基于修正的G-K公式的组合机构自由度的计算

用修正的Grübler-Kutzbach的机构自由度计算公式，计算组合机构的自由度，有时会产生错误的结果。为了正确计算组合机构的自由度，并考虑计算组合机构自由度的方法便于工程技术人员学习和应用，根据修正的Grübler-Kutzbach的机构自由度计算公式，导出组合机构自由度的计算公式，得到机构自由度的一般计算公式；提出计算组合机构自由度的注意事项，给出了组合机构划分为基本机构的方法，并给出了算例。修正的Grübler-Kutzbach的机构自由度计算公式只能用于1个基本机构的自由度计算及各个基本机构的公共约束相同的机构自由度计算；对于一般的组合机构，要用组合机构自由度的公式计算其自由度。组合机构自由度等于各个基本机构自由度的和。     

汽车变速器自由度计算方法研究

根据新建立的平面机构、空间机构与结构自由度的计算公式,进行了理论分析与计算研究,发现现有汽车自动变速器轮系部分机构运动简图普遍表达不清晰,原因是由现有轮系自由度计算公式引起的。利用传统契氏公式、[K]公式和新公式对其自由度进行验证计算,结果表明：现有轮系自由度计算公式易于出错,而利用新公式计算自由度,能使自动变速器的结构原理更具科学性、可靠性和结构的真实性。     

关于重新建立空间机构自由度计算公式的探索

从四杆机构具有灵活性和平面机构任意封闭图形具有3个约束的理论出发,对机构学的自由度计算公式重新进行了研究。研究结果表明:只要对平面、球面机构自由度的计算公式稍加变化,就可得到空间机构求自由度的新公式,利用这个新公式,既可以求空间机构的自由度,又可以求平面、多环、空间开式链、混合链等机构的自由度。比传统公式使用方便,在形式和内容上都有实际意义,从而为空间机构自由度的计算提供了可靠的理论计算式。     

机构结构新旧自由度计算公式对比之理论研究

经过对国内外常用的4个重要自由度计算公式的构成因子的研究,通过三万多个例题验证计算与分析比较:发现新公式和库兹巴赫.格鲁巴(kutzbach qrubler)公式是正确的,这两公式能计算所有平面、空间机构结构的自由度。其他任何公式都是不完善的计算公式,通过研究还发现:并联空间机构中的冗余自由度、过约束就是新公式中多余自由度λ,新公式还涉及多余机座、自转双自由度、多余自由度双重含义以及球面缩度的新概念。研究结果为人们利用这些新概念和新公式去创造新机器提供可靠的理论依据。     

空间机构自由度计算公式的重新建立

通过对空间机构自由度计算公式的研究，提出新的空间机构自由度计算公式，不仅适用于空间机构，而且也适用于平面机构，即用一个空间机构求自由度的公式替代传统的24个空间机构求自由度的公式和18个用于平面机构求自由度的公式，并用实例验征其正确性。     

全移动副平面机构的运动研究

运用空间机构的自由度计算公式,导出全移动副平面机构的自由度计算公式;通过三杆三移动副、四杆四移动副、五杆五移动副的平面机构分析与计算,说明全移动副平面机构的自由度计算公式的正确性,并指出该公式的使用条件;针对四杆平面全移动副缓冲器的实际应用,分析该缓冲器的自由度计算、效率、正常工作条件等问题.     

一种新的平面机构自由度通用计算公式

传统平面机构自由度计算公式缺乏考虑公共约束、虚约束和局部自由度,难以通用于平面机构自由度计算,且机构增减构件后需重新求解。基于构件对于机构输入和输出运动关系的实效性影响,建立一种新型平面机构自由度通用计算公式。研究了虚约束、公共约束、局部自由度与机构自由度代数关系,定义平面机构有效构件、有效环路、广义高副概念等作为公式变量。新公式不需考虑低副和复合铰链,可以直接套用各类平面机构,克服了传统公式存在的不足。同时,新公式基于机构有效闭环划分,明确机构的基本组成单元——构件对其自由度影响,能够有效解决平面机构变形后自由度计算问题,避免重复查算。实例对比说明了新公式的简便性和正确性,且可以应用于传统公式失效或不易求解的平面机构。     

