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State-of-the-art on theories and applications of cable-driven parallel robots

Frontiers of Mechanical Engineering 2022年第3期17卷 35-57页

作者： Zhaokun ZHANG Zhufeng SHAO Zheng YOU Xiaoqiang TANG Bin ZI Guilin YANG clément gosselin Stéphane CARO State Key Laboratory of Tribology Department of Mechanical EngineeringTsinghua UniversityBeijing 100084China Beijing Key Laboratory of Precision/Ultra-Precision Manufacturing Equipment and Control Tsinghua UniversityBeijing 100084China Department of Mechanical Engineering University of MichiganAnn ArborMI 48109USA Department of Precision Instrument Tsinghua UniversityBeijing 100084China School of Mechanical Engineering Hefei University of TechnologyHefei 230009China Ningbo Institute of Industrial Technology Chinese Academy of Sciences(CAS)Ningbo 315201China Department of Mechanical Engineering UniversitéLavalQuebec QC G1V 0A6Canada Laboratory of Digital Sciences of Nantes National Centre for Scientific ResearchNantes 44321France

Cable-driven parallel robot(CDPR)is a type of high-performance robot that integrates cable-driven kinematic chains and parallel mechanism theory.It inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace,cost and energy efficiency simultaneously.As a result,CDPRs have had irreplaceable roles in industrial and technological fields,such as astronomy,aerospace,logistics,simulators,and rehabilitation.CDPRs follow the cutting-edge trend of rigid-flexible fusion,reflect advanced lightweight design concepts,and have become a frontier topic in robotics research.This paper summarizes the kernel theories and developments of CDPRs,covering configuration design,cable-force distribution,workspace and stiffness,performance evaluation,optimization,and motion control.Kinematic modeling,workspace analysis,and cable-force solution are illustrated.Stiffness and dynamic modeling methods are discussed.To further promote the development,researchers should strengthen the investigation in configuration innovation,rapid calculation of workspace,performance evaluation,stiffness control,and rigid-flexible coupling dynamics.In addition,engineering problems such as cable materials,reliability design,and a unified control framework require attention.

关键词： cable-driven parallel robot kinematics optimization dynamics control

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Inclusive Education in the Context of Ethnocultural Diversity: Understanding the Process of Exclusion to Act in the School - A Secondary Publication

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Journal of Contemporary Educational Research 2024年第3期8卷 124-135页

作者： Marie-Odile Magnan Justine gosselin-Gagné Geneviève Audet Xavier Conus Faculty of Educational Sciences Department of Administration and Foundations of EducationUniversity of MontrealCanada Department of Special Education and Training University of Quebec at MontrealCanada Department of Educational Sciences and Training University of FriborgSwitzerland

This paper reveals that the implementation of inclusive education is an unfinished challenge,both within the system and for individual self-improvement.This process of changing practices,by continually questioning the school’s responsibility for the(re)production of inequalities,exclusion,and unequal social relations,is riddled with obstacles,unpredictable situations,and strong emotions.In particular,the researchers point out that many systemic mechanisms of school culture contribute to replicating and reifying hierarchical school experiences and exacerbating processes of institutional discrimination against immigrant backgrounds and/or racialized students.The empirical research presented also highlights the school staff’s deficit thinking toward immigrant students and their parents.The results show that staff tend to use linguistic and cultural gaps between students and the school system to explain academic failure.Be that as it may,the researchers as well as the school actors and students interviewed in this paper suggest multiple ways to improve inclusion in the school context,stressing the importance of giving voice to the various actors in order to move toward institutional transformation.

关键词： Educational inclusion and exclusion Canada Switzerland

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Pulmonary Embolism in Pregnancy: UltrasoundAssisted Catheter-Directed Thrombolytic Therapy for the Treatment of a Pulmonary Embolus—A Case Report

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Maternal-Fetal Medicine 2022年第3期4卷 229-232页

作者： Michael G.Baracy Jr Olumide Olotu Phillip Marchese Marc gosselin Shyla Vengalil Department of Obstetrics and Gynecology Ascension St.John HospitalDetroitMichigan 48236USA School of Medicine St.Georges UniversityTrue BlueGrenada Department of Interventional Cardiology Ascension St.John HospitalDetroitMichigan 48236USA Department of Maternal Fetal Medicine Ascension St.John HospitalDetroitMichigan 48236USA.

