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A New Approach for Modeling and Computation of Dynamics of Robots Containing Closed Chains
Xu,Xiang-Rong,Ma,Xiang-Feng,Choi,Young-Hyu,Chung,Won-Jee 창원대학교 공작기계기술연구센터 1999 연구업적집 Vol.1 No.1
This paper presents a new recursive algorithm of robot dynamics based on the Kane's dynamic equations and Newton-Euler formulations. Differing from Kane's work, the algorithm is general-propose and can be easily realized on computers. It is suited not only for robots with all rotary joints but also for robots with some prismatic joints Formulations of the algorithm keep the recurrence characteristics of the Newton-Euler formulations, but possess stronger physical significance. Unlike the conventional algorithms, such as the Lagrange and Newton-Euler algorithm, etc, the algorithm can be used to deal with dynamics of robots containing closed chains without cutting the closed chains open. In addition, this paper makes a comparison between the algorithm and those conventional algorithms from the number of multiplications and additions.
A Method for the Analysis of Robot Dynamics
Xu, Xiang-Rong,Choi, Young-Hyu,Chung, Won-Jee,Ma, Xiang-Feng 國立 昌原大學校 産業技術硏究所 1998 産技硏論文集 Vol.12 No.-
이 논문은 Kane의 동역학 방정식에 기초한 로봇 동역학의 새로운 循環 알고리즘을 제시한다. 이 알고리즘은 Kane의 동역학 방정식과 뉴톤-오일러 공식을 이용하여 얻어진다. 라그랑지-오일러(L-E)와 뉴우톤-오일러(N-E) 등과 같은 전통적 알고리즘과는 달리, 제안된 알고리즘은 간단하면서 確然하고, 閉체인을 그대로 포함된 로봇의 동역학을 푸는데 사용되어진다. 또한 이 알고리즘은 循環형태로 표현되어서 컴퓨터상에 구현하기 쉽기 때문에 로봇의 CAD(Computer0Aided Design)에 적합하다.
A New Method for the Dynamic Analysis of Robots with Flexible Links
Xu,Xiang-Rong,Choi,Young-Hyu,Chung,Won-Jee 창원대학교 공작기계기술연구센터 1999 연구업적집 Vol.1 No.1
본 논문은 로봇 매니퓰레이터의 운동학적 탄성동역학 해석을 위한 새로운 방법을 제시한다. 분산 매개변수 방법에 기초하여 유연한 링크를 갖는 로봇 매니퓰레이터의 일반적인 운동 방정식을 유도하였다. 운동방정식의 결과식은 비선형 강체와 탄성운동 커플링 항을 갖는 일반 복합탄성 매니퓰레이터를 모델링하는 데 사용되어질 수 있다. 본 논문에서 제안된 방법은 계산적으로 효과적이며 로봇 매니퓰레이터 및 공간메커니즘의 유연성 해석에 이용될 수 있다.
Trajectory Planning of Robot Manipulators in Cartesian Space
Xu, Xiang-Rong,Choi, Young-Hyu,Chung, Won-Jee,Ma, Xiang-Feng 國立 昌原大學校 産業技術硏究所 1998 産技硏論文集 Vol.12 No.-
이 논문은 Luh의 연구[5]에 기초한 로봇의 CP(Continuous Path) 운동 궤적계획에 대한 알고리즘을 제시한다. 이동 경로는 직각좌표계의 매개변수 방정식 그룹으로 표현된다. 시간간격(0,T)은 m등분으로 분할되고 각 분할부분의 다항식 계수는 순환 형식으로 얻어진다. 본 논문에서는 최소시간 궤적계획 및 m분할 결정에 대한 연구를 하였다. 3차 곡선 스플라인 함수(cubic spline function) 방법과 비교해 보면, 제안된 알고리즘이 컴퓨터 프로그램으로 쉽게 변활될 뿐만 아니라 연산량이 적다.
MLH1 Polymorphisms and Cancer risk: a Meta-analysis Based on 33 Case-control Studies
Xu, Jia-Li,Yin, Zhi-Qiang,Huang, Ming-De,Wang, Xie-Feng,Gao, Wen,Liu, Ling-Xiang,Wang, Rong-Sheng,Huang, Pu-Wen,Yin, Yong-Mei,Liu, Ping,Shu, Yong-Qian Asian Pacific Journal of Cancer Prevention 2012 Asian Pacific journal of cancer prevention Vol.13 No.3
Objective: Cumulative evidence suggests that MLH1, the key component in the mismatch pathway, plays an important role in human cancers. Two potential functional polymorphisms (-93G>A and I219V) of MLH1 have been implicated in cancer risk. The aim of this meta-analysis was to summarize the evidence for associations. Methods: Eligible studies were identified by searching the electronic literature PubMed, ScienceDirect and Embase databases for relevant reports and bibliographies. Studies were included if of case-control design investigating MLH1 polymorphisms (-93G>A and I219V) and cancer risk with sufficient raw data for analysis. Odds ratios (OR) and 95% confidence intervals (95% CI) were used to evaluate the strength of associations. Results: Our meta-analysis from 33 published case-control studies showed the variant A allele of -93G>A polymorphism to be associated with increased risk in all genetic models (AA vs. GG: OR = 1.22, 95% CI: 1.03-1.44), especially among non-Asians (AA vs. GG: OR = 1.28, 95% CI: 1.04-1.58). For the I219V polymorphism, however, there was no main effect associated with overall cancer risk in any genetic model. Conclusions: The meta-analysis suggested that the MLH1 -93G>A polymorphism may be a biomarker of cancer susceptibility. Large sample association studies and assessment of gene-to-gene as well as gene-to-environment interactions are required to confirm these findings.
