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A systematic graph-based method for the kinematic synthesis of non-anthropomorphic wearable robots for the lower limbs

Fabrizio SERGI, Dino ACCOTO, Nevio L. TAGLIAMONTE, Giorgio CARPINO, Eugenio GUGLIELMELLI

《机械工程前沿（英文）》 2011年第6卷第1期页码 61-70 doi: 10.1007/s11465-011-0206-2

摘要：

The choice of non-anthropomorphic kinematic solutions for wearable robots is motivated both by the necessity of improving the ergonomics of physical Human-Robot Interaction and by the chance of exploiting the intrinsic dynamical properties of the robotic structure so to improve its performances. Under these aspects, this new class of robotic solutions is potentially advantageous over the one of anthropomorphic robotic orthoses. However, the process of kinematic synthesis of non-anthropomorphic wearable robots can be too complex to be solved uniquely by relying on conventional synthesis methods, due to the large number of open design parameters. A systematic approach can be useful for this purpose, since it allows to obtain the complete list of independent kinematic solutions with desired properties. In this perspective, this paper presents a method, which allows to generalize the problem of kinematic synthesis of a non-anthropomorphic wearable robot for the assistance of a specified set of contiguous body segments. The methodology also includes two novel tests, specifically devised to solve the problem of enumeration of kinematic structures of wearable robots: the HR-isomorphism and the HR-degeneracy tests. This method has been implemented to derive the atlas of independent kinematic solutions suitable to be used for the kinematic design of a planar wearable robot for the lower limbs.

关键词： assistive robotics non-anthropomorphic wearable robots topology kinematic synthesis HR-isomorphism test HR-degeneracy test

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Key stakeholders’ perspectives on the ideal partnering culture in construction projects

LÜHR, Marian G. C. BOSCH-REKVELDT, Mladen RADUJKOVIC

《工程管理前沿（英文）》 2022年第9卷第2期页码 312-325 doi: 10.1007/s42524-020-0135-z

摘要： This paper examines the current state of project cultures in the German turnkey construction industry and the ideal project cultures in terms of partnering from the perspective of various key stakeholders (i.e., Investors, General Contractors, (Sub-)Contractors and Designers). To investigate the current and ideal cultures, data were gathered among the key stakeholders by means of a survey study with 72 respondents divided over 12 companies. The respondents rated the current and desired cultures by using the Organizational Culture Assessment Instrument, which belongs to the Competing Values Framework. The investigations show many similarities and differences between the stakeholder perspectives of the current and the idealized partnering project cultures. Mainly, the General Contractors desire more cooperative behaviors than the (Sub-)Contractors, and the Investors desire more pronounced flexibility than the General Contractors. All stakeholders desire a cultural change from highly competitive behaviors toward more cooperation. Changes in terms of clear procedures or more flexibility are only desired by the Designers. Defining both the current and an ideal partnering project culture enables academics and project managers to compare their actual project cultures to an ideal situation. With such an approach, academics and project managers could measure whether new tools or changes in resources affect their project cultures toward a partnering project culture.

关键词： project culture organisational culture partnering construction culture stakeholder perspectives German

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电磁防护仿生原理与故障自修复机制研究

原亮,满梦华,常小龙

《中国工程科学》 2014年第16卷第3期页码 76-85

摘要：

借鉴生物神经网络信息传递的抗扰特点，开展了电磁干扰环境下通过仿生方式进行的电子电路抗扰与防护研究，以便采用新原理、新技术和新方法解决传统的电磁干扰防护手段不足的问题。通过基于布尔模型的复杂生物网络拓扑建模与简并特征分析，证明了网络简并性与功能鲁棒性之间的相互作用关系，以解决抗扰原理问题；通过构建基于神经元电路和可塑突触电路的神经网络电路模型，分析了突触权重的分布对于网络自修复特性的影响，以解决防护机制问题。进而，为电磁防护仿生原理及自修复机制的深入研究形成了一定的理论基础并完成了前期实践。

关键词：仿生学电磁仿生电磁防护简并性可塑性鲁棒性

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Mechanical performance analysis and stiffness test of a new type of suspension bridge

《结构与土木工程前沿（英文）》 2021年第15卷第5期页码 1160-1180 doi: 10.1007/s11709-021-0760-6

摘要： A new type of suspension bridge is proposed based on the gravity stiffness principle. Compared with a conventional suspension bridge, the proposed bridge adds rigid webs and cross braces. The rigid webs connect the main cable and main girder to form a truss that can improve the bending stiffness of the bridge. The cross braces connect the main cables to form a closed space truss structure that can improve the torsional stiffness of the bridge. The rigid webs and cross braces are installed after the construction of a conventional suspension bridge is completed to resist different loads with different structural forms. A new type of railway suspension bridge with a span of 340 m and a highway suspension bridge with a span of 1020 m were designed and analysed using the finite element method. The stress, deflection of the girders, unbalanced forces of the main towers, and natural frequencies were compared with those of conventional suspension bridges. A stiffness test was carried out on the new type of suspension bridge with a small span, and the results were compared with those for a conventional bridge. The results showed that the new suspension bridge had a better performance than the conventional suspension bridge.