齿轮连杆机构的自由度

本文从齿轮连杆机构结构构成角度推导了自由度计算公式，指出了文献中自由度公式的错误。     

以对过约束的认识看自由度分析的历史发展

过约束的处理是自由度计算的关键也是瓶颈,探索统一的自由度计算公式已经历一百五十余年的历史,回顾整个发展历程,其间伴随着人们对过约束由无到有,由浅入深的认识。以自由度计算的核心——"过约束"为线索,贯穿整个自由度发展历史,介绍具有代表性的四十余种自由度公式,按照各自对过约束的处理方式将其分为三大类:原始的自由度公式、考虑机构阶的自由度公式以及考虑全部过约束的自由度公式,总结各类公式的特点、分析其历史地位,从一个新的角度了解自由度发展的历史,为能进一步找出研究工作将来的发展方向,同时提出具有通用性,实用性的自由度新理论奠定基础。     

3P-1R四自由度并联机器人机构的自由度分析

简要介绍螺旋理论在并联机构自由度计算与运动特性分析中的应用,探讨反螺旋作为机构约束在并联机构自由度计算公式中所起到的作用,从而得出该公式的修正模型。用这种方法分析一种新型3-5R,1-SPS四自由度并联机器人机构的运动特性,并在ADAMS软件中验证机构的自由度数。     

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Mice embryology: A microscopic overview

In this work, we studied the embryology of mice of 12, 14, and 18 days of gestation by gross observation, light microscopy, and scanning electron microscopy. Grossly, the embryos of 12 days were observed in C‐shaped region of the brain, eye pigmentation of the retina, first, second, and third pharyngeal arches gill pit nasal region on the fourth ventricle brain, cervical curvature, heart, liver, limb bud thoracic, spinal cord, tail, umbilical cord, and place of the mesonephric ridge. Microscopically, the liver, cardiovascular system and spinal cord were observed. In the embryo of 14 days, we observed structures that make up the liver and heart. At 18 days of gestation fetuses, it was noted the presence of eyes, mouth, and nose in the cephalic region, chest and pelvic region with the presence of well‐developed limbs, umbilical cord, and placenta. Scanning electron microscopy in 18 days of gestation fetuses evidenced head, eyes closed eyelids, nose, vibrissae, forelimb, heart, lung, kidney, liver, small bowel, diaphragm, and part of the spine. The results obtained in this work describe the internal and external morphology of mice, provided by an integration of techniques and review of the morphological knowledge of the embryonic development of this species, as this animal is of great importance to scientific studies. Microsc. Res. Tech. 2012. © 2012 Wiley Periodicals, Inc.     

The 5N neutral particle beamline of the U-70 accelerator (Institute for High Energy Physics)

The 5N neutral particle beamline at the U-70 accelerator (Institute for High Energy Physics), which has been designed to produce a high-intensity neutron beam with the highest possible energy, is described. The average neutron energy is ∼51 GeV, and the beam intensity is up to 10⁷ neutrons per spill. For several years, this beam has been used to investigate charmed particles and narrow baryon resonances in neutron-nucleus interactions and search for exotic multiquark states with the aid of the EXCHARM spectrometer. Original Russian Text A.N. Aleev, V.A. Arefiev, A.A. Aseev, Yu.G. Basha, V.P. Balandin, A.P. Bugorsky, T.S. Grigalashvili, B.N. Guskov, A.A. Zhuravlev, V.N. Zapolsky, A.I. Zinchenko, I.M. Ivanchenko, N.N. Karpenko, M.N. Kapishin, V.D. Kekelidze, D.A. Kirillov, I.G. Kosarev, N.A. Kuzmin, M.F. Likhachev, A.L. Ljubimov, D.T. Madigozhin, A.N. Maximov, N.A. Molokanova, A.N. Morozov, F.N. Novoskoltsev, Yu.K. Potrebenikov, Yu.P. Petukhov, V.E. Simonov, V.N. Spaskov, G.T. Tatishvili, P.Z. Hristov, I.P. Yudin (EXCHARM Collaboration), 2009, published in Pribory i Tekhnika Eksperimenta, 2009, No. 3, pp. 5–12.     

