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Control Evaluation of Antagonistic Series Elastic Actuation for a Robotic Endoscope Joint

Journal of Bionic Engineering 2022年第4期19卷 965-974页

作者： Lorin Fasel Nicolas Gerig Philippe C.Cattin georg rauter BIROMED-Lab Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland CIAN Department of Biomedical EngineeringUniversity of Basel4123AllschwilSwitzerland

Haptic feedback is typically missing during telemanipulation of surgical robots in minimally invasive surgeries,i.e.,surgeons cannot feel the interaction forces between the instruments and ***,surgeons have to solely rely on visual feedback,which increases complexity of guiding the instruments and poses the safety threat of unperceivable contacts outside the field of *** propose a novel series elastic actuation design for articulated robotic endoscopes to overcome these limitations and evaluate an according device with one *** to the actuation of human fingers,the joint is driven by antagonistic *** are integrated in the transmission between the tendons and the motors outside of the endoscope *** estimated the joint angle and thereby the endoscope shape,measured spring deflection,estimated tendon forces from that deflection,and implemented force control for the endoscope *** torque control and impedance control were evaluated under application of both a continuous force and an impact force to the endoscope *** springs reduced impact forces at the tip of the endoscope through their inherent *** the same time,feeding back the estimated force resulted in a stable tendon force control and a tunable endoscope joint control:Zero torque control effectively reduced the external forces,while the endoscope joint showed the expected stiffness in impedance *** results show that antagonistic series elastic actuation is a promising concept for endoscope joint actuation and that it can lead towards safer robot–tissue interactions in surgical robotics.

关键词： Minimally invasive surgery RAMIS Robot-assisted surgery Haptic feedback Force control Tendon-driven robotics

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Pressurized environments directly influence friction and wear of dry steel contacts—Investigations in a novel high fluid pressure tribometer

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Friction 2024年第7期12卷 1599-1617页

作者： Paul REICHLE Jakob BARZ georg UMLAUF Günter E.M.TOVAR Institute of Interfacial Process Engineering and Plasma Technology(IGVP) University of StuttgartStuttgart 70569Germany Fraunhofer Institute for Interfacial Engineering and Biotechnology(IGB) Stuttgart 70569Germany

To reduce the usage of classical lubricants in deep drawing,a new tribological system based on volatile lubricants was ***,a volatile medium is injected under high pressure into the interstice between drawing tool and sheet *** on temperature and pressure,the temporary lubricant may exist in its gaseous or liquid *** this study,a novel high fluid pressure tribometer was designed to investigate the friction and wear of dry steel contacts under comparable conditions like in dry deep ***,a new ball-on-disc tribometer was designed and integrated into a high-pressure *** specifically investigate the effects of different environments(technical air,liquid and gaseous carbon dioxide,nitrogen,argon)at atmospheric and high pressure(0.1 MPa,6 MPa)on tribology,the specimens and all components were operating *** the experiments,the friction was measured *** show that the highest friction occurs in air and the lowest in carbon dioxide *** to the experiments,the wear of the specimens was assessed along with changes in surface chemistry related to tribochemical ***,the tribology of the dry sliding contacts is correlated to changes of the surface *** differences as well as similarities regarding the different fluid environments are *** the results show,the differences between the media used are most pronounced at elevated ***,this work gives clear indications on the suitability of volatile lubricants in dry friction or rather gas lubrication,especially for dry deep drawing.

