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用于膝关节辅助的集成式液压驱动可穿戴机器人 赵亚飞, 黄超逸, 邹玉莹, 邹可涵, 邹笑阳, 薛嘉琦, 李晓婷, KOH Keng Huat, 王小军, 赖伟超, 胡勇, 席宁, 王峥 J Shanghai Jiaotong Univ Sci    2023, 28 (3): 289-295.   DOI: 10.1007/s12204-023-2602-2 摘要 （95）      PDF （1156KB）（49）    可视化    与衰老过程有关的疾病可能导致膝关节功能失调，因此需要以可穿戴机器人护膝的形式提供膝关节援助。然而，现有的可穿戴机器人在协助老年人的日常活动中面临着力的有效传递和适应人体运动的困难。尽管软体驱动器已被广泛用于可穿戴机器人中，在便携的基础上实现快速响应和运动控制仍然是一个挑战。针对这些问题，我们提出了一个集成多传感器和直驱液压驱动系统的软体护膝机器人系统。我们在便携式液压系统中实现了可控和快速的力输出。多传感器的反馈使机器人系统能够通过人的生理信号和动作信息与人体进行协作。人类用户的测试结果验证了该膝关节机器人可以通过肌电信号触发而向膝关节提供辅助扭矩。 参考文献 | 相关文章 | 多维度评价

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一种基于双螺纹斜齿轮管的新型同心圆管机器人 陈韦池, 刘浩城, 李子建, 郭靖, 翟振坤, 孟伟, J Shanghai Jiaotong Univ Sci    2023, 28 (3): 296-306.   DOI: 10.1007/s12204-023-2595-x 摘要 （76）      PDF （2087KB）（10）    可视化    鼻咽癌是一种源于鼻黏膜的恶性肿瘤，常发生在头颈部。同心管机器人可形成复杂的形状，并可到达难以触及的病灶，因此常用于微创手术。然而一些同心管机器人由于其传动设计显得笨重，本文提出了一种基于双螺纹斜齿轮管的轻型螺旋齿轮传动装置。其驱动单元的紧凑和小型化，使得这种同心管机器人比传统同心管机器人更轻巧。通过运动学分析，得到了齿轮管姿态与电机输出角的映射关系。本文对驱动机构的精度、稳定性和重复性进行了测试。实验结果表明：该系统在平移试验中的定位误差小于0.3 mm；稳定性试验中滚动角度误差小于0.6°；平移重复性试验误差小于0.005 mm。最后使用同心管机器人进行了尖端瞄准试验，验证了同心管机器人用于手术的可行性。 参考文献 | 相关文章 | 多维度评价

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多结构柔性夹持器提高夹持的鲁棒性 李林霖, 高飞扬, 郑雄飞, 张黎明, 李世杰, 王赫然 J Shanghai Jiaotong Univ Sci    2023, 28 (3): 307-311.   DOI: 10.1007/s12204-022-2508-4 摘要 （54）      PDF （2071KB）（9）    可视化    近年来，软体抓手因其高柔顺性在医疗康复等各个领域引起了广泛的关注。然而，传统的PneuNet仅通过包络抓取（EG）可靠地抓取中大型物体，无法实现捏取（PG）来稳定抓取小而薄的物体，这是由于EG需要大弯曲角度而PG需要相对小很多的弯曲角度。我们提出了一种多结构软体夹持器（MSSG），每个手指只有一个气路，它将近端段的PneuNet与远端段的普通软气动执行器（NSPA）相结合，这样可以在不损失EG的情况下实现PG，并且远端和近端段之间的高度差增强了PG的鲁棒性。基于MSSG的稳定性（指弯曲角度描述）和鲁棒性（拉拔力描述）对抓取进行了表征，并采用有限元方法分析了MSSG的弯曲角度和拉拔力。此外，通过实验验证了抓取性能，结果表明每指单气路的MSSG能够在不损失EG的情况下实现PG，并有效增强了PG的鲁棒性。 参考文献 | 相关文章 | 多维度评价

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胃癌外科综合治疗的若干进展与展望 朱正纲 外科理论与实践    2023, 28 (01): 1-6.   DOI: 10.16139/j.1007-9610.2023.01.01 摘要 （73）   HTML （11）    PDF （877KB）（25）    可视化    胃癌是国内、外常见恶性肿瘤，手术仍是治疗胃癌的主要方法。一系列临床研究改变了传统胃癌手术理念，避免盲目扩大手术切除范围。腹腔镜手术治疗早期和局部进展期胃癌的疗效并不劣于开腹手术。胃癌微创手术发展的关键是把握合理的手术指征，建立手术技术培训系统，以及优化成本与效益。理性认识胃癌扩大术脏器切除与保留脏器功能的关系。注重局部进展期胃癌围术期治疗的全程管理。并提倡晚期胃癌的术前转化治疗。对广泛转移晚期胃癌的姑息性切除术应慎之又慎，建议综合治疗，旨在延长病人生命。 参考文献 | 相关文章 | 多维度评价

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用于电化学双层电容器的离子液体改性聚乙烯醇和硫氰酸钠聚合物电解质的物理表征 AZEMTSOP Manfo Theodore, MEHRA Ram Mohan, KUMAR Yogesh, GUPTA Meenal J Shanghai Jiaotong Univ Sci    2023, 28 (2): 161-171.   DOI: 10.1007/s12204-021-2397-y 摘要 （239）      PDF （1140KB）（94）    可视化    以聚乙烯醇（PVA）和硫氰酸钠为主要原料，采用溶液浇铸造工艺研制了新型凝胶聚合物电解质（GPEs）。将1-乙基-3-甲基-咪唑三氰基甲烷化物（[EMIM][TCM]）的离子液体掺入到聚合物-盐配合物体系（PVA + NaSCN），以进一步提高导电性能。利用X射线衍射（XRD）、偏光显微镜术（POM）、傅里叶变换红外光谱（FTIR）和电导率测量对离子液体掺杂的聚合物电解质薄膜进行了表征。通过XRD测试了离子液体掺杂聚合物电解质薄膜的结晶度和非结晶性，发现随着离子液体含量的增加，新型凝胶聚合物电解质的非结晶性增加。POM测评了聚乙烯醇中盐和离子液体的加入对表面形貌的影响。通过FTIR研究了新型凝胶聚合物电解质薄膜的组成性质。采用循环伏安法和电化学阻抗谱对其电学和电化学性能进行了表征。聚合物-盐复合物中离子液体的质量分数为6%时，新型凝胶聚合物电解质薄膜的最大电导率为1.10 × 10-5 S/cm。离子迁移数约为0.97。利用优化的新型凝胶聚合物电解质薄膜和还原氧化石墨烯基电极制备了电化学双层电容器。由循环伏安法计算的电化学双层电容器电池的比电容为3 F/g。 参考文献 | 相关文章 | 多维度评价

