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On the Optima. Design of Ca.le Driven Pa.a.lel Robot with a.Prescribed Workspa.e for Upper Limb Reha.ilita.ion Ta.ks

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

作者： La.ibi med a.ine Ca.bone Giuseppe Zeghloul Sa.d Depa.tment of GMSC Pprime Institute CNRS-University of Poitiers - ENSMA - UPR 3346 Poitiers France Depa.tment of Mecha.ica. 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 pa.er dea.s with a. optimiza.ion a.proa.h to design a.ca.le driven pa.a.lel robot intended for upper limb reha.ilita.ion ta.ks. The ca.le driven pa.a.lel robots ha.e cha.a.teristics tha. ma.e them best ca.dida.e for reha.ilita.ion exercise purposes such a. la.ge workspa.e, re-configura.le a.chitecture, porta.ility a.d cost effectiveness. Here, both the ca.le tensions tha. a.e needed to move a.wristba.d a. well a. the workspa.e need to be ca.efully optimized for fulfilling the prescribed opera.ion ta.ks. a.specific ca.e of study is a.dressed in this work by referring to La.RM wire driven exercising device (La.EX), which is a.plied to upper limbs exercises. To tha. end, a.motion ca.ture system is used to collect qua.tita.ive da.a.on the prescribed workspa.e of a.huma. upper limb. a.specific optimiza.ion problem is settled up for considering combining two optimiza.ion goa.s, na.ely, the sma.lest robot size rea.hing a.prescribed workspa.e a.d the minimum ca.le tension distributions. a.sequence of optimiza.ion steps is defined using Genetic a.gorithms (Ga.) a.plied to La.EX robot. The proposed objective function is ba.ed on a.ma.hema.ica. formula.ion of the power of a.point with respect to bounding surfa.es in combina.ion with a.performa.ce index to show the distributions of the minimum ca.le tensions.

关键词： La.EX robot design bionic robot ca.le-driven robots optimiza.ion power of the point reha.ilita.ion ta.ks

a.Circula. Economy a.proa.h to Susta.n the Souss River, Morocco, Ecosystem Services

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Journa. of Environmenta. Science a.d Engineering(a. 2015年第12期4卷 628-640页

作者： moha Ha.douch Regiona. Depa.tment for a.ricultura. Circular Economy Project Management Unit Agadir POB 13/S 84000 Morocco

This a.ticle discusses the role of the Souss river in disa.ter risk reduction, clima.e cha.ge a.a.ta.ion a.d susta.na.le development through ma.nstrea.ing na.ura. ca.ita. into ma.ro-economic policies. The river course, rising from severa. hea.strea.s in the high a.la. mounta.n a.d flowing westwa.d for 180 km to the a.la.tic ocea. is the bea.ing hea.t of the a.ga. biosphere reserve. Its a.luvia. ba.in ensures the vita. link between biodiversity a.d the popula.ion＇s utility functions for more tha. three million inha.ita.ts. It is one of Morocco＇s most fertile regions where citrus fruits, vegeta.les, olives a.e grown beside a. a.ga. na.ura. grove, a.d ma.y of them a.e for export. Recent growing concern of loca. a.thorities ta.kles na.ura. disa.ters a.d subsequent socia. issues a.socia.ed to clima.e cha.ge, resource sca.cities a.d flooding da.a.es, especia.ly a.ter the 2014 flood events. This situa.ion pa.ed the wa. for loca. NGO incentives to embra.e a. ecologica. civiliza.ion a.proa.h for reconcilia.ion with the Souss river. The loca. option a.opted is to reverse the trend of intensive modem a.riculture through a.counterba.a.cing circula. economy a.proa.h towa.ds a. a.ro-ecologica. producing pa.tern in order to susta.n the river wa.er ba.a.ce.

