Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-const...Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.展开更多
BACKGROUND Acute bleeding due to esophageal varices(EVs)is a life-threatening complication in patients with cirrhosis.The diagnosis of EVs is mainly through upper gastrointestinal endoscopy,but the discomfort,contrain...BACKGROUND Acute bleeding due to esophageal varices(EVs)is a life-threatening complication in patients with cirrhosis.The diagnosis of EVs is mainly through upper gastrointestinal endoscopy,but the discomfort,contraindications and complications of gastrointestinal endoscopic screening reduce patient compliance.According to the bleeding risk of EVs,the Baveno VI consensus divides varices into high bleeding risk EVs(HEVs)and low bleeding risk EVs(LEVs).We sought to identify a non-invasive prediction model based on spleen stiffness measurement(SSM)and liver stiffness measurement(LSM)as an alternative to EVs screening.AIM To develop a safe,simple and non-invasive model to predict HEVs in patients with viral cirrhosis and identify patients who can be exempted from upper gastrointestinal endoscopy.METHODS Data from 200 patients with viral cirrhosis were included in this study,with 140 patients as the modelling group and 60 patients as the external validation group,and the EVs types of patients were determined by upper gastrointestinal endoscopy and the Baveno Ⅵ consensus.Those patients were divided into the HEVs group(66 patients)and the LEVs group(74 patients).The effect of each parameter on HEVs was analyzed by univariate and multivariate analyses,and a noninvasive prediction model was established.Finally,the discrimination ability,calibration ability and clinical efficacy of the new model were verified in the modelling group and the external validation group.RESULTS Univariate and multivariate analyses showed that SSM and LSM were associated with the occurrence of HEVs in patients with viral cirrhosis.On this basis,logistic regression analysis was used to construct a prediction model:Ln[P/(1-P)]=-8.184-0.228×SSM+0.642×LSM.The area under the curve of the new model was 0.965.When the cut-off value was 0.27,the sensitivity,specificity,positive predictive value and negative predictive value of the model for predicting HEVs were 100.00%,82.43%,83.52%,and 100%,respectively.Compared with the four prediction models of liver stiffness-spleen diameter to platelet ratio score,variceal risk index,aspartate aminotransferase to alanine aminotransferase ratio,and Baveno VI,the established model can better predict HEVs in patients with viral cirrhosis.CONCLUSION Based on the SSM and LSM measured by transient elastography,we established a non-invasive prediction model for HEVs.The new model is reliable in predicting HEVs and can be used as an alternative to routine upper gastrointestinal endoscopy screening,which is helpful for clinical decision making.展开更多
With the development of artificial intelligence,stiffness sensors are extensively utilized in various fields,and their integration with robots for automated palpation has gained significant attention.This study presen...With the development of artificial intelligence,stiffness sensors are extensively utilized in various fields,and their integration with robots for automated palpation has gained significant attention.This study presents a broad range self-powered stiffness sensor based on the triboelectric nanogenerator(Stiff-TENG)for variable inclusions in soft objects detection.The Stiff-TENG employs a stacked structure comprising an indium tin oxide film,an elastic sponge,a fluorinated ethylene propylene film with a conductive ink electrode,and two acrylic pieces with a shielding layer.Through the decoupling method,the Stiff-TENG achieves stiffness detection of objects within 1.0 s.The output performance and characteristics of the TENG for different stiffness objects under 4 mm displacement are analyzed.The Stiff-TENG is successfully used to detect the heterogeneous stiffness structures,enabling effective recognition of variable inclusions in soft object,reaching a recognition accuracy of 99.7%.Furthermore,its adaptability makes it well-suited for the detection of pathological conditions within the human body,as pathological tissues often exhibit changes in the stiffness of internal organs.This research highlights the innovative applications of TENG and thereby showcases its immense potential in healthcare applications such as palpation which assesses pathological conditions based on organ stiffness.展开更多
Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilate...Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.展开更多
predicting high-risk esophageal varices based on liver and spleen stiffness".Acute bleeding caused by esophageal varices is a life-threatening complication in patients with liver cirrhosis.Due to the discomfort,c...predicting high-risk esophageal varices based on liver and spleen stiffness".Acute bleeding caused by esophageal varices is a life-threatening complication in patients with liver cirrhosis.Due to the discomfort,contraindications,and associated complications of upper gastrointestinal endoscopy screening,it is crucial to identify an imaging-based non-invasive model for predicting high-risk esophageal varices in patients with cirrhosis.展开更多
The support structure of a rotor system is subject to vibration excitation,which results in the stiffness of the support structure varying with the excitation frequency(i.e.,the dynamic stiffness).However,the dynamic ...The support structure of a rotor system is subject to vibration excitation,which results in the stiffness of the support structure varying with the excitation frequency(i.e.,the dynamic stiffness).However,the dynamic stiffness and its effect mechanism have been rarely incorporated in open studies of the rotor system.Therefore,this study theoretically reveals the effect mechanism of dynamic stiffness on the rotor system.Then,the numerical study and experimental verification are conducted on the dynamic stiffness characteristics of a squirrel cage,which is a common support structure for aero-engine.Moreover,the static stiffness experiment is also performed for comparison.Finally,a rotor system model considering the dynamic stiffness of the support structure is presented.The presented rotor model is used to validate the results of the theoretical analysis.The results illustrate that the dynamic stiffness reduces the critical speed of the rotor system and may lead to a new resonance.展开更多
Fault activation has been the focus of research community for years.However,the studies of fault activation remain immature,such as the fault activation mode and its major factors under constant normal stiffness(CNS)c...Fault activation has been the focus of research community for years.However,the studies of fault activation remain immature,such as the fault activation mode and its major factors under constant normal stiffness(CNS)conditions associated with large thickness of fault surrounding rock mass.In this study,the rock friction experiments were conducted to understand the fault activation modes under the CNS conditions.Two major parameters,i.e.the initial normal stress and loading rate,were considered and calibrated in the tests.To reveal the response mechanism of fault activation,the local strains near the fault plane were recorded,and the macroscopic stresses and displacements were analyzed.The testing results show that the effect of displacement-controlled loading rate is more pronounced under the CNS conditions than that under constant normal load(CNL)conditions.Both the normal and shear stresses drop suddenly when the stick-slip occurs.The decrease and increase of the normal stress are synchronous with the shear stress in the regular stick-slip scenario,but mismatch with the shear stress during the chaotic stick-slip process.The results are helpful for understanding the fault sliding mode and the prediction and prevention of fault slip.展开更多
Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the ...Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is proposed.The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations.The relationship between the constraint wrench magnitudes and the external force,limb stiffness is established.The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations.Here,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is investigated.Combining with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is explored.Finally,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.The research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.展开更多
The water snail Pomacea canaliculata retracts the discoidal and multi-layered operculum to protect the soft body from being attacked by predators,and releases it when threats lifted.However,the duration of the opercul...The water snail Pomacea canaliculata retracts the discoidal and multi-layered operculum to protect the soft body from being attacked by predators,and releases it when threats lifted.However,the duration of the operculum retraction is usually less than that of the operculum protraction.In this paper,we elucidate the biological compliant mechanism of the operculum.By using confocal laser scanning microscopy,we find that the operculum has compliant sandwiched layers between hard layers.The layered structure results in a compliant mechanism with a bidirectional stiffness for the locking and unlocking processes of the operculum.A mathematical model is derived to rationalize the bidirectional stiffness mechanism of the operculum.In addition,we carry out the experiments on the locking and unlocking processes.The experimental results show that the locking tension is about two-fifths of the unlocking tension of the operculum.Moreover,based on the mechanical properties of the operculum with the layered structure,we designed an operculum-inspired structure,which may have a variety of potential applications in combined driving patterns.展开更多
A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an...A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an inerter to form a stiff dynamic absorber(SDA)for vertical seismic protection of structures with base isolation.The SDA is optimized to minimize vertical accelerations while ensuring static structural integrity,excellent damping performance and containment of relative displacements.The introduction of gas springs in place of conventional linear springs addresses important practical limitations through features of non-linearity and industrial grade manufacturing.The proposed implementation is dimensioned for a 50-ton structure and evaluated numerically for 25 actual earthquake records,in comparison with a linear SDA model and an equivalent conventional damper(CD).Individual and averaged results of acceleration and displacement time histories demonstrate vastly superior response compared to CD regarding induced accelerations for similar displacements.Performance equivalency with the linear SDA model indicates the stability of the gas spring implementation while guaranteeing predictability,tested endurance,proper tolerances,and off-axis motion resistance without requiring additional guiding components,as opposed to conventional springs.These features render the proposed implementation a promising solution for the realization of NSEs in seismic protection.展开更多
On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and re...On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and response rate restricted the application of variable stiffness composite.In this work,the novel variable stiffness composite system with characteristics of repeatable high load bearing and response rate was successfully prepared via the double-layer anisotropic structure to solve the bottlenecks of variable stiffness composites.The novel variable stiffness composite systems were composed of variable stiffness layer of polycaprolactone(PCL)and the driven layer of silicone elastomer with alcohol,which continuously changed Young’s modulus from 0.1 to 7.263 MPa(72.63 times variation)in 200 s and maintained maximum weight of 11.52 times its own weight(8.5 g).Attributed to the relatively high variable stiffness range and load bearing value of variable stiffness composite system,the repeatable response process led to the efficient high load driven as“muscle”and diversified precise grab of objects with different shapes as“gripper”,owning widespread application prospects in the field of bionics.展开更多
Variable Stiffness Actuation(VSA)is an efficient,safe,and robust actuation technology for bionic robotic joints that have emerged in recent decades.By introducing a variable stiffness elastomer in the actuation system...Variable Stiffness Actuation(VSA)is an efficient,safe,and robust actuation technology for bionic robotic joints that have emerged in recent decades.By introducing a variable stiffness elastomer in the actuation system,the mechanical-electric energy conversion between the motor and the load could be adjusted on-demand,thereby improving the performance of the actuator,such as the peak power reduction,energy saving,bionic actuation,etc.At present,the VSA technology has achieved fruitful research results in designing the actuator mechanism and the stiffness adjustment servo,which has been widely applied in articulated robots,exoskeletons,prostheses,etc.However,how to optimally control the stiffness of VSAs in different application scenarios for better actuator performance is still challenging,where there is still a lack of unified cognition and viewpoints.Therefore,from the perspective of optimal VSA performance,this paper first introduces some typical structural design and servo control techniques of common VSAs and then explains the methods and applications of the Optimal Variable Stiffness Control(OVSC)approaches by theoretically introducing different types of OVSC mathematical models and summarizing OVSC methods with varying optimization goals and application scenarios or cases.In addition,the current research challenges of OVSC methods and possible innovative insights are also presented and discussed in-depth to facilitate the future development of VSA control.展开更多
As the torso is critical to the coordinated movement and flexibility of vertebrates,a 6-(Degree of Freedom)DOF bionic parallel torso with noteworthy motion space was designed in our previous work.To improve the compli...As the torso is critical to the coordinated movement and flexibility of vertebrates,a 6-(Degree of Freedom)DOF bionic parallel torso with noteworthy motion space was designed in our previous work.To improve the compliance of the parallel mechanism,a pair of virtual muscle models is constructed on both sides of the rotating joints of each link of the mechanism,and a bionic muscle control algorithm is introduced.By analyzing the control parameters of the muscle model,dynamic characteristics similar to those of biological muscle are obtained.An adaptive stiffness control is proposed to adaptively adjust the stiffness coefficient with the change in the external load of the parallel mechanism.The attitude closed-loop control can effectively keep the attitude angle unchanged when the position of the moving platform changes.The simulations and experiments are undertaken to validate compliant movements and the flexibility and adaptability of the parallel mechanism.展开更多