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射频/直流溅射沉积铜掺杂氧化锌薄膜的合成与表征 KHAN Mohibul, ALAM Md. Shabaz, AHMED Sk. Faruque J Shanghai Jiaotong Univ Sci    2023, 28 (2): 172-179.   DOI: 10.1007/s12204-022-2462-1 摘要 （124）      PDF （698KB）（39）    可视化    采用射频/直流反应溅射技术在玻璃衬底上制备了未掺杂和掺铜氧化锌（Zn1-xCuxO，其中x = 0~0.065）的纳米晶体薄膜。本工作旨在研究ZnO和Cu掺杂ZnO薄膜的晶体结构，并研究Cu掺杂对ZnO薄膜光学带隙的影响。利用X射线衍射仪（XRD）、扫描电子显微镜和原子力显微镜对纳米级薄膜的结晶度、薄膜厚度和表面形貌进行了鉴定和确认。在衍射角34.44°密勒指数（002）的XRD峰值证实了ZnO薄膜的存在。由XRD（002）峰计算得出，当ZnO薄膜中Cu的原子分数（xCu）从0增加到6.5%时，未掺杂ZnO薄膜的晶粒尺寸从27 nm减小到22 nm。通过傅里叶变换红外光谱仪研究了在400~4000 cm-1波数范围内所有沉积薄膜的不同键合信息。通过紫外可见分光光度计分析了所有沉积薄膜的光学带隙能：随着xCu从0增加到6.5%，其变化范围为3.35 eV到3.19 eV。随着xCu从0增加到6.5%，沉积薄膜的Urbach能量从115 meV增加到228 meV。 参考文献 | 相关文章 | 多维度评价

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二维Si-A (Ge, Pb, Sn)合金-气孔热晶体的能带结构特征 AZKA Umar, 姜淳, KHUSHIK Muhammad Hanif Ahmed Khan J Shanghai Jiaotong Univ Sci    2023, 28 (2): 180-185.   DOI: 10.1007/s12204-022-2485-7 摘要 （114）      PDF （539KB）（26）    可视化    本文设计了含气孔的合金热晶体，分析了其能带结构、传热特性和通量光谱。以Si-A (A = Ge, Sn, Pb)合金为背景材料，采用方阵气孔构造弹性常数周期结构的热晶体，采用有限元方法计算了其高频声子带。此外，本文还研究了有限热激发声子阵列的热传输，并给出了热传输最大的热晶体。结果表明，增大气孔半径和减小晶格常数可以获得更宽的带隙。在合金材料中，随着原子半径和原子量（Ge, Sn, Pb）的增加，频率范围向低频移动（有助于导热）。因此，带隙频率也向低频偏移，但这种下降率不是恒定的或有序的，因此前者相较于后者下降率可能或快或慢。因此，热输运贡献的频率范围与带隙频率范围重叠。热晶体在热管理和控制热波传播方面具有广阔的应用前景。 参考文献 | 相关文章 | 多维度评价

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“核心剥离式”瘢痕疙瘩修薄术联合放疗的疗效分析 武晓莉　班耀林　陈立彬　谢春晖　马倩玉　王文波 组织工程与重建外科杂志    2023, 19 (1): 22-.   摘要 （65）      PDF （9318KB）（14）    可视化    目的　探究“核心剥离式”瘢痕疙瘩修薄术联合放疗对于瘢痕疙瘩治疗的效果。方法　采取回顾性研究以及自身前后对照，选取 2020 年 1 月—2020 年 12 月收治的 43 例边缘呈坡形的瘢痕疙瘩患者，共 326 处瘢痕疙瘩病灶，行“核心剥离式”瘢痕疙瘩修薄术，在保留约 1 mm 厚度瘢痕皮片情况下剥离并切除瘢痕核心组织，保留真皮网状层，以“改良褥式缝合法”缝合固定瘢痕皮片。术后采用 6 MeV 电子线放射治疗 2 次，第 1 次放疗于术后 24 h 内完成，7 d 后进行第 2 次放疗，单次照射剂量为 9 Gy。治疗结束后 6 个月、12 个月及18 个月时随访。采用患者与观察者瘢痕评估量表（The patient and observer scar scale，POSAS）分析治疗结果，统计治疗有效率及治疗后 18 个月患者满意度。 结果　治疗后 POSAS 总分、患者总分、观察者总分均较治疗前显著降低。部分患者出现不同程度的色素沉着、脱失，局部毛发脱落，及短暂的皮炎、神经炎表现，后均自行改善。治疗结束后 18 个月的总复发率为 30.23%。43 例瘢痕疙瘩中，17 例（39.53%）患者对疗效非常满意，22 例（51.62%）患者对疗效满意，4 例（9.3%）患者对疗效不满意，总体满意率为 90.7%。结论　“核心剥离式”瘢痕疙瘩修薄术是一种快速有效的瘢痕疙瘩减容手术，配合术后放疗具有良好的治疗效果。 相关文章 | 多维度评价

