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State-of-the-art of intelligent minimally invasive surgical robots

Masakatsu G. Fujie, Bo Zhang

《医学前沿（英文）》 2020年 第14卷 第4期   页码 404-416 doi: 10.1007/s11684-020-0743-3

摘要： A number of developed countries are rapidly turning into super-aged societies. Consequently, the demand for reduced surgical invasiveness and enhanced efficiency in the medical field has increased due to the need to reduce the physical burden on older patients and shorten their recovery period. Intelligent surgical robot systems offer high precision, high safety, and reduced invasiveness. This paper presents a review of current intelligent surgical robot systems. The history of robots and three types of intelligent surgical robots are discussed. The problems with current surgical robot systems are then analyzed. Several aspects that should be considered in designing new surgical systems are discussed in detail. The paper ends with a summary of the work and a discussion of future prospects for surgical robot development.

关键词： robot history     medical robot     surgical robot     radiofrequency ablation     organ model    

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Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

《结构与土木工程前沿（英文）》 2014年 第8卷 第1期   页码 93-100 doi: 10.1007/s11709-014-0232-3

摘要： The construction of the North Square Shopping Center of the Shanghai South Railway Station is a large scale complex top-down deep excavation project. The excavation is adjacent to several current and newly planned Metro lines, and influenced by a neighboring Exchange Station excavation. The highly irregular geometry of this excavation greatly increases the complexity in 3D Finite Element modeling. The advanced numerical modeling described in this paper includes detailed structural and geotechnical behavior. Important features are considered in the analysis, e.g., 1) the small-strain stiffness of the soil, 2) the construction joints in the diaphragm wall, 3) the shrinkage in the concrete floor slabs and beams, 4) the complex construction sequences, and 5) the shape effect of the deep excavation. The numerical results agree well with the field data, and some valuable conclusions are generated.

关键词： advanced finite element analysis     deep excavations     case history     small-strain stiffness    

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Introduction to the special issue on the 2015 Workshop on History of Mechanism and Machine Science

Marco CECCARELLI

《机械工程前沿（英文）》 2016年 第11卷 第1期   页码 1-2 doi: 10.1007/s11465-016-0379-9

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Review of human–robot coordination control for rehabilitation based on motor function evaluation

《机械工程前沿（英文）》 2022年 第17卷 第2期 doi: 10.1007/s11465-022-0684-4

摘要： As a wearable and intelligent system, a lower limb exoskeleton rehabilitation robot can provide auxiliary rehabilitation training for patients with lower limb walking impairment/loss and address the existing problem of insufficient medical resources. One of the main elements of such a human–robot coupling system is a control system to ensure human–robot coordination. This review aims to summarise the development of human–robot coordination control and the associated research achievements and provide insight into the research challenges in promoting innovative design in such control systems. The patients’ functional disorders and clinical rehabilitation needs regarding lower limbs are analysed in detail, forming the basis for the human–robot coordination of lower limb rehabilitation robots. Then, human–robot coordination is discussed in terms of three aspects: modelling, perception and control. Based on the reviewed research, the demand for robotic rehabilitation, modelling for human–robot coupling systems with new structures and assessment methods with different etiologies based on multi-mode sensors are discussed in detail, suggesting development directions of human–robot coordination and providing a reference for relevant research.

关键词： human–robot coupling     lower limb rehabilitation     exoskeleton robot     motor assessment     dynamical model     perception    

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Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

