多机器人体间动态碰撞检测方法仿真研究

当前多结合包围求碰撞检测法、Average-Case法、K-DOPs法等实现多机器人体间动态碰撞的检测,均存在寻优性能较差、检测效率较低的问题。为此提出一种基于动态粒子群的多机器人体间动态碰撞检测方法。采用OBB层次包围盒方法,缩小多机器人之间需要动态碰撞检测的区域,同时把动态碰撞检测问题转换为物体特征对间距离机制的非线性优化问题,进而构建层次拓扑框架进行局部碰撞检测,将机器人体引入到粒子群算法中建立混合进化算法,找到动态碰撞检测的最优解,实现多机器人体间动态碰撞检测。仿真结果证明,所提方法的检测效率高达96%,且具有较高的寻优性能。     

疫情下，一种完全线上教学模式的实践

Currently, novel coronavirus is spreading all over the world, colleges and universities all use a variety of informatization methods actively responded to the call of the Ministry of Education. They all have launched online teaching practices to achieve "suspend classes without stopping teaching and learning”. This article takes the Fundamentals of Analog Circuits course as an exam- ple to introduce the process of a completely online teaching activity in detail under the novel coronavirus situation.     

Strategies and novel technologies to control Campylobacter in the poultry chain: A review

Campylobacteriosis is one of the most common bacterial infections worldwide causing economic costs. The high prevalence of Campylobacter spp. in poultry meat is a result of several contamination and cross‐contamination sources through the production chain. Moreover, survival mechanisms, such as biofilm formation, viable but nonculturable state, and antimicrobial resistance, enable its persistence during food processing. Therefore, mitigation strategies are necessary in order to avoid and/or inactivate Campylobacter at farm, abattoir, industry, and retail level. In this review, a number of potential strategies and novel technologies that could reduce the prevalence of Campylobacter in poultry meat have been identified and evaluated to provide a useful overview. At farm level for instance, biosecurity, bacteriocins, probiotics, feed and water additives, bacteriophages, and vaccination could potentially reduce colonization in chicken flocks. However, current technologies used in the chicken slaughter and processing industry may be less effective against this foodborne pathogen. Novel technologies and strategies such as cold plasma, ultraviolet light, high‐intensity light pulses, pulsed electric fields, antimicrobials, and modified atmosphere packaging are discussed in this review for reducing Campylobacter contamination. Although these measures have achieved promising results, most have not been integrated within processing operations due to a lack of knowledge or an unwillingness to implement these into existing processing systems. Furthermore, a combination of existing and novel strategies might be required to decrease the prevalence of this pathogen in poultry meat and enhance food safety. Therefore, further research will be essential to assess the effectiveness of all these strategies.     

Performance analysis of large-scale MIMO system for wireless backhaul network

In this paper, we present a performance analysis of large-scale multi-input multi-output (MIMO) systems for wireless backhaul networks. We focus on fully connected N nodes in a wireless meshed and multi-hop network topology. We also consider a large number of antennas at both the receiver and transmitter. We investigate the transmission schemes to support fully connected N nodes for half-duplex and full-duplex transmission, analyze the achievable ergodic sum rate among N nodes, and propose a closed-form expression of the achievable ergodic sum rate for each scheme. Furthermore, we present numerical evaluation results and compare the resuts with closed-form expressions.     

抗凝治疗中的困惑与应对

在抗凝治疗中,临床医生常会遇到一些无法从各种抗凝指南或共识中直接获解的问题,包括传统抗凝药物和新型抗凝药物的适用范围、不同抗凝阶段和特殊情况下的抗凝药物选择、抗凝疗程的确定和并发症的防治,需要医生根据所学知识和临床经验,并通过查阅文献给出个体化的解决方案。本文针对上述问题提出几点见解。     

Void region restriction for additive manufacturing via a diffusion physics approach

A longstanding challenge in additive manufacturing (AM), the presence of void regions in additively manufactured components, causes two main issues: the enclosing of build material powder in powder bed fusion techniques and limiting tool access in critical post-processing operations to remove sacrificial support structures. As topology optimization has embraced and overcome many of the obstacles of incorporating AM constraints into the underlying numerical optimization statement, there exist few solutions that directly address this fundamental void region issue. By developing computationally efficient and effective solutions to this problem, the integration of these two advanced technologies can be fully realized. Drawing on inspiration from the principles of diffusion physics, a particle diffusion void restriction (PDVR) method is presented in this work that is capable of encouraging the optimization scheme to generate final designs that are fully accessible. Additionally, this method empowers the user to choose the type of post-processing method to clear support material (eg, three-axis or five-axis milling operations, number and orientation of part set-ups) and, therefore, quantify the level of costs associated with the post-processing operation. The PDVR optimization framework is demonstrated on multiple two- and three-dimensional test problems, with physically manufactured examples depicting the real-world benefits this method admits.     