Mapping of the morphological and the material characteristics on the glenoid and estimation of predominant loading condition on the glenoid through the mapping

The aim of this study was to predict and map the regional distribution of the trabecular architecture and the material properties of the glenoid and to estimate the predominant loading condition on the glenoid through the mapping. The morphological and material characteristics of the glenoid were investigated by analyzing digitized trabecular bone images obtained from twelve cadaver scapula specimens. The morphological and material characteristics computed from the cadaver specimens show that the predominant loading on the glenoid generally occurs during shoulder movement, which produces forces directed toward the posterior aspect of the bare region. This study is innovative in its detailed mapping of the morphological and material characteristics of the glenoid and its pioneering approach used to estimate the loading pattern acting on the glenoid through the mapping. This paper was recommended for publication in revised form by Associate Editor Young Eun Kim Dohyung Lim received B.S. and M.S. degrees in Biomedical Engineering from Inje University, Kimhae, Korea, in 1998 and 2000, respectively. He then went on to receive his Ph.D. degree from School of Biomedical Engineering, Science, & Health Systems, Drexel University, Philadelphia, PA, USA, in 2004. Dr. Lim completed a postdoctoral fellowship in Department of Physical Therapy and Human Movement Science, Feinberg School of Medicine, Northwestern University, Chicago, IL, USA and a Research Professor of Biomedical Engineering, Yonsei University, Wonju, Gangwon, Korea. Dr. Lim is currently a Senior Researcher at the Korea Institute of Industrial Technology in Cheonan, Chungnam, Korea. Han-Sung Kim received B.S. and M.S. degrees in Machine Design and Production Engineering from Hanyang University, Seoul, Korea, in 1989 and 1991, respectively. Dr. Kim received Ph.D. degree in Mechanical Engineering from University of Manchester Institute of Science and Technology, Manchester, UK, in 1999. Dr. Kim is currently an Associated Professor at the Biomedical Engineering at Yonsei University in Wonju, Korea. Jung-Sung Kim received B.S. and M.S. degrees in Biomedical Engineering from Inje University, Kimhae, Korea, in 1996 and 1998, respectively. He is currently in the doctor’s course in Department of Medical Engineering and BK 21 Project for Medical Science, Yonsei University College of Medicine, Seoul, Korea. Rami Seliktar has a BS and MS degree in Mechanical Engineering, from The Technion, IIT, and Ph.D. (BME) from Strathclyde University, Scotland. He has held academic appointments in several institutions worldwide: Strathclyde University (2yrs.); associate professor at the Technion (9yrs.); Texas A&M (on sabbatical leave from the Technion), and twenty seven years as professor of BME and ME at Drexel University in Philadelphia. Concurrently he founded and directed a Biomechanics laboratory at the Loewenstein Rehab. in Israel and consulted to governments, public agencies and industries. Prof. Seliktar has done research on limb prosthetics, human performance, orthopedic and occupational biomechanics, assistive technology for automomobil dynamics. His research has been funded by: The NSF, NIH, the RWJ Foundation, the Easter Seal Foundation, NIDRR, AIduPont, the United Cerebral Palsy and some hospitals. He has published numerous articles in scientific journals, book chapters and conference proceedings. At the present, Rami Seliktar is Professor and Vice Director of the School of Biomedical Engineering, Science and Health Systems of Drexel University. Sung-Jae Lee received B.S. and M.Eng. degrees in Mechanical Engineering from Cornell University, Ithaca, NY, USA, in 1984 and 1985, respectively. He re-ceived Ph.D. degree in Biomedical Engineering from University of Iowa, Iowa City, IA, USA, in 1993 Dr. Lee is currently a Professor at Department of Biomedical Engineering, Inje University, Gimhae, Gyongnam, Korea. He is currently serving as a board member for the Division for Health Care Technology Assessment of International Federation of Medical and Biological Engineering (IFMBE), a executive member of Korean Orthopedic Research Society, director of international relations for the Korean Society for Biomaterials and also for the Korean Society of Biomechanics.     