( Bo Xu ),( Fu Ya Yang ),( Cai Yun Xiong ),( Jun Jun Li ),( Xiang Hua Tang ),( Jun Pei Zhou ),( Zhen Rong Xie ),( Jun Mei Ding ),( Yun Juan Yang ),( Zun Xi Huang ) 한국미생물 · 생명공학회 2014 Journal of microbiology and biotechnology Vol.24 No.4
To isolate novel and useful microbial enzymes from uncultured gastrointestinal microorganisms, a fecal microbial metagenomic library of the pygmy loris was constructed. The library was screened for amylolytic activity, and 8 of 50,000 recombinant clones showed amylolytic activity. Subcloning and sequence analysis of a positive clone led to the identification a novel gene (amyPL) coding for α-amylase. AmyPL was expressed in Escherichia coli BL21 (DE3) and the purified AmyPL was enzymatically characterized. This study is the first to report the molecular and biochemical characterization of a novel α-amylase from a gastrointestinal metagenomic library.
The Effect of Light-Beam Wobble on the Noise Characteristics for an Optical Disk
Cong-Hui Xu,Yu-Xiang Zheng,Liang-Yao Chen,Rong-Jun Zhang 한국물리학회 2006 THE JOURNAL OF THE KOREAN PHYSICAL SOCIETY Vol.49 No.5I
The laser beam is usually perpendicular to the optical disk during operation; however, for various reasons, the laser beam may diverge from the normal state with respect to the optical disk, which will cause an unsteadiness in the reflection of the light, and may lead to system noise. In this paper, we simulate the process of such an influence by adding a random variable to the incidence angle of the laser beam by combining an optical-matrix method with the Monte Carlo method. After careful analysis, we put forward some new structures to obtain a high signal-to-noise ratio (SNR) for a certain wavelength of the laser.
Effects of wind barriers on running safety of trains for urban rail cable-stayed bridge
Wei He,Xiang-Rong Guo,Zhi-hui Zhu,Pengru Deng,Xu-hui He 한국풍공학회 2020 Wind and Structures, An International Journal (WAS Vol.31 No.1
Considering the wind barriers induced aerodynamic characteristic variations of both bridge deck and trains, this paper studies the effects of wind barriers on the safety and stability of trains as they run through an urban rail transit cable-stayed bridge which tends to be more vulnerable to wind due to its relatively low stiffness and lightweight. For the bridge equipped with wind barriers of different characteristics, the aerodynamic coefficients of trains and bridge decks are obtained from wind tunnel test firstly. And then, the space vibration equations of the wind-train-bridge system are established using the experimentally obtained aerodynamic coefficients. Through solving the dynamic equations, one can calculate the dynamic responses both the trains and bridge. The results indicate that setting wind barriers can effectively reduce the dynamic responses of both the trains and bridge, even though more wind forces acting on the bridge are caused by wind barriers. In addition, for urban rail transit cable-stayed bridges located in strong wind environment, the wind barriers are recommended to be set with 20% porosity and 2.5 m height according to the calculation results of cases with wind barriers porosity and height varying in two wide ranges, i.e., 10% - 40% and 2.0 m to 4.0 m, respectively.
Suppressive Effect of Sinomenine Combined with 5-Fluorouracil on Colon Carcinoma Cell Growth
Zhang, Ji-Xiang,Yang, Zi-Rong,Wu, Dan-Dan,Song, Jia,Guo, Xu-Feng,Wang, Jing,Dong, Wei-Guo Asian Pacific Journal of Cancer Prevention 2014 Asian Pacific journal of cancer prevention Vol.15 No.16
It is reported that sinomenine (SIN) and 5-fluorouracil (5-FU) both are effective for colon cancer, but their cooperative suppressive effects and toxicity remain to be clarified in detail. This study aimed to determine suppressive effects and toxicity of sinomenine (SIN) plus 5-fluorouracil (5-FU) on LoVo colon carcinoma cells in vitro and in vivo. CCK-8, Hoechst 33258 staining and an annexin V-FITC/PI apoptosis kit were used to detect suppressive effects. Western blotting was applied to investigate the essential mechanism underlying SIN and 5-FU-induced apoptosis. SIN or 5-FU or both were injected into nude mice, and then suppressive effects and side effects were observed. SIN plus 5-FU apparently inhibited the proliferation of LoVo cells and induced apoptosis. Moreover the united effects were stronger than individually (p<0.05). The results of annexin V-FITC/PI staining and Hoechst 33258 staining showed that the percentage of apoptotic cells induced by SIN and 5-FU combined or alone was significantly higher than the control group (p<0.05). Expression of Bax and Bcl-2 was up-regulated and down-regulated respectively. SIN or 5-FU significantly inhibited effects on the volume of tumour xenografts and their combined suppressive effects were stronger (p<0.05). No obvious side effects were observed. It was apparent that the united effects of SIN and 5-FU on the growth of colorectal carcinoma LoVo cells in vitro and in vivo were superior to those using them individually, and it did not markedly increase the side effects of chemotherapy.