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Mobility of the Myard 5R linkage Involved in “Gogu Problem”

Chinese Journal of Mechanical Engineering 2009年第3期22卷 325-330页

作者： liu jingfang huang zhen li yanwen Robotics Research Center Yanshan Univers#y Qinhuangdao 066004 China

Since the traditional Griibler-Kutzbach criterion fails in many overconstrained mechanisms, developing a general mobility formula is a hot topic lasting for more than 150 years in mechanisms. GOGU systematically investigated various mobility methods, and pointed that the methods were not fit for two kinds of paradoxical overconstrained mechanisms. The mobility on the two kinds of mechanisms is regarded as ＂Gogu problem＂. The Modified Griibler-Kutzbach criterion has solved the mobility of the second kind of mechanisms in ＂Gogu problem＂, and has developed into a systematic mobility methodology. Myard 5R linkage is one of the single-loop mechanisms involved in ＂Gogu problem＂, its joint axes are distributed in space with special geometric conditions, which increases the difficulty of mobility analysis. The study is to calculate the global mobility of the Myard 5R linkage using the mobility methodology. Firstly, the mobility methodology based on screw theory is briefly introduced. Secondly, some homogeneous transforms are performed according to the D-H parameters and the invariance of the linkage plane symmetry is revealed, which provides an idea to judge a plane-symmetric loop. The special geometric features of the axes distribution are discussed as well. Finally, the global mobility of the Myard 5R linkage is determined by the Modified Grubler-Kutzbach criterion. The results show that the methodology can be applied to more paradoxical mechanisms.

关键词： overconstrained linkage screw theory mobility

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Mobility Analysis of Altmann Overconstrained linkages by Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2011年第4期24卷 638-646页

作者： liu jingfang li yanwen huang zhen College of Mechanical Engineering andApplied Electronics Technology Beijing University of Technology Beijing 100124 China Robotics Research Center Yanshan University Qinhuangdao 066004 China

Developing a general mobility method/formula is a hot topic lasting for more than 150 years in kinematics. It is necessary to apply any mobility method to puzzling overconstrained mechanisms for verification of its generality. Altmann linkages are such recognized puzzling mechanisms that their mobility analysis is of important significance. A necessary condition for judging a general mobility method is that the method can be fit for Altmann linkages. Firstly, this study classes Altmann linkages into 17 types in terms of the numbers and types of kinematic pairs, and then Altmann overconstrained linkages are further classified into 4 types. Secondly, the mobility of Altmann overconstrained linkages is systematically analyzed by the Modified Grübler-Kutzbach criterion based on screw theory, where passive freedoms are defined as limb passive freedoms and mechanism passive freedoms. In addition, the full-cycle mobility is judged, which overcomes the shortcoming of instantaneous property of screw theory. It is shown that Modified Grübler-Kutzbach criterion not only obtains the correct numerical mobility, but also gives the mobility character by resolving reciprocal screws for the constraint system. This study lays the foundation of verification for the generality of Modified Grübler-Kutzbach criterion. Besides, Altmann overconstrained linkages almost comprise all kinds of modern parallel mechanisms and some classical mechanisms, which provides an important reference for mechanism mobility calculation.

关键词： mobility analysis overconstrained linkage screw theory

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Applicability and Generality of the Modified Grübler-Kutzbach Criterion

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Chinese Journal of Mechanical Engineering 2013年第2期26卷 257-263页

作者： li yanwen WANG Lumin liu jingfang huang zhen Hebei Provincial Key Laboratory of Parallel Robot and Mechatronic System Yanshan University College of Environment and Chemical Engineering Yanshan University College of Mechanical Engineering and Applied Electronics Technology Beijing University of Technology

A generally applicable criterion for all mechanism mobility has been an active domain in mechanism theory lasting more than 150 years. It is stated that the Modified Grübler-Kutzbach criterion for mobility has been successfully used to solve the mobility of many more kinds of mechanisms, but never before has anyone proven the applicability and generality of the Modified Grübler-Kutzbach criterion in theory. In order to fill the gap, the applicability and generality of the Modified Grübler-Kutzbach Criterion of mechanism mobility is systematically demonstrated. Firstly, the mobility research background and the Modified Grübler-Kutzbach criterion are introduced. Secondly, some new definitions, such as half local freedom, non-common constraint space of a mechanism and common motion space of a mechanism, etc, are given to demonstrate the correctness and broad applicability of the Modified Grübler-Kutzbach criterion. Thirdly, the general applicability of the Modified Grübler-Kutzbach criterion is demonstrated based on screw theory. The mobilities of the classical DELASSUS mechanisms and a modern planar parallel mechanism, are determined through the Modified Grübler-Kutzbach criterion, which are as examples to show the practical application of the Modified Grübler-Kutzbach criterion.