《机械工程前沿（英文）》 2022年 第17卷 第4期 doi: 10.1007/s11465-022-0687-1

摘要： Masticatory robots are an effective in vitro performance testing device for dental material and mandibular prostheses. A cable-driven linear actuator (CDLA) capable of bidirectional motion is proposed in this study to design a masticatory robot that can achieve increasingly human-like chewing motion. The CDLA presents remarkable advantages, such as lightweight and high stiffness structure, in using cable amplification and pulley systems. This work also exploits the proposed CDLA and designs a masticatory robot called Southeast University masticatory robot (SMAR) to solve existing problems, such as bulky driving linkage and position change of the muscle’s origin. Stiffness analysis and performance experiment validate the CDLA’s efficiency, with its stiffness reaching 1379.6 N/mm (number of cable parts n = 4), which is 21.4 times the input wire stiffness. Accordingly, the CDLA’s force transmission efficiencies in two directions are 84.5% and 85.9%. Chewing experiments are carried out on the developed masticatory robot to verify whether the CDLA can help SMAR achieve a natural human-like chewing motion and sufficient chewing forces for potential applications in performance tests of dental materials or prostheses.

关键词： masticatory robot     cable-driven     linear actuator     parallel robot     stiffness analysis    

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Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

《机械工程前沿（英文）》 2021年 第16卷 第2期   页码 271-284 doi: 10.1007/s11465-020-0623-1

摘要： Legged robots have potential advantages in mobility compared with wheeled robots in outdoor environments. The knowledge of various ground properties and adaptive locomotion based on different surface materials plays an important role in improving the stability of legged robots. A terrain classification and adaptive locomotion method for a hexapod robot named Qingzhui is proposed in this paper. First, a force-based terrain classification method is suggested. Ground contact force is calculated by collecting joint torques and inertial measurement unit information. Ground substrates are classified with the feature vector extracted from the collected data using the support vector machine algorithm. Then, an adaptive locomotion on different ground properties is proposed. The dynamic alternating tripod trotting gait is developed to control the robot, and the parameters of active compliance control change with the terrain. Finally, the method is integrated on a hexapod robot and tested by real experiments. Our method is shown effective for the hexapod robot to walk on concrete, wood, grass, and foam. The strategies and experimental results can be a valuable reference for other legged robots applied in outdoor environments.

关键词： terrain classification     hexapod robot     legged robot     adaptive locomotion     gait control    

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Natural history of HIV infection in former plasma donors in rural China

Min ZHANG, Hong SHANG, Zhe WANG, Wei-Guo CUI, Qing-Hai HU

《医学前沿（英文）》 2010年 第4卷 第3期   页码 346-350 doi: 10.1007/s11684-010-0102-x

摘要： Patients infected through commercial blood-selling practices (former plasma donors, FPDs) in China represent a unique patient population compared to individuals infected through sexual contact or intravenous drug use. FPDs all have an approximate time of human immunodeficiency virus (HIV) infection during the mid-1990s. Few studies about the natural history of HIV infection in these patients were performed. The current study focuses on characterizing the duration of asymptomatic infection as well as the time to disease and mortality of infected FPDs in China. A retrospective cohort study was conducted based on data collected from 5484 HIV-1 infected FPDs in Shangcai county, Henan province. Kaplan-Meier analysis was applied to estimate the asymptomatic duration from the time of infection to the onset of AIDS as well as the survival period from the onset of AIDS to the time of death. The estimated median asymptomatic phase was about 9.21 years, which is similar to that reported in other developing countries in Africa. The estimated median life span after the onset of symptoms was about 9.91 months, which is notably shorter than life spans reported elsewhere. This is the first large-scale retrospective study on the natural history of HIV infection in FPDs in rural China. The findings not only provide valuable insight into an understudied population, but should also serve as an important reference for patient management and care.

关键词： human immunodeficiency virus (HIV)     former plasma donor     natural history     China    

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The biopharmaceutical industry in China: history and future perspectives

null

《医学前沿（英文）》 2012年 第6卷 第2期   页码 101-111 doi: 10.1007/s11684-012-0191-9

摘要：

Biopharmaceuticals reflect the rapid progress achieved in modern biomedical research. This area has also become one of the main criteria for assessing the development level of biotechnology for a particular country. Although it has been only three decades since the first biopharmaceutical, recombinant human insulin, was licensed by the US Food and Drug Administration, the biopharmaceutical industry has become the fastest growing, most dynamic and technology-intensive sector in the biomedical field. Since the licensing of recombinant human interferon α1b in 1989, the biopharmaceutical industry in China has gone through initial developments and gradually entered a period of rapid growth. This paper provides an overview of the status and development trends of biopharmaceuticals in China, and compares them with those observed in developed countries.