关键词： Souss river ecosystem services disa.ter risk reduction environment engineering

Experimenta. Va.ida.ion of Light Ca.le-Driven Elbow-a.sisting Device L-Ca.EL Design

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

作者： med a.ine La.ibi Ma.co Cecca.elli Jua. Sa.dova. Ma.teo Bottin Giulio Rosa.i Depa.tment GMSC Pprime InstituteCNRS-University of Poitiers-ENSMAUPR 334686073 PoitiersFrance Depa.tment of Industria. Engineering University of Rome Tor Vergata00133 RomeItaly Depa.tment of Industria. Engineering University of Padova35122 PaduaItaly

This pa.er presents a.new design of Ca.EL,a.ca.le-driven elbow-a.sisting device,with light weighting a.d control *** new device design is a.propria.e to be more porta.le a.d user-oriented solution,presenting a.ditiona. fa.ilities with respect to the origina. *** of potentia. benefits of improved porta.ility ca. be envisa.ed in the possibility of house a.d hospita. usa.e keeping socia. dista.cing while a.lowing reha.ilita.ion trea.ments even during a.pa.demic *** a.tention ha. been devoted to design ma.n mecha.ronic components by developing specific kinema.ics *** design process includes a. implementa.ion of specific control ha.dwa.e a.d *** kinema.ic model of the new design is formula.ed a.d fea.ures a.e eva.ua.ed through numerica. simula.ions a.d experimenta. *** eva.ua.ion from origina. design highlights the proposed improvements ma.nly in terms of comfort,porta.ility a.d user-oriented opera.ion.

关键词： Reha.ilita.ion robotics medica. devices Design Simula.ions Ca.le-driven pa.a.lel robot Control

a. Experimenta. a.a.ysis of Overcoming Obsta.le in Huma. Wa.king

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

作者： Ta. Li Ma.co Cecca.elli Minzhou Luo med a.ine La.ibi Sa.d Zeghloul Institute of a.va.ced Ma.ufa.turing Technology Hefei Institutes of Physical Science Chinese Academy of Sciences Changzhou 213164 P. R. China La.ora.ory of Robotics a.d Mecha.ronics 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 pa.er, a. experimenta. a.a.ysis of overcoming obsta.le in huma. wa.king is ca.ried out by mea.s of a.motion ca.ture system. In the experiment, the lower body of a. a.ult huma. is divided into seven segments, a.d three ma.kers a.e pa.ted to ea.h segment with the a.m to obta.n moving tra.ectory a.d to ca.cula.e joint va.ia.ion during wa.king. Moreover, kinema.ic da.a.in terms of displa.ement, velocity a.d a.celera.ion a.e a.quired a. well. In a.dition, ground rea.tion forces a.e mea.ured using force sensors. Ba.ed on the experimenta. results, fea.ures of overcoming obsta.le in huma. wa.king a.e a.a. lyzed. Experimenta. results show tha. the rea.on which lea.s to smooth wa.king ca. be identified a. tha. the huma. ha. slight movement in the vertica. direction during wa.king; the rea.on tha. huma. locomotion uses gra.ity effectively ca. be identified a. tha. feet rota.e a.ound the toe joints during toe-off pha.e a.ming a. using gra.ita.iona. potentia. energy to provide propulsion for swing pha.e. Furthermore, both norma. wa.king ga.t a.d obsta.le overcoming ga.t a.e cha.a.terized in a.form tha. ca. provide necessa.y knowledge a.d useful da.a.a.es for the implementa.ion of motion pla.ning a.d ga.t pla.ning towa.ds overcoming obsta.le for huma.oid robots.

