Type synthesis of 6-DOF mobile parallel link mechanisms based on screw theory

Mobile parallel mechanisms (MPMs), which are parallel mechanisms with moveable bases, have previously been proposed to resolve the limited workspace of conventional parallel mechanisms. However, most previous studies on the subject focused on the kinematic analysis of some specific MPMs and did not discuss a type synthesis method for MPMs. With this in mind, we propose a screw theory-based type synthesis method to find out possible 6-degrees-of-freedom (DOF) MPM structures. In our proposed method, the 6-DOF mobility is divided into 3-DOF planar motion and 3-DOF spatial motion, both of which are realized by the transmitted planar motions of the driving units. Separately, the type synthesis of the entire MPM is divided into that of the driving unit and connecting chain. To realize 3-DOF spatial motion, two methods, applying singularity configuration and adding an additional chain, are proposed as ways to restrict undesired motions for the synthesis of the connecting chain. The driving unit is synthesized via the same type-synthesis method as the connecting chain by considering the driving unit as a planar mechanism. The method used to integrate the driving unit and the connecting chain was constructed based on whether the end pair of the connecting chain should be connected with the driving unit directly or driven by it through an actuating mechanism. As a result, 284 possible types of MPM structure are suggested and four examples of MPMs with six DOFs were synthesized to verify the feasibility of the proposed method

Rigid-foldable cylindrical origami with tunable mechanical behaviors

Rigid-foldable origami shows significant promise in advanced engineering applications including deployable structures, aerospace engineering, and robotics. It undergoes deformation solely at the creases during the folding process while maintaining rigidity throughout all facets. However, most types of cylindrical origami, such as Kresling origami, water-bomb origami, and twisted tower origami, lack rigid-foldability. Although shape transformation can be achieved through elastic folding, their limited rigid foldability constrains their engineering applications. To address this limitation, we proposed a type of cylindrical origami inspired by Kresling origami, named foldable prism origami (FP-ori), in this paper. FP-ori possesses not only rigid-foldability but also several tunable properties, including flat-foldability, self-locking, and bistability. The geometric properties of FP-ori were analyzed and the relationship between different parameters and tunable mechanical behaviors were verified through finite element method simulations, as well as experiments using paper models. Furthermore, we proposed stacked structures composed of multiple cubic FP-ori units, the rotation directions of which could be controlled through the combination arrangement. And drawing inspiration from kirigami, a negative Poisson’s ratio tessellation structure was created. These results indicated that FP-ori has substantial potential for broad application in engineering fields

Kinetic Analysis of Active Omni Wheel With Barrel-Shaped Rollers for Avoiding Slippage and Vibration

Paper No: JMR-23-1080Omnidirectional mobility is required for the efficient movement of transport vehicles in factories and warehouses. To meet this requirement, the active omni wheel with barrel-shaped rollers (AOWBR) was previously proposed. The barrel-shaped rollers are arranged around the outer circumference of the main wheel of the AOWBR. This structure is expected to be effective in suppressing vibration during vehicle movement. The transmission roller drives the outer roller via a friction drive, which actively moves the AOWBR in the lateral direction. However, the friction drive may cause slippage between the transmission roller and the outer roller. To solve this problem, this study investigates the effects of the design parameters for an AOWBR on vibration and wheel slippage. The kinetic models of the wheel main body, transmission roller, and outer roller are established. Then, simulations are carried out using the kinetic models for various structural parameter values. The simulation results show that a softer rubber block installed in the support mechanism of the outer roller contributes to reduce wheel slippage but cause larger vibration, and that a larger setting angle between the transmission and outer rollers contributes to reduce slippage and vibration. Finally, comparison experiments are conducted on two types of prototype to verify the simulation results

Identification of optimal endogenous reference RNAs for RT-qPCR normalization in hindgut of rat models with anorectal malformations