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非剥脱点阵激光联合积雪苷对兔耳增生性瘢痕的作用研究#br# 陈茜　韩晓凤　肖沙　徐伟　黄筠 组织工程与重建外科杂志    2023, 19 (1): 28-.   摘要 （37）      PDF （27469KB）（23）    可视化    目的　研究非剥脱点阵激光联合积雪苷软膏对兔耳增生性瘢痕的作用及机制。方法　建立兔耳增生性瘢痕模型，分为对照组（不建模）、模型组（不干预）、联合组（1 565 nm 非剥脱点阵激光联合积雪苷治疗）、点阵组（1 565 nm非剥脱点阵激光治疗）和积雪苷组（仅以积雪苷治疗）。分组干预后行大体观察、HE 染色、MASSON 染色，TUNEL法检测成纤维细胞凋亡，Real-time PCR、Western blot 检测Ⅰ型胶原、Ⅲ型胶原、TGF-β1、Smads、IL-6 等相关因子的表达。结果　经造模分组干预后，大体观察、HE 染色和 MASSON 染色可见联合组瘢痕增生减少 ；TUNEL 法检测细胞凋亡显示，联合组凋亡细胞明显增加 ；Real-time PCR 及 Western blot 结果显示，联合组Ⅰ型胶原、Ⅲ型胶原、TGF-β1、IL-6、Smad 2 表达升高，Smad 7 表达降低。结论　1 565 nm 非剥脱点阵激光联合积雪苷治疗增生性瘢痕疗效显著，明显优于单独使用激光或积雪苷治疗，其作用机制与 TGF-β1、IL-6、Smad 2 表达升高，Smad 7 表达降 低有关。 相关文章 | 多维度评价

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基于多元动机理论的共享电动汽车出行意愿影响因素研究 BAO Lewen (鲍乐雯), MIAO Rui, ∗ (苗 瑞), CHEN Zhihua (陈志华), ZHANG Bo (张 博), GUO Peng (郭 鹏), MA Yuze (马宇泽) J Shanghai Jiaotong Univ Sci    2023, 28 (1): 1-9.   DOI: 10.1007/s12204-023-2563-5 摘要 （270）      PDF （467KB）（107）    可视化    分析城市居民对共享电动汽车的使用意愿对于促进城市交通低碳发展意义重大。考虑到目前共享电动汽车仍存在空闲率高、吸引力不足等问题，本研究提出了一种基于多元动机理论的结构方程模型。首先利用多元动机理论将影响消费者是否选择共享出行方式归为消费者驱动动机、方案驱动动机以及企业驱动动机三类，并对各变量的影响因素进行了细分；随后通过调查问卷得到上海市居民对电动汽车共享出行的意愿数据；最后构建结构方程模型定量化分析了各变量对于出行意愿的影响。研究结果表明：消费者驱动动机（影响权重范围为0.14~0.63）对于共享电动汽车出行意愿的影响最大，远大于方案驱动动机（-0.14~0.15）和企业驱动动机（0.02~0.06）的影响，其中在消费者驱动变量中，绿色出行意识影响最大。基于以上分析，本文分别从消费者、企业及政府层面提出了具体的相关政策建议。 参考文献 | 相关文章 | 多维度评价

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基于物联网的高速公路雨雾天气智能限速系统 YAN Beirui (燕北瑞), FANG Cheng (方 成), QIU Hao (邱 昊), ZHU Wenfeng∗ (朱文峰) J Shanghai Jiaotong Univ Sci    2023, 28 (1): 10-19.   DOI: 10.1007/s12204-023-2564-4 摘要 （167）      PDF （2162KB）（32）    可视化    山区高速公路不良天气频发，弯段多，且隧道多，雨雾区域性较强，极大影响了交通安全及通行效率。基于物联网的车路协同系统可以实时共享车路信息，扩大车辆的环境感知范围，实现车路协同工作，从而保障交通安全，提高通行效率。因此，针对雨雾天高速公路行车安全问题，本文提出了基于物联网的车路协同行车辅助系统模型。基于雨雾的影响原理，分析降雨，水膜及附着系数方面的作用机理。以天气信息、道路参数、车辆状态为系统输入，以停车视距、防侧翻侧滑为边界约束，构建面向智能交通的车路协同行车辅助系统。与不良天气下某实际高速公路的实车实验表明：该辅助系统有利于提升不良天气下行车安全，支持提升山区高速公路智能化发展水平。 参考文献 | 相关文章 | 多维度评价

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行人轨迹预测的动作感知编码器–解码器网络 FU Jiawei∗ (傅家威), ZHAO Xu (赵 旭) J Shanghai Jiaotong Univ Sci    2023, 28 (1): 20-27.   DOI: 10.1007/s12204-023-2565-3 摘要 （154）      PDF （775KB）（46）    可视化    准确的行人轨迹预测在自动驾驶系统中至关重要，因为它们对于自主车辆的响应和决策至关重要。在本研究中，我们关注从第一人称视角预测行人未来轨迹的问题。大多数现有的第一人称视角的轨迹预测方法采用了鸟瞰图下的预测方法，忽略了两者之间的差异。为此，我们澄清了两种视角之间的差异，并强调了第一人称视角中动作感知对于轨迹预测的重要性。我们提出了一种基于编码器–解码器框架的新动作感知网络，在编码器末端具有动作预测分支和目标估计分支。在解码器部分，采用双向长短期记忆块来生成行人未来轨迹的最终预测。与其他方法相比，我们的方法在公共数据集上进行了评估，并取得了有竞争力的表现。消融研究证明了动作预测分支的有效性。 参考文献 | 相关文章 | 多维度评价

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腹膜后肉瘤诊疗规范、难点和发展方向——CSCO指南解读 刘文帅, 陆维祺, 周宇红 外科理论与实践    2022, 27 (06): 483-489.   DOI: 10.16139/j.1007-9610.2022.06.01 摘要 （71）   HTML （32）    PDF （792KB）（40）    可视化    图表 | 参考文献 | 相关文章 | 多维度评价

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影响异物巨细胞形成的介导因素研究进展 刘宇, 王蕊, 李士杰, 等 组织工程与重建外科杂志    2022, 18 (6): 527-.   摘要 （113）      PDF （453KB）（23）    可视化    异物巨细胞（Foreign body giant cell，FBGC）是生物医学材料植入体内后形成的一种突出细胞类型，由巨噬细胞融合而成，是持续微生物感染或不可吞噬异物引发的慢性炎症中标志性组织学特征。FBGC与植入的生物材料的降解和失效有关，是异物反应的关键细胞，控制FBGC形成被认为是防止植入失败的关键，因此FBGC一直是相关研究的热点。虽然促进巨噬细胞黏附发育和支持FBGC形成的分子机制尚未阐明，但也发现了很多影响其形成的介导因素。本文从FBGC的形成过程、结构功能、影响形成因素三个方面，对国内外相关文献进行总结归纳，有助于进一步了解异物巨细胞形成的机制，并为寻找其他可能的介导因素提供启示。 相关文章 | 多维度评价