A novel minimum weight formulation of topology optimization implemented with reanalysis approach

In this paper, we develop an efficient diagonal quadratic optimization formulation for minimum weight design problem subject to multiple constraints. A high-efficiency computational approach of topology optimization is implemented within the framework of approximate reanalysis. The key point of the formulation is the introduction of the reciprocal-type variables. The topology optimization seeking for minimum weight can be transformed as a sequence of quadratic program with separable and strictly positive definite Hessian matrix, thus can be solved by a sequential quadratic programming approach. A modified sensitivity filtering scheme is suggested to remove undesirable checkerboard patterns and mesh dependence. Several typical examples are provided to validate the presented approach. It is observed that the optimized structure can achieve lighter weight than those from the established method by the demonstrative numerical test. Considerable computational savings can be achieved without loss of accuracy of the final design for 3D structure. Moreover, the effects of multiple constraints and upper bound of the allowable compliance upon the optimized designs are investigated by numerical examples.     

An engineering method for complex structural optimization involving both size and topology design variables

This work presents an engineering method for optimizing structures made of bars, beams, plates, or a combination of those components. Corresponding problems involve both continuous (size) and discrete (topology) variables. Using a branched multipoint approximate function, which involves such mixed variables, a series of sequential approximate problems are constructed to make the primal problem explicit. To solve the approximate problems, genetic algorithm (GA) is utilized to optimize discrete variables, and when calculating individual fitness values in GA, a second-level approximate problem only involving retained continuous variables is built to optimize continuous variables. The solution to the second-level approximate problem can be easily obtained with dual methods. Structural analyses are only needed before improving the branched approximate functions in the iteration cycles. The method aims at optimal design of discrete structures consisting of bars, beams, plates, or other components. Numerical examples are given to illustrate its effectiveness, including frame topology optimization, layout optimization of stiffeners modeled with beams or shells, concurrent layout optimization of beam and shell components, and an application in a microsatellite structure. Optimization results show that the number of structural analyses is dramatically decreased when compared with pure GA while even comparable to pure sizing optimization.     

Impact of defects on the decomposition of chemical warfare agent simulants in Zr-based metal organic frameworks

Metal organic frameworks (MOFs) containing zirconium secondary building units (SBUs) in UiO-67 and related MOFs, are highly active for neutralizing both the chemical warfare agents and simulants, such as dimethyl methylphosphonate (DMMP). However, two recent publications gave conflicting reports of DMMP reaction with UiO-67 under ultra high vacuum (UHV) conditions, with one reporting chemisorption and reaction (Wang et al., J Phys Chem C, 2017, 121, 11261–11272) and the other reporting only physisorption and reversible desorption (Ruffley et al., J Phys Chem C, 2019, 123, 19748–19758) from very similar temperature programmed desorption experiments. We show that the discrepancy between these experiments may be explained by different levels of missing linker defects in the UiO-67 samples. We present density functional theory calculations showing that SBU sites having two-adjacent missing linkers exhibit reaction barriers that are about 30 kJ/mol lower than SBU sites having a single missing linker. We also show that topology of the undercoordinated sites plays an important role in the reaction barrier under UHV conditions.     

药物相互作用研究在新药研发和审评决策中的应用

药物相互作用改变了剂量效应关系，可能会降低疗效或增加毒性，是临床应用中合并用药治疗时重要的考虑因素。预测具有临床意义的药物相互作用是药物研发过程中获益风险评估的重要环节。本文概述了药物研发过程中药物相互作用研究的目的和意义，体内和体外研究的主要内容；梳理分析了2020年国家药品监督管理局（National Medical Products Administration, NMPA）和美国食品药品监督管理局（Food and Drug Administration, FDA）批准上市的新药药物相互作用研究情况，旨在为我国药物研发过程中药物相互作用研究及其监管审评提供参考。