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Journal of Bionic Engineering 2019年第3期16卷 503-513页

作者： Laribi med Amine Carbone Giuseppe Zeghloul Said Department of GMSC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Department of Mechanical Energy and Management Engineering University of Calabria 87036 Rende Italy CESTER Technical University of Cluj-Napoca Muncii Ave. 103-105 400641 Cluj-Napoca Romania

This paper deals with an optimization approach to design a cable driven parallel robot intended for upper limb rehabilitation tasks. The cable driven parallel robots have characteristics that make them best candidate for rehabilitation exercise purposes such as large workspace, re-configurable architecture, portability and cost effectiveness. Here, both the cable tensions that are needed to move a wristband as well as the workspace need to be carefully optimized for fulfilling the prescribed operation tasks. A specific case of study is addressed in this work by referring to LA RM wire driven exercising device (LAWEX), which is applied to upper limbs exercises. To that end, a motion capture system is used to collect quantitative data on the prescribed workspace of a human upper limb. A specific optimization problem is settled up for considering combining two optimization goals, namely, the smallest robot size reaching a prescribed workspace and the minimum cable tension distributions. A sequence of optimization steps is defined using Genetic Algorithms (GAs) applied to LAWEX robot. The proposed objective function is based on a mathematical formulation of the power of a point with respect to bounding surfaces in combination with a performance index to show the distributions of the minimum cable tensions.

关键词： LAWEX robot design bionic robot cable-driven robots optimization power of the point rehabilitation tasks

A Circular Economy Approach to Sustain the Souss River, Morocco, Ecosystem Services

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Journal of Environmental Science and Engineering(A) 2015年第12期4卷 628-640页

作者： moha haddouch Regional Department for Agricultural Circular Economy Project Management Unit Agadir POB 13/S 84000 Morocco

This article discusses the role of the Souss river in disaster risk reduction, climate change adaptation and sustainable development through mainstreaming natural capital into macro-economic policies. The river course, rising from several headstreams in the high Atlas mountain and flowing westward for 180 km to the atlantic ocean is the beating heart of the Argan biosphere reserve. Its alluvial basin ensures the vital link between biodiversity and the population＇s utility functions for more than three million inhabitants. It is one of Morocco＇s most fertile regions where citrus fruits, vegetables, olives are grown beside an argan natural grove, and many of them are for export. Recent growing concern of local authorities tackles natural disasters and subsequent social issues associated to climate change, resource scarcities and flooding damages, especially after the 2014 flood events. This situation paved the way for local NGO incentives to embrace an ecological civilization approach for reconciliation with the Souss river. The local option adopted is to reverse the trend of intensive modem agriculture through a counterbalancing circular economy approach towards an agro-ecological producing pattern in order to sustain the river water balance.

关键词： Souss river ecosystem services disaster risk reduction environment engineering

Analysis and optimal synthesis of single loop spatial mechanisms

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Journal of Zhejiang University-Science A(Applied Physics & Engineering) 2011年第9期12卷 665-679页

作者： med Amine LARIBI Lotfi ROMDhaNE Sad ZEGHLOUL Laboratoire de Génie Mécanique LAB-MA-05 Ecole Nationale d'Ingénieurs de Sousse Institut Pprime-UPR 3346 CNRS-Université de Poitiers-ENSMA Département Génie Mécanique et Systémes Complexes SP2MIBP30179 86962 Futuroscope France

In this work, a systematic approach is presented to obtain the input-output equations of a single loop 4-bar spatial mechanisms. The dialytic method along with Denavit-hartenberg parameters can be used to obtain these equations efficiently. A genetic algorithm （GA） has been used to solve the problem of spatial mechanisms synthesis. Two types of mechanisms, e.g., RSCR and RSPC （R： revolute; S： spherical; C： cylindrical; P： prismatic）, have illustrated the application of the GA to solve the problem of function generation and path generation. In some cases, the GA method becomes trapped in a local minimum. A combined GA-fuzzy logic （GA-FL） method is then used to improve the final result. The results show that GAs, combined with an adequate description of the mechanism, are well suited for spatial mechanism synthesis problems and have neither difficulties inherent to the choice of the initial feasible guess, nor a problem of convergence, as it is the case for deterministic methods.

