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Comparison of Parallel Kinematic Machines with Three Translational Degrees of Freedom and Linear Actuation

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Chinese Journal of Mechanical Engineering 2015年第4期28卷 841-850页

作者： prause Isabel CHARAF EDDINE Sami CORVES Burkhard Department of Mechanism Theory and Dynamics of Machines RWTH Aachen University

The development of new robot structures, in particular of parallel kinematic machines（PKM）, is widely systematized by different structure synthesis methods. Recent research increasingly focuses on PKM with less than six degrees of freedom（DOF）. However, an overall comparison and evaluation of these structures is missing. In order to compare symmetrical PKM with three translational DOF, different evaluation criteria are used. Workspace, maximum actuation forces and velocities, power, actuator stiffness, accuracy and transmission behavior are taken into account to investigate strengths and weaknesses of the PKMs. A selection scheme based on possible configurations of translational PKM including different frame configurations is presented. Moreover, an optimization method based on a genetic algorithm is described to determine the geometric parameters of the selected PKM for an exemplary load case and a prescribed workspace. The values of the mentioned criteria are determined for all considered PKM with respect to certain boundary conditions. The distribution and spreading of these values within the prescribed workspace is presented by using box plots for each criterion. Thereby, the performance characteristics of the different structures can be compared directly. The results show that there is no ＂best＂ PKM. Further inquiries such as dynamic or stiffness analysis are necessary to extend the comparison and to finally select a PKM.

关键词： parallel kinematic machines comparison benchmark selection scheme

Pneumothorax in a Thiel cadaver model of cardiopulmonary resuscitation

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World Journal of Emergency Medicine 2023年第2期14卷 143-147页

作者： Daniel Auinger Simon Orlob Johannes Wittig Gabriel Honnef Stefan Heschl Georg Feigl Gerhard prause Division of Anaesthesiology and Intensive Care Medicine 1 Department of Anaesthesiology and Intensive Care MedicineMedical University of GrazGraz 8036Austria Division of Anaesthesiology and Intensive Care Medicine 2 Department of Anaesthesiology and Intensive Care MedicineMedical University of GrazGraz 8036Austria Medical University of Graz Graz 8036Austria Research Center for Emergency Medicine Aarhus University HospitalAarhus 8200Denmark Department of Medicine Randers Regional HospitalRanders 8930Denmark Chair of Macroscopic and Clinical Anatomy Gottfried Schatz Research CenterMedical University of GrazGraz 8036Austria Institute of Morphology and Clinical Anatomy Faculty of Health/School of MedicineWitten/Herdecke UniversityWitten 58448Germany

INTRODUCTION There has been some previous research in the field of cardiopulmonary resuscitation (CPR) using cadaver models.[1]The Thiel method was developed by Professor Walter Thiel (Graz, Austria) and described in 1992 and 2002. It consists of both an intravascular injection of the embalming solution and submersion of the bodies in a tank with the same solution for a determined period.[2,3]

关键词： Walter cardiopulmonary bal

Analysis of Short Sea Shipping-Based Logistics Corridors in the Baltic Sea Region

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Journal of Shipping and Ocean Engineering 2012年第5期2卷 304-319页

作者： Joachim R. Daduna Kristina Hunke Gunnar prause Berlin School of Economics and Law Berlin 10825 Germany Wismar Business School Molde University College Wismar 23966 Germany Wismar Business School Tallinn University of Technology Tallinn 12618 Estonia

Despite recent turbulences in global economy, the growth of global trade volumes is expected to continue in the future, leading to increased demands on the performance of logistics networks. The political framework for EU （European Union） Transport Policy Development is presented in the EU White Paper on Transport 2011 in order to build a competitive European transport system. One significant aspect is the promotion of multimodal transport in order to decrease terrestrial transport services （road and rail） and to increase services in the maritime transport sector, especially considering the relief of road and railway infrastructure. Looking at the present situation, SSS （Short Sea Shipping） is already used in many different transport fields all around the world. However, there still exists a great potential which currently is not used or not sufficiently exploited for many different reasons. In order to identify the potential use of SSS in multimodal transport, different scenarios in the Baltic Sea Region and the adjoining hinterland have been developed pointing out alternative solutions for routing. These options are analyzed in detail and evaluated from different perspectives （i.e. transport and handling costs, time consumption and transport-related emissions）. Afterwards, advantages and disadvantages of each alternative will be examined by taking into account economic and ecological aspects in making decision.