Objective This study aimed to investigate the association between fruit and vegetable intake and arterial stiffness.Methods We conducted a cohort-based study comprising 6,628 participants with arterial stiffness infor...Objective This study aimed to investigate the association between fruit and vegetable intake and arterial stiffness.Methods We conducted a cohort-based study comprising 6,628 participants with arterial stiffness information in the Prediction for Atherosclerotic Cardiovascular Disease Risk in China(China-PAR)project. A semi-quantitative food-frequency questionnaire was used to assess baseline(2007–2008) and recent(2018–2021) fruit and vegetable intake. We assessed changes in fruit and vegetable intake from2007–2008 to 2018–2021 in 6,481 participants. Arterial stiffness was measured using the arterial velocity–pulse index(AVI) and arterial pressure-volume index(API). Elevated AVI and API values were defined according to diverse age reference ranges.Results Multivariable-adjusted linear regression models revealed that every 100 g/d increment in fruit and vegetable intake was associated with a 0.11 decrease in AVI(B =-0.11;95% confidence interval [CI]:-0.20,-0.02) on average, rather than API(B = 0.02;95% CI:-0.09, 0.13). The risk of elevated AVI(odds ratio [OR] = 0.82;95% CI: 0.70, 0.97) is 18% lower in individuals with high intake(≥ 500 g/d) than in those with low intake(< 500 g/d). Furthermore, maintaining a high intake in the past median of 11.5years of follow-up was associated with an even lower risk of elevated AVI compared with a low intake at both baseline and follow-up(OR = 0.64;95% CI: 0.49, 0.83).Conclusion Fruit and vegetable intake was negatively associated with arterial stiffness, emphasizing recommendations for adherence to fruit and vegetable intake for the prevention of arterial stiffness.展开更多
Ladder climbing is a relatively new but practical locomotion style for robots. Unfortunately, due to their size and weight, ladder climbing by human-sized robots developed so far is struggling with the speedup of ladd...Ladder climbing is a relatively new but practical locomotion style for robots. Unfortunately, due to their size and weight, ladder climbing by human-sized robots developed so far is struggling with the speedup of ladder climbing motion itself. Therefore, in this paper, a new ladder climbing gait for the robot WAREC-1R is proposed by the authors, which is both faster than the former ones and stable. However, to realize such a gait, a point that has to be taken into consideration is the deformation caused by the self-weight of the robot. To deal with this issue, extra hardware (sensor) and software (position and force control) systems and extra time for sensing and calculation were required. For a complete solution without any complicated systems and time only for deformation compensation, limb stiffness improvement plan by the minimal design change of mechanical parts of the robot is also proposed by the authors, with a thorough study about deformation distribution in the robot. With redesigned parts, ladder climbing experiments by WAREC-1R proved that both the new ladder climbing gait and the limb stiffness improvement are successful, and the reduced deformation is very close to the estimated value as well.展开更多
Rock joints are one of the vital discontinuities in a natural rock mass.How to accurately and conveniently determine joint normal stiffness is therefore significant in rock mechanics.Here,first,seven existing methods ...Rock joints are one of the vital discontinuities in a natural rock mass.How to accurately and conveniently determine joint normal stiffness is therefore significant in rock mechanics.Here,first,seven existing methods for determining joint normal stiffness were introduced and reviewed,among which MethodⅠ(the indirect measurement method),MethodⅡ(the direct determination method),MethodⅢ(the across-joint strain gauge measurement method)and MethodⅣ(the deformation measuring ring method)are via destructive uniaxial compression testing,while MethodⅤ(the best fitting method),MethodⅥ(the rapid evaluation method)and MethodⅦ(the effective modulus method)are through wave propagation principles and nondestructive ultrasonic testing.Subsequently,laboratory tests of intact and jointed sandstone specimens were conducted following the testing requirements and pro-cedures of those seven methods.A comparison among those methods was then performed.The results show that Method I,i.e.the benchmark method,is reliable and stable.MethodⅡhas a conceptual drawback,and its accuracy is acceptable at only very low stress levels.Relative errors in the results from MethodⅢare very large.With MethodⅣ,the testing results are sufficiently accurate despite the strict testing environment and complicated testing procedures.The results from MethodⅤare greatly unstable and significantly dependent on the natural frequency of the transducers.The joint normal stiffness determined with MethodⅥis stable and accurate,although data processing is complex.MethodⅦcould be adopted to determine the joint normal stiffness corresponding to the rock elastic deformation phase only.Consequently,it is suggested that MethodsⅠ,ⅣandⅥshould be adopted for the mea-surement of joint normal stiffness.The findings could be helpful in selecting an appropriate method to determine joint normal stiffness and,hence,to better solve discontinuous rock mass problems.展开更多
This research proposes a novel type of variable stiffness tuned particle damper(TPD)for reducing vibrations in boring bars.The TPD integrates the developments of particle damping and dynamical vibration absorber,whose...This research proposes a novel type of variable stiffness tuned particle damper(TPD)for reducing vibrations in boring bars.The TPD integrates the developments of particle damping and dynamical vibration absorber,whose frequency tuning principle is established through an equivalent theoretical model.Based on the multiphase flow theory of gas-solid,it is effective to obtain the equivalent damping and stiffness of the particle damping.The dynamic equations of the coupled system,consisting of a boring bar with the TPD,are built by Hamilton’s principle.The vibration suppression of the TPD is assessed by calculating the amplitude responses of the boring bar both with and without the TPD by the Newmark-beta algorithm.Moreover,an improvement is proposed to the existing gas-solid flow theory,and a comparative analysis of introducing the stiffness term on the damping effect is presented.The parameters of the TPD are optimized by the genetic algorithm,and the results indicate that the optimized TPD effectively reduces the peak response of the boring bar system.展开更多
Mechanical metamaterials such as auxetic materials have attracted great interest due to their unusual properties that are dictated by their architectures.However,these architected materials usually have low stiffness ...Mechanical metamaterials such as auxetic materials have attracted great interest due to their unusual properties that are dictated by their architectures.However,these architected materials usually have low stiffness because of the bending or rotation deformation mechanisms in the microstructures.In this work,a convolutional neural network(CNN)based self-learning multi-objective optimization is performed to design digital composite materials.The CNN models have undergone rigorous training using randomly generated two-phase digital composite materials,along with their corresponding Poisson's ratios and stiffness values.Then the CNN models are used for designing composite material structures with the minimum Poisson's ratio at a given volume fraction constraint.Furthermore,we have designed composite materials with optimized stiffness while exhibiting a desired Poisson's ratio(negative,zero,or positive).The optimized designs have been successfully and efficiently obtained,and their validity has been confirmed through finite element analysis results.This self-learning multi-objective optimization model offers a promising approach for achieving comprehensive multi-objective optimization.展开更多
