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| 1 | Automatic Method for Synchronizing Workpiece Frames in Twin-robot Nondestructive Testing System显示文摘The workpiece frames relative to each robot base frame should be known in advance for the proper operation of twin-robot nondestructive testing system. However, when two robots are separated from the workpieces, the twin robots cannot reach the same point to complete the process of workpiece frame positioning. Thus, a new method is proposed to solve the problem of coincidence between workpiece frames. Transformation between two robot base frames is initiated by measuring the coordinate values of three non-collinear calibration points. The relationship between the workpiece frame and that of the slave robot base frame is then determined according to the known transformation of two robot base frames, as well as the relationship between the workpiece frame and that of the master robot base frame. Only one robot is required to actually measure the coordinate values of the calibration points on the workpiece. This requirement is beneficial when one of the robots cannot reach and measure the calibration points. The coordinate values of the calibration points are derived by driving the robot hand to the points and recording the values of top center point(TCP) coordinates. The translation and rotation matrices relate either the two robot base frames or the workpiece and master robot. The coordinated are solved using the measured values of the calibration points according to the Cartesian transformation principle. An optimal method is developed based on exponential mapping of Lie algebra to ensure that the rotation matrix is orthogonal. Experimental results show that this method involves fewer steps, offers significant advantages in terms of operation and time-saving. A method used to synchronize workpiece frames in twin-robot system automatically is presented. | LU Zongxing XU Chunguang PAN Qinxue MENG Fanwu LI Xinliang | 2015 | Chinese Journal of Mechanical Engineering2015，28，4： | 6 |
| 2 | Variations of very low-density lipoprotein receptor subtype expression in gastrointestinal adenocarcinoma cells with various differentiations显示文摘AIM: This study is aimed at investigating the expression and possible significances of very low-density lipoprotein receptor (VLDLR) subtypes in gastroenteric adenocarcinoma tissues and cells with various differentiations. METHODS: Thirty-one cases of gastroenteric carcinoma/ adjacent normal tissues were enrolled in the study, which were diagnosed and classified by the clinicopathological diagnosis. The expression of VLDLR subtypes was detected in gastroenteric carcinoma/adjacent normal tissues and three various differentiated human gastric adenocarcinoma cell lines (MKN28, SGC7901 and MKN45) by reverse transcription polymerase chain reaction (RT-PCR) and Western blot analysis.RE,SULTS: Two VLDLR subtypes, namely, type Ⅱ VLDLR and type Ⅰ VLDLR, were found to express changes in gastroenteric carcinoma tissues, their adjacent normal tissue, and gastric adenocarcinoma cell lines as well. Type Ⅱ VLDLR is predominantly expressed in poorly- or moderately-differentiated gastroenteric carcinoma tissues and gastric adenocarcinoma cell lines, whereas type ⅠVLDLR is mainly detected in well-differentiated intestinal carcinoma tissues and gastric adenocarcinoma cells compared with the adjacent normal tissues. CONCLUSION: The results suggested that the variations of the VLDLR subtype expression might be correlated with the progress and differentiation of gastroenteric carcinoma. | TaoChen FanWu Feng-MingChen JunTian ShenQu | 2005 | World Journal of Gastroenterology2005，11，18： | 5 |
| 3 | A quantitative research on the level of disturbance to secondary signal ports of electronic voltage transformers under the operation of gas‐insulated switchgear显示文摘The collectors of electronic transformers has the problem of electromagnetic in-compatibility under the operation of disconnecting switches,which limits their wide application in smart grids.To evaluate the maximum level of disturbance that collectors are able to withstand in the stochastic process of switching operation,this work in-troduces a quantitative approach based on limited test measurements,which can quantify the level of disturbance in the signal acquisition ports of electronic voltage transformers(EVT)in different gas‐insulated switchgears(GIS).Based on large numbers of experi-mental statistical data of the true type simulation experimental platform,the Spearman rank correlation coefficient is used to prove that the amplitude of the disturbance voltage pulse at the secondary side port and the breakdown voltage between the primary side fracture approximately satisfy a linear relationship.Subsequently,the quantile regression model is used to quantify and verify the maximum disturbance level of the secondary side port.Moreover,a solution is proposed to tackle the difficulty in obtaining the breakdown voltage at breaks in the GIS substation field applicatvion,under which the quantified maximum disturbance voltage deviation of secondary ports is only−4.34%by com-parison.The research work can further explore the practical value of the measured data in a few tests under GIS substation field conditions and provide references for the sub-sequent revision of EVT‐related standards. | Qi Wang Chao Fu Fanwu Chu Yue Tong Xiaozhou Wang Guoxiong Ye Xiong Wu | 2022 | High Voltage2022，7，1： | 2 |
| 4 | Pd electrocatalyst supported on carbonized TiO 2 nanotube for ethanol oxidation显示文摘 | Fengping Hu Fanwu Ding Shuqin Song Pei Kang Shen | 2006 | Journal of Power Sources2006，，1： | 1 |
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