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A Compensation Method for Enhancing Aviation Drilling Robot Accuracy Based on Co-Kriging
Dongdong Chen,Peijiang Yuan,Tianmiao Wang,Lei Xue 한국정밀공학회 2018 International Journal of Precision Engineering and Vol.19 No.8
The positional error of aviation drilling robot has a great influence on the strength and lives of aircrafts in the aircraft assembly. In order to improve the position accuracy of aviation drilling robot, an error compensation method based on co-kriging is proposed in this paper. The error similarity based on the kinematic of drilling robot is proposed firstly. Then, the positional errors of a set of points in the workspace are measured by using precision laser tracker. The measurement data are used to fit the cross-variogram of positional error. After the cross-variogram is obtained, the predicted positional errors of verification points can be estimated based on co-kriging. The positions after compensation are given to the drilling robot. The proposed method is carried out on an aviation drilling robot for practical compensation to verify the correctness and effectiveness of the error compensation method. The experimental results show that the average absolute positional error is reduced to 0.1150 mm from 0.7168 mm, and that the maximum absolute positional error is reduced to 0.2664 mm from 1.3073 mm. The experimental results also demonstrate that the proposed method can improve the absolute position accuracy of aviation robot and could meet the requirement of aircraft assembly.
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Li, Ruiwen,Zhou, Peijiang,Guo, Yongyong,Lee, Jae-Seong,Zhou, Bingsheng Elsevier 2017 Neurotoxicology Vol.58 No.-
<P>Tris (1, 3-dichloro-2-propyl) phosphate (TDCIPP, also known as TDCPP), an extensively used flame retardant, is frequently detected in the environment and biota. Recent studies have shown that TDCIPP has neurotoxic effects. In this study, we determined the mechanisms of TDCIPP-induced neurotoxicity in human neuroblastoma (SH-SY5Y) cells. By using morphological examination, flow cytometry, and mitochondrial membrane potential (Delta Ym) measurement, we confirmed that exposure to TDCIPP caused apoptosis accompanied by the activation of apoptosis-related genes (e.g. Bax and Bc1-2) and caspase 3 protein in SH-SY5Y cells. Increased reactive oxygen species (ROS) formation and intracellular calcium ions ([Ca2+](i)) were also observed in TDCIPP-treated SH-SY5Y cells. Exposure to TDCIPP led to the activation of protein markers of endoplasmic reticulum (ER) stress, including eukaryotic translation initiation factor 2a subunit (p-EIF2a), activation transcription factor (ATF4), glucose-regulated protein (GRP78), and the proapoptotic factor C/EBP homologous protein (CHOP). To determine the role of the ER in apoptosis, phenyl butyric acid (PBA), an ER stress inhibitor, was applied. Treatment with PBA effectively attenuated TDCIPP-induced ER stress and protected against apoptotic death in SH-SY5Y cells by inhibition of Bax expression and promotion of Bcl-2 expression. Furthermore, we found that pretreatment of the cells with the ROS scavenger N-acetyl cysteine (NAC) inhibited the ER stress response and prevented apoptosis. The combination of PBA and NAC pretreatment could further prevent TDCIPP induced ER-stress and apoptotic death compared with PBA or NAC pretreatment alone. Thus, in the present study, we demonstrated that TDCIPP induces cytotoxicity through a ROS-dependent mechanism involving ER stress and activation of mitochondrial apoptotic pathways in SH-SY5Y cells. (C) 2016 Elsevier B.V. All rights reserved.</P>
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