BACKGROUND Older men are more vulnerable to fatal falls than women,and gait disturbances contribute to the risk of falls.Studies have assessed the association between arterial stiffness and gait dysfunction,but the re...BACKGROUND Older men are more vulnerable to fatal falls than women,and gait disturbances contribute to the risk of falls.Studies have assessed the association between arterial stiffness and gait dysfunction,but the results have been inconclusive.This study aimed to conduct a cross-sectional analysis to evaluate the association between brachial–ankle pulse wave velocity(baPWV)and gait assessment in older men.METHODS Data from the 2014–2015 Korea Institute of Sport Science Fitness Standards project were used for the analysis.The inclusion criteria were men aged>65 years with gait assessment[the 30-s chair stand test(30s-CST),the timed up and go(TUG)test,the figure-of-8 walk(F8W)test,the 2-min step test(2MST),and the 6-min walk test(6MWT)]and baPWV measurement data.Generalized linear regression analysis was conducted with multiple confounding factor adjustments,including lower extremity isometric strength.RESULTS A total of 291 participants were included in the analysis.The mean age was 71.38±4.40 years.The mean values were as follows:(1)30s-CST,17.48±5.00;(2)TUG test,6.01±1.10 s;(3)F8W test,25.65±4.71 s;(4)2MST,102.40±18.83 per 2 min;and(5)6MWT,500.02±85.65 m.After multivariable adjustment,baPWV was associated with the 6MWT(β=−0.037,95%CI:−0.072–−0.002),TUG test(β=0,95%CI:0.000–0.001),and F8W test(β=0.002,95%CI:0.000–0.004).baPWV was not associated with the 30s-CST and 2MST.CONCLUSIONS The current study showed a statistically significant association between gait assessments and arterial stiffness,independent of lower extremity strength.However,this association was modest.Future prospective studies are needed to elucidate the complex relationship between arterial stiffness and gait dysfunction.展开更多
In this study, a three-dimensional (3D) finite element modelling (FEM) analysis is carried out to investigate the effects of soil spatial variability on the response of retaining walls and an adjacent box culvert due ...In this study, a three-dimensional (3D) finite element modelling (FEM) analysis is carried out to investigate the effects of soil spatial variability on the response of retaining walls and an adjacent box culvert due to a braced excavation. The spatial variability of soil stiffness is modelled using a variogram and calibrated by high-quality experimental data. Multiple random field samples (RFSs) of soil stiffness are generated using geostatistical analysis and mapped onto a finite element mesh for stochastic analysis of excavation-induced structural responses by Monte Carlo simulation. It is found that the spatial variability of soil stiffness can be described by an exponential variogram, and the associated vertical correlation length is varied from 1.3 m to 1.6 m. It also reveals that the spatial variability of soil stiffness has a significant effect on the variations of retaining wall deflections and box culvert settlements. The ignorance of spatial variability in 3D FEM can result in an underestimation of lateral wall deflections and culvert settlements. Thus, the stochastic structural responses obtained from the 3D analysis could serve as an effective aid for probabilistic design and analysis of excavations.展开更多
基金Project supported by the National Natural Science Foundation of China (Grant No.61973167)the Jiangsu Funding Program for Excellent Postdoctoral Talent。
文摘Continuum robots with high flexibility and compliance have the capability to operate in confined and cluttered environments. To enhance the load capacity while maintaining robot dexterity, we propose a novel non-constant subsegment stiffness structure for tendon-driven quasi continuum robots(TDQCRs) comprising rigid-flexible coupling subsegments.Aiming at real-time control applications, we present a novel static-to-kinematic modeling approach to gain a comprehensive understanding of the TDQCR model. The analytical subsegment-based kinematics for the multisection manipulator is derived based on screw theory and product of exponentials formula, and the static model considering gravity loading,actuation loading, and robot constitutive laws is established. Additionally, the effect of tension attenuation caused by routing channel friction is considered in the robot statics, resulting in improved model accuracy. The root-mean-square error between the outputs of the static model and the experimental system is less than 1.63% of the arm length(0.5 m). By employing the proposed static model, a mapping of bending angles between the configuration space and the subsegment space is established. Furthermore, motion control experiments are conducted on our TDQCR system, and the results demonstrate the effectiveness of the static-to-kinematic model.
基金Supported by the Shaanxi Provincial Key Research and Development Plan,No.2020SF-159.
文摘BACKGROUND Acute bleeding due to esophageal varices(EVs)is a life-threatening complication in patients with cirrhosis.The diagnosis of EVs is mainly through upper gastrointestinal endoscopy,but the discomfort,contraindications and complications of gastrointestinal endoscopic screening reduce patient compliance.According to the bleeding risk of EVs,the Baveno VI consensus divides varices into high bleeding risk EVs(HEVs)and low bleeding risk EVs(LEVs).We sought to identify a non-invasive prediction model based on spleen stiffness measurement(SSM)and liver stiffness measurement(LSM)as an alternative to EVs screening.AIM To develop a safe,simple and non-invasive model to predict HEVs in patients with viral cirrhosis and identify patients who can be exempted from upper gastrointestinal endoscopy.METHODS Data from 200 patients with viral cirrhosis were included in this study,with 140 patients as the modelling group and 60 patients as the external validation group,and the EVs types of patients were determined by upper gastrointestinal endoscopy and the Baveno Ⅵ consensus.Those patients were divided into the HEVs group(66 patients)and the LEVs group(74 patients).The effect of each parameter on HEVs was analyzed by univariate and multivariate analyses,and a noninvasive prediction model was established.Finally,the discrimination ability,calibration ability and clinical efficacy of the new model were verified in the modelling group and the external validation group.RESULTS Univariate and multivariate analyses showed that SSM and LSM were associated with the occurrence of HEVs in patients with viral cirrhosis.On this basis,logistic regression analysis was used to construct a prediction model:Ln[P/(1-P)]=-8.184-0.228×SSM+0.642×LSM.The area under the curve of the new model was 0.965.When the cut-off value was 0.27,the sensitivity,specificity,positive predictive value and negative predictive value of the model for predicting HEVs were 100.00%,82.43%,83.52%,and 100%,respectively.Compared with the four prediction models of liver stiffness-spleen diameter to platelet ratio score,variceal risk index,aspartate aminotransferase to alanine aminotransferase ratio,and Baveno VI,the established model can better predict HEVs in patients with viral cirrhosis.CONCLUSION Based on the SSM and LSM measured by transient elastography,we established a non-invasive prediction model for HEVs.The new model is reliable in predicting HEVs and can be used as an alternative to routine upper gastrointestinal endoscopy screening,which is helpful for clinical decision making.
