针对踝关节的活动度和康复训练的条件进行分析,确定期望自由度的类型,明确构型综合的目标为 3R1T 型,通过约束螺旋综合法进行构型综合.首先求解 3R1T 型并联机构的运动螺旋系与约束螺旋系,推导出 3R1T型并联机构不同自由度分支的约束螺旋系与运动螺旋系.然后通过对分支的运动螺旋系进行线性变换得到不同结构的串联分支,将分支组合得到一系列不同类型的 3R1T型并联机构.最后选取其中一种构型进行瞬时机构的判别,为康复机构的本体设计提供理论依据.

To address the safety and reliability of the reciprocating lift care device for general hospital beds, this paper takes the key mechanism of the device, the manual wheelchair trolley lifting mechanism, as the object of analysis. The lifting mechanism model is drawn with Creo 3 D drawing software, and the static analysis of the lifting mechanism is carried out with ANSYS Workbench software. The design variables are non-standard connecting rod 1, non-standard connecting rod 2, mass of mounting plate, safety factor, maximum stress and strain, thickness of the rod as constraints, and multi-objective optimization design of the lifting mechanism to reduce the weight of the lifting mechanism while making the lifting mechanism meet the requirements of strength and stiffness. Through the above analysis, it is concluded that the mass of the manual wheelchair vehicle lifting mechanism is reduced by 18.34% and the safety and reliability can be theoretically guaranteed.

In order to meet people’s needs in planetary exploration, rescue and disaster relief, military and other fields, a wheeled legged robot is designed. The robot is composed of a frame and four legs. The wheels are installed on the legs of the robot and can be freely converted between wheeled and legged through the change of leg mechanism. The leg structure and conversion mode of the wheel leg robot are determined, and the orientation layout and overall layout of the leg joints of the wheel leg robot are determined according to the relevant theories. The motion model of the virtual prototype is established and simulated by SolidWorks software. Using ADAMS software, the motion of the robot is analyzed and the motion line diagram is obtained.

Over the recent years, intelligent, multi-responsive micelles have received considerable attention due to their promising application in a variety of fields, including biomedical technology, drug delivery, separation, and catalysis. However, the design of such systems with controlled self-assembly is challenging both experimentally and theoretically and is still in the nascent stage. In this study, a novel dual-stimuli triggered wormlike micellar solution is prepared by mixing cationic surfactants 3-hexadecyloxy-2-hydroxypropyltrimethylammonium bromide (R16HTAB) and sodium hydrogen phthalate (SHP). The viscoelasticity, aggregate morphology, and pH- and thermo-responsive behavior of the micellar solution are examined by rheological measurements, cryogenic-transmission electron microscopy (cryo-TEM), nuclear magnetic resonance (1H NMR) spectroscopy, and Fourier transform infrared (FTIR) spectroscopy. The dual-sensitive fluid can be switched between a water-like state and a gel-like state by adjusting the pH and temperature. The variations in the flowing behavior are ascribed to the microstructural transition between wormlike micelles, short cylindrical micelles, and spherical micelles. Furthermore, based on the experimental results, dual-responsive behavior of the mixed solution is attributed to the different binding modes between SHP and the surfactant with the variation in the pH and temperature. We hope that the proposed system provides a new route for developing multi-stimuli-responsive materials that are capable of adapting to local environmental variations.

Controlling the viscoelastic characteristics of wormlike micelles is of great significance to both basic theory and practical applications. In this article, a novel multi-stimuli responsive wormlike micellar solution was prepared by mixing cationic surfactant 3-hexadecyloxy-2-hydroxypropyltrimethylammonium bromide (R16HTAB) with trans-o-hydroxycinnamic acid (OHCA). Rheological studies, nuclear magnetic resonance (1H-NMR) spectroscopy, UV-vis spectroscopy, and cryogenic-transmission electron microscopy (cryo-TEM) were utilized to investigate the wormlike micellar system's multi-responsive activity. The results showed that the self-assembled structure and viscoelasticity of the mixed system could be regulated by pH, temperature, and light irradiation. With the increasing trans-OHCA concentration, η0 of the mixed solution increases first and then decreases and the turning point is presented at 30 mM trans-OHCA, indicating the transformation of spherical micelles to wormlike micelles, and then to short micelles. The microstructure of the mixed systems could be reversibly altered by adjusting the pH between 6.41 and 3.90, which was ascertained by cryogenic-transmission electron microscopy (cryo-TEM). The relationship of temperature and η0 obeys the Arrhenius law, attributed to the decreasing micellar contour length. η0 of a 40 mM R16HTAB/15 mM OHCA solution sharply increases after UV irradiation, mainly because the cis-isomer could insert into the micelle more easily, and the transition mechanism was studied by UV-vis and 1H NMR. The multi-responsive self-assembled system may open a new vista for building multi-functional aggregates to adapt to various environmental changes.