关键词： Spatial mechanisms Genetic algorithm-fuzzy logic (GA-FL) method Denevit-hartenberg parameters Mechanism synthesis

Experimental Validation of Light Cable-Driven Elbow-Assisting Device L-CADEL Design

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Journal of Bionic Engineering 2022年第2期19卷 416-428页

作者： med Amine Laribi Marco Ceccarelli Juan Sandoval Matteo Bottin Giulio Rosati Department GMSC Pprime InstituteCNRS-University of Poitiers-ENSMAUPR 334686073 PoitiersFrance Department of Industrial Engineering University of Rome Tor Vergata00133 RomeItaly Department of Industrial Engineering University of Padova35122 PaduaItaly

This paper presents a new design of CADEL,a cable-driven elbow-assisting device,with light weighting and control *** new device design is appropriate to be more portable and user-oriented solution,presenting additional facilities with respect to the original *** of potential benefits of improved portability can be envisaged in the possibility of house and hospital usage keeping social distancing while allowing rehabilitation treatments even during a pandemic *** attention has been devoted to design main mechatronic components by developing specific kinematics *** design process includes an implementation of specific control hardware and *** kinematic model of the new design is formulated and features are evaluated through numerical simulations and experimental *** evaluation from original design highlights the proposed improvements mainly in terms of comfort,portability and user-oriented operation.

关键词： Rehabilitation robotics medical devices Design Simulations Cable-driven parallel robot Control

An Experimental Analysis of Overcoming Obstacle in Human Walking

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Journal of Bionic Engineering 2014年第4期11卷 497-505页

作者： Tao Li Marco Ceccarelli Minzhou Luo med Amine Laribi Said Zeghloul Institute of Advanced Manufacturing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino 03043 Italy Institute PPRIME- DGMSC CNRS-University of Poitiers- ENSMA 15 Rue de l'Hotel Dieu 86000 Poitiers France

In this paper, an experimental analysis of overcoming obstacle in human walking is carried out by means of a motion capture system. In the experiment, the lower body of an adult human is divided into seven segments, and three markers are pasted to each segment with the aim to obtain moving trajectory and to calculate joint variation during walking. Moreover, kinematic data in terms of displacement, velocity and acceleration are acquired as well. In addition, ground reaction forces are measured using force sensors. Based on the experimental results, features of overcoming obstacle in human walking are ana- lyzed. Experimental results show that the reason which leads to smooth walking can be identified as that the human has slight movement in the vertical direction during walking; the reason that human locomotion uses gravity effectively can be identified as that feet rotate around the toe joints during toe-off phase aiming at using gravitational potential energy to provide propulsion for swing phase. Furthermore, both normal walking gait and obstacle overcoming gait are characterized in a form that can provide necessary knowledge and useful databases for the implementation of motion planning and gait planning towards overcoming obstacle for humanoid robots.

关键词： human locomotion overcoming obstacle walking gait biped robot motion capture

An improvement method for the detection of insitu telomerase activity : in situ telomerase activity labeling

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World Journal of Gastroenterology 1999年第6期5卷 535-537页

作者： Feng dy Zheng H Fu CY Cheng RX Hunan med Univ Dept Pathol Changsha 410078 Hunan Province Peoples R China

INTRODUCTIONTelomerase is a special reverse transcriptase which consists of a template RNA and protein, and uses the RNA template to catalyze the addition of telomeric DNA to chromosome ends[1-5]. The enzyme is active in adult male germ-line cells, embryonic cells and hemopoietic stems, but is undetectable in normal somatic cells except for proliferative cells of renewal tissue, e.g., activated lymphocytes, basal cells of the epidermis and intestinal crypt cells, whereas in almost all malignant tumor cells and immortal cell lines, telomerase activity has been measured. Thus, it is believed that activation of telomerase is closely associated with genesis and development of malignant tumors.