基金This work is supported by the grant from the National Natural Science Foundation of China under Grants 62104125 and 62311530102,Guangdong Innovative and Entrepreneurial Research Team Program(2021ZT09L197)Guangdong Basic and Applied Basic Research Foundation(2020A1515110887)+1 种基金Tsinghua Shenzhen International Graduate School-Shenzhen Pengrui Young Faculty Program of Shenzhen Pengrui Foundation(No.SZPR2023005)Shenzhen Science and Technology Program(JCYJ20220530143013030).
文摘With the development of artificial intelligence,stiffness sensors are extensively utilized in various fields,and their integration with robots for automated palpation has gained significant attention.This study presents a broad range self-powered stiffness sensor based on the triboelectric nanogenerator(Stiff-TENG)for variable inclusions in soft objects detection.The Stiff-TENG employs a stacked structure comprising an indium tin oxide film,an elastic sponge,a fluorinated ethylene propylene film with a conductive ink electrode,and two acrylic pieces with a shielding layer.Through the decoupling method,the Stiff-TENG achieves stiffness detection of objects within 1.0 s.The output performance and characteristics of the TENG for different stiffness objects under 4 mm displacement are analyzed.The Stiff-TENG is successfully used to detect the heterogeneous stiffness structures,enabling effective recognition of variable inclusions in soft object,reaching a recognition accuracy of 99.7%.Furthermore,its adaptability makes it well-suited for the detection of pathological conditions within the human body,as pathological tissues often exhibit changes in the stiffness of internal organs.This research highlights the innovative applications of TENG and thereby showcases its immense potential in healthcare applications such as palpation which assesses pathological conditions based on organ stiffness.
文摘Bilateral rehabilitation systems with bilateral or unilateral assistive robots have been developed for hemiplegia patients to recover their one-side paralysis.However,the compliant robotic assistance to promote bilateral inter-limb coordination remains a challenge that should be addressed.In this paper,a biomimetic variable stiffness modulation strategy for the Variable Stiffness Actuator(VSA)integrated robotic is proposed to improve bilateral limb coordination and promote bilateral motor skills relearning.An Electromyography(EMG)-driven synergy reference stiffness estimation model of the upper limb elbow joint is developed to reproduce the muscle synergy effect on the affected side limb by independent real-time stiffness control.Additionally,the bilateral impedance control is incorporated for realizing compliant patient-robot interaction.Preliminary experiments were carried out to evaluate the tracking performance and investigate the multiple task intensities’influence on bilateral motor skills relearning.Experimental results evidence the proposed method could enable bilateral motor task skills relearning with wide-range task intensities and further promote bilateral inter-limb coordination.
基金the Shaanxi Provincial Key Research and Development Plan,No.2020SF-159.
文摘predicting high-risk esophageal varices based on liver and spleen stiffness".Acute bleeding caused by esophageal varices is a life-threatening complication in patients with liver cirrhosis.Due to the discomfort,contraindications,and associated complications of upper gastrointestinal endoscopy screening,it is crucial to identify an imaging-based non-invasive model for predicting high-risk esophageal varices in patients with cirrhosis.
基金the National Natural Science Foundation of China(Nos.11872148 and U1908217)the Fundamental Research Funds for the Central Universities of China(Nos.N2224001-4 and N2003013)the Basic and Applied Basic Research Foundation of Guangdong Province of China(No.2020B1515120015)。
文摘The support structure of a rotor system is subject to vibration excitation,which results in the stiffness of the support structure varying with the excitation frequency(i.e.,the dynamic stiffness).However,the dynamic stiffness and its effect mechanism have been rarely incorporated in open studies of the rotor system.Therefore,this study theoretically reveals the effect mechanism of dynamic stiffness on the rotor system.Then,the numerical study and experimental verification are conducted on the dynamic stiffness characteristics of a squirrel cage,which is a common support structure for aero-engine.Moreover,the static stiffness experiment is also performed for comparison.Finally,a rotor system model considering the dynamic stiffness of the support structure is presented.The presented rotor model is used to validate the results of the theoretical analysis.The results illustrate that the dynamic stiffness reduces the critical speed of the rotor system and may lead to a new resonance.
基金supported by the Key Projects of the Yalong River Joint Fund of the National Natural Science Foundation of China(Grant No.U1865203)the National Natural Science Foundation of China(Grant Nos.52109142 and 41941018).
文摘Fault activation has been the focus of research community for years.However,the studies of fault activation remain immature,such as the fault activation mode and its major factors under constant normal stiffness(CNS)conditions associated with large thickness of fault surrounding rock mass.In this study,the rock friction experiments were conducted to understand the fault activation modes under the CNS conditions.Two major parameters,i.e.the initial normal stress and loading rate,were considered and calibrated in the tests.To reveal the response mechanism of fault activation,the local strains near the fault plane were recorded,and the macroscopic stresses and displacements were analyzed.The testing results show that the effect of displacement-controlled loading rate is more pronounced under the CNS conditions than that under constant normal load(CNL)conditions.Both the normal and shear stresses drop suddenly when the stick-slip occurs.The decrease and increase of the normal stress are synchronous with the shear stress in the regular stick-slip scenario,but mismatch with the shear stress during the chaotic stick-slip process.The results are helpful for understanding the fault sliding mode and the prediction and prevention of fault slip.
