Interactive blood-coil simulation in real-time during aneurysm embolization

Over the last decade, remarkable progress has been made in the field of endovascular treatment of aneurysms. Technological advances continue to make it possible for a growing number of patients with cerebral aneurysms to be treated with a variety of endovascular strategies, essentially using detachable platinum coils. Yet, coil embolization remains a very complex medical procedure for which careful planning must be combined with advanced technical skills in order to be successful. In this paper, we describe a complete process for patient-specific simulations of coil embolization, from mesh generation with medical datasets to computation of coil-flow bilateral influence. We propose a new method for simulating the complex blood flow patterns that take place within the aneurysm, and for simulating the interaction of coils with this flow. This interaction is twofold, first involving the impact of the flow on the coil during the initial stages of its deployment, and second concerning the decrease of blood velocity within the aneurysm, as a consequence of coil packing. We also propose an approach to achieve real-time computation of coil-flow bilateral influence, necessary for interactive simulation. This in turns allows to dynamically plan coil embolization for two key steps of the procedure: choice and placement of the first coils, and assessment of the number of coils necessary to reduce aneurysmal blood velocity and wall pressure. Finally, we provide the blood flow simulation results on several aneurysms with interesting clinical characteristics both in 2D and 3D, as well as comparisons with a commercial package for validation. The coil embolization procedure is simulated within an aneurysm, and pre- and post-operative status is reported.     

Self-similarity of parallel machines

Self-similarity is a property of physical systems that describes how to scale parameters such that dissimilar systems appear to be similar. Computer systems are self-similar if certain ratios of computational forces, also known as computational intensities, are equal. Two machines with different computational power, different network bandwidth and different inter-processor latency behave the same way if they have the same ratios of forces. For the parallel conjugate gradient algorithm studied in this paper, two machines are self-similar if and only if the ratio of one force describing latency effects to another force describing bandwidth effects is the same for both machines. For the two machines studied in this paper, this ratio, which we call the mixing coefficient, is invariant as problem size and processor count change. The two machines have the same mixing coefficient and belong to the same equivalence class.     

新型力解耦和各向同性机器人六维力传感器

介绍了基于并联 6 -SPS结构的新型机器人六维力与力矩传感器的结构特点 ,并分析计算了其力与应变之间的转换关系及其力各向同性 ,为该六维力与力矩传感器的设计和使用提供了理论依据。分析计算结果表明该传感器是力与力矩解耦和各向同性的。该传感器采用弹性铰链替代球铰 ,具有结构灵巧、工艺性好等优点 ,可应用到机器人手腕、手指和其它使用多维力与力矩传感器的场合。     

基于工控机的驾驶员控制单元基本特性检测系统

本文介绍了一种基于工业控制计算机的驾驶员控制单元 (PCU)基本特性检测系统。分别介绍了该系统的总体结构 ,力传感器的选用、A/D采样电路的设计、控制器的设计 ,并给出了各部分的框图、电路原理图以及总体软件控制测试的流程图。该系统研究的方法可用于飞控系统PCU基本特性的检测设计 ,如改变被控对象 ,只需选用相应的传感器和控制器 ,即可实现该被控对象的检测目的。     

Independent Hybrid Force/Motion Control of Constrained Six-Degrees-of-Freedom Manipulators

Controlling the dynamics of a constrained manipulator includesposition tracking as well as stabilization of the contact wrench.In this paper we derive a control scheme, that makes it possible to treat position and force control independently.The approach is based on a mass-orthogonal splitting of the space of joint torques, allowing independent actuation and therefore independent specification of control laws. An appropriate definition of the reference wrenchmakes it possible to achieve independent stability of the position and force loop.     