关键词： methodology telomerase in situ labeling polymerase chain reaction

Cyclosporin A protects Balb/c mice from liver damage induced by superantigen SEB and D-GaIN

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World Journal of Gastroenterology 1999年第3期5卷 209-212页

作者： Yin, T Tong, SQ Xie, YC Lu, dy Shanghai Second med Univ Fac Med Lab Sci Ruijin Hosp Shanghai 200025 Peoples R China Shanghai Second med Univ Dept Microbiol Shanghai 200025 Peoples R China Shanghai Second med Univ Dept Internal Med Ruijin Hosp Shanghai 200025 Peoples R China

AIM To investigate the pathogenic effect ofSEB and D-GalN on liver and the protection ofcyclosporin A, the relationship between hepaticapoptosis and necrosis and the possiblemechanism of acute hepatic *** After staphylococcal enterotoxin B(SEB ) mixed with D--galactosamine (D-GaiN )were injected intraperitoneally into Balb/c miceand those previously treated with cyclosporin A,blood samples were collected and livers wereisolated at 2, 6, 12 and 24 h. Patterns othepatocellular death were studiedmorphologically and biochemically, circulatingcytokines (TNF-a, IFN--y ) and mice mortalitywithin 24h was ***’LTS The SEB could induce the typicalapoptotic changes of hepatocytes, the D-GaiNcould induce hepatocytes apoptosis anddegeneration at the same time, and the micehaving received the SEB + D-GaiN injectionsdeveloped apoptosis at 2 and 6 h, but after 12 hhepatocytes were characterized by severein jury, whereas all the examinations in thecyclosporin A treated mice were *** Hepatic cell apoptosis might berelated to necrosis, and massive hepatocyteapoptosis is likely the initiating step of acutehepatic necrosis in mice. The effects induced bySEB and D--GaiN on hepatocytes might bemediated by T cells, and could be prevented bycyclosporin A.

关键词： SEB CSA Cyclosporin A protects Balb/c mice from liver damage induced by superantigen SEB and D-GaIN

Matrix metalloproteinase-2 and tissue inhibitor of metalloproteinase-1 expression in fibrotic rat liver

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World Journal of Gastroenterology 2000年第6期6卷 881-884页

作者： Liu HL Li XH Wang dy Yang SP Shanghai med Univ 2 Ninth Peoples Hosp Dept Gastroenterol & Hepatol Shanghai 200011 Peoples R China

INTRODUCTIONLiver fibrosis is an excessive deposition ofextracellular matrix(ECM)resulted from bothincreased synthesis and decreased *** metalloproteinases(MMPs)represent agroup of neutral proteinases with variable

关键词： matrix metalloproteinase liver cirrhosis polymerase chain reaction extracellular matrix hepatic stellate cells rats

Design Study of a Cable-based Gait Training Machine

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Journal of Bionic Engineering 2017年第2期14卷 232-244页

作者： Houssein Lamine med Amine Laribi Sami Bennour Lotfi Romdhane Said Zeghloul Mechanical Laboratory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Department of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mechanical Engineering Department American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This paper deals with a design approach of a gait training machine based on a quantitative gait analysis. The proposed training machine is composed of a body weight support device and a cable-driven parallel robot. This paper is focused on the cable-driven robot, which controls the pose of the lower limb through an orthosis placed on the patient＇s leg. The cable robot reproduces a normal gait movement through the motion of the orthosis. A motion capture system is used to perform the quantitative analysis of a normal gait, which will be used as an input to the inverse dynamic model of the cable robot. By means of an optimization algorithm, the optimal design parameters, which minimize the tensions in the cables, are determined. Two constraints are considered, i.e., a non-negative tension in the cables at all times, and a free cable/end-effector collision. Once the optimal solution is computed, a power analysis is carried out in order to size the robot actuators. The proposed approach can be easily extended for the design study of a similar type of cable robots.

关键词： gait rehabilitation cable-driven robots body weight support system design optimization

Construction of the Oxetane Ring from 5α-Acyloxy-Δ^(4(20))-taxoids

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Chinese Chemical Letters 1997年第2期8卷 99-100页

作者： Rui Wu LIU Ji Yu GUO Xiao Tian LiANG(Institute of Materia medica, Chinese Academy of med. Sci. & Peking Union med. College, Beijing 100050) CHINESE ACAD med SCI INST MAT MEDBEIJING 100050PEOPLES R CHINA BEIJING UNION med COLL BEIJING 100050PEOPLES R CHINA

-An oxetane ring can be constructed from 5 α-acyloxy-Δ4(20) -taxoids with osmylation as the first step in the usual manner. The innovation reported here is the use of an intramolecularly available acyl group for the... 详细信息

关键词： taxoids Acyloxy Construction of the Oxetane Ring from 5