基金National Natural Science Foundation of China(Grant Nos.52075467,51875495)Key Project of Natural Science Foundation of Hebei Province of China(Grant No.E2017203335)Hebei Provincial Science and Technology Project of China(Grant No.206Z1805G)。
文摘Overconstrained mechanism has the advantages of large bearing capacity and high motion reliability,but its force analysis is complex and difficult because the mechanism system contains overconstraints.Considering the limb axial deformation,taking typical 2SS+P and 7-SS passive overconstrained mechanisms,2SPS+P and 7-SPS active overconstrained mechanisms,and 2SPS+P and 7-SPS passive-input overconstrained mechanisms as examples,a new force analysis method based on the idea of equivalent stiffness is proposed.The equivalent stiffness matrix of passive overconstrained mechanism is derived by combining the force balance and deformation compatibility equations with consideration of axial elastic limb deformations.The relationship between the constraint wrench magnitudes and the external force,limb stiffness is established.The equivalent stiffness matrix of active overconstrained mechanism is derived by combining the force balance and displacement compatibility equations.Here,the relationship between the magnitudes of the actuated wrenches and the external force,limb stiffness is investigated.Combining with the equivalent stiffness of the passive overconstrained mechanism,an analytical relationship between the actuated forces of passive-input overconstrained mechanism and the output displacement,limb stiffness is explored.Finally,adaptability of the equivalent stiffness to overconstrained mechanisms is discussed,and the effect of the limb stiffness on overconstrained mechanisms force distribution is revealed.The research results provide a theoretical reference for the design,research and practical application of overconstrained mechanism.
基金supported by National Natural Science Foundation of China(Grant No.52275298,and No.51905556)Pandeng Plan of Guangdong Province(Grant No.52910001,and No.11220004)Shenzhen Science and Technology Program(Grant No.GXWD2021B03,No.20220817165030002,and No.ZDSYS20210623091808026).
文摘The water snail Pomacea canaliculata retracts the discoidal and multi-layered operculum to protect the soft body from being attacked by predators,and releases it when threats lifted.However,the duration of the operculum retraction is usually less than that of the operculum protraction.In this paper,we elucidate the biological compliant mechanism of the operculum.By using confocal laser scanning microscopy,we find that the operculum has compliant sandwiched layers between hard layers.The layered structure results in a compliant mechanism with a bidirectional stiffness for the locking and unlocking processes of the operculum.A mathematical model is derived to rationalize the bidirectional stiffness mechanism of the operculum.In addition,we carry out the experiments on the locking and unlocking processes.The experimental results show that the locking tension is about two-fifths of the unlocking tension of the operculum.Moreover,based on the mechanical properties of the operculum with the layered structure,we designed an operculum-inspired structure,which may have a variety of potential applications in combined driving patterns.
基金European Union′s Horizon 2020 Research and Innovation Programme under the Marie Skłodowska-Curie Grant No.INSPIRE-813424(“INSPIRE-Innovative Ground Interface Concepts for Structure Protection”)。
文摘A novel implementation of negative stiffness elements(NSEs)is proposed,utilizing industrial grade nitrogen gas springs as pre-stressed stiffness elements in a configuration with lever arms.This NSE is combined with an inerter to form a stiff dynamic absorber(SDA)for vertical seismic protection of structures with base isolation.The SDA is optimized to minimize vertical accelerations while ensuring static structural integrity,excellent damping performance and containment of relative displacements.The introduction of gas springs in place of conventional linear springs addresses important practical limitations through features of non-linearity and industrial grade manufacturing.The proposed implementation is dimensioned for a 50-ton structure and evaluated numerically for 25 actual earthquake records,in comparison with a linear SDA model and an equivalent conventional damper(CD).Individual and averaged results of acceleration and displacement time histories demonstrate vastly superior response compared to CD regarding induced accelerations for similar displacements.Performance equivalency with the linear SDA model indicates the stability of the gas spring implementation while guaranteeing predictability,tested endurance,proper tolerances,and off-axis motion resistance without requiring additional guiding components,as opposed to conventional springs.These features render the proposed implementation a promising solution for the realization of NSEs in seismic protection.
基金the project of the National Key Research and Development Program of China(2018YFA0703300)the National Natural Science Foundation of China(52105302,52175271,52021003,and 91848204)+1 种基金the team of Innovation and entrepreneurship of Jilin Province(20210509047RQ,20210508057RQ)the Program for JLU Science and Technology Innovative Research Team(2017TD-04).
文摘On the base of controllable variable stiffness property,variable stiffness composites were the main components of functional materials in aerospace.However,the relatively low mechanical strength,stiffness range,and response rate restricted the application of variable stiffness composite.In this work,the novel variable stiffness composite system with characteristics of repeatable high load bearing and response rate was successfully prepared via the double-layer anisotropic structure to solve the bottlenecks of variable stiffness composites.The novel variable stiffness composite systems were composed of variable stiffness layer of polycaprolactone(PCL)and the driven layer of silicone elastomer with alcohol,which continuously changed Young’s modulus from 0.1 to 7.263 MPa(72.63 times variation)in 200 s and maintained maximum weight of 11.52 times its own weight(8.5 g).Attributed to the relatively high variable stiffness range and load bearing value of variable stiffness composite system,the repeatable response process led to the efficient high load driven as“muscle”and diversified precise grab of objects with different shapes as“gripper”,owning widespread application prospects in the field of bionics.
基金National Key Research and Development Program of China[Grant No.2020YFB1313000]National Natural Science Foundation of China[Grant No.62003060,62101086,51975070]+2 种基金China Postdoctoral Science Foundation[2021M693769]Natural Science Foundation of Chongqing,China[Grant No.cstc2021jcyj-bsh0180]Scientific and Technological Research Program of Chongqing Municipal Education Commission[Grant No.KJQN202100648].
