Safe and intuitive manual guidance of a robot manipulator using adaptive admittance control towards robot agility

Key areas of robot agility include methods that increase capability and flexibility of industrial robots and facilitate robot re-tasking. Manual guidance can achieve robot agility effectively, provided that a safe and smooth interaction is guaranteed when the user exerts an external force on the end effector. We approach this by designing an adaptive admittance law that can adjust its parameters to modify the robot compliance in critical areas of the workspace, such as near and on configuration singularities, joint limits, and workspace limits, for a smooth and safe operation. Experimental validation was done with two tests: a constraint activation test and a 3D shape tracing task. In the first one, we validate the proper response to constraints and in the second one, we compare the proposed approach with different admittance parameter tuning strategies using a drawing task where the user is asked to guide the robot to trace a 3D profile with an accuracy or speed directive and evaluate performance considering path length error and execution time as metrics, and a questionnaire for user perception. Results show that appropriate response to individual and simultaneous activation of the aforementioned constraints for a safe and intuitive manual guidance interaction is achieved and that the proposed parameter tuning strategy has better performance in terms of accuracy, execution time, and subjective evaluation of users.     

矿用救生舱环境监控系统软件的研究

给出了矿用救生舱环境监控系统的组成,主要介绍了该系统软件的功能设计、总体架构及界面设计方案。该系统软件可实时显示各传感器的运行状态和检测数据、舱内气体余量、电源电量、照明灯状态、空气净化状态、自动控制状态、舱门状态等,人机交互界面友好,操作简便。该软件经长期连续运行实验,工作正常,达到了设计要求。     

煤矿管道瓦斯流量计量技术研究

阐述了煤矿管道瓦斯流量计量技术的发展现状,分析了孔板流量计、涡街流量计、皮托管流量计、旋进漩涡流量计、V锥流量计的优缺点;针对瓦斯流量测量准确度受气体中的杂质和瓦斯体积分数变化影响的问题,提出了解决办法;建议煤矿瓦斯抽放管网中的主管、干管、支管采用V锥流量计,汇流管以及各评价单元采用多点采样的插入式流量计;指出煤矿管道瓦斯流量计量应根据不同的现场状况、工况条件及测量需求选择相应的流量计。     

LD3320的嵌入式语音识别系统的应用

语音交互系统是比较人性化的人机操作界面,它需要语音识别系统的支持。LD3320就是这样一款语音识别芯片。介绍了该芯片的工作原理及应用,给出了LD3320与微处理器的硬件接口电路及软件程序。随着高档MCU的不断出现,以MCU为核心的嵌入式语音交互系统会有非常好的应用前景。     

基于光通信的数据单向导入系统的设计与实现

随着信息网络的日趋成熟,网络信息安全尤其是内网信息安全,越来越受到人们的关注,成为一时研究的热点。其中如何防止在移动存储设备与内网计算机信息交流过程中内网信息流失的问题,显得尤为迫切。为此,本文提出一种基于光通信的数据单向导入系统,为用户提供一种安全地将信息或者数据单向导入到内网的解决方案。利用光的单向性,从传输通道上卡断了反向的可能,有效地保护内网的机密信息不会流失到外部,同时做到良好的人机交互,用户可以任意选择存储设备中的文件发送。     

A Web Server for Designing Molecular Switches Composed of Two Interacting RNAs

The programmability of RNA–RNA interactions through intermolecular base-pairing has been successfully exploited to design a variety of RNA devices that artificially regulate gene expression. An in silico design for interacting structured RNA sequences that satisfies multiple design criteria becomes a complex multi-objective problem. Although multi-objective optimization is a powerful technique that explores a vast solution space without empirical weights between design objectives, to date, no web service for multi-objective design of RNA switches that utilizes RNA–RNA interaction has been proposed. We developed a web server, which is based on a multi-objective design algorithm called MODENA, to design two interacting RNAs that form a complex in silico. By predicting the secondary structures with RactIP during the design process, we can design RNAs that form a joint secondary structure with an external pseudoknot. The energy barrier upon the complex formation is modeled by an interaction seed that is optimized in the design algorithm. We benchmarked the RNA switch design approaches (MODENA+RactIP and MODENA+RNAcofold) for the target structures based on natural RNA-RNA interactions. As a result, MODENA+RactIP showed high design performance for the benchmark datasets.     