随着高等教育从大众化向普及化转变,教学质量问题备受关注.本文以"金课"的高阶性、创新性和挑战度为研究背景,重构教育价值的认知.基于实践和思维重析知识的学习过程,领悟知识学习的本质.通过梳理发达国家高等教育关于课程教学质量观的共通现象及其改革措施,以PDCA循环的质量管理为视角,从"两性一度"三个方面归纳掣肘国内课程教学质量的突出问题,并从目标管理、任务落实、考核评价的角度阐述其原因.借助黑箱理论,针对教学设计在知识探索方面提出建议.

The ability to modulate the viscoelastic behavior of wormlike micellar systems with smart features is of great importance in both fundamental and applied science. In this paper, the novel triple stimuli-responsive (pH, temperature and light) wormlike micellar system is formed by mixing a cationic surfactant, 3-hexadecyloxy-2-hydroxypropyltrimethylammonium bromide (R16HTAB) and sodium trans-o-methoxycinnamic acid (NaOMCA) in aqueous solutions. The rheological techniques, nuclear magnetic resonance (1H NMR) spectroscopy, Fourier transform infrared (FTIR) spectroscopy and cryogenic-transmission electron microscopy (cryo-TEM) were employed to demonstrate the multi-responsive behaviors of wormlike micellar systems. The rheological properties of wormlike micelles systems were studied under three trigger conditions (pH, temperatures, and UV irradiation), and the mechanism of multiple-responsiveness was discussed in detail by a combination of 1H NMR, FTIR and cryo-TEM. It was found that the viscoelastic behavior of a mixed system was reversible under different excitation conditions. We hope that the study of this triple response system can provide new theoretical foundation for future applications.

以考试划重点存在的适宜性为研究对象,深入探讨学生学习目标管理方法.通过对比分析现行考试制度与实施方案对学习成效评价在目的、内容和过程方面的异同,提出了透明化教学概念及其内涵解析,并基于透明化教学提出了一种学习目标管理方法,阐述了目标制定、学习行动、成效评价的基本流程及相关性,以期为教师教学与学生管理提供新的思路.

提高国家经济实力与竞争能力,人才的培养尤其重要,其中创新人才的培养是新工科建设背景下各高校教育的重要组成部分.新工业、新经济的迅猛发展对工程技术人才提出更高的要求,使新工科创新人才的培养成为各高校迫切需要解决的重要问题.文中分析了传统工科教育存在的问题,并根据未来发展与实际需要,提出了新形势下新工科创新人才应具备的能力,以及新工科创新人才培养模式与教学实施体系,以期为国家的发展提供更多的创新型人才.

Several additives (NaSal, 1SHNC, and 2SHNC) were added into aqueous solutions of a cationic surfactant, 3-tetradecyloxy-2-hydroxy-propyl trimethyl ammonium bromide (RHHTAB). The mixed solutions were investigated using rheological measurements, molecular dynamics (MD) simulations, cryogenic transmission electron microscopy (cryo-TEM), H-1 NMR, and Fourier transform infrared (FTIR) spectroscopy. The results demonstrated that the zero-shear viscosity (eta(0)) increased with increasing salt concentrations until reaching a maximum and then decreased. The variations in viscosity were related to transformation of the micellar configuration and were confirmed by cryo-TEM and MD simulations. The ability of the three organic salts to enhance the viscoelasticity of R(14)HTAB solutions is in the order of NaSal < 1SHNC < 2SHNC. The synergistic interaction between counterions and surfactant molecules was analyzed using H-1 NMR spectrograms, FTIR spectroscopy, and MD simulations. These findings provide new insight into the self-assembly and bulk properties of ionic surfactant/organic salt mixtures.