关键词： mobility screw theory classical mechanism parallel mechanism

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Expert consensus on the diagnosis and treatment of solid tumors with BRAF mutations

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The Innovation 2024年第6期5卷 100-116页

作者： Wenxian Wang Bin lian Chunwei Xu Qian Wang Ziming li Nan zheng Aijun liu Jinpu Yu Wenzhao Zhong Zhijie Wang Yongchang Zhang Jingjing liu Shirong Zhang Xiuyu Cai Anwen liu Wen li lili Mao Ping Zhan Hongbing liu Tangfeng Lv liyun Miao lingfeng Min Yu Chen Jingping Yuan Feng Wang Zhansheng Jiang Gen lin Long huang Xingxiang Pu Rongbo lin Weifeng liu Chuangzhou Rao Dongqing Lv Zongyang Yu Xiaoyan li Chuanhao Tang Chengzhi Zhou Junping Zhang Junli Xue Hui Guo Qian Chu Rui Meng Xuewen liu Jingxun Wu Rui Zhang Jin Zhou zhengfei Zhu Yongheng li Hong Qiu Fan Xia Yuanyuan Lu Xiaofeng Chen Jian Feng Rui Ge Enyong Dai Yu Han Weiwei Pan Fei Pang Xin huang Meizhen Hu Qing Hao Kai Wang Fan Wu Binbin Song Bingwei Xu liping Wang Youcai Zhu li lin Yanru Xie Xinqing lin Jing Cai ling Xu Jisheng li Xiaodong Jiao Kainan li Jia Wei Huijing Feng lin Wang Yingying Du Wang Yao Xuefei Shi Xiaomin Niu Dongmei Yuan yanwen Yao Jianhui huang Yue Feng Yinbin Zhang Pingli Sun Hong Wang Mingxiang Ye Dong Wang Zhaofeng Wang Yue Hao zhen Wang Bin Wan Donglai Lv Shengjie Yang Jin Kang Jiatao Zhang Chao Zhang Wenfeng li Jianfei Fu lizhi Wu Shijie Lan Juanjuan Ou lin Shi Zhanqiang Zhai Yina Wang Bihui li Zhang Zhang Ke Wang Xuelei Ma Zhongwu li Zhefeng liu Nong Yang lin Wu Huijuan Wang Gu Jin Guansong Wang Jiandong Wang Hubing Shi Meiyu Fang Yong Fang Yuan li Xiaojia Wang Jing Chen Yiping Zhang Xixu Zhu Yi Shen Shenglin Ma Biyun Wang Yong Song zhengbo Song Wenfeng Fang Yuanzhi Lu Lu Si Department of Chemotherapy Chinese Academy of Sciences University Cancer Hospital(Zhejiang Cancer Hospital)HangzhouZhejiang 310022P.R.China Key Laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing) Department of Melanoma and SarcomaPeking University Cancer Hospital&InstituteBeijing 100142P.R.China Institute of Cancer and Basic Medicine(ICBM) Chinese Academy of SciencesHangzhouZhejiang 310022P.R.China Department of Respiratory Medicine Affiliated Jinling HospitalMedical School of Nanjing UniversityNanjingJiangsu 210002P.R.China Department of Respiratory Medicine Affiliated Hospital of Nanjing University of Chinese MedicineJiangsu Province Hospital of Chinese MedicineNanjingJiangsu 210029P.R.China Department of Shanghai Lung Cancer Center Shanghai Chest HospitalShanghai Jiao Tong UniversityShanghai 200030P.R.China Beijing Key Laboratory of Mental Disorders National Clinical Research Center for Mental Disorders&National Center for Mental DisordersBeijing Anding HospitalCapital Medical UniversityBeijing 200030China Advanced Innovation Center for Human Brain Protection Capital Medical UniversityBeijing 200030China Senior Department of Pathology the 7th Medical Center of PLA General HospitalBeijing 100700P.R.China Department of Cancer Molecular Diagnostics Core Tianjin Medical University Cancer Institute and HospitalTianjin 300060P.R.China Guangdong Lung Cancer Institute Guangdong Provincial Laboratory of Translational Medicine in Lung CancerGuangdong Provincial People’s HospitalGuangdong Academy of Medical SciencesSchool of MedicineGuangzhouGuangdong 510080P.R.China State Key Laboratory of Molecular Oncology Department of Medical OncologyNational Cancer Center/National Clinical Research Center for Cancer/Cancer HospitalChinese Academy of Medical Sciences and Peking Union Medical CollegeBeijing 100021P.R.China Department of Medical Oncology Lung Cancer and Gastrointestinal UnitHunan Cancer Hospital/The Affiliated Cancer Hospital of Xiangya School

The BRAF gene is an important signaling molecule in human cells that is involved in the regulation of cell growth,differentiation,and *** the BRAF gene mutates,it can lead to abnormal activation of the signaling pathway,which promotes cell proliferation,inhibits cell apoptosis,and ultimately contributes to the occurrence and development of *** mutations are widely present in various cancers,including malignant melanoma,thyroid cancer,colorectal cancer,non-small cell lung cancer,and hairy cell leukemia,among *** is an important target for the treatment of various solid tumors,and targeted combination therapies,represented by BRAF inhibitors,have become one of the main treatment modalities for a variety of BRAF-mutation-positive solid tumors.