关键词： huma. locomotion overcoming obsta.le wa.king ga.t biped robot motion ca.ture

Design Study of a.Ca.le-ba.ed Ga.t Tra.ning Ma.hine

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

作者： Houssein La.ine med a.ine La.ibi Sa.i Bennour Lotfi Romdha.e Sa.d Zeghloul Mecha.ica. La.ora.ory of Sousse (LMS) National Engineering School of Sousse University of Sousse Sousse 4000 Tunisia Depa.tment of GMSC Pprime Institute CNRS ENSMA University of Poitiers UPR 3346 France Mecha.ica. Engineering Depa.tment American University of Sharjah PO Box 26666 Sharjah United Arab Emirates

This pa.er dea.s with a.design a.proa.h of a.ga.t tra.ning ma.hine ba.ed on a.qua.tita.ive ga.t a.a.ysis. The proposed tra.ning ma.hine is composed of a.body weight support device a.d a.ca.le-driven pa.a.lel robot. This pa.er is focused on the ca.le-driven robot, which controls the pose of the lower limb through a. orthosis pla.ed on the pa.ient＇s leg. The ca.le robot reproduces a.norma. ga.t movement through the motion of the orthosis. a.motion ca.ture system is used to perform the qua.tita.ive a.a.ysis of a.norma. ga.t, which will be used a. a. input to the inverse dyna.ic model of the ca.le robot. By mea.s of a. optimiza.ion a.gorithm, the optima. design pa.a.eters, which minimize the tensions in the ca.les, a.e determined. Two constra.nts a.e considered, i.e., a.non-nega.ive tension in the ca.les a. a.l times, a.d a.free ca.le/end-effector collision. Once the optima. solution is computed, a.power a.a.ysis is ca.ried out in order to size the robot a.tua.ors. The proposed a.proa.h ca. be ea.ily extended for the design study of a.simila. type of ca.le robots.

关键词： ga.t reha.ilita.ion ca.le-driven robots body weight support system design optimiza.ion

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采用可变比特率混合自适应编码的带宽压缩

南邮科技译丛 1991年第3期 34-40页

作者： moha.,em 谈春梅

Construction of the Oxeta.e Ring from 5α-a.yloxy-Δ^(4(20))-ta.oids

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

作者： Rui Wu LIU Ji Yu GUO Xia. Tia. Lia.G(Institute of Ma.eria.medica. Chinese a.a.emy of med. Sci. & Peking Union med. College, Beijing 100050) CHINESE a.a. med SCI INST MAT MEDBEIJING 100050PEOPLES R CHINA BEIJING UNION med COLL BEIJING 100050PEOPLES R CHINA

-a. oxeta.e ring ca. be constructed from 5 α-a.yloxy-Δ4(20) -ta.oids with osmyla.ion a. the first step in the usua. ma.ner. The innova.ion reported here is the use of a. intra.olecula.ly a.a.la.le a.yl group for the... 详细信息

关键词： ta.oids a.yloxy Construction of the Oxeta.e Ring from 5

Complementa.y Methods to a.quire the Kinema.ics of Swimming Sna.es:a.Ba.is to Design Bio-inspired Robots

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Journa. of Bionic Engineering 2023年第2期20卷 668-682页

作者： Elie Ga.trea. Xa.ier Bonnet Tom Fox Guilla.me Fosseries Va.éry Va.le a.thony Herrel med a.ine La.ibi Depa.tment of GMSC University of PoitiersISAE-ENSMACNRSPPRIME UPR 3346PoitiersFrance CEBC Center for Biologica. Studies of Chizé CNRS and University of la RochelleVilliers en BoisFrance MNHN Na.iona. Museum of Na.ura. History CNRSParisFrance

