Design and Experiment of Assistive Mechanism for Adjustment of Transrectal Ultrasound Probe.

Transrectal ultrasound prostate biopsy is the most commonly used method for the diagnosis of prostate cancer. During the operation, the doctor needs to manually adjust the ultrasound probe for repeated adjustments, which is difficult to ensure the efficiency, accuracy, and safety of the operation. This paper presents a passive posture adjusting mechanism of transrectal ultrasound probe. The overall mechanism has 7 degrees of freedom, consisting of a position adjustment module, a posture adjustment module, and an ultrasonic probe rotation and feed module. In order to achieve the centering function, the posture adjustment module is designed based on the double parallelogram. Centering performance is verified based on SimMechanics, and remote center point error of physical prototypes is evaluated. The maximum error of the azimuth remote center point motion and the maximum error of the remote center point motion of the ultrasonic probe are 4 mm and 3.4 mm, respectively, which are less than the anus that can withstand 6 mm. Meanwhile, the analysis of measurement error shows that the random error correlation is weak in different directions, the systematic error confidence intervals of azimuth and elevation angle are less than 2.5 mm, and the maximum relative fixed point error and the maximum relative standard error are 14.73% and 14.98%, respectively. The simulation and testing results have shown the effectiveness and reliability of the propose mechanism.

Solvent-free synthesis of ZIF-8 from zinc acetate with the assistance of sodium hydroxide.

The development of sustainable routes for the synthesis of metal organic frameworks (MOFs) is very important because of the wide applications of MOFs on a large scale in the fields of adsorption, separation, and catalysis. ZIF-8, a zinc-based zeolitic imidazolate framework (ZIF), was first prepared following a solvent-free method from zinc acetate and denoted as ZIF-8-DGUT. The synthesis was conducted with the addition of an appropriate amount of sodium hydroxide (NaOH) powder before fully grinding, and the synthesis was accomplished at mild temperature at 343 K for 24 h. This strategy provided a practical method for the production of ZIF materials.

Modeling and Experimentation of the Unidirectional Orthodontic Force of Second Sequential Loop Orthodontic Archwire.

The abnormal tooth arrangement is one of the most common clinical features of malocclusion which is mainly caused by the tooth root compression malformation. The second sequential loop is mostly used for the adjusting of the abnormal tooth arrangement. Now, the shape devise of orthodontic archwire depends completely on the doctor's experience and patients' feedback, this practice is time-consuming, and the treatment effect is unstable. The orthodontic-force of the different parameters of the second sequence loop, including different cross-sectional parameters, material parameters, and characteristic parameters, was compared and simulated for the abnormal condition of root compression deformity. In this paper, the analysis and experimental study on the unidirectional orthodontic-force were carried out. The different parameters of the second sequential loop are analyzed, and the equivalent beam deflection theory is used to analyze the relationship between orthodontic-force and archwire parameters. Based on the structural analysis of the second sequential loop, the device for measuring orthodontic force has been designed. The orthodontic force with different structural characteristics of archwire was compared and was measured. Finally, the correction factor was developed in the unidirectional orthodontic-force forecasting model to eliminate the influence of inherent error. The average relative error rate of the theoretical results of the unidirectional orthodontic-force forecasting model is between 12.6% and 8.75%, which verifies the accuracy of the prediction model.

Hydrothermal synthesis of boron-free Zr-MWW and Sn-MWW zeolites as robust Lewis acid catalysts.

An innovative strategy based on dual structure-directing agent-facilitated crystallization was proposed to hydrothermally synthesize boron-free Zr-MWW and Sn-MWW metallosilicates that bear great structural diversity for potential pore engineering. The metallosilicates show distinctive features in Lewis acid-catalyzed reactions as efficient heterogeneous solid catalysts.

Origin of the Photoluminescence of Metal Nanoclusters: From Metal-Centered Emission to Ligand-Centered Emission.

