Design and validation of robotic bionic eye with multiple flexible ropes parallel mechanism inspired by oculomotor law

Producing a stable and agile bionic eye for visual image acquisition in robotics is a challenging task. In this paper, we design a bionic eye with mirror-symmetric distribution and cross-connection of flexible ropes. This mechanism is based on oculomotor law and the physiological structure of the extraocular muscles (EOMs). Specifically, the basic structural parameters are determined by Listing’s law, and the unique connection of the flexible ropes can realize the functions of the recti and oblique muscles. Furthermore, to mimic the trochlea structure, a pulley mechanism is constructed to permit the free movement of the flexible ropes. Through simulation and physical experiments, it is demonstrated that the bionic eye mechanism can move with agility under the structural parameters. The experimental results indicate that the proposed bionic eye mechanism has a superior motion accuracy of 2.798 mm, which is 6.7% of the maximum motion distance, and the repeatable accuracy of the mechanism can up to 0.210 mm.     

Mechanosensation and Mechanotransduction by Lymphatic Endothelial Cells Act as Important Regulators of Lymphatic Development and Function

Our understanding of the function and development of the lymphatic system is expanding rapidly due to the identification of specific molecular markers and the availability of novel genetic approaches. In connection, it has been demonstrated that mechanical forces contribute to the endothelial cell fate commitment and play a critical role in influencing lymphatic endothelial cell shape and alignment by promoting sprouting, development, maturation of the lymphatic network, and coordinating lymphatic valve morphogenesis and the stabilization of lymphatic valves. However, the mechanosignaling and mechanotransduction pathways involved in these processes are poorly understood. Here, we provide an overview of the impact of mechanical forces on lymphatics and summarize the current understanding of the molecular mechanisms involved in the mechanosensation and mechanotransduction by lymphatic endothelial cells. We also discuss how these mechanosensitive pathways affect endothelial cell fate and regulate lymphatic development and function. A better understanding of these mechanisms may provide a deeper insight into the pathophysiology of various diseases associated with impaired lymphatic function, such as lymphedema and may eventually lead to the discovery of novel therapeutic targets for these conditions.     

An efficient approach for the S‐shaped penalty function

Interval goal programming (IGP) with a marginal penalty function (PF) was first proposed by Charnes and Collomb in 1972, and further improved by Kvanli and other researchers. Recently, Lu and Chen proposed an efficient logarithmic method to formulate IGP with an S‐shaped PF. However, their method requires adding many binary variables when the problem size becomes large, which increases the computational burden in the solution process. This study proposes an efficient approach for the S‐shaped PF. The arbitrary PF frequently appears in the fields of business and industry. However, none of the previous approaches have addressed arbitrary PFs without adding binary variables. The proposed approach can be easily extended to formulate an arbitrary PF in which binary variables are no longer required, regardless of the number of break points. The proposed method can improve the efficiency of IGP for solving large size management and decision problems in considering PFs. In order to demonstrate the correctness, usefulness of the proposed model, illustrative examples are provided.     

Analytical estimation of energy dissipations: Viscous,Joulian, and Darcy of viscoelastic fluid flow phenomena over a deformable surface

In this paper, analytical estimation of energy dissipations, such as viscous, Joulian, and Darcy dissipation of viscoelastic flow phenomena over a deformable surface has been presented. This supplement to the study of many transport processes, which occur in nature, and various experimental setups that are driven or modified by the composition of the various flow characteristics and material or phase constitution. These processes are very important and have received considerable attention in the literature. The estimation of dissipative energy in the process of transport energy is an important phenomenon to investigate. The present analysis is carried out on steady MHD viscoelastic liquid due to deformable domains. Moreover, the impact of internal heat sources and prescribed thermal conditions, such as surface temperature and heat flux, are carefully studied. Analytical solutions to governing equations are obtained with the help of Kummer's function. The solutions are presented graphically as well as in tables to estimate the energy losses and their effects on transport processes, which serve as the salient features of the current analysis. The outcomes serve as a guideline due to the process of transport properties as per the design requirements. Looking into the current scenario, dissipative heat energies have several applications in industries and technological processes, such as electric heaters, fuses, food processing, and several others.     