The CMD-2 cryogenic magnetic detector

The CMD-2 cryogenic magnetic detector used in a set of experiments on the VEPP-2M electron-positron collider at energies as great as 1.4 GeV is described. The design of the detector subsystems and the algorithms for reconstructing tracks in the drift chamber and the CsI and BGO calorimeters are presented. The spatial and energy resolutions of the detector systems have been determined from analysis of experimental data. The design of the superconducting solenoid and the layout of its powering by means of a superconducting transformer are shown. The trigger system of the detector and the conditions for recording “charged” and “neutral” events on a magnetic tape are described. The procedure used to monitor the parameters of the detector systems during the experiment is presented. Original Russian Text ? E.V. Anashkin, V.M. Aul’chenko, R.R. Akhmetshin, V.Sh. Banzarov, L.M. Barkov, S.E. Baru, N.S. Bashtovoi, D.V. Bondarev, A.E. Bondar’, A.V. Bragin, N.I. Gabyshev, D.A. Gorbachev, A.A. Grebenyuk, D.N. Grigor’ev, D.A. Epifanov, I.V. Zhuravkov, V.G. Zavarzin, A.S. Zaitsev, S.G. Zverev, F.V. Ignatov, V.F. Kazanin, S.V. Karpov, G.M. Kolachev, P.P. Krokovnyi, A.S. Kuz’min, I.B. Logashenko, P.A. Lukin, K.Yu. Mikhailov, V.A. Monich, M.A. Nikulin, A.B. Nomerotskii, V.S. Okhapkin, S.G. Pivovarov, A.S. Popov, T.A. Purlats, S.I. Redin, N.I. Root, A.A. Ruban, N.M. Ryskulov, A.L. Sibidanov, V.A. Sidorov, A.N. Skrinskii, V.P. Smakhtin, I.G. Snopkov, E.P. Solodov, P.Yu. Stepanov, A.I. Sukhanov, V.M. Titov, V.E. Fedorenko, G.V. Fedotovich, B.I. Khazin, A.G. Shamov, Yu.M. Shatunov, B.A. Shvarts, B.N. Shuvalov, D.V. Chernyak, S.I. Eidel’man, Yu.V. Yudin, 2006, published in Pribory i Tekhnika Eksperimenta, 2006, No. 6, pp. 63–79.     

基体匹配——火焰原子吸收法测定钴酸锂中杂质元素

本文采用标准系列钴酸锂基体匹配,用1＋1盐酸溶解,在1％的盐酸介质中,用火焰原子吸收法,测定了钴酸锂中钾、钠、钙、镁、铜、铅、锌、铁、锰、镍等微量杂质含量。通过试验,确定了溶剂和介质的用量;对释放剂SrCl,的加入量进行了实验,选择了最佳加入量;对溶剂和样品中的共存元素进行了干扰实验。各元素的检出限分别为：钾：0．005μg／mL,钠：0．004μg／mL,钙：0．009μg／mL,镁：0．005μg／mL,铜：0．005μg／mL,铅：0．019μg／mL,锌：0．009μg／mL,铁：0．0151μg／mL,锰：0．005μg／mL,镍：0．012μg／mL,样品加标回收率在98—104％之间,相对标准偏差（RSD）为：0．96-9％,方法简便、快捷,仪器低廉,易于普及,适于钴酸锂中的微量元素检测。     

Development of the large neutron imaging system for inertial confinement fusion experiments

Inertial confinement fusion (ICF) requires a high resolution (~10 μm) neutron imaging system to observe deuterium and tritium (DT) core implosion asymmetries. A new large (150 mm entrance diameter: scaled for Laser Me?gaJoule [P. A. Holstein, F. Chaland, C. Charpin, J. M. Dufour, H. Dumont, J. Giorla, L. Hallo, S. Laffite, G. Malinie, Y. Saillard, G. Schurtz, M. Vandenboomgaerde, and F. Wagon, Laser and Particle Beams 17, 403 (1999)]) neutron imaging detector has been developed for such ICF experiments. The detector has been fully characterized using a linear accelerator and a (60)Co γ-ray source. A penumbral aperture was used to observe DT-gas-filled target implosions performed on the OMEGA laser facility. [T. R. Boehly, D. L. Brown, R. S. Craxton, R. L. Keck, J. P. Knauer, J. H. Kelly, T. J. Kessler, S. A. Kumpan, S. J. Loucks, S. A. Letzring, F. J. Marshall, R. L. McCrory, S. F. B. Morse, W. Seka, J. M. Soures, and C. P. Verdon, Opt. Commun. 133, 495 (1997)] Neutron core images of 14 MeV with a resolution of 15 μm were obtained and are compared to x-ray images of comparable resolution.     