Recently, metal nanoclusters (MNCs) emerged as a new class of luminescent materials and have attracted tremendous interest in the area of luminescence-related applications due to their excellent luminous properties (good photostability, large Stokes shift) and inherent good biocompatibility. However, the origin of photoluminescence (PL) of MNCs is still not fully understood, which has limited their practical application. In this mini-review, focusing on the origin of the photoemission emission of MNCs, we simply review the evolution of luminescent mechanism models of MNCs, from the pure metal-centered quantum confinement mechanics to ligand-centered p band intermediate state (PBIS) model via a transitional ligand-to-metal charge transfer (LMCT or LMMCT) mechanism as a compromise model.

Synthesis of Extra-Large-Pore Zeolite ECNU-9 with Intersecting 14*12-Ring Channels.

Highly crystalline and (hydro)thermally stable zeolites with extra-large pores [≥14-ring (14-R)] are desirable as catalysts. A novel zeolite, ECNU-9, with an intersecting 14*12-R channel system was rationally designed and synthesized by a building block strategy, in which the interlayer expansion of a two-dimensional silicate structure was realized by combining organic amine assisted layer-stacking reorganization and subsequent silylation with a square-shaped single 4-ring (S4R) silane, 1,3,5,7-tetramethylcyclotetrasiloxane (TMCS). The PLS-3 precursor was disassembled into building blocks and then intercalated with flexible and removable organic amine pillars to offer enough interlayer spacing for accommodating TMCS molecules. The additionally introduced building blocks interconnected the neighboring layers to construct new 14-R and 12-R pores. ECNU-9 possesses a well-ordered structure with a novel topology. The corresponding Ti-ECNU-9, with tetrahedral Ti ions in the framework, showed superior catalytic performance in the selective epoxidation of bulky alkenes.

Crystallization of a Novel Germanosilicate ECNU-16 Provides Insights into the Space-Filling Effect on Zeolite Crystal Symmetry.

Synthesis of new zeolites involving organic molecules relies heavily on the trial-and-error approach, because it is difficult to interpret the determining effects of organics on zeolite crystal symmetry. Here, the intrinsic relationships among the space-filling of organics, included volume of channels, and zeolite crystal symmetry, are systematically demonstrated by experimental and computational means. Under controlled conditions, the "dimer" and "monomer" organics of 1-ethyl-3-methylimidazolium selectively direct different, but related, germanosilicates, the ECNU-16 with a new topology and the existing IM-16 with the UOS topology, respectively. The comprehensive computational study reveals that the zeolite phase selectivity is determined by the unique space-filling behavior of the "dimer" and "monomer" organics, which is closely correlated to their rotation freedom, as well as the included volume of host zeolite channels. The elucidation of this crucial space-filling effect from the fundamental viewpoint will provide new guidelines for the rational design and synthesis of new zeolites in future.

Facile synthesis of ECNU-20 (IWR) hollow sphere zeolite composed of aggregated nanosheets.

An ECNU-20 nanosheet zeolite of around 10 nm thickness along the c axis, with a hollow sphere morphology and IWR topology, was synthesized in a germanosilicate system using a commercially available organic amine, 1,8-diazabicyclo[5.4.0]undec-7-ene, as a structure-directing agent. DFT calculations confirmed that a preferential adsorption of these amine molecules took place on the (001) surface, leading to an oriented crystal growth. Moreover, the concentration of the amine determined the aggregation style of these nanosheets.

[Spatial-temporal evolution of urban thermal environment based on spatial statistical features].

A new method which aims to determine the area of urban heat island (UHI) was proposed in this paper based on spatial statistical features by means of remote sensing and GIS spatial analysis tools, and was applied in the spatial-temporal evolution analysis of UHI in Hangzhou, China. The results showed that the area of UHI in Hangzhou increased 8.66 times from 1984 to 2010. During the 26 years, the spatial structure of UHI in Hangzhou had become more and more complex, and its spatial distribution changed from single-center to multi-center. Generally speaking, the change trend of thermal environment in Hangzhou was turning from low-temperature spatial equilibrium to high-temperature spatial equilibrium. The major cause for the development of UHI in Hangzhou was urban expansion as it showed in the results of dynamic change detection. This new method considered the spatial correlation of urban land surface temperature (LST), and reflected the global statistical features of LST. It was more objective and accurate than the conventional methods, and could provide more information, which would help us to resolve the problem of being lack of generality and comparability in the current research.

