写字机器人绘制纸基微流控芯片便携检测Ca2+

纸基微流控芯片是一种纸质基底芯片,具有性能优良、价格低廉的优势,然而其制备技术多依赖专业昂贵的设备,限制了纸基微流控芯片的发展。该文采用成本低廉的家用写字机器人,将具有敏感特性的智能水凝胶绘制在纸质基底材料上,得到具有水凝胶阀门的纸基微流控芯片。以Ca2+为模型靶标,该纸基微流控芯片能实现不同浓度（0.1 ~ 50 mmol/L）Ca2+溶液的裸眼定量检测,并具有很好的易用性和重现性。同时采用ILX506 CCD传感器制作纸基微流控芯片的数字显示设备,以实现芯片测量结果的自动读取功能。该方法能快速便捷、低成本地制备多条纸基微流控芯片,为其普适化制备提供了新的研究思路,在发展中地区具有良好的推广前景。     

Automated SPE and nanoLC–MS analysis of somatostatin

Plasma peptides are widely used in clinical diagnosis and therapy monitoring. Our aim was an efficient system development for the enrichment of small, low abundant peptides from plasma by robotized sample preparation. The automation of SPE yields additional time saving and improves system robustness and repeatability. Automation is based on combining a Waters SPE kit with Oasis HLB sorbent and a multichannel liquid handling workstation with cheap commercially available electronic devices such as a programmable logic controller (PLC) and an AVR controller. Reversed phase nano liquid chromatography coupled with a sensitive quadrupole time of flight mass spectrometer (QTOF MS) was used for the quantitative determination of somatostatin (SST). We quantified SST from mouse plasma, where lower limit of detection (LLOD) and lower limit of quantification (LLOQ) were 2.5 and 8.3 fmol/ml, respectively. We investigated linearity of response, accuracy, precision, recovery, reproducibility and stability of SST during both short-term sample processing and long-term storage. This method allows reliable quantification of plasma peptides. The developed automated sample preparation solid phase extraction method can be easily and conveniently adopted for different volumes and amounts of sample in routine analysis using controlled vacuum. The highest advantage is enhanced reproducibility, which makes it suitable for the investigations of large sample cohorts in clinical studies.     

Influence of the flexibility of links on the dynamics of a multilink robot manipulator

The influence of the distributed flexibility of links on the dynamic behavior of a cantilevered multilink robot manipulator is studied. Two dynamic models of the robot are considered. In one of the models, the effectors are flexible. It is described by a hybrid system of ordinary and partial differential equations. In the other model, the manipulator links are perfectly rigid. It is based on the Lagrange formalism and described by a system of ordinary differential equations. To estimate the positioning accuracy, the results of modeling the manipulator in both cases are compared. A three-link manipulator is examined as an example __________ Translated from Prikladnaya Mekhanika, Vol. 43, No. 5, pp. 126–137, May 2007.     

Controlling robot manipulators by dynamic programming

A certain number of considerations should be taken into account in the dynamic control of robot manipulators as highly complex non-linear systems. In this article, we provide a detailed presentation of the mechanical and electrical implications of robots equipped with DC motor actuators. This model takes into account all non-linear aspects of the system. Then, we develop computational algorithms for optimal control based on dynamic programming. The robot's trajectory must be predefined, but performance criteria and constraints applying to the system are not limited and we may adapt them freely to the robot and the task being studied. As an example, a manipulator arm with 3 degress of freedom is analyzed.     

基于动态松弛法的柔索驱动并联机器人位置正解分析

根据悬链线解析表达式推导出悬索两端固定时索端拉力与索长之间的关系,用于求解特定长度的驱动柔索对处于某一位姿的动平台的作用力.动态松弛法可以从任意的初始状态开始,通过简单迭代而使系统达到静平衡状态.将该方法应用到柔索驱动并联机器人的位置正解分析中,可以得到与特定索长对应的动平台位姿.以舱索系统为例验证了方法的正确性.     

柔性机械臂的两种逆动力学方法

本文提出了柔性机械臂运动控制和振动抑制的两种有效的开环控制方法——两点边值逆动力学方法和轨迹规划逆动力学方法。两种逆动力学方法所设计的开环输入不仅可以实现柔性机械臂的点位运动或跟踪优化轨迹，而且同时显著降低或消除了结构柔性对其精确定位的影响。数值模拟和实验证实了理论分析结果     

HUMAN-LIKE CONTROL FOR SEMI-PASSIVE BIPEDAL ROBOT WALKING WITH VARIABLE LEG STIFFNESS1)

研究了变刚度半被动双足机器人行走控制问题。采用仿人的行走控制策略,使用变刚度双足弹簧负载倒立摆模型,利用模型自稳定性,在双支撑阶段调整后腿刚度使机器人的能量保持在期望能量附近,在单支撑阶段调整摆动腿落地位置控制质点的高度和前向速度。仿真结果表明：本文采用的控制策略可以实现双足机器人在水平面上的稳定行走,无扰动时可以使机器人实现零输入的被动周期行走,有外部扰动时腿部变刚度控制可使机器人总能量恢复平衡并重新进入稳态行走,控制系统具有鲁棒性。     

Identification of the Ten Inertia Parameters of a Rigid Body

Standard experiments for identifying inertia parameters of a rigid body only provide a subset of the inertia parameters of the body [1–10]. In addition, they do not use in the estimation process the complete information included in the equations of motion of the rigid test body. The objective of the work described in this paper is the simultaneous, automatic experimental identification of the ten inertia parameters of a rigid body using the complete information hidden in the nonlinear model equations of the test body. This task has been solved in several steps:– mathematical modelling of the special motions of a rigid body in space. These model equations have been mapped into a form suitable for identification purposes (identification hypothesis)– design of a special measurement robot for performing the identification experiments– laboratory experiments providing test data used for the identification experiments– identification of the inertia parameters and accuracy tests.The accuracy of the identified parameters is satisfactory.     

基于PCA和改进的PSO-SVM的机器人移动方向分类

随着人们创新水平的不断提高,为了更加准确的实现机器人的导航任务,提出了一种基于改进的粒子群优化支持向量机中的参数的方法.首先利用主成分分析法对数据进行降维,然后利用改进的粒子群优化算法,对SVM中的惩罚参数c和核函数的参数g进行优化,最后代入到SVM中,以此来达到运用SVM对机器人的导航任务进行分类识别.相对于其他算法,容易发现改进的粒子群优化算法优化后的支持向量机可以达到很好的效果.这种识别分类可以帮助人们很好的对机器人进行导航,对今后机器人的研究具有很大的应用价值.     

多体机械手的一般动力学模型

本文建立了多体机械手的一般动力学方程.设多体系统是由任意数目的刚体组成的树形拓扑结构,并认为铰是柱铰链,允许具有相对转动和滑动.考虑到实际问题中摩擦力的影响,采用Newton-Euler方法,建立了运动方程.进一步通过构造分配矩阵,将动力学方程分离,得到了一组实用的力方程和运动方程.