2011～2020年华北平原气溶胶光学厚度时空分布特征及潜在源分析

随着经济高速增长和城市化进程不断加快,华北平原区域性空气污染问题愈演愈烈。针对该区域开展长时序气溶胶光学厚度时空分布特征和潜在源分析研究,对华北平原大气污染治理具有重要意义。基于长时序MODIS/Terra C6.1 MOD04_L2气溶胶光学厚度产品,分析华北平原气溶胶光学厚度的时空分布特征,并利用后向轨迹聚类分析讨论华北平原7个重点城市气团输送的季节变化,并以污染较为严重的河北石家庄为例进行潜在源分析和浓度权重分析,探究影响其大气质量的污染物潜在源区。结果表明:2011～2020年华北平原气溶胶光学厚度月均值呈显著的周期性变化,以年为周期,每个周期内峰值一般出现在6月至8月; 气溶胶光学厚度月际年内呈单峰分布,峰值出现在6月(0.75),最小值出现在12月(0.37); 气溶胶光学厚度季均值从大到小依次为夏季(0.67)、春季(0.59)、冬季(0.49)、秋季(0.46); 10年间气溶胶光学厚度呈下降趋势,整体下降幅度达36.84%,其中2011年最高(0.72),2018年最低(0.45); 华北平原7个重点城市春、夏、秋、冬四季主要受短距离气团输送影响较大,长距离气团输送影响较小; 2014～2020年河北石家庄的空气质量优良天数占比相对较小,空气质量状况差,影响其空气质量的污染物多为本地生成,同时也受周边省市近距离输送的影响。     

Investigation on standard entropy change of metal hydrides and work function of metals

We focused on the work function of metals as an index of ion binding property between metals and hydrogen and analyzed the relation between the standard entropy change of metal hydrides and the work function of metals (alloys). The standard entropy change of saline hydrides and metallic hydrides roughly increased with the work function. It was indicated that hydrogen storage alloys consist of metal elements A and B whose work functions are small and large, respectively. The standard entropy changes of alloy-based metal hydrides with different composition ratio ΔS⁰ linearly increased with the work functions of the alloys W_c. W_c also linearly increased with the bulk modulus B_c. Then, it was found that ΔS⁰ was proportional to the standard heat of formation ΔH⁰ because dW_c/dB_c, dΔS⁰/dW_c and dΔH⁰/dB_c are constant.     

Fuzzy approximation-based adaptive control of nonstrict feedback stochastic nonlinear systems with time-varying state constraints

This article develops an approximation-based fuzzy control scheme for nonstrict feedback stochastic nonlinear systems (NFSNS) with time-varying state constraints. The difficulty in constructing controller is how to conquer the algebraic loop problem caused by nonstrict feedback structure, as well as prevent the state constraints from violating. To dispose the time-varying state constraints, time-varying barrier Lyapunov function is incorporated into the backstepping design framework. The lumped uncertainties of NFSNS are approximated by the fuzzy logic systems. By virtue of fuzzy basis function, the algebraic loop problem is effectively handled. Theoretical analysis shows that the predefined state constraints are not violated and all signals of the closed-loop systems are bounded. Finally, simulation results substantiate the validity of the devised method.     

多约束下距离加权最优滑模末制导律

为解决多约束下制导炮弹的精确制导问题,采用带有相对距离权函数的最优滑模末制导律,将权函数引入到最优制导律中,通过改变制导炮弹的运动轨迹、运动时间,进而增强制导精度。针对单权函数难以同时满足制导精度与导引头视线角、过载等约束的问题,采用不同权函数的分段加权方法解决加权最优末制导引起的制导问题。结合滑模变结构控制理论,设计分段加权最优滑模末制导律,增强制导系统的抗干扰能力。仿真验证结果表明,该末制导律既能解决过载、导引头视线角、落角等多约束情况下的精确制导问题,同时又具有一定的鲁棒性。     

限制失真的网格参数化方法

针对当前网格参数化效率较低、映射失真较严重的问题，提出一种限制失真的网格参数化方法。首先，预处理原始网格模型。输入原3D网格模型，采用Half-Edge数据结构来重新组织网格并切割网格模型产生相应的切缝；构建Tutte映射把3D网格映射到一个2D凸多边形域，即构建2D网格模型。然后，进行限制失真的网格参数化计算。将Tutte映射后的2D网格模型作为限制失真计算的初始数据，建立相对于原3D模型网格的失真度量函数；求得该度量函数的最小值点，即为映射后的网格坐标集合；将映射后的网格作为限制失真映射的输入网格，设定迭代终止条件，循环迭代直至迭代结束，得到收敛的最优网格坐标；在计算映射失真度时，针对等距映射失真采用Dirichlet能量函数度量，针对共形映射失真采用尽可能等距（MIPS）能量函数度量；在求解映射失真度量函数的最小值点时采用代理函数法结合组合牛顿法的最优解方法。最终，实现了该方法并开发了一个原型系统。在原型系统中，分别设计了限制等距失真和限制共形失真的网格参数化实验，对程序执行时间和失真能量下降情况进行了统计和对比，提供了相应的纹理映射效果展示。实验数据表明，所提出的方法执行效率高、映射失真能量下降快，最优值收敛质量稳定；纹理映射时纹理着色均匀、布局紧致、线条均匀，符合实际应用的标准。