A vertex microstrip detector of the SVD setup for experiments on the IHEP accelerator

A precision vertex microstrip detector has been developed for the spectrometer with a vertex detector (SVD) setup on which the properties of hadrons and short-lived unstable particles are investigated on the accelerator of the Institute for High Energy Physics. The structure and the design of the main detector components—microstrip sensors and an active target—are presented, as well as techniques for manufacturing them. The readout electronics, the data acquisition system, and its software are also described. The accuracy in determining the vertex position is 70–250 μm along the beam axis and 8–15 μm in a transverse direction at a throughput of 500–1000 events/s. Original Russian Text ? E.N. Ardashev, S.G. Basiladze, G.A. Bogdanova, M.V. Vasil’ev, V.Yu. Volkov, A.P. Vorob’ev, A.G. Voronin, S.N. Golovnya, S.A. Golubkov, S.A. Gorokhov, A.V. Gor’kov, Ya.V. Grishkevich, N.N. Egorov, V.B. Ezhov, P.F. Ermolov, E.G. Zverev, D.E. Karmanov, A.A. Kiryakov, Yu.F. Kozlov, V.A. Kramarenko, A.V. Kubarovskii, L.L. Kurchaninov, M.S. Levitskii, A.K. Leflat, S.I. Lyutov, V.Kh. Malyaev, M.M. Merkiv, A.A. Minaenko, G.Ya. Mitrofanov, V.V. Parakhin, V.S. Petrov, L.V. Pilavova, A.V. Pleskach, V.V. Popov, V.A. Sen’ko, A.I. Sidorov, M.M. Soldatov, L.A. Tikhonova, A.G. Kholodenko, Yu.P. Tsyupa, N.A. Shalanda, V.I. Yakimchuk, 2007, published in Pribory i Tekhnika Eksperimenta, 2007, No. 5, pp. 75–92.     

The Book Corner

Abstract

Capillary Electrophoresis Theory and Practice, Second Edition, P. Camilleri, ed., CRC Press, Boca Raton, Florida, 1997, 552 pp., $129.95.

Handbook of Analytical Therapeutic Drug Monitoring and Toxicology, S. H. Y. Wong, I. Sunshine, eds., CRC Press, 1997, 354 pp., $79.95.

Basic HPLC and CE of Biomolecules, R. L. Cunico, K. M. Gooding, T. Wehr, Bay Bioanalytical Laboratory, Inc., Richmond, CA, 1998, 388 pp., $39.95.

Handbook of Chiral Chemicals, David J. Ager, ed., Marcel Dekker, Inc., New York, 1999, 382 pp.     

Differential metabolome landscape of <i>Kadsura coccinea</i> fruit tissues and potential valorization of the peel and seed tissues

Kadsura coccinea (Lem.) is a woody wine plant with a peculiar fruit enriched in important health-promoting compounds. The non-editable part of the fruit, i.e., the seed and peel, represents more than 60% of the fruit and is considered a biowaste. This significantly restricts the development of the K. coccinea fruit industry. Clarifying the metabolic components of the different fruit parts can help to improve the utilization rate and valorization of K. coccinea. Herein, we evaluated K. coccinea fruit peel, pulp, and seed using widely-targeted metabolomics and quantified a set of 736 bioactive compounds from 11 major metabolite classes. The most prominent metabolite classes included lipids, amino acids, flavonoids, and lignans. Furthermore, our results emphasized a significant accumulation of flavonoids in pulp tissues, while alkaloids and lignans were abundant in peel and seed tissues, respectively. A total of 183 metabolites were differentially accumulated among the three tissues. Procyanidin C2, rutinoside, 2-hydroxyoleanolic acid, 5-hydroxymethyluracil, nootkatol, isoquercitrin, isohyperoside, quercetin-7-O-glucoside, hyperin, and rutin showed elevated accumulation in the peel. In the seed, kadsuralignan G, kadcoccilactone A, kadsuralignan H, lysoPE 20:5, iso-schisandrin ethyl alcohol, and kadangustin were significantly enriched. Our results highlight the diverse metabolome composition of K. coccinea fruit parts, which can be further exploited for its valorization in various industries.