关键词： dry friction and dry wear gas lubrication carbon dioxide tribo-layer dry metal forming

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Bayesian inference-based wear prediction method for plain bearings under stationary mixed-friction conditions

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Friction 2024年第6期12卷 1272-1282页

作者： Florian KÖNIG Florian WIRSING georg JACOBS Rui HE Zhigang TIAN Ming J.ZUO Institute for Machine Elements and Systems Engineering RWTH Aachen UniversityAachen 52062Germany Department of Mechanical Engineering University of AlbertaEdmonton T6G1H9Canada Qingdao International Academician Park Research Institute Qingdao 266000China

This study introduces a method to predict the remaining useful life(RUL)of plain bearings operating under stationary,wear-critical *** this method,the transient wear data of a coupled elastohydrodynamic lubrication(mixed-EHL)and wear simulation approach is used to parametrize a statistical,linear degradation *** method incorporates Bayesian inference to update the linear degradation model throughout the runtime and thereby consider the transient,system-dependent wear progression within the RUL prediction.A case study is used to show the suitability of the proposed *** results show that the method can be applied to three distinct types of post-wearing-in behavior:wearing-in with subsequent hydrodynamic,stationary wear,and progressive wear *** hydrodynamic operation leads to an infinite lifetime,the method is successfully applied to predict RUL in cases with stationary and progressive wear.

关键词： plain bearings wear modeling remaining useful life prediction Bayesian inference

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Structural and chemical transformations of CuZn alloy nanoparticles under reactive redox atmospheres:An in situ TEM study

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Nano Research 2024年第7期17卷 6265-6273页

作者： Shengnan Yue Qian Li Chaobin Zeng Alexander Klyushin Ramzi Farra Marc-georg Willinger Xing Huang College of Chemistry Fuzhou UniversityFuzhou 350108China Qingyuan Innovation Laboratory Quanzhou 362801China Hitachi High-Tech Scientific Solutions(Beijing)Co. Ltd.Beijing 100015China MAX IV Laboratory Lund UniversityBox 11822100 LundSweden Department of Inorganic Chemistry Fritz-Haber Institute of Max Planck SocietyBerlin 14195Germany Department of Chemistry Technical University of MunichGarching 85748Germany

Alloying metals to form intermetallics has been proven effective in tuning the chemical properties of metal-based ***,intermetallic alloys can undergo structural and chemical transformations under reactive conditions,leading to changes in their catalytic *** and understanding these transformations are crucial for establishing relevant structureperformance relationships and for the rational design of alloy-based *** this work,we used CuZn alloy nanoparticles(NPs)as a model material system and employed in situ transmission electron microscopy(TEM)to investigate the structural and chemical changes of CuZn NPs under H_(2),O_(2)and their *** results show how CuZn NPs undergo sequential transformations in the gas mixture at elevated temperatures,starting with gradual leaching and segregation of Zn,followed by oxidation at the NP *** remaining copper at the core of particles can then engage in dynamic behavior,eventually freeing itself from the zinc oxide *** structural dynamics arises from an oscillatory phase transition between Cu and Cu_(2)O and is correlated with the catalytic water formation,as confirmed by in situ mass spectrometry(MS).Under pure H_(2)or O_(2)atmosphere,we observe different structural evolution pathways and final chemical states of CuZn NPs compared to those in the gas *** results clearly demonstrate that the chemical state of alloy NPs can vary considerably under reactive redox atmospheres,particularly for those containing elements with distinct redox properties,necessitating the use of in situ or detailed ex situ characterizations to gain relevant insights into the states of intermetallic alloy-based catalysts and structure-activity relationships.

关键词： In situ transmission electron microscopy(TEM) CuZn alloy structural and chemical transformations redox atmosphere

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Towards engineering a portable platform for laparoscopic pre-training in virtual reality with haptic feedback

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虚拟现实与智能硬件（中英文） 2024年第2期6卷 83-99页

作者： Hans-georg ENKLER Wolfgang KUNERT Stefan PFEFFER Kai-Jonas BOCK Steffen AXT Jonas JOHANNINK Christoph REICH Furtwangen University 78120 FurtwangenGermany University Hospital and Faculty of Medicine Tuebingen 72076 TuebingenGermany

