Abstract The wall‐climbing robot is a growing trend for robotized intelligent manufacturing of large and complex components in shipbuilding, petrochemical, other industries, while several challenges remain to be solved, namely, low payload‐to‐weight ratio, poor surface adaptability, ineffective traversal maneuverability, especially on noncontinuous surfaces with internal corners (non‐CSIC). This paper designs high ratio wheeled which can travel non‐CSIC effectively payload capacity up 75 kg,...

Abstract A decoupling method is proposed for the elastic stiffness modeling of hybrid robots based on rigidity principle, screw theory, strain energy, and Castigliano’s second theorem. It enables parallel serial modules, as well individual contributions each component to mechanism’s performance. The implemented follows: (1) formulate limb constraint wrenches corresponding matrix theory (2) overall modules end principle virtual work, wrench transfer formula, energy methods, (3) obtain...

Permanent magnet wall-climbing robots are widely used in the maintenance of tanks petrochemical industry and overhaul large-pressure pipelines hydropower industry. One difficulties is to achieve safe reliable adsorption robots. Based on Halbach array, a double-layer superposition magnetic circuit magnetization method designed this paper. Under same constraints, force permanent chuck increased by at least 8% compared with traditional design method. working air gap 1∼9 mm, average energy...

A dual conductive network strain sensor was prepared by simple UV-curing of a mixture MXene and polymerizable deep eutectic solvent. This had high-strength, while maintained the self-healing, anti-freezing, high-adhesion features.

Purpose In the textile industry, liquid ammonia treatment is an important way to modify structure of natural fibers. The purpose this paper reveal diffusion behaviors in cellulose. Design/methodology/approach To analysis cellulose, cellulose model and system are built. Infrared spectrum carried out test which found agree with experiment. Diffusion coefficients, free volume hydrogen bonds discussed explain behaviors. Findings results demonstrate that coefficients systems rise increasing...

In this paper, the spherical indenter contact problem for couple-stress elasticity by considering adhesion is investigated. The Maugis–Dugdale adhesive theory considered to describe effect. mixed boundary solved using Hankel transform technical and singular integral equation method. influences of parameter, characteristic material length parameter Poisson's ratio on pull-off force, relation between applied force indentation depth, stresses normal displacement are discussed. results predicted...

This paper establishes a matrix displacement model and an improved dynamic for the static performances analysis kind of bridge-type amplification mechanism with distributed-compliance, which has better than traditional lumped-compliance mechanisms. In model, stiffness two rigid bodies connected by flexures is first obtained regarding displacements forces on mass centers as node forces. By extending superimposing each elemental matrix, global flexure can be to calculate ratio input mechanism....

For case-parents data, the information from offspring can be used to reduce uncertainty of parents’ haplotype. In this article we develop likelihood ratio test compare haplotype frequencies in transmitted and non-transmitted group. The maximum estimate for family data is obtained via expectation-maximization (EM) algorithm. Our proposed method handle haplotypes missing data. simulations show that more powerful association between traits than TRANSMIT. We also demonstrated detect Megsin gene...

The yarn vibration causes the tension value to fluctuate, causing a change in amount of feed, thus deviation carpet pile height from predetermined value. To solve this problem, sliding mode control algorithm is used design function and law. And four variables system are controlled by MATLAB software. For solving chattering problem law, law improved. fuzzy based on quasisliding adopted. results show that effective, but force needs be switched at high frequency there severe chattering. adopted...

Natural plants, such as cotton and linen, are rich in cellulose Iβ. The properties of Iβ under different temperatures was studied using molecular dynamics simulations. Firstly, the crystal built. To verify model, X-ray fibre diffraction thermal expansion coefficients were calculated, which found to agree with experimental results. Then Mulliken population bonds computed movement centre chain hydrogen over range 300-550 K a PCFF force field. results reveal three steps pyrolysis. higher...

Objective To explore the effects of exercise instruction during whole course pregnancy by mobile phone APP on master motor knowledge, body movement and gestation related index. Methods Totals 186 pregnant women who received prenatal examination early were selected. They divided into intervention group (n=96) control (n=90) according to random number table. Patients in involving pushing knowledge at regular intervals, sharing authoritative method, reminding time further consultation...

Abstract This study presents a use case of Finite Element Method and comparative experimental studies on subproblem in packaging machines. The variables the vacuum picking system including baffle height, back pressure friction between sheets are evaluated through simulations experiments. It is found that F all critical successful operation cardboards from in-feed magazine. some practical value for implementation board magazine many types machinery.

Transmission disequilibrium test (TDT) is a popular family based genetic association method. Under multiplicative assumption, conditional logistic regression for matched pair, affected offspring with allele transmitted from parents and pseudo-offspring (control) non-transmitted parents, was built to detect the main effects of genes gene-covariate interactions. When there exist genotype uncertainties, expectation-maximization (EM) algorithm adopted estimate coefficients. The transmission...