In the United States,pulmonary embolism(PE)accounts for approximately 10%of all pregnancy related deaths.The standard treatment for a patient with high-risk PE is systemic thrombolysis.Systemic thrombolysis in pregnancy is associated with the risk of maternal hemorrhage and fetal complications,including spontaneous abortion,preterm delivery,and fetal bleeding.Currently,there is limited evidence for a standardized approach for the treatment and management of intermediate-and high-risk PEs in pregnancy.A 36-year-old gravida 3 para 2002 woman at 31+1weeks of gestation with a history of deep vein thrombosis in her prior pregnancy presented with shortness of breath.A computed tomography angiogram revealed a large pulmonary embolus with a saddle component that extended into the bilateral upper and lower lobes and into the secondary and tertiary pulmonary branches.A subsequent bedside echocardiogram demonstrated a dilated right ventricle with severely reduced right ventricular systolic function.The patient was successfully treated with bilateral ultrasound-assisted catheter-directed thrombolysis.She subsequently delivered a healthy male infant at term.Reported cases of ultrasound-assisted catheter-directed thrombolysis in pregnant patients is limited.Our case demonstrates that localized thrombolysis is a viable treatment option for life-threatening PE in pregnancy.Catheterdirected thrombolysis can be efficacious in treating intermediate-and high-risk PEs in pregnancy while simultaneously reducing the risk of bleeding complications.

关键词： Pulmonary embolism Catheter-directed thrombolysis Pregnancy Ultrasound-assisted catheter-directed thrombolysis Venous thromboembolism

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3-RRR平面并联机构的刚度特性分析

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东北大学学报（自然科学版） 2007年第1期28卷 91-94页

作者：李树军 clement gosselin 东北大学机械工程与自动化学院辽宁沈阳110004 Laval University Quebec G1K 7P4 Canada

导出了3-RRR平面并联机构基于守恒协调转换刚度矩阵机构刚度结构位形部分的解析表达式和外力作用影响部分的不完全解析表达式.给出了求机构刚度映射的一般方法,求出了不同参数下3-RRR平面并联机构的刚度映射曲线,并对机构的刚度特性进... 详细信息

导出了3-RRR平面并联机构基于守恒协调转换刚度矩阵机构刚度结构位形部分的解析表达式和外力作用影响部分的不完全解析表达式.给出了求机构刚度映射的一般方法,求出了不同参数下3-RRR平面并联机构的刚度映射曲线,并对机构的刚度特性进行了分析和讨论.研究发现,3-RRR平面并联机构的刚度是机构构型的函数,并与驱动力和关节刚度成比例;动平台中心趋于工作空间边界刚度增大,在工作空间的边界附近形成一个刚度较强的环状区域,而在工作空间的内部形成一个刚度较弱的区域.

关键词：并联机构守恒协调转换刚度映射曲线刚度特性参数设计

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A Note on Hamiltonian Circulant Digraphs of Outdegree Three

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Open Journal of Discrete Mathematics 2012年第4期2卷 160-163页

作者： Grant Andruchuk Shonda gosselin Department of Mathematics and Statistics University of Winnipeg Winnipeg Canada

We construct Hamilton cycles in connected loopless circulant digraphs of outdegree three with connection set of the form for an integer satisfying the condition for some integer such that , where . This extends work of Miklavi and ?parl, who previously deter-mined the Hamiltonicity of these digraphs in the case where and , to other values of which depend on the generators and .

关键词： Hamilton Cycle Circulant Digraph

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Hamiltonian Cayley Digraphs on Direct Products of Dihedral Groups

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Open Journal of Discrete Mathematics 2012年第3期2卷 88-92页

作者： Grant Andruchuk Shonda gosselin Yizhe Zeng Department of Mathematics and Statistics University of Winnipeg 515 Portage Avenue Winnipeg MB R3B 2E9 CANADA

We prove that a Cayley digraph on the direct product of dihedral groups D2n × D2m with outdegree two is Hamiltonian if and only if it is connected.