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面向新型电力系统的可再生能源绿色电力证书差异化配置模型 张硕, 李薇, 李英姿, 刘强, 曾鸣 上海交通大学学报    2022, 56 (12): 1561-1571.   DOI: 10.16183/j.cnki.jsjtu.2022.150 录用日期: 2022-10-24 摘要 （634）   HTML （757）    PDF （1436KB）（333）    可视化    实现我国“30·60”双碳目标,能源绿色低碳转型是基础支撑,构建以新能源为主体的新型电力系统是关键举措,绿色电力证书(简称绿证)则是体现可再生能源绿色价值的重要凭证.当前我国绿证分配机制单一,无法有效衡量不同可再生能源发电类型可获得绿色价值的差异性,并发挥其平衡可再生能源协调发展的杠杆作用.为此,从可再生能源发电类型电量兑换绿证的差异化入手,建立考虑可再生能源综合价值的绿证差异化评价指标体系,应用CRITIC法、熵权法和TOPSIS法构建可再生能源电力绿证差异化评价模型.以2030年碳达峰目标为发展场景,分析模型对集中式光伏发电、分布式光伏发电、陆上风力发电和海上风力发电绿色收益的影响,进而修正其发展规划,并提出绿证相关政策建议.所构建的绿证差异化分配模型可为我国绿证市场机制的建设和完善提供相应的辅助决策支持. 图表 | 参考文献 | 相关文章 | 多维度评价

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漂浮式光伏网格对海上天气突变的感知方法 姜淏予, 王沛伦, 葛泉波, 徐今强, 罗朋, 姚刚 上海交通大学学报    2022, 56 (12): 1584-1597.   DOI: 10.16183/j.cnki.jsjtu.2021.526 摘要 （363）   HTML （176）    PDF （8866KB）（178）    可视化    漂浮式光伏在海洋上的应用目前主要受制于海底电缆与特质浮筒的成本问题,该能量如果被海上牧场等场景的无人管理系统就地消纳则表现出高度的适用匹配性.这种场景下由漂浮式光伏形成的网格系统可以解决海上牧场等对突变天气的预警需求.由于光伏出力模型对天气随机变化的强跟随性, 基于大面积光伏的时空相关性分析,通过硬件、距离、时延、天气等因素建立相似电站融合估计关系.基于长短期记忆网络算法对相似电站时序进行跟踪,所得超短期预测值可以估计目标相似电站的状态.用某市城区规模的数据验证了该思路的可行性,表明该框架可以弥补传统研究的不足. 图表 | 参考文献 | 相关文章 | 多维度评价

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高超声速飞行器线性变参数一体化式控制律设计 杨庶, 钱云霄, 杨婷 上海交通大学学报    2022, 56 (11): 1427-1437.   DOI: 10.16183/j.cnki.jsjtu.2022.190 录用日期: 2022-09-05 摘要 （549）   HTML （341）    PDF （2903KB）（276）    可视化    针对高超声速飞行器的三维航迹控制问题,采用线性变参数(LPV)输出反馈控制和极点配置理论,基于高度-水平航迹控制概念,在马赫数包线内设计高超声速飞行器一体化式LPV控制律.该控制律不区分常规飞行控制律的内外控制回路,根据速度、高度、侧滑角和偏航角指令对飞行器纵向和横航向运动进行综合控制,在L2诱导范数意义下实现飞行器三维航迹的鲁棒最优控制.在地心地固参考系内建立高超声速飞行器的数学模型,考虑地球自转、地球扁率、地球引力二阶简谐效应对飞行器运动特性的影响.通过数值仿真检验LPV控制律的控制性能,仿真结果表明:高超声速飞行器闭环系统具有D-稳定性,能够在典型机动中保持良好的航迹控制性能,并且在扰动和测量噪声下具有良好的鲁棒性. 图表 | 参考文献 | 相关文章 | 多维度评价

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基于相对速度和位置辅助的无人机编队协同导航 郭鹏军, 张睿, 高关根, 许斌 上海交通大学学报    2022, 56 (11): 1438-1446.   DOI: 10.16183/j.cnki.jsjtu.2022.232 录用日期: 2022-09-05 摘要 （450）   HTML （24）    PDF （1260KB）（216）    可视化    惯性导航系统的误差随时间累积,仅依靠惯性导航系统进行定位的无人机编队无法在长航时飞行中获取高精度导航信息.针对这一问题,面向主从式无人机编队提出一种协同导航方案.首先,在无人机上配置相对导航传感器,测量主从无人机编队成员之间的相对速度和相对位置信息;其次,考虑编队成员之间的相对位姿,研究空间统一转换方案,将编队各成员依靠惯性导航系统测量的绝对导航信息与相对传感器测量的相对导航信息统一到同一导航坐标系下;最后,给出基于相对速度和相对位置辅助的协同导航方案.30 min仿真结果表明,采取该方案后,从机各方向上的速度和位置误差分别收敛至0.1 m/s和5 m,证实该方案相较于惯性导航系统更适用于长航时飞行场景. 图表 | 参考文献 | 相关文章 | 多维度评价

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基于PF-UKF组合滤波的SINS/GPS组合导航系统空中对准方法 高红莲, 尤杰, 曹松银 上海交通大学学报    2022, 56 (11): 1447-1452.   DOI: 10.16183/j.cnki.jsjtu.2022.167 录用日期: 2022-07-11 摘要 （345）   HTML （11）    PDF （1969KB）（178）    可视化    针对捷联式惯性导航系统(SINS)/全球定位系统(GPS)组合导航系统模型的误差以及粒子滤波(PF)存在的粒子退化问题,结合无迹卡尔曼滤波(UKF)算法,提出一种基于PF-UKF组合滤波的SINS/GPS组合导航系统空中对准方法.由误差四元数代替姿态角,以SINS和GPS的位置差和速度差作为观测量,建立新的组合导航系统误差方程.所提出的PF-UKF组合滤波算法将采样粒子分为随机粒子和确定粒子,其中随机粒子为概率密度函数所采集,确定粒子为UKF中采集Sigma点后所求取的系统状态值.由此降低了PF处理粒子时的复杂程度以及粒子退化的程度.仿真结果表明:相比于UKF算法,该方法有效提高了组合导航系统的精度,具有较好的鲁棒性. 图表 | 参考文献 | 相关文章 | 多维度评价

