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Push recovery for the standing under-actuated bipedal robot using the hip strategy

Chao LI,Rong XIONG,Qiu-guo ZHU,Jun WU,Ya-liang WANG,Yi-ming HUANG

《信息与电子工程前沿（英文）》 2015年第16卷第7期页码 579-593 doi: 10.1631/FITEE.14a0230

摘要： This paper presents a control algorithm for push recovery, which particularly focuses on the hip strategy when an external disturbance is applied on the body of a standing under-actuated biped. By analyzing a simplified dynamic model of a bipedal robot in the stance phase, it is found that horizontal stability can be maintained with a suitably controlled torque applied at the hip. However, errors in the angle or angular velocity of body posture may appear, due to the dynamic coupling of the translational and rotational motions. To solve this problem, different hip strategies are discussed for two cases when (1) external disturbance is applied on the center of mass (CoM) and (2) external torque is acting around the CoM, and a universal hip strategy is derived for most disturbances. Moreover, three torque primitives for the hip, depending on the type of disturbance, are designed to achieve translational and rotational balance recovery simultaneously. Compared with closed-loop control, the advantage of the open-loop methods of torque primitives lies in rapid response and reasonable performance. Finally, simulation studies of the push recovery of a bipedal robot are presented to demonstrate the effectiveness of the proposed methods.

关键词： Push recovery Balance control Bipedal robot Hip strategy

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基于人体髋关节转动中心分析的髋关节外骨骼仿生设计 Article

Wei YANG,Can-jun YANG,Ting XU

《信息与电子工程前沿（英文）》 2016年第17卷第8期页码 792-802 doi: 10.1631/FITEE.1500286

摘要：为了改善外骨骼穿戴舒适性，本文提出了一种基于人机物理交互优化的外骨骼设计方法。该方法通过设计外骨骼髋关节，使其保证人体髋关节运动时外骨骼髋关节转动中心能跟随人体髋关节转动中心的运动轨迹。当人体髋关节运动时，通过实验测量和计算可以得到其转动中心轨迹。本文设计的外骨骼髋关节运动机构能在人体髋关节屈曲/伸展和外展/内收时，保证转动中心都能够包容人体髋关节转动中心运动范围。同时，所设计的外骨骼髋关节被应用到下肢步行康复训练外骨骼中。通过人机接触力实验可知，与传统设计外骨骼髋关节进行相比，本文设计的仿生髋关节外骨骼在髋关节屈曲/伸展和内收/外展时分别可以减小24.1%和76.0%的人机接触力。这一结果证明仿生设计髋关节外骨骼更具穿戴舒适性，更符合人机工程学的设计要求。最后，本文通过建立人机闭式链模型进一步分析了仿生设计对于人体髋关节内力的影响，并验证该设计能减少关节内力作用。

关键词：髋关节外骨骼；髋关节中心；柔顺关节；人机交互力

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3D打印髋关节假体为复杂髋臼骨缺损翻修全髋关节置换术提供精准重建、稳定固定和功能恢复 Article

郝永强, 王磊, 姜闻博, 武文, 艾松涛, 沈路, 赵双, 戴尅戎

《工程（英文）》 2020年第6卷第11期页码 1285-1290 doi: 10.1016/j.eng.2020.04.013

摘要：

复杂而严重的髋臼骨缺损是人工髋关节置换术重建过程中最主要的挑战和难点。本研究旨在探讨3D打印技术在重建这种复杂髋臼骨缺损中的优势。我们回顾性分析了3例使用3D打印技术治疗的复杂髋臼骨缺损患者的预后，其中一例患者涉及双侧缺损重建。这些髋臼骨缺损的共同特点为常规方法难以重建。因此，在本研究中，我们首先结合了医学影像学分析、计算机软件模拟和重建（如MIMICS软件和西门子NX软件）及实际手术经验对缺损体积、假体重建稳定性和假体安装精度进行预测和评估，Harris髋关节评分被用来评估肢体功能。我们的结果表明3D打印假体可以精准重建骨缺损，并获得良好的假体稳定性，并且Harris髋关节评分显示3位患者肢体功能得到较好的恢复。总而言之，3D打印技术在人工髋关节翻修术中应对复杂且程度较为严重的骨缺损具有非常好的治疗效果，最终患者获得满意的预后。

关键词： 3D打印髋关节翻修复杂严重髋臼骨缺损精准重建

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Toward the development of process plans with reduced environmental impacts

