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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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Defining,Explaining and,then,Exploiting the Elusive concept of"Governance"

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Fudan Journal of the Humanities and Social Sciences 2019年第4期12卷 547-567页

作者： philippe c·Schmitter European University Institute FlorenceItaly central European University BudapestHungary

The concept of“governance”has become omnipresent in the lexicon of politics and political *** has very quickly acquired many different meanings,but its most important property seems to be its capacity to serve as a substitute for“government”.The former is(allegedly)good,and the latter is(allegedly)*** this essay,I explore the definition,the presumptions and the utility of governance.I conclude that it can make an important contribution of our understanding of the increasingly complex process of making and implementing public policies,but not as a substitute for government.

关键词： Governance civil society Political citizenship Democracy Policymaking Policy implementation

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Engineering polymer MEMS using combined microfluidic pervaporation and micro-molding

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Microsystems & Nanoengineering 2018年第1期4卷 270-277页

作者： Damien Thuau cédric Laval Isabelle Dufour philippe Poulin cédric Ayela Jean-Baptiste Salmon Laboratoire IMS University of BordeauxUMR 5218ENSCBP16 avenue Pey Berland33607 PessacFrance centre National de Recherche Scientifique University of BordeauxSolvayLOFUMR 525833600 PessacFrance centre de Recherche Paul Pascal University of BordeauxAvenue Schweitzer33600 PessacFrance

In view of the extensive increase of flexible devices and wearable electronics,the development of polymer microelectro-mechanical systems(MEMS)is becoming more and more important since their potential to meet the multiple needs for sensing applications in flexible electronics is now clearly ***,polymer micromachining for MEMS applications is not yet as mature as its silicon counterpart,and innovative microfabrication techniques are still *** show in the present work an emerging and versatile microfabrication method to produce arbitrary organic,spatially resolved multilayer micro-structures,starting from dilute inks,and with possibly a large choice of *** approach consists in extending classical microfluidic pervaporation combined with MIcro-Molding In *** illustrate the potential of this technique,bilayer polymer double-clamped resonators with integrated piezoresistive readout have been fabricated,characterized,and applied to humidity *** present work opens new opportunities for the conception and integration of polymers in MEMS.

关键词： polymer dilute starting

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Anatomical and electrophysiological plasticity of locomotor networks following spinal transection in the salamander

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Neuroscience Bulletin 2013年第4期29卷 467-476页

作者： Jean-Marie cabelguen Stéphanie chevallier Ianina Amontieva-Potapova céline philippe Neurocentre Magendie INSERM U 862 - Bordeaux University

Recovery of locomotor behavior following spinal cord injury can occur spontaneously in some vertebrates, such as fish, urodele amphibians, and certain reptiles. This review provides an overview of the current status of our knowledge on the anatomical and electrophysiological changes occurring within the spinal cord that lead to, or are associated with the [e-expression of locomotion in spinally-transected salamanders. A better understanding of these processes will help to devise strategies for restoring locomotor function in mammals, including humans.

关键词： salamander spinal cord locomotor recovery regeneration

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剥蚀对活动逆冲断层地震活动性的影响

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地壳构造与地壳应力 2018年第1期5卷 23-32页

作者： philippe Steer Martine Simoes Rodolphe cattin J.Bruce H.Shyu 王璞(翻译) 黄禄渊(校对) Geosciences Rennes Universite Rennes 1 and CNRS UMR 6118RennesFrance Institut de Physique du Globe de Paris Sorbonne Paris CiteUniversity Paris DiderotUMR 7154 CNRSF-75005 ParisFrance Geosciences Montpellier Universite Montpellier Ⅱ and CNRS UMR 5243France Department of Geosciences National Taiwan UniversityTaipei 10617Taiwan 不详

评估地震危害仍然是地球科学中最具挑战性的科学问题之一。经典理论认为深部构造运动是驱动地震活动断层上的应力持续加载的唯一机制。这里我们通过一个力学模型显示,在一个地震周期的时间范围内,剥蚀也会显著影响逆冲断层的应力加载。... 详细信息

