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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 *** inherits the high dynamics and heavy load capacities of the parallel mechanism and significantly improves the workspace,cost and energy efficiency *** a result,CDPRs have had irreplaceable roles in industrial and technological fields,such as astronomy,aerospace,logistics,simulators,and *** follow the cutting-edge trend of rigid-flexible fusion,reflect advanced lightweight design concepts,and have become a frontier topic in robotics *** paper summarizes the kernel theories and developments of CDPRs,covering configuration design,cable-force distribution,workspace and stiffness,performance evaluation,optimization,and motion *** modeling,workspace analysis,and cable-force solution are *** and dynamic modeling methods are *** further promote the development,researchers should strengthen the investigation in configuration innovation,rapid calculation of workspace,performance evaluation,stiffness control,and rigid-flexible coupling *** 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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Developing biophilic intermediate spaces for Arctic housing:Optimizing the thermal,visual,and energy performance

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Building Simulation 2024年第6期17卷 857-875页

作者： Tarlan Abazari AndréPotvin Louis gosselin claude MH Demers GRAP(Groupe de recherche en ambiance physiques) School of ArchitectureLaval UniversityQuébecCanada Department of Mechanical Engineering Faculty of Science and EngineeringLaval UniversityQuébecCanada

Connecting occupants to the outdoor environment and incorporating biophilic design principles are challenging in extreme Arctic climatic *** Arctic housing models do not provide efficient thermal and daylight transitions which are essential for the well-being and cultural needs of their *** address these challenges,this research develops free-running biophilic intermediate spaces,integrated into an existing Arctic housing *** simulation methods are employed to optimize the primary and secondary architectural design variables for 26 case studies of intermediate *** variables include volume,transparency ratio,and *** variables include materials and physical ***,Daylight Factor/Autonomy,and Energy Use are evaluated as performance *** reveal that free-running intermediate spaces with 6 meters depth and a transparency ratio above 50%provide efficient indoor–outdoor transitions regarding thermal,visual,and energy *** architectural configurations contribute to an approximately 5%reduction in energy consumption within the housing unit compared to the *** side windows prevents the risk of overheating during the summer by reducing the average indoor temperature of intermediate spaces by 7°C but increases the overall energy *** a potential alternative to double-glazing,polycarbonate sheets enable efficient thermal performance by increasing the average indoor temperature of intermediate spaces by approximately 15°C during the cold Arctic *** polycarbonate sheets results in a 16.6%reduction in energy consumption compared to using double-glazing material in intermediate space,and a 26%reduction from the *** outcomes contribute to efficient indoor–outdoor connections and energy efficiency in Arctic housing.

关键词： Arctic housing intermediate spaces biophilic design positive thermal transitions daylight availability energy efficiency

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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 *** 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 *** 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 *** empirical research presented also highlights the school staff’s deficit thinking toward immigrant students and their *** results show that staff tend to use linguistic and cultural gaps between students and the school system to explain academic *** 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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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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草莓组培苗的光合能力与强制通气对其生长的影响

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园艺学报 1993年第2期20卷 123-126页

作者：月德 Yves Desjardins André gosselin Département de phyologie Centre de rechercheen horticultureFaculté des sciences des Sciences de l’agriculture et de l’alimentationUniversité LavalQuébec Canada G1K 7P4

组培草莓(Fragaria ananassa Duch.)小苗具有正常光合能力。但其光合作用与生长受培养容器内气体条件的影响。在培养阶段进行强制通气可促进小苗的生长。与通常条件下培养的小苗相比,在移植前,通气使地上部分与根的鲜重分别增加 44％与 ... 详细信息

组培草莓(Fragaria ananassa Duch.)小苗具有正常光合能力。但其光合作用与生长受培养容器内气体条件的影响。在培养阶段进行强制通气可促进小苗的生长。与通常条件下培养的小苗相比,在移植前,通气使地上部分与根的鲜重分别增加 44％与 100％。在温室内驯化4星期后,通气条件下培养的小苗地上部与地下部分的鲜重仍分别比不通气条件下培养的小苗多80％与109％。

关键词：草莓组织培养光合作用强制通气

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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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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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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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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 *** standard treatment for a patient with high-risk PE is systemic *** thrombolysis in pregnancy is associated with the risk of maternal hemorrhage and fetal complications,including spontaneous abortion,preterm delivery,and fetal ***,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 *** patient was successfully treated with bilateral ultrasound-assisted catheter-directed *** subsequently delivered a healthy male infant at *** cases of ultrasound-assisted catheter-directed thrombolysis in pregnant patients is *** case demonstrates that localized thrombolysis is a viable treatment option for life-threatening PE in *** 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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