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早期可手术乳腺癌的诊治现状与展望 陈小松, 沈坤炜, 李宏为 外科理论与实践    2022, 27 (05): 385-386.   DOI: 10.16139/j.1007-9610.2022.05.001 摘要 （168）   HTML （14）    PDF （210KB）（129）    可视化    参考文献 | 相关文章 | 多维度评价

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Sealing Performance of Pressure-Adaptive Seal LI Yuanfeng (李元丰), WANG Yiling (王怡灵), ZHANG Wanxin∗ (张万欣), LIU Jinian (刘冀念), MA Jialu (马加炉) J Shanghai Jiaotong Univ Sci    2022, 27 (6): 747-756.   DOI: 10.1007/s12204-022-2510-x 摘要 （396）      PDF （2268KB）（161）    可视化    A pressure-adaptive seal is developed to meet the demands of quick assembling and disassembling for an individual protection equipment in aerospace. The analysis model, which reflects the main characteristics of the seal structure, is built based on the finite element method and the Roth’s theory of rubber seal, and verified by the prototype test. The influences of precompression ratio, hardness of the sealing ring rubber, and friction coefficient on the sealing performance are investigated by variable parameter method. Results show that the model can describe the essential characteristics of the pressure-adaptive seal structure, which has good follow-up to the cavity pressure to achieve the purpose of pressure self-adaptive. The leakage rate correlates negatively with the precompression ratio of the sealing ring and the hardness of the sealing ring material, while is positively related to the friction coefficient between the sealing ring and the sealing edge. The maximum contact stress on sealing surface has negative correlation with the precompression ratio of the sealing ring, and positive correlation with the hardness of the seal ring material. The damage risk of the sealing ring increases with the increases of the precompression ratio of sealing ring, hardness of sealing ring material, and friction coefficient. 参考文献 | 相关文章 | 多维度评价

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Airframe Damage Region Division Method Based on Structure Tensor Dynamic Operator CAI Shuyu∗ (蔡舒妤), SHI Lizhong (师利中) J Shanghai Jiaotong Univ Sci    2022, 27 (6): 757-767.   DOI: 10.1007/s12204-022-2498-2 摘要 （193）      PDF （1607KB）（76）    可视化    In order to improve the accuracy of damage region division and eliminate the interference of damage adjacent region, the airframe damage region division method based on the structure tensor dynamic operator is proposed in this paper. The structure tensor feature space is established to represent the local features of damage images. It makes different damage images have the same feature distribution, and transform varied damage region division into consistent process of feature space division. On this basis, the structure tensor dynamic operator generation method is designed. It integrates with bacteria foraging optimization algorithm improved by defining double fitness function and chemotaxis rules, in order to calculate the parameters of dynamic operator generation method and realize the structure tensor feature space division. And then the airframe damage region division is realized. The experimental results on different airframe structure damage images show that compared with traditional threshold division method, the proposed method can improve the division quality. The interference of damage adjacent region is eliminated. The information loss caused by over-segmentation is avoided. And it is efficient in operation, and consistent in process. It also has the applicability to different types of structural damage. 参考文献 | 相关文章 | 多维度评价

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Construction on Aerodynamic Surrogate Model of Stratospheric Airship QIN Pengfei (秦鹏飞), WANG Xiaoliang∗ (王晓亮) J Shanghai Jiaotong Univ Sci    2022, 27 (6): 768-779.   DOI: 10.1007/s12204-022-2494-6 摘要 （169）      PDF （3866KB）（54）    可视化    Stratospheric airship can stay at an altitude of 20 km for a long time and carry various loads to achieve long-term stable applications. Conventional stratospheric airship configuration mainly includes a low-resistance streamline hull and inflatable “X”-layout fins that realize the self-stabilization. A fast aerodynamic predictive method is needed in the optimization design of airship configuration and the flight performance analysis. In this paper, a predictive surrogate model of aerodynamic parameters is constructed for the stratospheric airship with “X” fins based on the neural network. First, a geometric shape parameterized model, and a flow field parameterized model were established, and the aerodynamic coefficients of airships with different shapes used as the training and test samples were calculated based on computational fluid dynamics (SA turbulence model). The improved Bayesian regularized neural network was used as the surrogate model, and 20 types of airships with different shapes were used to test the effectiveness of network. It showed that the correlation coefficients of Cx, Cy, Cz, CM,x, CM,y, CM,z were 0.928 7, 0.991 7, 0.991 9, 0.958 2, 0.986 1, 0.984 2, respectively. The aerodynamic coefficient distribution contour at different angles of attack and sideslip angles is used to verify the reliability of the method. The method can provide an effective way for a rapid estimation of aerodynamic coefficients in the airship design. 参考文献 | 相关文章 | 多维度评价

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Adaptive Human-Robot Collaboration Control Based on Optimal Admittance Parameters YU Xinyi (禹鑫燚), WU Jiaxin (吴加鑫), XU Chengjun (许成军), LUO Huizhen (罗惠珍), OU Linlin∗ (欧林林) J Shanghai Jiaotong Univ Sci    2022, 27 (5): 589-601.   DOI: 10.1007/s12204-022-2460-3 摘要 （225）      PDF （1674KB）（91）    可视化    In order to help the operator perform the human-robot collaboration task and optimize the task performance, an adaptive control method based on optimal admittance parameters is proposed. The overall control structure with the inner loop and outer loop is first established. The tasks of the inner loop and outer loop are robot control and task optimization, respectively. Then an inner-loop robot controller integrated with barrier Lyapunov function and radial basis function neural networks is proposed, which makes the robot with unknown dynamics securely behave like a prescribed robot admittance model sensed by the operator. Subsequently, the optimal parameters of the robot admittance model are obtained in the outer loop to minimize the task tracking error and interaction force. The optimization problem of the robot admittance model is transformed into a linear quadratic regulator problem by constructing the human-robot collaboration system model. The model includes the unknown dynamics of the operator and the task performance details. For relaxing the requirement of the system model, the integral reinforcement learning is employed to solve the linear quadratic regulator problem. Besides, an auxiliary force is designed to help the operator complete the specific task better. Compared with the traditional control scheme, the security performance and interaction performance of the human-robot collaboration system are improved. The effectiveness of the proposed method is verified through two numerical simulations. In addition, a practical human-robot collaboration experiment is carried out to demonstrate the performance of the proposed method. 参考文献 | 相关文章 | 多维度评价