Background Laparoscopic surgery is a surgical technique in which special instruments are inserted through small incision holes inside the *** some time,efforts have been made to improve surgical pre training through practical exercises on abstracted and reduced *** The authors strive for a portable,easy to use and cost-effective Virtual Reality-based(VR)laparoscopic pre-training platform and therefore address the question of how such a system has to be designed to achieve the quality of today's gold standard using real tissue *** VR controllers are limited regarding haptic *** haptic feedback is necessary or at least beneficial for laparoscopic surgery training,the platform to be developed consists of a newly designed prototype laparoscopic VR controller with haptic feedback,a commercially available head-mounted display,a VR environment for simulating a laparoscopic surgery,and a training *** To take full advantage of benefits such as repeatability and cost-effectiveness of VR-based training,the system shall not require a tissue sample for haptic *** is currently calculated and visually displayed to the user in the VR *** the prototype controller,a first axis was provided with perceptible feedback for test *** of the prototype VR controllers can be combined to simulate a typical both-handed use case,e.g.,laparoscopic suturing.A Unity based VR prototype allows the execution of simple standard *** The first prototype enables full operation of a virtual laparoscopic instrument in *** addition,the simulation can compute simple interaction *** challenges lie in a realistic real-time tissue simulation and calculation of forces for the haptic *** weaknesses were identified in the first hardware prototype,which will be improved in subsequent *** degrees of freedom of the controller are to be provided with haptic *** make forces t

关键词： Laparoscopic surgery Training Virtual reality Controller Haptic feedback Kinesthetic skills

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Combining thermal scanning probe lithography and dry etching for grayscale nanopattern amplification

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Microsystems & Nanoengineering 2024年第1期10卷 335-344页

作者： Berke Erbas Ana Conde-Rubio Xia Liu Joffrey Pernollet Zhenyu Wang Arnaud Bertsch Marcos Penedo georg Fantner Mitali Banerjee Andras Kis Giovanni Boero Juergen Brugger Microsystems Laboratory École Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Center of MicroNanoTechnology(CMi) EPFLLausanne 1015Switzerland Laboratory of Nanoscale Electronics and Structures École Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Laboratory for Bio-and Nano-Instrumentation École Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Laboratory of Quantum Physics Topology and CorrelationsÉcole Polytechnique Fédérale de Lausanne(EPFL)Lausanne 1015Switzerland Present address:Institute of Materials Science of Barcelona ICMAB-CSIC Campus UABBellaterra 08193Spain Present address:School of Integrated Circuits and Electronics MIIT Key Laboratory for Low-Dimensional Quantum Structure and DevicesBeijing Institute of TechnologyBeijing 100081China

Grayscale structured surfaces with nanometer-scale features are used in a growing number of applications in optics and *** scanning probe lithography achieves a lateral resolution below 10 nm and a vertical resolution below 1 nm,but its maximum depth in polymers is ***,we present an innovative combination of nanowriting in thermal resist and plasma dry etching with substrate cooling,which achieves up to 10-fold amplification of polymer nanopatterns into SiO_(2) without proportionally increasing surface *** nanopatterns in SiO_(2) with 400 nm pitch and 150 nm depth are fabricated free of shape distortion after dry *** exemplify the possible applications of the proposed method,grayscale dielectric nanostructures are used for scalable manufacturing through nanoimprint lithography and for strain nanoengineering of 2D *** a method for aspect ratio amplification and smooth grayscale nanopatterning has the potential to find application in the fabrication of photonic and nanoelectronic devices.

关键词： lithography thermal pattern

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Optical probing of ultrafast laser-induced solid-to-overdense-plasma transitions

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Light(Science & Applications) 2024年第5期13卷 973-984页

作者： Yasmina Azamoum georg Alexander Becker Sebastian Keppler Guillaume Duchateau Stefan Skupin Mickael Grech Fabrice Catoire Sebastian Hell Issa Tamer Marco Hornung Marco Hellwing Alexander Kessler Franck Schorcht Malte Christoph Kaluza GSI Helmholtzzentrum für Schwerionenforschung Planckstr.164291 DarmstadtGermany. Helmholtz Institute Jena Fröbelstieg 307743 JenaGermany. Institute of Optics and Quantum Electronics Friedrich-SchillerUniversität JenaMax-Wien-Platz 107743 JenaGermany. CEA-CESTA 15 Avenue des SablièresCS6000133116 Le BarpCedexFrance Institut Lumière Matière UMR 5306-CNRSUniversitéde Lyon 169622 VilleurbanneFrance. LULI CNRSCEASorbonne UniversitéInstitut Polytechnique de ParisPalaiseauFrance. Universitéde Bordeaux-CNRS-CEA CELIAUMR 5107 TalenceFrance