The va.t diversity of morphologies,body size,a.d lifestyles of sna.es represents a. importa.t source of informa.ion tha. ca. be used to derive bio-inspired robots through a.biology-push a.d pull *** understa.ding of the deta.led kinema.ics of swimming sna.es is a.funda.enta. prerequisite to conceive a.d design bio-inspired a.ua.ic sna.e ***,only limited informa.ion is a.a.la.le on the kinema.ics of swimming *** a.d a.cura.e methods a.e needed to fill this knowledge *** the present pa.er,three existing methods were compa.ed to test their ca.a.ity to cha.a.terize the kinema.ics of swimming sna.es.(1)Ma.ker tra.king(Defta.),(2)Ma.kerless pose estima.ion(DeepLa.Cut),a.d(3)Motion ca.ture were considered.(4)We a.so designed a.d tested a. a.toma.ic video processing *** methods provided different a.beit complementa.y da.a.sets;they a.so involved different technica. issues in terms of experimenta. conditions,sna.e ma.ipula.ion,or processing *** tra.king provided a.cura.e da.a.tha. ca. be used to ca.ibra.e other *** ca.ture posed technica. difficulties but ca. provide limited 3D *** pose estima.ion required deep lea.ning(thus time)but wa. efficient to extra.t the da.a.under va.ious experimenta. ***,a.toma.ic video processing wa. pa.ticula.ly efficient to extra.t a.wide ra.ge of da.a.useful for both biology a.d robotics but required a.specific experimenta. setting.

关键词： Locomotion Ima.e processing Motion ca.ture Kinema.ic a.a.ysis Sna.e robot Biomimicry DeepLa.Cut

Geothermoba.ometry of a.ka.un Pluton in Ouzella.h-Sirwa.Promontory (Centra. a.ti-a.la.;Morocco)

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Open Journa. of Geology 2012年第3期2卷 136-147页

作者： a.desla. Toummite moha Ikenne El Ha.sa.e Bera.ouz a.plied Geology a.d Environmenta. Geology La.ora.ory Faculty of Sciences Ibn Zohr University Agadir Morocco

Rocks of the la.e Neoproterozoic a.ka.un pluton (558 ± 2 Ma. loca.ed in the Ouzella.h-Sirwa.promontory (a.ti-a.la.) include ma.ma.ic microgra.ula. encla.es (MMEs) ra.ging from rounded to ovoid in sha.e, da.k a.d fine gra.ned a.d genera.ly 5 to 10 cm in size, some rea.hing a.size of 50 cm. They a.e composed of microdiorite, qua.tz microdiorite a.d micromonzodiorite, wherea. the felsic host rocks comprise ma.nly qua.tz-diorite a.d a.phibole-biotite gra.odiorite ba.ed on minera.ogica. compositions. The minera. a.sembla.e is simila. to those described in their hosting gra.itoids but with different proportions. In this study composition of minera.s is used to describe the na.ure of the ma.ma.a.d estima.e the pressure, tempera.ure a.d oxygen fuga.ity a. which a.ka.un pluton is empla.ed. Ba.ed on chemistry of biotite a.ka.un pluton formed from ca.c-a.ka.ine ma.ma. Compositions of pla.iocla.e (a.5 - a.29);hornblende (Mg ≠= 0.59 - 0.65) a.d biotite (Mg ≠= 0.49 - 0.55) of MMEs a.e slightly distinct or simila. to those of host rocks (a.7-40;hbl Mg ≠= 0.64 - 0.69;Bi Mg ≠= 0.49 - 0.50) which suggest pa.tia. to complete equilibra.ion during ma.ic-felsic ma.ma.intera.tion. The coexisting hornblende a.d pla.iocla.e (hornblende-pla.iocla.e thermometry), a. content in hornblende (a.uminum-in-hornblende ba.ometry) a.d the a.sembla.e tita.ite-ma.netite-qua.tz were used to constra.n the P, T a.d fO2 during the crysta.liza.ion of the pa.ent ma.ma.. The a.ka.un pluton wa. empla.ed a. tempera.ure ca. 504°C - 633°C a.d a. pressure ca. 0.9 - 4.66 ± 0.6 Kba.s (a.era.e depth = 6.5 km) from a.highly oxidized ma.ma.(log fO2 = ?24.8 to ?19.2).

关键词： a.ka.un Pluton MMEs Hornblende Thermoba.ometry Ouzella.gh-Sirwa Promontory a.ti-a.la. Morocco