关键词： Hamilton Cycle Cayley Digraph Dihedral Group

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Dual effect of pre-ischemic administration of TNF-alpha on myocardial infarct size

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World Journal of Cardiovascular Diseases 2013年第5期3卷 21-25页

作者： Thuy Tran Quang Raja Hatem Guy Rousseau Audrey-Anne gosselin Erick Schampaert Thierry Charron Centre de Recherche Hopital du Sacré-Caeur de Montréal Montréal Canada Centre de Recherche Hopital du Sacré-Caeur de Montréal Montréal Canada Département de Pharmacologie Université de Montréal Montréal Canada Centre de Recherche Hopital du Sacré-Caeur de Montréal Montréal Canada Département de Cardiologie Hopital du Sacré-Caeur de Montréal Montréal Canada Département de Cardiologie Hopital du Sacré-Caeur de Montréal Montréal Canada

Tumour necrosis factor-α is a cytokine released during myocardial infarction. According to the literature, the effect of TNFα on myocardial infarction is controversial, especially when administered before the ischemic period. The deleterious effects of TNFα seem to be related to the triggering of apoptosis. This study has been designed to determine if different doses of TNFα, administered before the ischemic period, have the same effect on infarct size and on activation of caspase-3 and-8, two enzymes involved in apoptosis. Four groups, using a porcine model of myocardial infarction, have been used: placebo and TNFα (0.1 μg/kg;1 μg/kg and 3 μg/kg). All administered 15 minutes before a 50 minutes occlusion of the left anterior descending artery. Myocardial infarct size has been determined at 3 hours of reperfusion. In a subgroup of animals, reperfusion period has been limited to 15 min to determine the activity of caspase-3 and-8 by spectrofluorometry. Results indicated that infarct size is significantly smaller in groups 0.1 μg/kg and 1 μg/ kg as compared to the placebo group. In contrast, the 3 μg/kg group presented an infarct size similar to the placebo group. Activity of caspase-3 and-8 is reduced in the ischemic region in groups 0.1 and 1 μg/ kg as compared to the placebo group whereas activity in the 3 μg/kg group was similar to the placebo. The results obtained indicated that a low dose of TNFα administered before the ischemic period reduces infarct size, whereas the cardioprotection is lost with the high dose.

关键词： TNF-Alpha Myocardial Infarct Size Protection Apoptosis Caspase-8

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重拳之下-亲密关系和家庭暴力犯罪(第5版)

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2021年

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研磨参数的计算机辅助优化设置研究(译文)

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机械 2009年第S1期36卷 65-72页

作者： Qimi Jiang claude gosselin Jack Masseth 于萍四川省机械研究设计院四川成都610063

在准双曲面齿轮研磨过程中,为了能研磨到整个齿面,齿轮副运行时需不断变换工位并且施加轻载荷。研磨时大齿轮与小齿轮配对进行,齿面不仅作为刀具,同时也作为工件。在齿轮副接触区域内,每一点的接触压力和滑动速度不尽相同,所以研磨是一... 详细信息

在准双曲面齿轮研磨过程中,为了能研磨到整个齿面,齿轮副运行时需不断变换工位并且施加轻载荷。研磨时大齿轮与小齿轮配对进行,齿面不仅作为刀具,同时也作为工件。在齿轮副接触区域内,每一点的接触压力和滑动速度不尽相同,所以研磨是一个非常复杂的过程。到目前为止,关于研磨产生的磨屑和研磨时间之间的理论关系以及如何优化研磨过程等的相关研究文献很少。Jiang Qimi等提出了一种确定准双曲面齿轮研磨过程磨损系数k的算法,并根据获得的磨损系数k,提出了研磨过程的仿真方法。基于磨损系数k的计算方法,提出了采用计算机辅助的方式完成对研磨参数的优化设置,实现了对研磨过程的优化,提高了研磨的质量和工作效率。

关键词：准双曲面齿轮研磨研磨参数设置优化

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一个马铃薯品质育种程序

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国外农学（杂粮作物） 1987年第6期 15-16页

作者： B.gosselin 夏明忠

马铃薯是美国食物的重要组成部分,1983年人均年消耗量达121.2磅(美国农业部,1984)。但是,因病虫害及生理缺陷,使块茎大量损失。植物育种者有责任培育出抗病虫害和抗生理失调而又高产的新品种。除此目的外,育种者还应考虑块茎品质。评价... 详细信息

马铃薯是美国食物的重要组成部分,1983年人均年消耗量达121.2磅(美国农业部,1984)。但是,因病虫害及生理缺陷,使块茎大量损失。植物育种者有责任培育出抗病虫害和抗生理失调而又高产的新品种。除此目的外,育种者还应考虑块茎品质。评价任一食物所要考虑的品质因素包括色泽、风味、质地、营养价值和解毒等。育种者在为市场培育新品种时,考虑上述每一因素至关重要。当马铃薯被割破或碰伤时,未加工的马铃薯出现酶变色现象。

关键词：马铃薯育种者班克布尔土豆茄属块茎地下茎抗线虫

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