Design and experimentation with sandwich microstructure for catalytic combustion-type gas sensors.

The traditional handmade catalytic combustion gas sensor has some problems such as a pairing difficulty, poor consistency, high power consumption, and not being interchangeable. To address these issues, integrated double catalytic combustion of alcohol gas sensor was designed and manufactured using silicon micro-electro-mechanical systems (MEMS) technology. The temperature field of the sensor is analyzed using the ANSYS finite element analysis method. In this work, the silicon oxide-PECVD-oxidation technique is used to manufacture a SiO2-Si3N2-SiO2 microstructure carrier with a sandwich structure, while wet etching silicon is used to form a beam structure to reduce the heat consumption. Thin-film technology is adopted to manufacture the platinum-film sensitive resistance. Nano Al2O3-ZrO-ThO is coated to format the sensor carrier, and the sensitive unit is dipped in a Pt-Pd catalyst solution to form the catalytic sensitive bridge arm. Meanwhile the uncoated catalyst carrier is considered as the reference unit, realizing an integrated chip based on a micro double bridge and forming sensors. The lines of the Pt thin-film resistance have been observed with an electronic microscope. The compensation of the sensitive material carriers and compensation materials have been analyzed using an energy spectrum. The results show that the alcohol sensor can detect a volume fraction between 0 and 4,500 × 10(-6) and has good linear output characteristic. The temperature ranges from -20 to +40 °C. The humidity ranges from 30% to 85% RH. The zero output of the sensor is less than ±2.0% FS. The power consumption is ≤0.2 W, and both the response and recovery time are approximately 20 s.

Post-synthesis treatment gives highly stable siliceous zeolites through the isomorphous substitution of silicon for germanium in germanosilicates.

Germanosilicates, an important family of zeolites with increasing number of members and attractive porosities, but containing a large quantity of unstable Ge atoms in the framework, meet with great obstacles in terms of limited thermal and hydrothermal stability when it comes to practical use. A facile stabilization method thus has been developed to substitute isomorphously Ge atoms for Si atoms, giving rise to ultrastable siliceous analogues of the pristine germanosilicates.

Facile large-scale synthesis of monodisperse mesoporous silica nanospheres with tunable pore structure.

Mesoporous silica nanoparticles (MSNs) are experiencing rapid development in the biomedical field for imaging and for use in heterogeneous catalysis. Although the synthesis of MSNs with various morphologies and particle sizes has been reported, synthesis of a pore network with monodispersion control below 200 nm is still challenging. We achieved this goal using mild conditions. The reaction occurred at atmospheric pressure with a templating sol-gel technique using cetyltrimethylammonium (CTA(+)) as the templating surfactant and small organic amines (SOAs) as the mineralizing agent. Production of small pore sizes was performed for the first time, using pure and redispersible monodispersed porous nanophases with either stellate (ST) or raspberry-like (RB) channel morphologies. Tosylate (Tos(-)) counterions favored ST and bromide (Br(-)) RB morphologies at ultralow SOA concentrations. Both anions yielded a worm-like (WO) morphology at high SOA concentrations. A three-step formation mechanism based on self-assembly and ion competition at the electrical palisade of micelles is proposed. Facile recovery and redispersion using specific SOAs allowed a high yield production at the kilogram scale. This novel technique has practical applications in industry.

Motion planning and synchronized control of the dental arch generator of the tooth-arrangement robot.