Fu ZHAO, Vance R. MURRAY, Karthik RAMANI, John W. SUTHERLAND

《机械工程前沿（英文）》 2012年第7卷第3期页码 231-246 doi: 10.1007/s11465-012-0334-3

摘要：

Manufacturing process planning serves as a pivotal link between design and manufacturing. Process planning decisions play a critical role in determining the cost and environmental impacts associated with manufacturing. Past efforts to address environmental issues during process planning are briefly reviewed and potential approaches that can achieve reduced environmental impacts are then discussed. A proposed method is presented for environmentally conscious process planning. The method begins with an existing process plan, and then identifies impactful process steps, and associated design features, in terms of manufacturing cost and environmental impact. Alternative processes that can achieve these features are then considered to generate alternative process plans. These alternatives are then evaluated in terms of economic and environmental performance. The results of these evaluations are then used to generate a set of process plans that are non-dominated with respect to manufacturing cost and environmental impact objectives to produce a Pareto frontier. The proposed method is demonstrated using the manufacturing of a prosthetic hip shell as a case study.

关键词： process planning life cycle assessment (LCA) sustainable manufacturing prosthetic hip shell

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Hip-mounted electromagnetic generator to harvest energy from human motion

Dan DAI,Jing LIU

《能源前沿（英文）》 2014年第8卷第2期页码 173-181 doi: 10.1007/s11708-014-0301-2

摘要： A type of electromagnetic hip-mounted generator (EHG) is proposed to harvest energy from human hip motion to generate electricity. Based on the law of electromagnetic induction, the EHG generator can convert the kinetic power of the thigh swing into electrical energy during walking or running. To demonstrate the feasibility of the present method, a prototype of the EHG has been designed and fabricated. A theoretical analysis has been conducted to interpret the working behavior of this prototype. In addition, the performance of the system has been experimentally tested through a rotary motor and human body motion. When driven by the rotary motor at a rotation speed of 100 r/min, the open-circuit voltage of this prototype is 2.5 V. Further, a maximum open-circuit voltage of approximately 1 V and a maximum output power of 284 μW could be produced respectively when walking with an EHG at a speed of 1.47 m/s. This handy renewable energy technology is promising as a pervasive electricity generation system for a group of wearable or implanted sensors, actuators and mobile electronics.

关键词： human power harvesting pervasive energy electricity generation wearable energy renewable and sustainable energy mobile electronics

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Early-life famine exposure, adulthood obesity patterns, and risk of low-energy fracture

《医学前沿（英文）》 doi: 10.1007/s11684-023-1023-9

摘要： Malnutrition in early life increases the risk of osteoporosis, but the association of early-life undernutrition combined with adulthood obesity patterns with low-energy fracture remains unknown. This study included 5323 community-dwelling subjects aged ≥40 years from China. Early-life famine exposure was identified based on the participants’ birth dates. General obesity was assessed using the body mass index (BMI), and abdominal obesity was evaluated with the waist-to-hip ratio (WHR). Low-energy fracture was defined as fracture occurring after the age of 40 typically caused by falls from standing height or lower. Compared to the nonexposed group, the group with fetal, childhood, and adolescence famine exposure was associated with an increased risk of fracture in women with odds ratios (ORs) and 95% confidence intervals (CIs) of 3.55 (1.57–8.05), 3.90 (1.57–9.71), and 3.53 (1.05–11.88), respectively, but not in men. Significant interactions were observed between fetal famine exposure and general obesity with fracture among women (P for interaction = 0.0008). Furthermore, compared with the groups with normal BMI and WHR, the group of women who underwent fetal famine exposure and had both general and abdominal obesity had the highest risk of fracture (OR, 95% CI: 3.32, 1.17–9.40). These results indicate that early-life famine exposure interacts with adulthood general obesity and significantly increases the risk of low-energy fracture later in life in women.

关键词： famine obesity body mass index waist-to-hip ratio low-energy fracture

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Equipment–process–strategy integration for sustainable machining: a review

《机械工程前沿（英文）》 2023年第18卷第3期 doi: 10.1007/s11465-023-0752-4

摘要： Although the manufacturing industry has improved the quality of processing, optimization and upgrading must be performed to meet the requirements of global sustainable development. Sustainable production is considered to be a favorable strategy for achieving machining upgrades characterized by high quality, high efficiency, energy savings, and emission reduction. Sustainable production has aroused widespread interest, but only a few scholars have studied the sustainability of machining from multiple dimensions. The sustainability of machining must be investigated multidimensionally and accurately. Thus, this study explores the sustainability of machining from the aspects of equipment, process, and strategy. In particular, the equipment, process, and strategy of sustainable machining are systematically analyzed and integrated into a research framework. Then, this study analyzes sustainable machining-oriented machining equipment from the aspects of machine tools, cutting tools, and materials such as cutting fluid. Machining processes are explored as important links of sustainable machining from the aspects of dry cutting, microlubrication, microcutting, low-temperature cutting, and multidirectional cutting. The strategies for sustainable machining are also analyzed from the aspects of energy-saving control, machining simulation, and process optimization of machine tools. Finally, opportunities and challenges, including policies and regulations toward sustainable machining, are discussed. This study is expected to offer prospects for sustainable machining development and strategies for implementing sustainable machining.