Understanding the solid target dynamics resulting from the interaction with an ultrashort laser pulse is a challenging fundamental multi-physics problem involving atomic and solid-state physics,plasma physics,and laser *** of the initial interplay of the underlying processes is essential to many applications ranging from lowpower laser regimes like laser-induced ablation to high-power laser regimes like laser-driven ion *** the properties of the so-called pre-plasma formed as the laser pulse’s rising edge ionizes the target is complicated from the theoretical and experimental point of view,and many aspects of this laser-induced transition from solid to overdense plasma over picosecond timescales are still open *** the one hand,laser-driven ion acceleration requires precise control of the pre-plasma because the efficiency of the acceleration process crucially depends on the target properties at the arrival of the relativistic intensity peak of the *** the other hand,efficient laser ablation requires,for example,preventing the so-called“plasma shielding”.By capturing the dynamics of the initial stage of the interaction,we report on a detailed visualization of the pre-plasma formation and ***-thin diamond-like carbon foils are shown to transition from solid to plasma during the laser rising edge with intensities<10^(16)W/cm^(2).Single-shot near-infrared probe transmission measurements evidence sub-picosecond dynamics of an expanding plasma with densities above 10^(23)cm^(−3)(about 100 times the critical plasma density).The complementarity of a solid-state interaction model and kinetic plasma description provides deep insight into the interplay of initial ionization,collisions,and expansion.

关键词： laser acceleration solid

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A systematic review of cytoreductive prostatectomy outcomes and complications in oligometastatic disease

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Asian Journal of Urology 2024年第2期11卷 208-220页

作者： Andrey Morozov Leonid Chuvalov Mark Taratkin Mikhail Enikeev Leonid Rapoport Nirmish Singla Eric Barret Elena Poddubskaya Maria Borodina georg Salomon Juan Gomez Rivas Dmitry Enikeev Institute for Urology and Reproductive Health Sechenov UniversityMoscowRussia Young Academic Urologists EAUthe Netherlands Department of Urology James Buchanan Brady Urological InstituteThe Johns Hopkins University School of MedicineBaltimoreUSA Department of Urology Institut Mutualiste MontsourisParisFrance Sechenov University MoscowRussia Hertsen Moscow Oncology Research InstituteMoscowRussia Hertsen Moscow Oncology Research Institute MoscowRussia Martini Clinic University Medical Center Hamburg-EppendorfHamburgGermany Department of Urology Clinico San Carlos University HospitalMadridSpain Department of Urology Medical University of ViennaViennaAustria

Objective: To analyze outcomes and complications of cytoreductive prostatectomy (CRP) for oligometastatic prostate cancer (PCa) in order to elucidate its role in this ***: We performed a systematic literature search using three databases (Medline, Scopus, and Web of Science). The primary endpoints were oncologic outcomes. The secondary endpoints were complication rates and functional ***: In all studies, overall survival was better or at least comparable variable in the groups with CRP compared to no local treatment. The greatest benefit from CRP in 5-year overall survival in one study was 67.4% for CRP versus 22.5% for no local treatment. Cancer-specific survival (CSS) showed the same trend. Several authors found significant benefits from CSS in the CRP group: from 79% vs. 46% to 100% vs. 61%. CRP was a predictor of better CSS (hazard ratio 0.264, p=0.004). Positive surgical margin rates differed widely from 28.6% to 100.0%. Urinary continence in CRP versus RP for localized PCa was significantly lower (57.4% vs. 90.8%, p<0.0001). Severe incontinence occurred seldom (2.5%-18.6%). Total complication rates after CRP differed widely, from 7.0% to 43.6%. Rates of grades 1 and 2 events prevailed. Patients on ADT alone also showed a considerable number of complications varying from 5.9% to 57.7%.Conclusion: CRP improves medium-term cancer control in patients with oligometastatic PCa. The morbidity and complication rates of this surgery are comparable with other approaches, but postoperative incontinence rate is higher compared with RP for localized disease.