BACKGROUND: The traditional, manual method of reproducing the dental arch form is prone to numerous random errors caused by human factors. The purpose of this study was to investigate the automatic acquisition of the dental arch and implement the motion planning and synchronized control of the dental arch generator of the multi-manipulator tooth-arrangement robot for use in full denture manufacture. METHODS: First, the mathematical model of the dental arch generator was derived. Then the kinematics and control point position of the dental arch generator of the tooth arrangement robot were calculated and motion planning of each control point was analysed. A hardware control scheme is presented, based on the industrial personal computer and control card PC6401. In order to gain single-axis, precise control of the dental arch generator, we studied the control pulse realization of high-resolution timing. Real-time, closed-loop, synchronous control was applied to the dental arch generator. Experimental control of the dental arch generator and preliminary tooth arrangement were gained by using the multi-manipulator tooth-arrangement robotic system. RESULTS: The dental arch generator can automatically generate a dental arch to fit a patient according to the patient's arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways that drive the dental arch generator. The maximum value of single-point error is 1.83 mm, while the arc-width direction (x axis) is -33.29 mm. CONCLUSION: A novel system that generates the dental arch has been developed. The traditional method of manually determining the dental arch may soon be replaced by a robot to assist in generating a more individual dental arch. The system can be used to fabricate full dentures and bend orthodontic wires.

Kinematics modeling and experimentation of the multi-manipulator tooth-arrangement robot for full denture manufacturing.

Artificial teeth are very complicated in shape, and not easy to be grasped and manipulated accurately by a single robot. The method of tooth-arrangement by multi-manipulator for complete denture manufacturing proposed in this paper. A novel complete denture manufacturing mechanism is designed based on multi-manipulator and dental arch generator. Kinematics model of the multi-manipulator tooth-arrangement robot is built by analytical method based on tooth-arrangement principle for full denture. Preliminary experiments on tooth-arrangement are performed using the multi-manipulator tooth-arrangement robot prototype system. The multi-manipulator tooth-arrangement robot prototype system can automatically design and manufacture a set of complete denture that is suitable for a patient according to the jaw arch parameters. The experimental results verified the validity of kinematics model of the multi-manipulator tooth-arrangement robot and the feasibility of the manufacture strategy of complete denture fulfilled by multi-manipulator tooth-arrangement robot.

Coordinated control and experimentation of the dental arch generator of the tooth-arrangement robot.

BACKGROUND: The traditional way of acquiring the dental arch curve form is based on manual operation, which will randomly bring numerous errors caused by human factors. The purpose of this paper is to automatically acquire the dental arch curve and implement the coordinated control of the dental arch generator of the multi-manipulator tooth-arrangement robot, which can be used in full denture manufacturing. METHODS: Based on the arc length constant theory, kinematics on dental arch generator is analyzed. The control pulse realization methods of high-resolution timing and CPU time-stamp timing are studied, and testing and comparative analysis of the control precision and stability of the two methods is carried out. Control experimentation of the dental arch generator and preliminary tooth-arrangement experimentation are performed using the multi-manipulator tooth-arrangement robot system. RESULTS: The dental arch generator can automatically generate a dental arch curve that fits a patient according to the patient's jaw arch parameters. Repeated positioning accuracy is 0.12 mm for the slipways which drive the dental arch generator. The maximum value of single point error is 1.64 mm when the arc width direction (x-axis) is 37.25 mm. The experimental results indicate that the method of control pulse realized by high-resolution timing to achieve high precision coordinated motion control of dental arch generator of tooth-arrangement robot is feasible. The error analysis results indicate that the control strategy and technical route can fulfill the requirements for motion speed and location precision. CONCLUSION: A novel system to generate the tooth arch curve has been developed. The traditional method of manually determining the dental arch may soon become obsolete in favour of the use of a robot to assist in generating a more standard tooth arch curve. The system can be used to manufacture a full denture. It will lay an important theoretical foundation for quantitative research of oral restoration, and also provide a way to standardize the manufacturing process of full denture.