关键词： biopharmaceuticals     antibodies     market trends     diseases     China     national regulatory agency    

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Design and modeling of continuum robot based on virtual-center of motion mechanism

《机械工程前沿（英文）》 2023年 第18卷 第2期 doi: 10.1007/s11465-022-0739-6

摘要： Continuum robot has attracted extensive attention since its emergence. It has multi-degree of freedom and high compliance, which give it significant advantages when traveling and operating in narrow spaces. The flexural virtual-center of motion (VCM) mechanism can be machined integrally, and this way eliminates the assembly between joints. Thus, it is well suited for use as a continuum robot joint. Therefore, a design method for continuum robots based on the VCM mechanism is proposed in this study. First, a novel VCM mechanism is formed using a double leaf-type isosceles-trapezoidal flexural pivot (D-LITFP), which is composed of a series of superimposed LITFPs, to enlarge its stroke. Then, the pseudo-rigid body (PRB) model of the leaf is extended to the VCM mechanism, and the stiffness and stroke of the D-LITFP are modeled. Second, the VCM mechanism is combined to form a flexural joint suitable for the continuum robot. Finally, experiments and simulations are used to validate the accuracy and validity of the PRB model by analyzing the performance (stiffness and stroke) of the VCM mechanism. Furthermore, the motion performance of the designed continuum robot is evaluated. Results show that the maximum stroke of the VCM mechanism is approximately 14.2°, the axial compressive strength is approximately 1915 N/mm, and the repeatable positioning accuracies of the continuum robot is approximately ±1.47° (bending angle) and ±2.46° (bending direction).

关键词： VCM mechanism     continuum robot     flexural joint     pseudo-rigid body model     cable-driven    

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Fuzzy cascade control based on control’s history for superheated temperature

WANG Guangjun, LI Gang, SHEN Shuguang

《能源前沿（英文）》 2007年 第1卷 第3期   页码 285-289 doi: 10.1007/s11708-007-0040-8

摘要： To address the characteristics of the large delay and uncertainty of superheated temperature, a new cascade control system is presented based on control’s history. Based on the analysis of the control objects’ dynamic characteristics, historical control information (substituting for the deviation change rate) is used as the basis for decision-making of the fuzzy control. Therefore, the changing trend of the controlled variable can be accurately reflected. Furthermore, a proportional component is introduced, the advantages of PID and fuzzy controllers are integrated, and the structure weaknesses of conventional fuzzy controllers are overcome. Simulation shows that this control method can effectively reduce the adverse impact of the delay on control effects and, therefore, exhibit strong adaptability by comparing the superheated temperature control system by this controller with PID and conventional fuzzy controllers.
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Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

《机械工程前沿（英文）》 2016年 第11卷 第2期   页码 195-203 doi: 10.1007/s11465-016-0390-1

摘要：

Covering objects with masking tapes is a common process for surface protection in processes like spray painting, plasma spraying, shot peening, etc. Manual taping is tedious and takes a lot of effort of the workers. The taping process is a special process which requires correct surface covering strategy and proper attachment of the masking tape for an efficient surface protection. We have introduced an automatic robot taping system consisting of a robot manipulator, a rotating platform, a 3D scanner and specially designed taping end-effectors. This paper mainly talks about the surface covering strategies for different classes of geometries. The methods and corresponding taping tools are introduced for taping of following classes of surfaces: Cylindrical/extended surfaces, freeform surfaces with no grooves, surfaces with grooves, and rotational symmetrical surfaces. A collision avoidance algorithm is introduced for the robot taping manipulation. With further improvements on segmenting surfaces of taping parts and tape cutting mechanisms, such taping solution with the taping tool and the taping methodology can be combined as a very useful and practical taping package to assist humans in this tedious and time costly work.