关键词： sustainable machining equipment process strategy manufacturing

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YAO Hua, SUN Yuping, LI Qing, YAO Wenhai, WANG Qiuyun, HU Jing, ABUDUREHEMAN Gulibaha, TUO Ling, JIANG Yan

《医学前沿（英文）》 2008年第2卷第1期页码 108-112 doi: 10.1007/s11684-008-0020-3

摘要： This study investigates the relationship between hyperuricemia and metabolic syndrome (MS) among males of Han ethnicity in the Xinjiang Uygur Autonomous Region, China. The blood samples were collected from January to May, 2006 in Urumqi. It included 1496 subjects with ages between 20 to 70 years. All these subjects had physical examinations, blood pressure (BP) measurement and analysis for serum uric acid (SUA), fasting blood sugar (FBS), serum triglyceride (TG), serum total cholesterol (TC), serum high density lipoprotein (HDL-C) and serum low density lipoprotein (LDL-C) as well as biochemistry assay. The Data were analyzed using the Pearson Chi-Square Test, Independent-Samples -Test and the Mantel-Haenszel Test for linear trend, respectively. The results show that the prevalence of MS in the present study was 18%. Blood pressure, fasting blood sugar, body mass index (BMI), waist/hip ratio(WHR), TG, TC and LDL-C were significantly higher in the hyperuricemic group than in normal group and these parameters were strongly related to serum uric acid levels. The components of metabolic syndrome such as obesity, hyperglycemia, hypertension and dyslipidemia had a close correlation with SUA. The Odds ratios of these metabolic diseases in the hyperuricemic group were 3.097 times, 2.633 times, 2.226 times and 3.058 times of the normal SUA group, respectively. They all have a positive correlation with hyperuricemia. Hyperuricemia is closely linked to the various components of the metabolic syndrome. More emphasis should be put on the evolving control and prevalence of hyperuricemia and metabolic syndrome among males of Han ethnicity in Xinjiang.

关键词： control prevalence waist/hip density lipoprotein hypertension

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Tool path strategy and cutting process monitoring in intelligent machining

Ming CHEN, Chengdong WANG, Qinglong AN, Weiwei MING

《机械工程前沿（英文）》 2018年第13卷第2期页码 232-242 doi: 10.1007/s11465-018-0469-y

摘要：

Intelligent machining is a current focus in advanced manufacturing technology, and is characterized by high accuracy and efficiency. A central technology of intelligent machining—the cutting process online monitoring and optimization—is urgently needed for mass production. In this research, the cutting process online monitoring and optimization in jet engine impeller machining, cranio-maxillofacial surgery, and hydraulic servo valve deburring are introduced as examples of intelligent machining. Results show that intelligent tool path optimization and cutting process online monitoring are efficient techniques for improving the efficiency, quality, and reliability of machining.

关键词： intelligent machining tool path strategy process optimization online monitoring

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制造质量强国战略

“制造质量强国战略研究”课题组

《中国工程科学》 2015年第17卷第7期页码 24-28

摘要：

本文系统论述了实现制造质量强国战略的意义，分析了我国制造业质量发展的现状，借鉴主要工业国家质量发展经验并针对中国国情，提出了到2025年制造质量强国的战略目标、战略任务、战略对策和政策建议。

关键词：制造强国质量战略

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Green Remanufacturing Engineering and Its Development Strategy in China

Bin-shi Xu

《工程管理前沿（英文）》 2016年第3卷第2期页码 102-106 doi: 10.15302/J-FEM-2016024

摘要： proposes that “develop the remanufacturing industry vigorously, implement high-end remanufacturing, smart remanufacturing, and in-service remanufacturing, advance the identification of remanufacturing products, and promote sustainable and healthy development of the manufacturing industry”. Remanufacturing is an extension of the manufacturing industry chain, and it is an important part of advanced manufacturing and green manufacturing. The product function, technical performance, greenness and economy of the remanufacturing products are no worse than those of the new products. The cost of remanufacturing products is only about 50% of new products. Remanufacturing can save energy 60%, and material 70%, so the adverse impact on the environment is significantly reduced. At present, China’s remanufacturing industry is developing rapidly, and the manufacturing pilot has been in full swing. Meanwhile, the policies and regulations, basic theory, key technology, and industry standards of remanufacturing have been continuously innovated and completed.