关键词： BRAF diagnosis treatment

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CACA guidelines for holistic integrative management of rectal cancer

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Holistic Integrative Oncology 2023年第1期2卷 1-31页

作者： Committee of Colorectal Cancer Society Chinese Anti-Cancer Association Guiyu Wang Daiming Fan Jin Gu Kefeng Ding Xuedong Fang lin Shen Zhongfa Xu Jianmin Xu Jianchun Cai lianming Cai Sanjun Cai Gong Chen Jiansi Chen Longwei Cheng Yong Cheng Pan Chi Binbin Cui Guanghai Dai Chuangang Fu Yanhong Gu Guodong He Junhong Hu Jing huang Rui huang Zhongcheng huang zheng Jiang Zhigang Jie Haixing Ju Hai li Jian li Jun li Ming li Yaoping li Yunfeng li Guole lin Haiying liu Ming liu Qian liu Zhizhong Pan Yifan Peng Niansong Qian Meng Qiu li Ren Yueming Sun Jianqiang Tang Qingchao Tang Yuan Tang Kaixiong Tao Min Tao Haijiang Wang Meng Wang Zejun Wang zhengguang Wang Ziqiang Wang Ziwei Wang Shaozhong Wei Baocai Xing Bin Xiong Ye Xu Su Yan Bin Yang Chunkang Yang Qinghua Yao Yingjiang Ye Ying Yuan Guozhi Zhang Haizeng Zhang Hongmei Zhang zhen Zhang Yunshi Zhong Ji Zhu Yuan Zhu Yuping Zhu Shuangmei Zou Yuliuming Wang jingfang Lv Enrui liu Ming Yang Qian Zhang Weiyuan Zhang lin Zhang Jun Luo Zhaoxu zheng Zhixun Zhao zheng liu Jinhua Tao Haiyang huang Tianli Chen Xishan Wang 不详 Department of Colorectal Cancer Surgery The Second Affiliated Hospital of Harbin Medical UniversityHarbinChina State key Laboratory of Cancer Biology National Clinical Research Center for Digestive Diseases and Xijing Hospital of Digestive DiseasesFourth Military Medical UniversityXi’anChina Department of Gastrointestinal SurgeryⅢ Peking University Cancer HospitalBeijingChina Department of Gastrointestinal Surgery Peking University Shougang HospitalBeijingChina Department of Colorectal Surgery and Oncology(Key Laboratory of Cancer Prevention and Intervention China National Ministry of EducationKey Laboratory of Molecular Biology in Medical SciencesZhejiang Provincial Clinical Research Center for CANCER)The Second Affiliated HospitalZhejiang University School of MedicineHangzhouZhejiangChina Department of Gastrointestinal and Colorectal Surgery The China-Japan Union Hospital of Jilin University(The Third Hospital of Jilin University)ChangchunChina Department of Gastrointestinal Oncology Key laboratory of Carcinogenesis and Translational Research(Ministry of Education/Beijing)Peking University Cancer Hospital&InstituteBeijingChina Gastrointestinal Department of The Third Affiliated Hospital of Shandong First Medical University TaianShandongChina Department of Colorectal Surgery Zhongshan Hospital Fudan UniversityShanghaiChina Shanghai Engineering Research Center of Colorectal Cancer Minimally Invasive Technology ShanghaiChina Zhongshan Hospital Xiamen University XiamenChina Department of Abdominal Oncology Surgery Ganzhou Cancer HospitalGanzhouJiangxiChina Fudan University Shanghai Cancer Center ShanghaiChina Department of colorectal surgery Sun Yat-sen University Cancer CenterGuangzhouChina Guangxi Medical University Cancer Hospital NanningChina Jilin Cancer Hospital ChangchunChina Department of Gastrointestinal Surgery the First Affiliated Hospital of Chongqing Medical UniversityChongqingChina Department of Colorectal Surgery Fujian Medical University Union HospitalFuzhou

Purpose Colorectal cancer is a common malignant tumor *** China,the ratio of rectal cancer to coloncancer in terms of incidence is close to 1:*** rectal cancer accounts for more than half of all cases of rectal *** recent years,the proportion of rectal cancer has trended downward,however the incidence of rectal cancer inyounger adults is *** CACA Guidelines for Holistic Integrative Management of Rectal Cancer were editedto help improve the diagnosis and comprehensive treatment in *** This guideline has been prepared by consensuses reached by the CACA Committee of Colorectal CancerSociety,based on a careful review of the latest evidence including China’s studies,and referred to domestic and internationalrelative guidelines,also considered China’s specific national conditions and clinical *** The CACA Guidelines for Holistic Integrative Management of Rectal Cancer include the epidemiology of rectalcancer,prevention and screening,diagnosis,treatment of nonmetastatic and metastatic rectal cancer,follow-up,and whole-course rehabilitation *** Committee of Colorectal Cancer Society,Chinese Anti-Cancer Association,standardizes the diagnosisand treatment of rectal cancer in China through the formulation of the CACA Guidelines.

关键词： Rectal cancer Guideline Screening Diagnosis Treatment Rehabilitation management Holistic integrative medicine

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