关键词： robot taping     path planning     robot manipulation     3D scanning    

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A brief history of wheat utilization in China

Minxia LU, Liang CHEN, Jinxiu WANG, Ruiliang LIU, Yang YANG, Meng WEI, Guanghui DONG

《农业科学与工程前沿（英文）》 2019年 第6卷 第3期   页码 288-295 doi: 10.15302/J-FASE-2019266

摘要：

Wheat is one of the most important crops in both China and the world, and its domestication can be traced back to ~10000 years ago. However, the history of its origin and utilization in China remains highly ambiguous. Drawing upon the most recent results of taxonomic, genetic, archeological and textual studies focused on the wheat in prehistory, this paper argues that wheat was not domesticated but introduced into China in the late fifth millennium BP. In the subsequent centuries, this exotic crop was quickly utilized as a staple food in northwest China. In contrast, it was not adopted as a staple in Central Plains until the Han Dynasty (202 BCE–220 CE), which was mainly as a consequence of the living environment, population and innovations in food processing technology.

关键词： multidisciplinary evidence     prehistoric food globalization     wheat consumption     wheat domestication    

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An overview of the development history and technical progress of China’s coal-fired power industry

Weiliang WANG, Zheng LI, Junfu LYU, Hai ZHANG, Guangxi YUE, Weidou NI

《能源前沿（英文）》 2019年 第13卷 第3期   页码 417-426 doi: 10.1007/s11708-019-0614-2

摘要： As the main power source of China, coal-fired power industry has achieved a great progress in installed capacity, manufacturing technologies, thermal efficiency, as well as pollutant control during the past century. With the fast development of renewable energies, coal-fired power industry is experiencing a strategic transformation. To specify the development of coal-fired power industry, its development history is reviewed and the technical progresses on aspects of thermal efficiency, pollutants control and peaking shaving capacity are discussed. It is concluded that the role of China’s coal-fired power source would be transformed from the dominant position to a base position in power source structure. Considering the sustainable development of coal-fired power industry in energy conservation, emission control, and utilization of renewable energies, it is suggested that the national average thermal efficiency should be improved by continual up-gradation of units by using advanced technologies and eliminating outdated capacity. Moreover, the emission standard of air pollutants should not be stricter any more in coal-fired power industry. Furthermore, the huge amount of combined heat and power (CHP) coal-fired units should be operated in a decoupled way, so as to release more than 350 GW regulation capacity for the grid to accept more renewable energy power.

关键词： coal-fired power     development strategy     eliminating outdated capacity     peak shaving     emission reduction     renewable energy    

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Association between history of abortion and metabolic syndrome in middle-aged and elderly Chinese women

null

《医学前沿（英文）》 2013年 第7卷 第1期   页码 132-137 doi: 10.1007/s11684-013-0250-x

摘要：

Epidemiologic studies have suggested that abortion may cause long term health consequences such as cardiovascular disease. Until recently, studies focusing on the association between history of abortion and metabolic diseases were limited. In the present study, we aimed to investigate the association between history of abortion and metabolic syndrome (MetS) in middle-aged and elderly Chinese women. A cross-sectional survey was performed in 6302 women (age≥40 years) in Shanghai. Standardized questionnaire was used to obtain the information about reproductive histories. Overall, we observed a positive association between history of induced abortion and the prevalence of MetS, independent of potential confounding factors. A multivariable-adjusted logistic regression analysis revealed that compared to those without a history of induced abortion, women with a history of induced abortion remained at 1.25 times more likely to have MetS (OR=1.25, 95% CI=1.06–1.47, P<0.05), and the association was number-dependent. However, no significant association between history of spontaneous abortion and the prevalence of MetS was observed. Compared to those without a history of spontaneous abortion, the multivariate-adjusted odds ratio associated with a history of spontaneous abortion for MetS was 0.88 (95% CI=0.65–1.19, P >0.05).