Background Quantitative real-time polymerase chain reaction (RT-qPCR) is a sensitive method for quantifying mRNA abundance. With relative expression analysis, however, reliable data output is dependent on stably expressed reference genes across the samples being studied. In anorectal malformations (ARMs), there is limited data on the selection of appropriate reference genes. Purpose This study was aimed to investigate the optimal reference genes for PCR in ARM rat models. Methods We selected 15 commonly used reference genes (Rps18, Actb, B2m, Gapdh, Ppia, Hprt1, Pgk1, Ywhaz, Tbp, Ubc, Rps16, Rpl13a, Rplp1, Sdha, and Hmbs) as candidate reference genes and detected their mRNA expression in ARM samples by RT-qPCR. The expression stability and variability of these transcripts were subsequently evaluated using four methods (geNorm, NormFinder, comparative ΔCt, and BestKeeper). Results The abundance of the candidate reference genes was qualified by RT-qPCR and the cycle threshold (Ct) values ranged between 14.07 (Rplp1) and 21.89 (Sdha). In the overall candidate genes, different variations existed across the different algorithms. A comprehensive analysis revealed that Rpl13a ranked first among the relatively stable genes, followed by Ywhaz, Rps18, Sdha, and Hmbs. Conclusions The most stable reference genes for RT-qPCR were Rpl13a, Ywhaz, and Rps18 in ETU-induced ARMs in rat fetus. This study provided a foundation for reference gene selection for future gene expression analyses

車輪式移動ロボットのスクリュー理論に基づく総合法と動力学的挙動に関する研究

京都大学新制・課程博士博士(工学)甲第23884号工博第4971号新制||工||1776(附属図書館)京都大学大学院工学研究科機械理工学専攻(主査)教授 小森 雅晴, 教授 松野 文俊, 教授 藤本 健治学位規則第4条第1項該当Doctor of Philosophy (Engineering)Kyoto UniversityDGA

Progress in Purification Technology, Structure and Functional Activity of Ginger Polysaccharide

Ginger, as a rich herb resource in China, has played an important role in food and medicine since ancient times. It is also known as a medicinal and edible homologous plant that possesses unique medical and nutritional values. Ginger polysaccharide is considered one of the most important bio-active components in ginger, which have attracted many attentions for various of bioactivities. In this review, the methods of extraction and purification of polysaccharide, as well as structural characteristics are discussed, what’s more, functional properties including antioxidant, immunity regulatory, anti-tumor and their influencing factors are reviewed. It is expected to provide valuable reference for further research and industrial application of ginger polysaccharide

The research status and prospects of MUC1 in immunology

In immune processes, molecular – molecular interactions are complex. As MUC1 often appears to be an important molecule in inflammation and tumor immunity, it is necessary to summarize the leading countries, authors, journals, and the cooperation among these entities and, most importantly, to determine the main research directions related to MUC1 in this field and the associated research frontiers. A total of 3,397 related studies published from 2012–2021 were retrieved from the Web of Science core database. The search strategy is TS= (MUC1 OR Mucin-1) refined by WEB OF SCIENCE CATEGORY (IMMUNOLOGY) AND [excluding] PUBLICATION YEARS: (2022) AND DOCUMENT TYPES: (ARTICLE OR REVIEW) AND LANGUAGES: (ENGLISH) AND WEB OF SCIENCE INDEX: (Web of Science Core Collection. SCI), with a timespan of 2012 to 2021. Documented bibliometric visual analysis was performed by CiteSpace and VOSviewer. The number of studies has increased every year. There are 1,982 articles and 1,415 reviews from 89 countries and regions, 3,722 organizations, 1,042 journals, and 17,948 authors. The United States, China, and Germany are the major countries producing publications on this issue. The most published author is Finn OJ and the most influential author is June CH. The key words “chimeric antigen receptor” and “T-cell” highlight the current hot spots and future trends in this field. Research on MUC1 in the field of immunology is still evolving. Through the bibliometric analysis of the existing publications, the current research hotspots and future development trends in this field can be obtained