文摘Variable Stiffness Actuation(VSA)is an efficient,safe,and robust actuation technology for bionic robotic joints that have emerged in recent decades.By introducing a variable stiffness elastomer in the actuation system,the mechanical-electric energy conversion between the motor and the load could be adjusted on-demand,thereby improving the performance of the actuator,such as the peak power reduction,energy saving,bionic actuation,etc.At present,the VSA technology has achieved fruitful research results in designing the actuator mechanism and the stiffness adjustment servo,which has been widely applied in articulated robots,exoskeletons,prostheses,etc.However,how to optimally control the stiffness of VSAs in different application scenarios for better actuator performance is still challenging,where there is still a lack of unified cognition and viewpoints.Therefore,from the perspective of optimal VSA performance,this paper first introduces some typical structural design and servo control techniques of common VSAs and then explains the methods and applications of the Optimal Variable Stiffness Control(OVSC)approaches by theoretically introducing different types of OVSC mathematical models and summarizing OVSC methods with varying optimization goals and application scenarios or cases.In addition,the current research challenges of OVSC methods and possible innovative insights are also presented and discussed in-depth to facilitate the future development of VSA control.
基金the National Natural Science Foundation of China(Grant No.51605039)the Open Foundation of Shanghai Collaborative Innovation Center of Intelligent Manufacturing Robot Technology for Large Components,in part by the China Postdoctoral Science Foundation(Grant No.2018T111005)the Fundamental Research Funds for the Central Universities(Grant Nos.300102259308,300102259401,and 300102252503).
文摘As the torso is critical to the coordinated movement and flexibility of vertebrates,a 6-(Degree of Freedom)DOF bionic parallel torso with noteworthy motion space was designed in our previous work.To improve the compliance of the parallel mechanism,a pair of virtual muscle models is constructed on both sides of the rotating joints of each link of the mechanism,and a bionic muscle control algorithm is introduced.By analyzing the control parameters of the muscle model,dynamic characteristics similar to those of biological muscle are obtained.An adaptive stiffness control is proposed to adaptively adjust the stiffness coefficient with the change in the external load of the parallel mechanism.The attitude closed-loop control can effectively keep the attitude angle unchanged when the position of the moving platform changes.The simulations and experiments are undertaken to validate compliant movements and the flexibility and adaptability of the parallel mechanism.
基金supported by the Chinese Academy of Medical Sciences (CAMS) Innovation Fund for Medical Sciences[2021-I2M-1-010 and 2019-I2M-2-003]the National High Level Hospital Clinical Research Funding [2022-GSP-GG-1, 2022-GSP-GG-2]+3 种基金Research Unit of Prospective Cohort of Cardiovascular Diseases and Cancers,CAMS (2019RU038)National Natural Science Foundation of China [82030102, 12126602, 91857118]the National Key Research and Development Program of China [2021YFC2500500]the National Clinical Research Center for Cardiovascular Diseases,Fuwai Hospital,Chinese Academy of Medical Sciences [NCRC2020006]。
文摘Objective This study aimed to investigate the association between fruit and vegetable intake and arterial stiffness.Methods We conducted a cohort-based study comprising 6,628 participants with arterial stiffness information in the Prediction for Atherosclerotic Cardiovascular Disease Risk in China(China-PAR)project. A semi-quantitative food-frequency questionnaire was used to assess baseline(2007–2008) and recent(2018–2021) fruit and vegetable intake. We assessed changes in fruit and vegetable intake from2007–2008 to 2018–2021 in 6,481 participants. Arterial stiffness was measured using the arterial velocity–pulse index(AVI) and arterial pressure-volume index(API). Elevated AVI and API values were defined according to diverse age reference ranges.Results Multivariable-adjusted linear regression models revealed that every 100 g/d increment in fruit and vegetable intake was associated with a 0.11 decrease in AVI(B =-0.11;95% confidence interval [CI]:-0.20,-0.02) on average, rather than API(B = 0.02;95% CI:-0.09, 0.13). The risk of elevated AVI(odds ratio [OR] = 0.82;95% CI: 0.70, 0.97) is 18% lower in individuals with high intake(≥ 500 g/d) than in those with low intake(< 500 g/d). Furthermore, maintaining a high intake in the past median of 11.5years of follow-up was associated with an even lower risk of elevated AVI compared with a low intake at both baseline and follow-up(OR = 0.64;95% CI: 0.49, 0.83).Conclusion Fruit and vegetable intake was negatively associated with arterial stiffness, emphasizing recommendations for adherence to fruit and vegetable intake for the prevention of arterial stiffness.
文摘Ladder climbing is a relatively new but practical locomotion style for robots. Unfortunately, due to their size and weight, ladder climbing by human-sized robots developed so far is struggling with the speedup of ladder climbing motion itself. Therefore, in this paper, a new ladder climbing gait for the robot WAREC-1R is proposed by the authors, which is both faster than the former ones and stable. However, to realize such a gait, a point that has to be taken into consideration is the deformation caused by the self-weight of the robot. To deal with this issue, extra hardware (sensor) and software (position and force control) systems and extra time for sensing and calculation were required. For a complete solution without any complicated systems and time only for deformation compensation, limb stiffness improvement plan by the minimal design change of mechanical parts of the robot is also proposed by the authors, with a thorough study about deformation distribution in the robot. With redesigned parts, ladder climbing experiments by WAREC-1R proved that both the new ladder climbing gait and the limb stiffness improvement are successful, and the reduced deformation is very close to the estimated value as well.
基金supported by the Shenzhen Fundamental Research Program(Grant No.JCYJ20220818095605012)the National Natural Science Foundation of China(Grant No.51909026)the Fund of Guangdong Provincial Key Laboratory of Deep Earth Sciences and Geothermal Energy Exploitation and Utilization(Grant No.2020-08).
