and aspirin (100-300mg on day1, 100mg daily on days 2-21), or clopidogrel placebo and aspirin (100-300mg on day1, 100mg daily on days 2-90). There was no interaction between this component of the factorial trial design trial and a second part that tested immediate vs delayed stain treatment and is reported separately. The primary efficacy outcome was a new stroke, and the primary safety outcome was moderate-to-severe bleeding, both within 90 days.ResultsA total of 6100 patients were enrolled, 3050 assigned to each trial group. The qualifying event for enrollment was TIA in 13%. Approximately 13% of patients were assigned to a treatment group within 24 hours and 87% were assigned between 24 and 72 hours of onset of stroke. A new stroke occurred in 222 (7.3%) in the clopidogrel-aspirin group, and 279 (9.2%) in the aspirin group (hazard ratio, 0.79; 95% confidence interval [CI], 0.66-0.94; P=0.008). Moderate-to-severe bleeding occurred in 27 (0.9%) and 13 patients (0.4%), respectively (hazard ratio, 2.08; 95% CI, 1.07-4.04, P=0.03).ConclusionsAmong patients with mild ischemic stroke or high-risk TIA of presumed atherosclerotic cause, combined clopidogrel-aspirin initiated within 72 hours of onset was superior to aspirin alone in reducing the risk of new stroke at 90 days but was associated with a low but increased risk of moderate-to-severe bleeding