关键词： green manufacturing remanufacturing circular economy

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Current treatment strategy of acute promyelocytic leukemia

Jianqing Mi

《医学前沿（英文）》 2011年第5卷第4期页码 341-347 doi: 10.1007/s11684-011-0169-z

摘要： Acute promyelocytic leukemia (APL) is a unique subtype of acute myeloid leukemia (AML). The prognosis of APL has changed from the worst among the AMLs to currently the best. The application of all- retinoic acid (ATRA) in the induction therapy of APL decreases the high mortality of newly diagnosed patients, thereby significantly improving the response rate. ATRA combined with anthracycline-based chemotherapy is the current standard treatment, and for high-risk patients, high doses cytarabine have a beneficial effect on relapse prevention. In recent years, the indications of arsenic trioxide (ATO) therapy for APL have been extended from the salvage therapy for relapse patients to the first-line treatment of APL. The introduction of both ATRA and ATO represents great achievements in translational medicine. In this review article, we discuss the therapeutic strategies for this disease, including the initial approaches to newly diagnosed patients, prevention, and treatment of side effects and relapse to ensure the best and timely treatment for each newly diagnosed APL patient.

关键词： acute promyelocytic leukemia all-trans retinoic acid arsenic trioxide

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Optimal production strategy for auto manufacturers with government subsidies in competitive environments

《工程管理前沿（英文）》 doi: 10.1007/s42524-023-0261-5

摘要： Using the Hotelling model and evolutionary game theory, this paper studies the optimal production strategy of duopoly auto manufacturers and explores the impacts of two government policies (manufacturer and consumer subsidies) on strategies related to the production of electric vehicles (EVs) or fuel vehicles (FVs). The study finds that consumers’ environmental preferences have direct effects on manufacturers’ market shares and profits, which in turn, affect the manufacturers’ production strategy selection. Specifically, when consumer environmental preference is sufficiently high, both auto manufacturers will eventually choose to produce EVs; when it is moderate, only one with a cost advantage will choose to produce EVs. Finally, when it is low, neither auto manufacturer will produce EVs. The findings further reveal that the more significant the difference in EV production costs is, the more inclined auto manufacturers are to choose a different final stable strategy. Regardless of whether the government subsidizes manufacturers or consumers, the policy only works if subsidies reach a certain threshold. The study also identifies the conditions under which government subsidies are considered more cost-effective.

关键词： supply chain management low-carbon emission electric vehicle subsidy evolutionary game theory

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Reflection on Development Strategy of Engineering Management Discipline in China

Ying-luo Wang

《工程管理前沿（英文）》 2014年第1卷第2期页码 218-224 doi: 10.15302/J-FEM-2014029

摘要： A large number of engineering management professionals are required to promote engineering management efficiency, but the existing engineering management training system has some gaps with economical and social development in China. Development of engineering management discipline has very important strategic significance in China. This paper explores the disciplinary characteristics of engineering management, and analyzes the developmental issues about education of engineering management discipline. Meanwhile, the paper also proposes that the construction for development strategy of China’s engineering management discipline should be accelerated in the following aspects: Theoretical system of engineering management must be built and methodology of engineering management needs to be explored and perfected; advantages of various universities should be fully expressed, to show their own characteristics with accurate and reasonable positioning; knowledge system of engineering management discipline must be organized and integrated; practical ability of engineering management professionals needs to be promoted; education level of engineering management discipline should be perfected and training objectives at various levels must be clarified; teaching methods and means have to be reformed.

关键词： engineering management disciplinary characteristics development strategy

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Surface modification by ligand growth strategy for dense copper bismuth film as photocathode to enhance

《能源前沿（英文）》 doi: 10.1007/s11708-023-0893-5

摘要： Hydrogen production from photoelectrochemical (PEC) water splitting has been regarded as a promising way to utilize renewable and endless solar energy. However, semiconductor film grown on photoelectrode suffers from numerous challenges, leading to the poor PEC performance. Herein, a straightforward sol-gel method with the ligand-induced growth strategy was employed to obtain dense and homogeneous copper bismuthate photocathodes for PEC hydrogen evolution reaction. By various characterizations, it was found that the nucleation and surface growth of CuBi₂O₄ layer induced by 2-methoxyethanol ligand (2-CuBi₂O₄) demonstrated a decent crystallinity and coverage, as well as a large grain size and a low oxygen vacancy concentration, leading to the good ability of light absorption and carrier migration. Consequently, under simulated sunlight irradiation (AM1.5G, 100 mW/cm²), the 2-CuBi₂O₄ photocathode achieved an enhanced photocurrent density of −1.34 mA·cm⁻² at 0.4 V versus the reversible hydrogen electrode and a promising applied bias photon-to-current efficiency of 0.586%. This surface modification by ligand growth strategy will shed light on the future design of advanced photoelectrodes for PEC water splitting.

关键词： copper bismuthate photocathode ligand growth strategy dense film PEC