热轧带钢中板形的计算和控制

热轧带钢中保持良好的板形是生产过程中极其重要的问题。首先,介绍了板形的基础知识包括板形的概念和计算,以及目前生产中板形控制方面实际存在的问题。在此基础上,讨论了影响板形的因素和控制策略,并对由带钢温度引起的缺陷,经过层流冷却获得良好板形的策略做了重点的讨论。从预防的角度阐明了板形的控制方法,并且介绍了一种实际生产中热轧带钢中浪板形控制方法,即PC设定控制方法的具体流程和实际应用效果。     

Dynamic Control of Walking Cycle with Initiation Process for Humanoid Robot

This paper focuses on numerical method to solve the dynamic equilibrium of a humanoid robot during the walking cycle with the gait initiation process. It is based on a multi-chain strategy and a dynamic control/command architecture previously developed by Gorce. The strategy is based on correction of the trunk center of mass acceleration and force distribution of the forces exerced by the limbs on the trunk. This latter is performed by mean of a Linear Programming (LP) method. We study the gait initiation process when a subject, initially in quiet erect stance posture, performs a walking cycle. In this paper, we propose to adjust the method for the multiphases (from double support to single support) and multicriteria features of the studied movement. This is done by adapting some specific constraints and criteria in order to ensure the global stability of the humanoid robot along the task execution. For that, we use a Real-Time Criteria and Constraints Adaptation method. Simulation results are presented to demonstrate criteria and constraints influences on the dynamic stability.     

Development and application of a multi-axis dynamometer for measuring grip force

Objective: This paper describes the development and application of a novel multi-axis hand dynamometer for quantifying 2D grip force magnitude and direction in the flexion-extension plane of the fingers. Methods: A three-beam reconfigurable form dynamometer, containing two active beams for measuring orthogonal forces and moments regardless of point of force application, was designed, fabricated and tested. Maximum grip exertions were evaluated for 16 subjects gripping cylindrical handles varying in diameter. Results: Mean grip force magnitudes were 231 N (SD = 67.7 N), 236 N (72.9 N), 208 N (72.5 N) and 158 N (45.7 N) for 3.81 cm, 5.08 cm, 6.35 cm and 7.62 cm diameter handles, respectively. Grip force direction rotated clockwise and the centre of pressure moved upward along the handle as handle diameter increased. Conclusions: Given that the multi-axis dynamometer simultaneously measures planar grip force magnitude and direction, and centre of pressure along the handle, this novel sensor design provides more grip force characteristics than current sensor designs that would improve evaluation of grip characteristics and model-driven calculations of musculoskeletal forces from dynamometer data.     

(Abstracts)Changing Industrial Demands

Abstract

The frequency dependence of discomfort caused by vertical mechanical shocks has been investigated with 20 seated males exposed to upward and downward shocks at 13 fundamental frequencies (1–16 Hz) and 18 magnitudes (±0.12 to ±8.3 ms^?2). The rate of growth of discomfort with increasing shock magnitude depended on the fundamental frequency of the shocks, so the frequency dependence of equivalent comfort contours (for both vertical acceleration and vertical force measured at the seat) varied with shock magnitude. The rate of growth of discomfort was similar for acceleration and force, upward and downward shocks, and lower and higher magnitude shocks. The frequency dependence of discomfort from shocks differs from that of sinusoidal vibrations having the same fundamental frequencies. This arises in part from the frequency content of the shock. Frequency weighting W_b in BS 6841:1987 and ISO 2631-1:1997 provided reasonable estimates of the discomfort caused by the shocks investigated in this study.

Practitioner Summary: No single frequency weighting can accurately predict the discomfort caused by mechanical shocks over wide ranges of shock magnitude, but vibration dose values with frequency weighting W_b provide reasonable estimates of discomfort caused by shocks similar to those investigated in this study with peak accelerations well below 1 g.     

Use of pressure insoles to compare in-shoe loading for modern running shoes

The primary objective of this paper was to compare in-shoe loading for different models of running shoe using measurements of force distribution. It was hypothesised that a shoe designed with minimal focus on cushioning would demonstrate significantly higher peak forces and rates of loading than running shoes designed with cushioning midsoles. Loading was compared using in-shoe peak forces for six footwear conditions. It was found that peak rate of loading at the heel provided clear distinctions between shoes. In support of the study hypothesis, the shoe with minimal focus on cushioning had a significantly higher rate of loading than all but one of the other test shoes. Data collected for midfoot and forefoot areas of the foot highlighted the importance of considering loading across the foot surface. The results of the present study demonstrate that pressure insoles provide a useful tool for the assessment of loading across the foot plantar surface for different footwear conditions. There are numerous models of running shoe for individuals to select from, with limited information available regarding the performance of the shoes during running. The current study demonstrates differences in loads across the foot plantar surface during running, indicating differences in performance for different footwear models.