基于孔隙压力黏结单元的准脆性材料水力劈裂模拟

传统数值方法对水力劈裂的模拟一般采用预设裂缝扩展路径,且将水流作用等效为压力荷载,难以反映裂缝渗流-开裂耦合效应. 采用自编程Python脚本程序批量插入孔隙压力黏结单元,考虑裂缝渗流-开裂耦合作用模拟准脆性材料水力劈裂随机扩展全过程. 在对经典理论模型及试验结果模拟验证的基础上,开展含多裂缝均质模型的水力劈裂全过程分析,并进一步建立混凝土细观尺度水力劈裂模型,分析骨料、界面过渡区和基体渗透性对混凝土劈裂全过程的影响. 结果表明,本研究模型可以有效模拟准脆性材料水力劈裂失效过程,准脆性材料多缝开裂过程伴随微裂缝的分叉扩展而非光滑的裂缝扩展路径,骨料及界面过渡区影响劈裂扩展路径造成裂缝分叉出现,混凝土基体的渗透性对其抵抗水力劈裂不利并影响失效软化过程.     

Deciphering the Binding Interactions between Acinetobacter baumannii ACP and β-ketoacyl ACP Synthase III to Improve Antibiotic Targeting Using NMR Spectroscopy

Fatty acid synthesis is essential for bacterial viability. Thus, fatty acid synthases (FASs) represent effective targets for antibiotics. Nevertheless, multidrug-resistant bacteria, including the human opportunistic bacteria, Acinetobacter baumannii, are emerging threats. Meanwhile, the FAS pathway of A. baumannii is relatively unexplored. Considering that acyl carrier protein (ACP) has an important role in the delivery of fatty acyl intermediates to other FAS enzymes, we elucidated the solution structure of A. baumannii ACP (AbACP) and, using NMR spectroscopy, investigated its interactions with β-ketoacyl ACP synthase III (AbKAS III), which initiates fatty acid elongation. The results show that AbACP comprises four helices, while Ca²⁺ reduces the electrostatic repulsion between acid residues, and the unconserved F47 plays a key role in thermal stability. Moreover, AbACP exhibits flexibility near the hydrophobic cavity entrance from D59 to T65, as well as in the α₁α₂ loop region. Further, F29 and A69 participate in slow exchanges, which may be related to shuttling of the growing acyl chain. Additionally, electrostatic interactions occur between the α₂ and α₃-helix of ACP and AbKAS III, while the hydrophobic interactions through the ACP α₂-helix are seemingly important. Our study provides insights for development of potent antibiotics capable of inhibiting A. baumannii FAS protein–protein interactions.     

Role of Chiral Configuration in the Photoinduced Interaction of D- and L-Tryptophan with Optical Isomers of Ketoprofen in Linked Systems

The study of the L- and D-amino acid properties in proteins and peptides has attracted considerable attention in recent years, as the replacement of even one L-amino acid by its D-analogue due to aging of the body is resulted in a number of pathological conditions, including Alzheimer’s and Parkinson’s diseases. A recent trend is using short model systems to study the peculiarities of proteins with D-amino acids. In this report, the comparison of the excited states quenching of L- and D-tryptophan (Trp) in a model donor–acceptor dyad with (R)- and (S)-ketoprofen (KP-Trp) was carried out by photochemically induced dynamic nuclear polarization (CIDNP) and fluorescence spectroscopy. Quenching of the Trp excited states, which occurs via two mechanisms: prevailing resonance energy transfer (RET) and electron transfer (ET), indeed demonstrates some peculiarities for all three studied configurations of the dyad: (R,S)-, (S,R)-, and (S,S)-. Thus, the ET efficiency is identical for (S,R)- and (R,S)-enantiomers, while RET differs by 1.6 times. For (S,S)-, the CIDNP coefficient is almost an order of magnitude greater than for (R,S)- and (S,R)-. To understand the source of this difference, hyperpolarization of (S,S)-and (R,S)- has been calculated using theory involving the electron dipole–dipole interaction in the secular equation.     

Dissipative Particle Dynamics Simulation: A Review on Investigating Mesoscale Properties of Polymer Systems

Polymer systems have typical multiscale characteristics, both in space and time. The mesoscopic properties of polymers are difficult to describe through traditional experimental approaches. Dissipative particle dynamics (DPD) is a simulation method used for solving mesoscale problems of complex fluids and soft matter. The mesoscopic properties of polymer systems, such as conformation, dynamics, and transport properties, have been studied extensively using DPD. This paper briefly summarizes the application of DPD to research involving microchannel flow, electrospinning, free-radical polymerization, polymer self-assembly processes, polymer electrolyte fuel cells, and biomedical materials. The main features and possible development avenues of DPD are described as well.