关键词： induced abortion     spontaneous abortion     metabolic syndrome    

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CROP-LIVESTOCK INTEGRATION FOR SUSTAINABLE AGRICULTURE IN CHINA: THE HISTORY OF STATE POLICY GOALS, REFORM

《农业科学与工程前沿（英文）》 2023年 第10卷 第4期   页码 518-529 doi: 10.15302/J-FASE-2023525

摘要：

This paper examines the historical evolution of crop-livestock integration in China with a specific focus on its role in mitigating non-point source pollution. Extensive examination of existing literature has unearthed the roots of crop-livestock integration dating back to the Western Zhou Dynasty (1046 to 771 BCE), ultimately culminating in a multifaceted and intricately interwoven system of rural development policies seen in contemporary China. This paper identifies and characterizes four distinct stages in the historical trajectory of crop-livestock integration: the era of self-sufficient subsistence production in traditional times (1046 BCE to 1948); the period where crop-livestock integration emerged as a pivotal strategy for augmenting grain and meat production under collectivist policies (1949‒1977); the phase marked by the industrialization and expansion of the livestock sector during the early years of economic reforms (1978‒2011); and the present era in which crop-livestock integration is harnessed as a mechanism for pollution control and ecological preservation in contemporary China (2012 to present). This paper illuminates the diverse contributions of crop-livestock integration in different epochs of rural development within China, which contributes to a nuanced and more theoretically grounded comprehension of circular agriculture. This understanding has the potential to be leveraged to promote sustainable rural development in broader contexts.

关键词： crop-livestock integration     non-point source pollution control     nutrient cycling     policy intervention     sustainable development    

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标题 作者 时间 类型 操作

State-of-the-art of intelligent minimally invasive surgical robots

Masakatsu G. Fujie, Bo Zhang

期刊论文

Advanced finite element analysis of a complex deep excavation case history in Shanghai

Yuepeng DONG, Harvey BURD, Guy HOULSBY, Yongmao HOU

期刊论文

Introduction to the special issue on the 2015 Workshop on History of Mechanism and Machine Science

Marco CECCARELLI

期刊论文

Review of human–robot coordination control for rehabilitation based on motor function evaluation

期刊论文

Development of a masticatory robot using a novel cable-driven linear actuator with bidirectional motion

期刊论文

Terrain classification and adaptive locomotion for a hexapod robot Qingzhui

Yue ZHAO, Feng GAO, Qiao SUN, Yunpeng YIN

期刊论文

Natural history of HIV infection in former plasma donors in rural China

Min ZHANG, Hong SHANG, Zhe WANG, Wei-Guo CUI, Qing-Hai HU

期刊论文

The biopharmaceutical industry in China: history and future perspectives

null

期刊论文

Design and modeling of continuum robot based on virtual-center of motion mechanism

期刊论文

Fuzzy cascade control based on control’s history for superheated temperature

WANG Guangjun, LI Gang, SHEN Shuguang

期刊论文

Strategy for robot motion and path planning in robot taping

Qilong YUAN,I-Ming CHEN,Teguh Santoso LEMBONO,Simon Nelson LANDÉN,Victor MALMGREN

期刊论文

A brief history of wheat utilization in China

Minxia LU, Liang CHEN, Jinxiu WANG, Ruiliang LIU, Yang YANG, Meng WEI, Guanghui DONG

期刊论文

An overview of the development history and technical progress of China’s coal-fired power industry

Weiliang WANG, Zheng LI, Junfu LYU, Hai ZHANG, Guangxi YUE, Weidou NI

期刊论文

Association between history of abortion and metabolic syndrome in middle-aged and elderly Chinese women

null

期刊论文

CROP-LIVESTOCK INTEGRATION FOR SUSTAINABLE AGRICULTURE IN CHINA: THE HISTORY OF STATE POLICY GOALS, REFORM

期刊论文