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Generation Approach of Human-Robot Cooperative Assembly Strategy Based on Transfer Learning LÜ Qibing (吕其兵), LIU Tianyuan (刘天元), ZHANG Rong (张荣), JIANG Yanan (江亚南), XIAO Lei (肖雷), BAO Jingsong∗ (鲍劲松) J Shanghai Jiaotong Univ Sci    2022, 27 (5): 602-613.   DOI: 10.1007/s12204-022-2493-7 摘要 （168）      PDF （3845KB）（46）    可视化    In current small batch and customized production mode, the products change rapidly and the personal demand increases sharply. Human-robot cooperation combining the advantages of human and robot is an effective way to solve the complex assembly. However, the poor reusability of historical assembly knowledge reduces the adaptability of assembly system to different tasks. For cross-domain strategy transfer, we propose a human-robot cooperative assembly (HRCA) framework which consists of three main modules: expression of HRCA strategy, transferring of HRCA strategy, and adaptive planning of motion path. Based on the analysis of subject capability and component properties, the HRCA strategy suitable for specific tasks is designed. Then the reinforcement learning is established to optimize the parameters of target encoder for feature extraction. After classification and segmentation, the actor-critic model is built to realize the adaptive path planning with progressive neural network. Finally, the proposed framework is verified to adapt to the multi-variety environment, for example, power lithium batteries. 参考文献 | 相关文章 | 多维度评价

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Path Planning and Optimization of Humanoid Manipulator in Cartesian Space LI Shiqi (李世其), LI Xiao∗ (李肖), HAN Ke (韩可), XIONG Youjun (熊友军), XIE Zheng (谢铮), CHEN Jinliang (陈金亮) J Shanghai Jiaotong Univ Sci    2022, 27 (5): 614-620.   DOI: 10.1007/s12204-022-2416-7 摘要 （220）      PDF （1591KB）（41）    可视化    To solve the problems of low efficiency and multi-solvability of humanoid manipulator Cartesian space path planning in physical human-robot interaction, an improved bi-directional rapidly-exploring random tree algorithm based on greedy growth strategy in 3D space is proposed. The workspace of manipulator established based on Monte Carlo method is used as the sampling space of the rapidly-exploring random tree, and the opposite expanding greedy growth strategy is added in the random tree expansion process to improve the path planning efficiency. Then the generated path is reversely optimized to shorten the length of the planned path, and the optimized path is interpolated and pose searched in Cartesian space to form a collision-free optimized path suitable for humanoid manipulator motion. Finally, the validity and reliability of the algorithm are verified in an intelligent elderly care service scenario based on Walker2, a large humanoid service robot. 参考文献 | 相关文章 | 多维度评价

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Automatic Removal of Multiple Artifacts for Single-Channel Electroencephalography ZHANG Chenbei (张晨贝), SABOR Nabil, LUO Junwen (罗竣文), PU Yu (蒲 宇), WANG Guoxing (王国兴), LIAN Yong∗ (连 勇) J Shanghai Jiaotong Univ Sci    2022, 27 (4): 437-451.   DOI: 10.1007/s12204-021-2374-5 摘要 （191）      PDF （2934KB）（98）    可视化    Removing different types of artifacts from the electroencephalography (EEG) recordings is a critical step in performing EEG signal analysis and diagnosis. Most of the existing algorithms aim for removing single type of artifacts, leading to a complex system if an EEG recording contains different types of artifacts. With the advancement in wearable technologies, it is necessary to develop an energy-efficient algorithm to deal with different types of artifacts for single-channel wearable EEG devices. In this paper, an automatic EEG artifact removal algorithm is proposed that effectively reduces three types of artifacts, i.e., ocular artifact (OA), transmission- line/harmonic-wave artifact (TA/HA), and muscle artifact (MA), from a single-channel EEG recording. The effectiveness of the proposed algorithm is verified on both simulated noisy EEG signals and real EEG from CHB- MIT dataset. The experimental results show that the proposed algorithm effectively suppresses OA, MA and TA/HA from a single-channel EEG recording as well as physical movement artifact. 参考文献 | 相关文章 | 多维度评价

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Deformable Registration Algorithm via Non-subsampled Contourlet Transform and Saliency Map CHANG Qing∗ (常 青), YANG Wenyou (杨文友), CHEN Lanlan (陈兰岚) J Shanghai Jiaotong Univ Sci    2022, 27 (4): 452-462.   DOI: 10.1007/s12204-022-2428-3 摘要 （114）      PDF （4867KB）（31）    可视化    Medical image registration is widely used in image-guided therapy and image-guided surgery to esti- mate spatial correspondence between planning and treatment images. However, most methods based on intensity have the problems of matching ambiguity and ignoring the influence of weak correspondence areas on the overall registration. In this study, we propose a novel general-purpose registration algorithm based on free-form defor- mation by non-subsampled contourlet transform and saliency map, which can reduce the matching ambiguities and maintain the topological structure of weak correspondence areas. An optimization method based on Markov random fields is used to optimize the registration process. Experiments on four public datasets from brain, car- diac, and lung have demonstrated the general applicability and the accuracy of our algorithm compared with two state-of-the-art methods. 参考文献 | 相关文章 | 多维度评价

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Gram Matrix-Based Convolutional Neural Network for Biometric Identification Using Photoplethysmography Signal WU Caiyu, (吴彩钰), SABOR Nabil, ZHOU Shihong, (周世鸿), WANG Min, (王 敏), YING Liang (应 亮), WANG Guoxing∗ (王国兴) J Shanghai Jiaotong Univ Sci    2022, 27 (4): 463-472.   DOI: 10.1007/s12204-022-2426-5 摘要 （159）      PDF （1049KB）（30）    可视化    As a kind of physical signals that could be easily acquired in daily life, photoplethysmography (PPG) signal becomes a promising solution to biometric identification for daily access management system (AMS). State- of-the-art PPG-based identification systems are susceptible to the form of motions and physical conditions of the subjects. In this work, to exploit the advantage of deep learning, we developed an improved deep convolutional neural network (CNN) architecture by using the Gram matrix (GM) technique to convert time-serial PPG signals to two-dimensional images with a temporal dependency to improve accuracy under different forms of motions. To ensure a fair evaluation, we have adopted cross-validation method and “training and testing” dataset splitting method on the TROIKA dataset collected in ambulatory conditions. As a result, the proposed GM-CNN method achieved accuracy improvement from 69.5% to 92.4%, which is the best result in terms of multi-class classification compared with state-of-the-art models. Based on average five-fold cross-validation, we achieved an accuracy of 99.2%, improved the accuracy by 3.3% compared with the best existing method for the binary-class. 参考文献 | 相关文章 | 多维度评价