关键词： Systematicreview Prostatecancer Oligometastatic Bone metastases Cytoreductive prostatectomy

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CO_2 mitigation potential in farmland of China by altering current organic matter amendment pattern

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Science China Earth Sciences 2010年第9期53卷 1351-1357,1407-1417页

作者： CADISCH georg Institute of Plant Production and Agroecology in the Tropics and Subtropics University of Hohenheim

The estimation of the global warming mitigation potential in terrestrial ecosystems is of great importance for decision makers to adopt measures to increase soil organic carbon (SOC) as well as to reduce greenhouse gas (GHGs) emissions. In this paper, we compiled data published in peer-reviewed journals, and conducted a holistic analysis of the effects of organic matter amendment on soil organic carbon sequestration, methane (CH4) and nitrous oxide (N2O) emissions in paddy and upland systems. Results showed that organic matter amendment increased soil organic carbon content, and apparent conversion rate of organic matter carbon to soil organic carbon in paddies was constant, while that in uplands decreased along with amendment years at 25 years time scale. Organic matter amendment during the rice season led to large CH4-C emissions, e.g on average 99.5 g CH4-C per kg organic carbon input under intermittent flood conditions, and 191.7 g CH4-C per kg organic carbon input under continuous flood conditions, respectively. By alteration of organic matter amendment from rice season to off-rice upland crop season, estimated CH4-C emissions in China could be cut by 3.5 Tg yr-1, accounting for 63% of current CH4-C emissions (5.5 Tg). If organic matter amendment percentage was increased from current 30% to future 50% of organic matter production and by alteration of organic matter amendment from rice season to off-rice upland crop season, the equivalent CO2-C mitigation potential in farmland of China would be 49.2 Tg yr-1 at the 10th year organic matter amendment and 36.0 Tg yr-1 at the 30th year amendment. These findings are important not only for China but also for the other rice production countries to increase farmland global warming mitigation.

关键词： climate change global warming radiative forcing SOC GHGs CH4 N2O

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Yield Improvement and Advanced Defect Control——Driving Forces for Modeling of Bulk Crystal Growth

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Journal of Rare Earths 2006年第z1期24卷 200-207页

作者： georg Mueller Jochen Friedrich Crystal Growth Laboratory University Erlangen-Nürnberg (WW6) and Fraunhofer Institute of Integrated Systems and Device Technology (IISB) Martensstrasse 7 D-91058 Erlangen Germany Crystal Growth Laboratory University Erlangen-Nürnberg (WW6) and Fraunhofer Institute of Integrated Systems and Device Technology (IISB) Martensstrasse 7 D-91058 Erlangen Germany

Yield improvement and advanced defect control can be identified as the driving forces for modeling of industrial bulk crystal growth. Yield improvement is mainly achieved by upscaling of the whole crystal growth apparatus and increased processing windows with more tolerances for parameter variations. Advanced defect control means on one hand a reduction of the number of deficient crystal defects and on the other hand the formation of beneficial crystal defects with a uniform distribution and well defined concentrations in the whole crystal. This "defect engineering" relates to the whole crystal growth process as well as the following cooling and optional annealing processes, respectively. These topics were illustrated in the paper by examples of modeling and experimental results of bulk growth of silicon (Si), gallium arsenide (GaAs), indium phosphide (InP) and calcium fluoride (CaF2). These examples also involve the state of the art of modeling of the most important melt growth techniques, crystal pulling (Czochralski methods) and vertical gradient freeze (Bridgman-type methods).

关键词： yield improvement advanced defect control crystal growth

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