关键词： new type of suspension bridge stiffness test mechanical performance railway bridge space truss

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Mixed mode properties of CNT reinforced composites using Arcan test rig

Jacob MUTHU

《结构与土木工程前沿（英文）》 2015年第9卷第4期页码 397-404 doi: 10.1007/s11709-015-0321-y

摘要： Composite materials reinforced with carbon nanotubes were mechanical tested using Arcan test rig under Mode-I, Mode-II and mixed mode loading conditions to obtain their fracture properties. The butterfly composite specimens were fabricated with 0.02, 0.05 and 0.1 wt % CNTs. The polyester/CNT composite was fabricated using VRTM (Vacuum Resin Transfer Molding) where the CNTs were first functionalised to reach an optimum properties. Arcan test rig was designed and fabricated to work with the Shimadzu testing machine. The results show that the functionalised CNTs have improved the fracture behavior by acting as bridge between the cracked face. In addition, the fracture properties were not improved for the higher weight fraction of 0.1 wt% CNTs.

关键词： CNT composites Arcan test rig stress intensity factor

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Accelerated life-time test of MEA durability under vehicle operating conditions in PEM fuel cell

Tian TIAN, Jianjun TANG, Wei GUO, Mu PAN

《能源前沿（英文）》 2017年第11卷第3期页码 326-333 doi: 10.1007/s11708-017-0489-z

摘要： In this paper, a novel accelerated test method was proposed to analyze the durability of MEA, considering the actual operation of the fuel cell vehicle. The proposed method includes 7 working conditions: open circuit voltage (OCV), idling, rated output, overload, idling-rated cycle, idling-overload cycle, and OCV-idling cycle. The experimental results indicate that the proposed method can effectively destroy the MEA in a short time (165 h). Moreover, the degradation mechanism of MEA was analyzed by measuring the polarization curve, CV, SEM and TEM. This paper may provide a new research direction for improving the durability of fuel cell.

关键词： polymer electrolyte membrane fuel cell accelerated life-time test load cycling test durability

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ACS Webinars ׀ HR 眼中的候选人

会议日期： 2019年06月12日

会议地点：网络会议

主办单位：美国化学会(ACS)

to endocrine therapy in hormone receptor-positive human epidermal growth factor receptor 2-negative (HR

Wenjie Zhu, Binghe Xu

《医学前沿（英文）》 2021年第15卷第2期页码 208-220 doi: 10.1007/s11684-020-0795-4

摘要： New targeted therapies have been developed to overcome resistance to endocrine therapy (ET) and improve the outcome of HR /HER2 advanced breast cancer (ABC). We conducted a meta-analysis and systemic review on randomized controlled trials evaluating various targeted therapies in combination with ET in HR /HER2 ABC. PUBMED and EMBASE databases were searched for eligible trials. Hazard ratios (HRs) for progression-free survival (PFS), odds ratios (ORs) for objective response rate (ORR), clinical benefit rate (CBR), and toxicity were meta-analyzed. Twenty-six studies with data on 10 347 patients were included and pooled. The addition of cyclin-dependent kinase 4/6 inhibitors to ET significantly improved median PFS (pooled HR= 0.547, <0.001), overall survival (pooled HR= 0.755, <0.001), and tumor response rates (ORR, pooled OR= 1.478, <0.001; CBR, pooled OR= 1.201, <0.001) with manageable toxicities (pooled OR= 3.280, <0.001). The mammalian targets of rapamycin inhibitors and exemestane were not clinically beneficial for this pooled population including ET-naïve and ET-resistant patients. Moderate improvement in PFS (pooled HR= 0.686, <0.001) yet pronounced toxicities (pooled OR= 2.154, <0.001) were noted in the combination of phosphatidylinositol-4,5-bisphosphate 3-kinase inhibitors with fulvestrant. Future studies are warranted to optimize the population and the dosing sequence of these available options.