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Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements YANG Tao (杨 涛), ZHAO Jiankang∗ (赵健康) J Shanghai Jiaotong Univ Sci    2022, 27 (3): 281-297.   DOI: 10.1007/s12204-022-2441-6 摘要 （179）      PDF （2619KB）（115）    可视化    Although advances in research into autonomous underwater vehicles (AUVs) have been made to extend their working depth and endurance, underwater experiments and missions remain to be restricted by the positioning performance of AUVs. With the Global Navigation Satellite System (GNSS) precluded due to the rapid attenuation of radio signals in underwater environments, acoustic positioning methods serve as an effective substitution. A long-range continuous and precise positioning solution for AUVs in deep ocean is proposed in this study, relying on acoustic signals from beacons at the same depth and aided by onboard inertial sensors. A signal system is investigated to provide time of arrival (TOA) estimation in a resolution of milliseconds. Without pre-knowledge or local measurement of the accurate sound speed, an AUV is enabled to continuously locate its horizontal position based on rough ranges estimated by an iterative least square (ILS) based algorithm. For better accuracy and robustness, range deviations are compensated with a reference point of known position and outliers in the trajectory are eliminated by an implementation of the extended Kalman filter (EKF) coupled with the state-acceptance filter. The solution is evaluated in simulation experiments with environmental information measured on the spot, providing an average position error from ground truth below 10 m with a standard deviation below 5 m. 参考文献 | 相关文章 | 多维度评价

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Modification Method of Longitudinal Bow Structure for Ice-Strengthened Merchant Ship DING Shifeng (丁仕风), ZHOU Li∗ (周 利), GU Yingjie (顾颖杰), ZHOU Yajun (周亚军) J Shanghai Jiaotong Univ Sci    2022, 27 (3): 298-306.   DOI: 10.1007/s12204-022-2442-5 摘要 （190）      PDF （5084KB）（59）    可视化    Merchant ships, which are quite different from icebreakers, usually require the light ice-strengthened bow under the floe-ice condition. According to ice-class B, requirements of China Classification Society (CCS), intermediate frames and thick hull plates are necessary for the ice belt area to resist floe-ice impact. However, due to the limited space, it is not practical to set so many intermediate longitudinals from manufacture point of view. In this paper, a modification method is proposed to solve the problem by maintaining the frame spacing and increasing the plate thickness. The aim is to make sure that the bow owns the equivalent ice-bearing capacity with the original frame spacing. At first, a bulk carrier with ice-class B is used for case study. According to the requirements of the ice class rule, a designed ice thickness is used to calculate the ice load acting on the bow area due to the impact of ice floe. Two structural models are presented to perform the strength analysis under ice load, including the out-shell plate model and the longitudinal model. The results show that increasing the plate thickness is helpful to remove the negative effect induced by enlarging the spacing of the longitudinal. A reasonable curve is presented to modify the bow for the ice-strengthened merchant ship, which shows the relationship between the increase of plate thickness and the spacing of longitudinal. Moreover, a model test of floe-ice–ship interaction is conducted to measure the dynamic ice load, based on which nonlinear dynamic FE analysis is used to verify the presented plate-thickness–longitudinal spacing curve. The results show that the proposed method can be used to improve the ice-strengthened bow structure effectively, which provides theoretical foundation to modify the requirement of CCS’s ice class rule. 参考文献 | 相关文章 | 多维度评价

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Experimental Study on Hydrodynamic Response of Semisubmersible Platform-Based Bottom-Hinged Flap Wave Energy Converter LIN Yana∗ (林 焰), PEI Feib (裴 斐) J Shanghai Jiaotong Univ Sci    2022, 27 (3): 307-315.   DOI: 10.1007/s12204-022-2443-4 摘要 （148）      PDF （1368KB）（47）    可视化    A semisubmersible platform-based (SPB) bottom-hinged flap (BHF) wave energy converter (WEC) concept is presented in this paper, and its platform hydrodynamic response was studied experimentally. Aimed at studying the special WEC-mounted platform response problem, both regular and irregular wave experiments were conducted. The frequency domain results of regular wave experiments are described in the form of response amplitude operators. The time domain results of irregular wave experiments are treated by statistical analysis and fast Fourier transformation. Regular wave experiments and irregular wave experiments show good consistency. The mooring system strongly affects the whole system, which is a considerable factor for WEC design. The influences of BHF mounted on the platform are revealed in both statistic and frequency spectral ways. The results of experiments give a guide for SPB design aiming to support BHF-WEC. 参考文献 | 相关文章 | 多维度评价

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中华哲学思维对肝癌治疗的启迪 汤钊猷 外科理论与实践    2022, 27 (02): 93-94.   DOI: 10.16139/j.1007-9610.2022.02.001 摘要 （148）   HTML （14）    PDF （253KB）（24）    可视化    参考文献 | 相关文章 | 多维度评价

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知识的地方性与翻译的世界性 杨枫 当代外语研究    2022, 22 (3): 1-2.   摘要 （235）   HTML （34）    PDF （392KB）（154）    可视化    参考文献 | 相关文章 | 多维度评价