文摘Rock joints are one of the vital discontinuities in a natural rock mass.How to accurately and conveniently determine joint normal stiffness is therefore significant in rock mechanics.Here,first,seven existing methods for determining joint normal stiffness were introduced and reviewed,among which MethodⅠ(the indirect measurement method),MethodⅡ(the direct determination method),MethodⅢ(the across-joint strain gauge measurement method)and MethodⅣ(the deformation measuring ring method)are via destructive uniaxial compression testing,while MethodⅤ(the best fitting method),MethodⅥ(the rapid evaluation method)and MethodⅦ(the effective modulus method)are through wave propagation principles and nondestructive ultrasonic testing.Subsequently,laboratory tests of intact and jointed sandstone specimens were conducted following the testing requirements and pro-cedures of those seven methods.A comparison among those methods was then performed.The results show that Method I,i.e.the benchmark method,is reliable and stable.MethodⅡhas a conceptual drawback,and its accuracy is acceptable at only very low stress levels.Relative errors in the results from MethodⅢare very large.With MethodⅣ,the testing results are sufficiently accurate despite the strict testing environment and complicated testing procedures.The results from MethodⅤare greatly unstable and significantly dependent on the natural frequency of the transducers.The joint normal stiffness determined with MethodⅥis stable and accurate,although data processing is complex.MethodⅦcould be adopted to determine the joint normal stiffness corresponding to the rock elastic deformation phase only.Consequently,it is suggested that MethodsⅠ,ⅣandⅥshould be adopted for the mea-surement of joint normal stiffness.The findings could be helpful in selecting an appropriate method to determine joint normal stiffness and,hence,to better solve discontinuous rock mass problems.
基金Project supported by the National Natural Science Foundation of China(Nos.12172014 and 11972050)。
文摘This research proposes a novel type of variable stiffness tuned particle damper(TPD)for reducing vibrations in boring bars.The TPD integrates the developments of particle damping and dynamical vibration absorber,whose frequency tuning principle is established through an equivalent theoretical model.Based on the multiphase flow theory of gas-solid,it is effective to obtain the equivalent damping and stiffness of the particle damping.The dynamic equations of the coupled system,consisting of a boring bar with the TPD,are built by Hamilton’s principle.The vibration suppression of the TPD is assessed by calculating the amplitude responses of the boring bar both with and without the TPD by the Newmark-beta algorithm.Moreover,an improvement is proposed to the existing gas-solid flow theory,and a comparative analysis of introducing the stiffness term on the damping effect is presented.The parameters of the TPD are optimized by the genetic algorithm,and the results indicate that the optimized TPD effectively reduces the peak response of the boring bar system.
文摘Mechanical metamaterials such as auxetic materials have attracted great interest due to their unusual properties that are dictated by their architectures.However,these architected materials usually have low stiffness because of the bending or rotation deformation mechanisms in the microstructures.In this work,a convolutional neural network(CNN)based self-learning multi-objective optimization is performed to design digital composite materials.The CNN models have undergone rigorous training using randomly generated two-phase digital composite materials,along with their corresponding Poisson's ratios and stiffness values.Then the CNN models are used for designing composite material structures with the minimum Poisson's ratio at a given volume fraction constraint.Furthermore,we have designed composite materials with optimized stiffness while exhibiting a desired Poisson's ratio(negative,zero,or positive).The optimized designs have been successfully and efficiently obtained,and their validity has been confirmed through finite element analysis results.This self-learning multi-objective optimization model offers a promising approach for achieving comprehensive multi-objective optimization.
基金supported by the Korea Sport Promotion Foundation。
文摘BACKGROUND Older men are more vulnerable to fatal falls than women,and gait disturbances contribute to the risk of falls.Studies have assessed the association between arterial stiffness and gait dysfunction,but the results have been inconclusive.This study aimed to conduct a cross-sectional analysis to evaluate the association between brachial–ankle pulse wave velocity(baPWV)and gait assessment in older men.METHODS Data from the 2014–2015 Korea Institute of Sport Science Fitness Standards project were used for the analysis.The inclusion criteria were men aged>65 years with gait assessment[the 30-s chair stand test(30s-CST),the timed up and go(TUG)test,the figure-of-8 walk(F8W)test,the 2-min step test(2MST),and the 6-min walk test(6MWT)]and baPWV measurement data.Generalized linear regression analysis was conducted with multiple confounding factor adjustments,including lower extremity isometric strength.RESULTS A total of 291 participants were included in the analysis.The mean age was 71.38±4.40 years.The mean values were as follows:(1)30s-CST,17.48±5.00;(2)TUG test,6.01±1.10 s;(3)F8W test,25.65±4.71 s;(4)2MST,102.40±18.83 per 2 min;and(5)6MWT,500.02±85.65 m.After multivariable adjustment,baPWV was associated with the 6MWT(β=−0.037,95%CI:−0.072–−0.002),TUG test(β=0,95%CI:0.000–0.001),and F8W test(β=0.002,95%CI:0.000–0.004).baPWV was not associated with the 30s-CST and 2MST.CONCLUSIONS The current study showed a statistically significant association between gait assessments and arterial stiffness,independent of lower extremity strength.However,this association was modest.Future prospective studies are needed to elucidate the complex relationship between arterial stiffness and gait dysfunction.
基金The authors would like to acknowledge the financial support provided by the National Natural Science Foundation of China(Grant No.41977240)the Fundamental Research Funds for the Central Universities(Grant No.B200202090).
文摘In this study, a three-dimensional (3D) finite element modelling (FEM) analysis is carried out to investigate the effects of soil spatial variability on the response of retaining walls and an adjacent box culvert due to a braced excavation. The spatial variability of soil stiffness is modelled using a variogram and calibrated by high-quality experimental data. Multiple random field samples (RFSs) of soil stiffness are generated using geostatistical analysis and mapped onto a finite element mesh for stochastic analysis of excavation-induced structural responses by Monte Carlo simulation. It is found that the spatial variability of soil stiffness can be described by an exponential variogram, and the associated vertical correlation length is varied from 1.3 m to 1.6 m. It also reveals that the spatial variability of soil stiffness has a significant effect on the variations of retaining wall deflections and box culvert settlements. The ignorance of spatial variability in 3D FEM can result in an underestimation of lateral wall deflections and culvert settlements. Thus, the stochastic structural responses obtained from the 3D analysis could serve as an effective aid for probabilistic design and analysis of excavations.