关键词： endocrine-resistant HR⁺/HER2^- advanced breast cancer randomized clinical trials meta-analysis targeted therapy

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Characterization of submicron aerosols in the urban outflow of the central Pearl River Delta region of China

Zhaoheng GONG, Zijuan LAN, Lian XUE, Liwu ZENG, Lingyan HE, Xiaofeng HUANG

《环境科学与工程前沿（英文）》 2012年第6卷第5期页码 725-733 doi: 10.1007/s11783-012-0441-8

摘要： Submicron aerosol particles (with aerodynamic diameters less than 1 μm, PM ) were sampled and measured in Heshan, an urban outflow site of Guangzhou megacity in Pearl River Delta in South China, using an Aerodyne High-Resolution Time-of-Flight Aerosol Mass Spectrometer (HR-ToF-AMS) in November 2010 during 2010 Guangzhou Asian Games. The mean PM mass concentration measured was 47.9±17.0 μg·m during the campaign, with organic aerosol (OA) and sulfate being the two dominant species, accounting for 36.3% and 20.9% of the total mass, respectively, followed by black carbon (17.1%, measured by an aethalometer), nitrate (12.9%), ammonium (9.6%) and chloride (3.1%). The average size distributions of the species (except black carbon) were dominated by an accumulation mode peaking at ~550 nm. Calculations based on high-resolution organic mass spectrum showed that, C, H, O and N on average contributed 58.1%, 7.3%, 30.7%, and 3.9% to the total organic mass, respectively. The average ratio of organic mass over organic carbon mass (OM/OC) was 1.73±0.08. Four components of OA were identified by the Positive Matrix Factorization (PMF) analysis, including a hydrocarbon-like (HOA), a biomass burning (BBOA) and two oxygenated (SV-OOA and LV-OOA) organic aerosol components, which on average accounted for 18.0%, 14.3%, 28.8% and 38.9% of the total organic mass, respectively.

关键词： organic aerosol high-resolution time-of-flight aerosol mass spectrometer (HR-ToF-AMS) positive matrix factorization

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XB高精度火箭橇试验滑轨

杨兴邦

《中国工程科学》 2000年第2卷第10期页码 98-104

摘要：

火箭橇试验滑轨是一种大型地面动态模拟试验设备，用于研究试验件在空中高速度、高加速度运行时所遇到的诸多技术问题，其技术核心是一百万分之一的轨道直线性相对精度。它要求具有稳定的滑轨基础、高直线度准直基准线和光滑平顺的钢轨作为基本条件，需要采用钢轨精密机械加工、钢轨焊接、焊缝超声波探伤、轨道张拉锚固锁定、轨道直线度调整等新工艺技术。我国已成功地建成世界上唯一的、钢轨经精密机械加工后再全程焊接的XB高精度火箭橇试验滑轨。文章论述了它的诞生背景、设计思路、技术方案、技术与建造特点以及应用展望，该滑轨直线度达到世界先进水平。

关键词：火箭滑橇试验滑轨地面动态模拟试验

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Application of metal magnetic memory test in failure analysis and safety evaluation of vessels

Yiliang ZHANG, Song YANG, Xuedong XU

《机械工程前沿（英文）》 2009年第4卷第1期页码 40-48 doi: 10.1007/s11465-009-0003-3

摘要： Metal magnetic memory test (MMMT), which is a new subject in the field of nondestructive examination, can determine regions of stress concentration by testing the distribution of the magnetic field of metal structures so as to effectively diagnose premature defects. MMMT and other test methods are applied in the study to put a propylene purifier of a temperature-jump accident and a leaked ammonia vessel through safety evaluation. Results are as follows: The margin of safety declines after the purifier is overburnt; several stress concentrations are observed within the overburnt area and the level of stress concentration rises after one-month operation; and overpressure operation of the purifier must be strictly avoided and carefully monitored during later operation. Cracks are observed on the ammonia vessel after one year’s service. Extremely high residual stress is the primary cause of cracks. After four years in service, the residual stresses existing in the area of the base metal and weld zone are still greater than 0.5 , which results in numerous cracks due to stress corrosion. From the MMMT result of the ammonia vessel’s defects, it can be seen that the derivative of magnetic density (d p/d ) is an important reference variable. Within the 31 leakage points, 67.7% of them whose dHp/dx values are more than 10, and 96.8% of them whose dHp/dx values are more than 8.