评估地震危害仍然是地球科学中最具挑战性的科学问题之一。经典理论认为深部构造运动是驱动地震活动断层上的应力持续加载的唯一机制。这里我们通过一个力学模型显示,在一个地震周期的时间范围内,剥蚀也会显著影响逆冲断层的应力加载。事实上,例如台湾和其他活动逆冲造山带约0.1~20mm/a的剥蚀率就可以将震中附近的逆冲断层的库仑应力提高约0.1~10bar。在连续的或短暂和强烈的地震过程中,地表所发生的物质转移是地表附近断层的震间应力加载的主要机制。这种应力可能足以引发浅层地震活动或促进大陆深部地震的破裂一直延续到地表。

关键词：地震活动性逆冲断层剥蚀率库仑应力深部地震科学问题地球科学地震危害

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Vascular invasion in pancreatic cancer:Imaging modalities,preoperative diagnosis and surgical management

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World Journal of Gastroenterology 2010年第7期16卷 818-831页

作者： Nicolas c Buchs Michael chilcott Pierre-Alexandre Poletti Leo H Buhler philippe Morel clinic for Visceral and Transplantation Surgery Department of SurgeryUniversity Hospitals of GenevaGeneva1211Switzerland Department of Radiology University Hospitals of GenevaGeneva1211Switzerland

Pancreatic cancer is associated with a poor prognosis,and surgical resection remains the only chance for curative *** the absence of metastatic disease,which would preclude resection,assessment of vascular invasion is an important parameter for determining resectability of pancreatic cancer.A frequent error is to misdiagnose an involved major ***,surgical exploration with pathological examination remains the"gold standard"in terms of evaluation of resectability,especially from the point of view of vascular ***,current imaging modalities have improved and allow detection of vascular invasion with more accuracy.A venous resection in pancreatic cancer is a feasible technique and relatively ***,a survival benefit is not achieved by curative resection in patients with pancreatic cancer and vascular *** the discovery of an arterial invasion during the operation might require an aggressive management,discovery before the operation should be considered as a *** of vascular invasion remains one of the most important challenges in pancreatic *** aim of this article is to provide a complete review of the different imaging modalities in the detection of vascular invasion in pancreatic cancer.

关键词： Vascular invasion cancer Pancreas Management

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Global significance of oxygen and carbon isotope compositions of pedogenic carbonates since the cretaceous

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Geoscience Frontiers 2021年第4期12卷 34-45页

作者： Marc Jolivet philippe Boulvais Géosciences Rennes CNRSUniv RennesUMR 6118F-35000RennesFrance

Few global syntheses of oxygen and carbon isotope composition of pedogenic carbonates have been attempted,unlike marine *** carbonates represent in-situ indicators of the climate conditions prevailing on *** δ^(18)O and δ^(13)c values of pedogenic carbonates are controlled by local and global factors,many of them not affecting the marine carbonates largely used to probe global climate *** compile pedogenic oxygen and carbon isotopic data(N=12,167)fromcretaceous to Quaternary-aged paleosols to identify potential trends through time and tie them to possible controlling *** discrete events such as the Paleocene-Eocene Thermal Maximum are clearly evidenced,our analysis reveals an increasing complexity in the distribution of the δ^(18)O vs δ^(13)c values through the *** could be expected,the rise of c4 plants induces a shift towards higherδ13c values during the Neogene and *** also show that the increase in global hypsometry during the Neogene plays a major role in controlling the δ^(18)O and δ^(13)c values of pedogenic carbonates by increasing aridity downwind of orographic ***,during the Quaternary,an increase of 3‰in δ^(18)O values is recorded both by the pedogenic carbonates and the marine foraminifera suggesting that both indicators may be used to track global climate signal.