关键词： Short sea shipping multimodal transportation transport route optimization.

具有扭转柔性轮对的铁路车辆的摇头振动稳定性

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国外铁道机车与动车 1978年第1期 65-76页

作者： G.R.Doyle R.H.prause 陈石华

扭转柔性的轮对对铁路车辆摇头振动稳定性的影响,已用求解特征值问题的方法来进行研究。初级的模型即是一个由二个扭转柔性轮对构成的简单的转向架。为了进行比较,也介绍了由一个车体、两台转向架和四对扭转柔性轮对构成的完整的车辆模... 详细信息

扭转柔性的轮对对铁路车辆摇头振动稳定性的影响,已用求解特征值问题的方法来进行研究。初级的模型即是一个由二个扭转柔性轮对构成的简单的转向架。为了进行比较,也介绍了由一个车体、两台转向架和四对扭转柔性轮对构成的完整的车辆模型。这项研究表明铁路车辆摇头振动临界速度在应用扭转柔性轮对时引起重大的下降。

关键词：轮对扭转刚度抗扭刚度转向装置转向架临界速度铁道车辆铁路车辆摇头振动柔性

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掺杂钨电极材料的高温性能

中国钨业 1997年第Z1期12卷 58-60页

作者： Dipl.Ing O.prause 钟培全

—.前言钨极惰性气体保护焊（TIG）对高台金化材料的焊接工艺显得日益重要。多年来,人们已在非熔化电极中掺入了低放射性的氧化钍（ThO2）。但ThO2对环境卫生的可能危害已促使人们不断探索能在钨电板中掺入某些具有低逸出功的新型添加剂。

关键词：电极材料钨电极掺杂钨氧化物掺杂剂焊接实验惰性气体保护焊扩散过程焊接工艺扩散率

泪液排泄系统病变:丹麦1910～1999年643例泪液排泄系统活体标本的临床病理学研究

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世界核心医学期刊文摘（眼科学分册） 2005年第8期1卷 16-17页

作者： Marthin J.K. Lindegaard J. prause J.U. Heegaard S. 司冰心 Eye Pathology Institute University of Copenhagen Frederik V's Vej 11 DK-2100 Copenhagen Denmark

Purpose: To determine the frequency of histologically verified lesions of the lacrimal drainage system in Denmark between the years 1910 and 1999. Furthermore , to correlate the clinical diagnosis with the pathology diagnosis. Methods: Ret rospective review of all pathology reports from 1910 to 1999 in the files of the Eye Pathology Institute, University of Copenhagen, describing a lesion of the l acrimal drainage system. In addition, a retrospective review of all reports desc ribing a lesion of the lacrimal drainage system from the Danish Pathology Databa se. All specimens were re-evaluated, except in cases with a primary diagnosis o f dacryocystitis. In these cases a sample of 25%was re-evaluated. Results: A t otal of 643 lesions were collected. Dacryocystitis was the most frequent lesion, constituting 508 cases (79%). The remaining cases were diagnosed as dacryolith iasis (62 cases; 7.9%), tumour (29 cases; 4.5%), trauma (19 cases; 3.0%), con genital malformation (nine cases; 1.4%), canaliculitis (eight cases; 1.2%) and granulomatous inflammation (eight cases; 1.2%). Seventeen tumours were maligna nt, of which B-cell lymphoma was the most common (six cases). In 0.6%of cases with a clinical diagnosis of dacryocystitis/lithiasis a non-suspected malignant tumour was diagnosed. Micro-organisms were uncommon in dacryocystitis (9%) bu t frequent in cases of dacryolithiasis (87%). Conclusion: Dacryocystitis was by far the most frequent lesion of the lacrimal drainage system referred for histo pathological evaluation. Dacryolithiasis was often associated with micro-organi sms, especially Gram positive rods. Histopathology is necessary to confirm suspe cted tumours, more than half of which were inflammatory lesions, and to detect t umours that sometimes masquerade as inflammation.