根据物流分类场合的特点,在目前已知的工作环境下,基于非接触测量技术对控制平台进行机构运动设计与规划,且非接触测量运动控制平台的设计方案要依照螺旋理论完成制定与修改,将并联机构在工程实践中应用的可行性进行试验验证,并为并联机构在工程中的实际应用与推广提供了理论依据.同时,设计制作出3RRR型1Rz2Txy对称平面并联机构和1Rz3T四自由度并联机构,设计出3 RRR运动平台控制程序并进行试验,通过视觉反馈系统检测目标位置,进而得到运动平台的位置信息和姿态数据.

the human lower limb model plays an important role in the simulation experiment, when it is used to do the rehabilitation training and the gait analysis. At present, the human lower limbs model is established in the experiment, that has a single function and does not have universality. In this paper, according to the characteristics of human physiological structure, a 14 degrees of freedom flexible lower limb human body model is proposed, which can meet the requirements of general experiment. The model is compared with the traditional parameterization model, the most outstanding characteristic is that the model can arbitrary adjust the length of the legs according to the experimental requirements. Meanwhile, the model was established by solidworks software and kinematics simulation analysis is used by ADAMS(Automatic Dynamic Analysis of Mechanical System), and the simulation results are good.

Established the unsteady oil-film force with crack fault of rotor-stator-bearing system mechanical models by using Lagrange equation.The numerical analysis method is used to study system with excitation frequency of the time-domain waveform and orbit trace and Poincare section,revealing the system into chaos and bifurcation characteristic ways.The results show that when the excitation frequency as the only control parameters,system showing a complex nonlinear dynamics behavior,the results for the follow-up study of large rotating machinery fault diagnosis provides a theoretical basis.

以成果导向教育理念为理论基础,以目标与能力驱动为主线,以课程构建方法为研究对象,阐述由两个期间、三个阶段、四个节点构成的框架结构,分析课程教学目标、毕业生能力指标体系、学业规划及职业取向的相关性,并从设计和应用两个层面探讨以目标与能力驱动为导向的课程构建过程中组成元素及其相互关系.

《机械设计》是一门具有较强的理论性和实践性的应用型课程，在培养从事机械工程专业设计工作和研究工作的应用型人才中起着重要作用。任务驱动教学法是一种以学生为主体的激励式的新型教学模式，尤其适用于应用型课程的教学实践。在机械设计课程教学中，应用任务驱动教学法，根据课程教学内容体系及工程实际需要设定总任务，针对具体的教学目标确定分任务，任务实施贯穿于整个教学中，并对教学效果进行了评价。采用该方法进行课程教学，可以有效促进理论知识与实践技能的有机融合，充分调动学生的积极性，提升学生的创新能力及解决工程实际问题的能力，更好地培养出满足市场需求的工程应用型人才。

机械设计课程是机械专业重要的专业基础课。本文以地方普通高校机械专业学生为研究对象，对机械设计课程的教学模式改革进行探讨，提出立体化教学模式与建议，使其理论教学能够学以致用。

The 4-UPU parallel mechanism is a kind of can achieve 3TIR model of less degree of freedom parallel mechanism, and due to the structure of four branched and layout of the hinge which exhibit the same form, so it is also called symmetrical parallel mechanism. The symmetry of the structure is convenient for simple computation for the kinematics and dynamics. Firstly 4-UPU parallel mechanism was established by the model, and then the kinematics is analyzed and solved the forward and inverse position solution algorithm, and finally it verifies the correctness of the algorithm, rationality through the numerical examples.

The exoskeleton rehabilitation robot of the lower limb is a special robot. It is provided for the users to wear outside, whereby artificial intelligence and mechanical power device are combined to enhance the ability of limb movements. The rehabilitation robots of the lower limb at home and abroad are described in this paper, especially the history and development status of the exoskeleton rehabilitation robot are studied, its structural features and functions are compared and analyzed, and the research direction of the rehabilitation robot of the lower limbs is forecasted in the future.

3D reconstruction model of OpenCV is established based on the 3D reconstruction technique of computer vision. The camera calibration, stereo calibration, image correction, stereo matching are used for acquiring disparity map, the 3D coordinates of the target points are obtained by the disparity map, the interface functions of corresponding algorithm provided by OpenCV are used for completing the above steps, the 3D points cloud display are carried out by Matlab. It has higher arithmetic speed and accuracy of point position with good cross platform portability, which can meet the needs of a variety of computer vision systems.

就业力是人适应工作变化的综合能力，研究大学生就业力提升对我国高等教育研究具有重要意义。本文在分析现有大学生就业力研究的基础上，提出了一种以学生为中心，由政府、用人单位和高校构成的三角结构关系模型，阐述了四个构成要素的各自功用及其相互关系，并从均衡发展的角度分析了影响因素，在改善人才培养和市场需求适应度方面具有一定的指导意义。