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比较文学专业期刊如何因应新文科建设 宋炳辉 当代外语研究    2022, 22 (3): 5-11.   DOI: 10.3969/j.issn.1674-8921.2022.03.001 摘要 （170）   HTML （18）    PDF （929KB）（70）    可视化    新文科建设旨在以学科交叉融合推进人文与社会科学的研究与创新。以跨越性为学科基础的比较文学及其专业期刊,该如何因应这一新的学术机遇和挑战?本文认为,比较文学学科当总结既有的跨文化与跨学科视野和方法,把握新世纪科技革命新成果和高度全球化的时代特点,一方面更积极地借鉴社会科学、自然科学中其他学科的研究方法,另一方面坚持比较文学作为人文科学之一的基本特点和核心方法。专业学术期刊也应在这个原则下,坚守学术伦理和办刊宗旨,为新世纪人文学术的发展更好地体现其作为公共学术媒介的功能。 参考文献 | 相关文章 | 多维度评价

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新时代语言管理理论体系构建与研究重点 王立非 当代外语研究    2022, 22 (3): 28-34.   DOI: 10.3969/j.issn.1674-8921.2022.03.004 摘要 （199）   HTML （14）    PDF （923KB）（83）    可视化    本文提出了新时代语言管理和语言管理学的概念、定义和理论体系框架,具体包括语言规划管理、语言教育管理、企业语言管理、语言资源管理、语言标准化管理、应急语言管理六个组成部分,并探讨了它们之间的相互关系,论述了每一个组成部分的研究重点,以期推动语言管理理论体系构建和语言管理的学术发展,对正在进行的语言治理能力现代化讨论也有一定启示。 图表 | 参考文献 | 相关文章 | 多维度评价

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“知识翻译学”命名与概念构建 孟祥春 当代外语研究    2022, 22 (3): 55-64.   DOI: 10.3969/j.issn.1674-8921.2022.03.007 摘要 （1241）   HTML （31）    PDF （1268KB）（228）    可视化    “知识翻译学”以“地方性”知识与“世界性”知识之间的跨文化互动为根本理据,融通知识与文化,进而融合“知识”与“翻译学”,围绕“知识翻译”与“翻译知识”构建了一种基于知识并回归知识的译学理论。如果“知识翻译学”沿着“知识翻译之学”的路径构建,则“knowledge translation studies”为恰当的译名;如果沿着“知识之翻译学”路径构建,则“Transknowletology”可作为其可能译名。通过译名反向构建,可创造“知识互动化生”“知识剪刀差”“知识冲击”“知识-文化纠葛”“知识波纹效应”“知识翻译悖论”等一系列新概念与新话语,为“知识翻译学”提供更多的批评工具。“知识翻译学”的进一步发展需要合理界定“知识”,确立翻译标准,整合新的概念与话语,对自身进行“他者”观照,并以“格融”的言说方式介入国际学术,从而丰富、重塑国际译学。 参考文献 | 相关文章 | 多维度评价

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Advances in Medicine-Engineering Crossover in Automated Anesthesia XU Tianyi (徐天意), XIA Ming (夏明), JIANG Hong (姜虹) J Shanghai Jiaotong Univ Sci    2022, 27 (2): 137-143.   DOI: 10.1007/s12204-021-2329-x 摘要 （250）      PDF （156KB）（103）    可视化    Medicine-engineering crossover refers to the cross-fertilization of multiple disciplines to meet clinical needs through various means, including engineering, which greatly promotes medical development. In the development of anesthesiology, improvements in anesthesia equipment and continuous innovation of anesthesia technology are all closely related to the integration of medicine and engineering. In recent years, the exploration and development of automated anesthesia equipment has led to closer integration of medicine, engineering, and other disciplines, including the development of robots in anesthesia, automated monitoring and alarm technology,automated perioperative management, and remote anesthesia. Herein, the current status of applications and development of medicine-engineering crossover in the field of automated anesthesia are discussed. 参考文献 | 相关文章 | 多维度评价

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Application of Digital Medicine in Addiction WU Xiaojun (吴萧俊), DU Jiang (杜江), JIANG Haifeng (江海峰), ZHAO Min (赵敏) J Shanghai Jiaotong Univ Sci    2022, 27 (2): 144-152.   DOI: 10.1007/s12204-021-2391-4 摘要 （216）      PDF （185KB）（85）    可视化    Digital medicine plays an important role in disease assessment, psychological intervention, and relapse management in mental illnesses. Patients with substance use disorders can be easily affected by the environment and negative emotions, inducing addiction and relapse. However, due to social discrimination, stigma, or economic issues, they are unwilling to go to the hospital for treatment, making it difficult for health workers to track their health changes. Additionally, mental health resources in China are insufficient. Digital medicine aims to solve these problems. This article reviews digital medicine in the field of addiction, hoping to provide a reference for the future exploration of more individualized and effective digital medicine. 参考文献 | 相关文章 | 多维度评价

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Risk Prediction Model of Gallbladder Disease in Shanghai Middle-Aged and Elderly People Based on Neural Networks YUAN Xiaoqi (袁筱祺), ZHU Lelan (朱乐兰), XU Qiongfan(徐琼凡), GAO Wei (高玮) J Shanghai Jiaotong Univ Sci    2022, 27 (2): 153-159.   DOI: 10.1007/s12204-021-2386-1 摘要 （218）      PDF （345KB）（70）    可视化    This paper discusses the risk factors related to gallbladder disease in Shanghai, improves the accuracy of risk prediction, and provides a theoretical basis for scientific diagnosis and universality of gallbladder disease.We selected 3 462 data of middle-aged and elderly health check-up patients in a general hospital in Shanghai,and divided into gallbladder disease group according to color doppler ultrasound diagnosis results. Single-factor analysis screened out 8 important risk factors, which were used as an analysis variable of multi-layer perceptron neural network and binary logistic regression to construct the prediction model of gallbladder disease. The prediction accuracy of the multi-layer perceptron neural network risk prediction model is 76%. The area under the receiver operating characteristic curve (AUC) is 0.82, the maximum Youden index is 0.44, the sensitivity is 79.51, and the specificity is 64.23. The prediction accuracy of the multi-layer perceptron neural network model is better than that of the binary logistic regression prediction model. The overall prediction accuracy of the binary logistic regression prediction model is 75.60%, the AUC is 0.81, the maximum Youden index is 0.42, the sensitivity is 74.48, and the specificity is 57.60. In the objective risk prediction of gallbladder disease in middle-aged and elderly people in Shanghai, the risk prediction model based on the multi-layer perceptron neural network has a better prediction performance than the binary logistic regression model, which provides a theoretical basis for preventive treatment and intervention. 参考文献 | 相关文章 | 多维度评价

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