关键词： Metal magnetic memory test (MMMT) nondestructive testing (NDT) residual stress propylene purifier ammonia vessel

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Investigating the raveling test for full-depth reclamation

Robert HILL, Andrew BRAHAM

《结构与土木工程前沿（英文）》 2018年第12卷第2期页码 222-226 doi: 10.1007/s11709-017-0423-9

摘要： Full-Depth Reclamation (FDR) is a sustainable method of building pavement structure compared to more traditional rehabilitation methods. Traffic is generally returned to an FDR project before a surface course is applied, as water in the FDR needs time to evaporate from the structure. This should not be done too quickly or raveling occurs. Currently, there is no test to quantify the timing of return to traffic. In this study, the “Raveling test of cold mixed bituminous emulsion samples” (ASTM D7196) was used to compare asphalt emulsion and asphalt foam FDR. Asphalt emulsion samples were cured at ambient and 40 °C temperatures, while asphalt foam samples were cured at ambient temperatures. Raveling test data was collected from 0 to 48 hours of curing, however, samples were often not able to withstand fifteen minutes of testing. Therefore, the “time lasted” (the time the raveling head loses contact with the surface of the sample) was recorded. In general, the asphalt emulsion samples that were cured in the oven at 40 °C had a longer time lasted and showed higher potential for determination of return to traffic. In addition, the asphalt emulsion samples had a longer time lasted than the asphalt foam samples at ambient temperatures.

关键词： raveling full depth reclamation

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Prediction of the shear wave velocity

Amoroso SARA

《结构与土木工程前沿（英文）》 2014年第8卷第1期页码 83-92 doi: 10.1007/s11709-013-0234-6

摘要： The paper examines the correlations to obtain rough estimates of the shear wave velocity from non-seismic dilatometer tests (DMT) and cone penetration tests (CPT). While the direct measurement of is obviously preferable, these correlations may turn out useful in various circumstances. The experimental results at six international research sites suggest that the DMT predictions of from the parameters (material index), (horizontal stress index), (constrained modulus) are more reliable and consistent than the CPT predictions from (cone resistance), presumably because of the availability, by DMT, of the stress history index .

关键词： horizontal stress index shear wave velocity flat dilatometer test cone penetration test

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Model test and discrete element method simulation of shield tunneling face stability in transparent clay

Huayang LEI, Yajie ZHANG, Yao HU, Yingnan LIU

《结构与土木工程前沿（英文）》 2021年第15卷第1期页码 147-166 doi: 10.1007/s11709-020-0704-6

摘要： The stability of the shield tunneling face is an extremely important factor affecting the safety of tunnel construction. In this study, a transparent clay with properties similar to those of Tianjin clay is prepared and a new transparent clay model test apparatus is developed to overcome the “black box” problem in the traditional model test. The stability of the shield tunneling face (failure mode, influence range, support force, and surface settlement) is investigated in transparent clay under active failure. A series of transparent clay model tests is performed to investigate the active failure mode, influence range, and support force of the shield tunneling face under different burial depth conditions, whereas particle flow code three-dimensional numerical simulations are conducted to verify the failure mode of the shield tunneling face and surface settlement along the transverse section under different burial depth conditions. The results show that the engineering characteristics of transparent clay are similar to those of soft clay in Binhai, Tianjin and satisfy visibility requirements. Two types of failure modes are obtained: the overall failure mode (cover/diameter: / ≤1.0) and local failure mode ( / ≥2.0). The influence range of the transverse section is wider than that of the longitudinal section when / ≥2.0. Additionally, the normalized thresholds of the relative displacement and support force ratio are 3%–6% and 0.2–0.4, respectively. Owing to the cushioning effect of the clay layer, the surface settlement is significantly reduced as the tunnel burial depth increases.

关键词： shield tunneling face stability transparent clay model test numerical simulation

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Fault evolution-test dependency modeling for mechanical systems

Xiao-dong TAN,Jian-lu LUO,Qing LI,Bing LU,Jing QIU

《信息与电子工程前沿（英文）》 2015年第16卷第10期页码 848-857 doi: 10.1631/FITEE.1500011

摘要： Tracking the process of fault growth in mechanical systems using a range of tests is important to avoid catastrophic failures. So, it is necessary to study the design for testability (DFT). In this paper, to improve the testability performance of mechanical systems for tracking fault growth, a fault evolution-test dependency model (FETDM) is proposed to implement DFT. A testability analysis method that considers fault trackability and predictability is developed to quantify the testability performance of mechanical systems. Results from experiments on a centrifugal pump show that the proposed FETDM and testability analysis method can provide guidance to engineers to improve the testability level of mechanical systems.

关键词： Mechanical systems Design for testability (DFT) Fault evolution-test dependency model (FETDM)