关键词： Global isotopic signal cretaceous–Quaternary Pedogenic carbonates Topography

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Mass budgets of the Lambert, Mellor and Fisher Glaciers and basal fluxes beneath their flowbands on Amery Ice Shelf

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Science china Earth Sciences 2007年第11期50卷 1693-1706页

作者： Kenneth c. JEZEK Beata M. cSATHó Ute c. HERZFELD Katy L. FARNESS philippe HUYBREcHTS Byrd Polar Research center The Ohio State University Columbus OH 43210 USA cIRES/NSIDc University of Colorado Boulder Boulder CO 80309-0449 USA Departement Geografie Vrije Universiteit Brussel Pleinlaan 2 B-1050 Brussels Belgium Alfred-Wegener-Institut für Polar-und Meeresforschung Postfach 120161 D-27515 Bremerhaven Germany

We used in situ measurements and remote-sensing data sets to evaluate the mass budgets of the Lambert, Mellor and Fisher Glaciers and the basal melting and freezing rates beneath their flowbands on the Amery Ice Shelf. Our findings show the Lambert and Mellor Glaciers upstream of the ANARE Lambert Glacier Basin (LGB) traverse may have positive imbalances of 3.9±2.1 Gt a-1 and 2.1±2.4 Gt a-1, respectively, while the Fisher Glacier is approximately in balance. The upstream region as a whole has a positive imbalance of 5.9±4.9 Gt a-1. The three same glaciers downstream of the ANARE LGB traverse line are in negative imbalance, where the whole downstream region has a negative imbalance of -8.5±5.8 Gt a-1. Overall the mass budgets of the Lambert, Mellor, and Fisher Glaciers are close to bal-ance, and the collective three-glacier system is also nearly in balance with a mass budget of -2.6±6.5 Gt a-1. The significant positive imbalances for the interior basin upstream of the ice-movement stations established in the early 1970s (GL line) reported previously are possibly due to an overestimate of the total accumulation and an underestimate of the ice flux through the GL line. The mean melting rate is -23.0±3.5 m ice a-1 near the southern grounding line, which decreases rapidly downstream, and transitions to refreezing at around 300 km from the southern extremity of the Amery Ice Shelf. Freezing rates along the flowbands are around 0.5±0.1 to 1.5±0.2 m ice a-1. The per-centage of ice lost from the interior by basal melting beneath the flowbands is about 80%±5%. The total basal melting and refreezing beneath the three flowbands is 50.3±7.5 Gt ice a-1 and 7.0±1.1 Gt ice a-1, respectively. We find a much larger total basal melting and net melting than the results for the whole Amery Ice Shelf derived from previous modeling and oceanographic measurements.

关键词： mass budget basal melting and freezing Lambert Glacier Basin Amery Ice Shelf East Antarctica

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Satellite-observed changes in terrestrial vegetation growth trends across the Asia-Pacific region associated with land cover and climate from 1982 to 2011

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International Journal of Digital Earth 2016年第11期9卷 1055-1076页

作者： Baozhang chen Guang Xu Nicholas c.coops philippe ciais Ranga B.Myneni Key Laboratory of Soil and Water conservation and Desertification combating Ministry of EducationBeijing Forestry UniversityBeijingPeople’s Republic of China School of Environment Science and Spatial Informatics China University of Mining and TechnologyXuzhouPeople’s Republic of China Jiangsu center for collaborative Innovation in Geographic Information Resource Development and Application NanjingPeople’s Republic of China State Key Laboratory of Resources and Environmental Information System Institute of Geographic Sciences and Natural Resources ResearchChinese Academy of SciencesBeijingPeople’s Republic of China University of chinese Academy of Sciences BeijingPeople’s Republic of China Department of Forest Resource Management University of British ColumbiaVancouverBCCanada Laboratoire des Sciences du climat et de l’Environnement UnitéMixte de Recherche Commissariatàl’Energie AtomiqueCentre National de la Recherche ScientifiqueUniversitéde Versailles Saint-Quentin-en-YvelinesGif-sur-YvetteFrance Department of Earth and Environment Boston UniversityBostonMAUSA