关键词：泪液排泄系统活体标本临床病理学泪囊炎泪小管炎肉芽肿性炎症革兰阳性杆菌先天畸形泪石哥本哈根大学

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四十不惑

与临床诊断相关的组织病理学研究丹麦1978—2002年的肉瘤样病变

丛书名：人生借鉴译丛

2005年

作者：（德）格哈德·普劳泽（Gerhard prause）（德）曼弗雷德·B·梨木若特图张晶马丽丽译

本书向大家讲述了古往今来著名的或人们所熟知的人物在四十这个年龄段的种种境况遭遇，包括：死亡线上的普鲁士人——俾斯麦、爱对她来说最重要——叶卡捷琳娜二世、疯狂的睹徒——陀思妥耶夫斯基等。

ISBN: (纸本)710103974X

关键词：生平事迹世界名人人生哲学

来源：汇雅图书（南通市图书馆... 评论

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世界核心医学期刊文摘（眼科学分册） 2006年第8期2卷 9-9页

作者： Φstergaard J. prause J.U. Heegaard S. 潘佳鸿 Eye Pathology Institute University of CopenhagenFrederikV's Vej 11 DK- 2100 Copenhagen Denmark

Purpose: To carry out a retrospective clinicopathological evaluation of caruncular lesions. Methods: Data were collected from all surgically removed and histopathologically evaluated caruncular lesions registered by Danish pathology departments during the 25- year period 1978- 2002. Results: A total of 574 caruncular lesions were identified. The number of caruncular lesions increased significantly during the 25- year period. This was due to an increase in the number of benign lesions, whereas the number of premalignant and malignant lesions remained constant. A total of 550 (96% ) of the lesions were benign. Naevus (n=248, 43% ) and papilloma (n=131, 23% ) were the most common neoplasms. Premalignant lesions (n=10, 1.7% )- were dominated by primary acquired melanosis (PAM) with atypia and epithelial dysplasia. Malignant lesions constituted a total of 14 neoplasms (2.4% ), with basal cell carcinoma (n= 4, 0.7% ) and lymphoma (n=4, 0.7% ) being the most frequent. The preoperative clinical diagnosis was correct in 286 (50% )- of cases. Conclusion: Caruncular lesions are predominately benign but the lesions are rare and diverse, making clinical diagnosis difficult. Referral of excised lesions for pathological examination is recommended.

关键词：瘤样病变临床诊断病理学研究瘤前病变癌前病变切除物绒毛状瘤病理学检查基底细胞癌临床病

发现位于泪腺窝外的泪腺组织:临床和组织病理学结果比较

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世界核心医学期刊文摘（眼科学分册） 2005年第8期1卷 17-17页

作者： Alyahya G.A. Bangsgaard R. prause J.U. Heegaard S. 司冰心 Eye Pathology Institute University of Copenhagen Frederik V's Vej 11-1 DK-2100 Cop enhagen Denmark Dr.

Purpose: To analyse clinical referral diagnoses and the location of lesions wi th histologically verified lacrimal gland tissue occurring outside the fossa of the lacrimal gland. Methods: Sections of lesions excised from areas outside the fossa of the lacrimal gland containing lacrimal gland tissue on histological exa mination were collected from the files of the Eye Pathology Institute, Copenhage n, Denmark. Specimens spanned a period of 50 years. Sections were re-examined a nd referral data on location and clinical diagnosis were compared with histologi cal findings. Results: A total of 120 lesions were collected. Of these, 59 (49% ) consisted of prolapsed lacrimal gland. The remaining 61 (51%) lesions contain ed ectopic lacrimal gland tissue, either as part of a complex choristoma in 38 ( 32%) cases, or as solitary ectopic lacrimal gland tissue in 23 (19%) cases. Th e majority (97; 81%) of lesions had been located at the temporal epibulbar conj unctiva and included mainly prolapsed lacrimal gland and complex choristoma. The clinical referral diagnoses covered a wide spectrum of lesions. The most freque nt clinical diagnoses were non-specific tumour (35%), non-specific cyst (18% ) and dermoid (11%). Of the 61 lesions containing ectopic lacrimal gland tissue , only two had been preoperatively diagnosed as such and only two of the 59 lesi ons with prolapsed lacrimal gland had been correctly diagnosed. Conclusions: Pro lapsed palpebral lobe of the lacrimal gland was the most common lesion and, as e xpected, the prime location was the temporal conjunctiva. Despite this location, the referring clinical diagnosis was often wrong or non-specific. Surgeons see m to have been unaware of the various clinical manifestations of extrafossal gla ndular tissue, particularly when excising lesions in the upper temporal region o f the conjunctiva. Surgical intervention in this location may jeopardizethe excr etory ducts of the lacrimal gland and may consequently lead to dry eye and

关键词：病理学结果泪腺窝迷芽瘤颞侧球结膜睑部病理研究泪腺脱垂临床诊断特异性肿瘤皮样囊肿