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The principle and characteristics of the input shaping combined with PD control system are studied in this paper. Firstly, the structure and parameters of the main parts of the 3-DOF parallel manipulator are introduced. Secondly, the response, actuator effort and energy consumption of input shaping combined with PD control system are analyzed, followed by the characterization of its actuator effort...
Summary To assess the relationship between pronuclear scoring and day-3 embryo quality and pregnancy outcome and to determine the clinical value of pronuclear stage scoring system in human in vitro fertilization-embryo transfer (IVF-ET) program, a pronuclear scoring system was used to score zygotes 16–20 h after insemination during conventional IVF or intracytoplasmic sperm injection (ICSI). The embryos...
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