The Asia-Pacific(AP)region has experienced faster warming than the global average in recent decades and has experienced more climate extremes,however little is known about the response of vegetation growth to these *** updated Global Inventory Modeling and Mapping Studies third-generation global satellite Advanced Very High Resolution Radiometer Normalized Difference Vegetation Index dataset and gridded reanalysis climate data were used to investigate the spatiotemporal changes in both trends of vegetation dynamic indicators and climatic *** then further analyzed their relations associated with land cover across the AP *** main findings are threefold:(1)at continental scales the AP region overall experienced a gradual and significant increasing trend in vegetation growth during the last three decades,and this NDVI trend corresponded with an insignificant increasing trend in temperature;(2)vegetation growth was negatively and significantly correlated with the Pacific Decadal Oscillation index and the El Niño/Southern Oscillation(ENSO)in AP;and(3)at pixel scales,except for Australia,both vegetation growth and air temperature significantly increased in the majority of study regions and vegetation growth spatially correlated with temperature;In Australia and other water-limited regions vegetation growth positively correlated with precipitation.

关键词： Vegetation dynamics NDVI climate change land cover Asia-Pacific region

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Is chronic hepatitis c virus infection a risk factor for breast cancer?

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World Journal of Gastroenterology 2010年第29期16卷 3687-3691页

作者： Dominique Larrey Marie-cécile Bozonnat Ihab Kain Georges-philippe Pageaux Eric Assenat Liver Unit and INSERM Unit 632 Saint-Eloi HospitalMontpellier University Department of Biostatistics Intitut Universitaire de Recherche CliniqueMontpellier University Liver Unit Saint-Eloi HospitalMontpellier University Medical Oncology Unit Saint-Eloi HospitalMontpellier University

AIM:To evaluate the prevalence of breast tumors in adult females with chronic hepatitis c virus(HcV) ***:Prospective,single-center study,based on female outpatients consulting in a liver unit,for 1 *** study group included females with present and/or past history of chronic infection by *** with spontaneous recovery were *** hepatitis had been proved by liver biopsy in the majority of cases and/or biological markers of inflammation and *** control group included female patients with other well documented chronic liver diseases:chronic hepatitis B,alcoholic liver disease,autoimmune hepatitis,hemochromatosis,non alcoholic liver disease,chronic *** patients were prospectively questioned during consultation about past breast history and follow-up by ***:Breast carcinoma was recorded in 17/294 patients with HcV infection(5.8%,95% cI:3.1-8.4) vs 5/107 control patients(4.7%,95% cI:0.67-8.67).Benign tumors of the breast(mastosis,nodules,cysts) were recorded in 75/294 patients with HcV infection(25.5%,95% cI:20.5-30.5) vs 21/107(19.6%,95% cI:12.1-27.1) in the control *** lesion was noted in 202 patients with HcV(68.7%,95% cI:63.4-74) vs 81 control patients(75.7%,95% cI:67.6-83.8).Despite a trend to an increased prevalence in the group with HcV infection,the difference was not significant compared to the control group(P=NS).In patients over 40 years,the results were,respectively,as follows:breast cancer associated with HcV:17/266 patients(6.3%,95% cI:3.4-9.3) vs 5/95 patients(5.2%,95% cI:0.7-9.7) in the control group;benign breast tumors:72/266 patients with HcV infection(27%,95% cI:21.7-32.4) vs 18/95 patients(18.9%,95% cI:11-26.8) in the control group;no breast lesion 177/266(66.5%,95% cI:60.9-72.2) in patients with HcV infection vs 72/95(75.7%,95% cI:67.1-84.4) in the control *** differences were not significant(P=NS).cONcLUSION:These results suggest that chronic HcV infectio

关键词： Breast tumors Breast cancer Hepatitis c virus infection Risk factor

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