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On kinematics of a parallel robot used for the minimally invasive surgery

PAMM 2008年第1期7卷

作者： N. Plitea D. Pisla C. Vaida Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures. The paper presents the kinematics of an innovative parallel structure for the manipulation of surgical instruments in minimally invasive surgery. The parallel architecture has been chosen for its superiority in precision, repeatability, stiffness, higher speeds and occupied volume. The equations, which model the kinematics are pointed out for this robot based on its mathematically determined functional parameters. The results of the kinematical modeling are systematically presented and lead to the facile solving of the parallel structure. Some simulation results have been presented. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Responses Study of the Seated Human Body Exposed to Vertical Vibration in Various Automotive Postures

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PAMM 2011年第1期11卷

作者： Simona Rodean Mariana Arghir Claudiu Paul Rodean Cristian George Rodean Department of Mechanics and Computer Programming Technical University of Cluj-NapocaRomania Mariana Arghir phone +00 40 264 401 657 Simona Rodean phone +00 40 264 401 612 Technical University of Cluj-Napoca Romania

In a seated posture into an autovehicle, humans are most sensitive to whole-body vibrations under low-frequency excitation. This research is focused only on the effect of the backrest angle on the biodynamic response functions. In this paper there are present the results of investigations for 10 participants, whose mean body mass was 61.4 kg. For the biodynamic responses of a seated human body subjected to vertical vibrations, three automotive postures was study: without backrest support, with backrest inclined 7° and respectively 15°, by measurement of transmitted vibration in two different situations: with belt and respectively without this. Knowledge of human responses to vibration provides information about the position of backrest support to mitigate vibration transmitted through the body ensuring the health, comfort and performance. (© 2011 Wiley-VCH Verlag GmbH & Co. KGaA, Weinheim)

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A Model Predictive Control Algorithm Applied To Non-Linear Processes

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PAMM 2007年第1期6卷

作者： Radu Balan Vistrian Maties Olimpiu Hancu Sergiu Stan Technical University of Cluj-Napoca Department of Mechatronics C. Daicoviciu no. 15 400020 Cluj-Napoca Romania TU of Cluj-Napoca Dpt. of Mechanics and Computer Programming C. Daicoviciu no. 15 400020 Cluj-Napoca Romania

Model predictive control (MPC) is an optimization-based approach that has been successfully applied to a wide variety of control problems. In most of nonlinear strategies, the controllers are based on linear models with fixed parameters so that the vast body of linear control theory can be applied. Other solutions include the use of a nonlinear analytical model, combinations of linear empirical models, etc. This paper presents an MPC algorithm which uses on-line simulation and rule-based control. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Optimal Design of 2 DOF Parallel Kinematics Machines

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PAMM 2007年第1期6卷

作者： Sergiu-Dan Stan Vistrian Maties Radu Balan TU of Cluj-Napoca Dept. of Mechanics and Computer Programming C. Daicoviciu no. 15 400020 Cluj-Napoca Romania Technical University of Cluj-Napoca Department of Mechatronics C. Daicoviciu no. 15 400020 Cluj-Napoca Romania

The aim of this paper is to show the usefulness of the multicriteria approach to optimize the Parallel Kinematic Machines (PKM). Variations of the kinematic performances index remain not constant throughout workspace. Aiming to deal at the same time with multiple criteria in optimal design of PKM, we have developed a Multi-Objective Genetic Algorithm (MOGA) using concepts of Pareto optimality and niching techniques. The obtained results have shown that the use of MOGA in such kind of optimization problem enhances the quality of the optimization outcome, providing a better and more realistic support for the decision maker. (© 2006 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Graphical simulation of a new concept of low sized surgical parallel robot for camera guidance in minimally invasive surgery

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PAMM 2008年第1期7卷

作者： C. Vaida D. Pisla N. Plitea Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Phone: +00 40 264 401655 Fax: +00 40 264 415676

Robotic systems have been developed in every field where a further progress was constricted due to the human limitations in terms of speed, precision, fatigue, repeatability, strength, safety etc. One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures which aim the treatment of a disease with minimum damage to healthy tissue and suffering for the patient [1], [2]. The paper presents a complex simulation system used for the study of the characteristics of a new low sized parallel robot used for minimally invasive surgery (MIS). (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Studies Regarding the Alternate Simulation Techniques for Machine Toolsand Industrial Robots

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PAMM 2004年第1期4卷

作者： A. Pisla D. Pisla Department for Machine Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

In the paper are presented results regarding the design, simulation and testing of some robotized structures with parallel kinematics in order to identify appropriate simulation techniques and to reveal the properties of particular studied characteristics. The paper is structured in three parts: introduction regarding the tasks of the simulations techniques and the developed applications, comparison of the results obtained in simulations, considering the working space modelling accuracy and the speed of workspace identification and the last part conclusions. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

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PAMM 2004年第1期4卷

作者： D. Pisla A. Pisla Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Department for Machine Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

In this paper, a new simulation program for the workspace analysis of parallel robots is presented. The system consists of modules, which enable a complex study of the parallel structures. A special method for generating the workspace of the parallel structures is used. The simulation program offers the possibility to generate automatically the virtual model of the parallel robot using the facilities of a 3D modeling software. The structure geometric parameters, which could be modified within the modeling software, influence the simulation environment. These facilities enable to establish the relationships between the workspace shape, elements links and geometrical parameters of the structure. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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New development of parallel robots and microrobots with three, four and five degrees of freedom

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PAMM 2008年第1期7卷

作者： N. Plitea A. Vidrean D. Pisla A. Pisla C. Vaida Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Department for Machine-Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401762 Fax: +00 40 264 430461

All over the world it can be noticed that product miniaturisation is a central theme in product development for different application areas. In robotics scientific research, one of the most important approaches is concerning the increase of the positioning accuracy by the use of parallel structures [3], [4], [5]. In this paper some variants of parallel robots and micro-robots with three, four and five degrees of freedom are presented, which are used for manipulation within high precision assembling processes. The corresponding kinematic models have been developed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Correction to: A new cognitive clock matching phenotypic and epigenetic ages

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Translational psychiatry 2022年第1期12卷 452页

作者： M I Krivonosov E V Kondakova N A Bulanov S A Polevaya C Franceschi M V Ivanchenko M V Vedunova Institute of Biology and Biomedicine Department of Neurotechnology N. I. Lobachevsky State University Nizhny Novgorod Russia. krivonosov@itmm.unn.ru. Institute of Information Technology Mathematics and Mechanics Department of Applied Mathematics N. I. Lobachevsky State University Nizhny Novgorod Russia. krivonosov@itmm.unn.ru. Research Center for Trusted Artificial Intelligence The Ivannikov Institute for System Programming of the Russian Academy of Sciences Moscow 109004 Russia. krivonosov@itmm.unn.ru. Research Center for Trusted Artificial Intelligence The Ivannikov Institute for System Programming of the Russian Academy of Sciences Moscow 109004 Russia. Institute of Biology and Biomedicine Department of Basic and Medical Genetics N. I. Lobachevsky State University Nizhny Novgorod Russia. Faculty of Computer Science School of Data Analysis and Artificial Intelligence HSE University Moscow Russia. Faculty of Social Sciences Department of Psychophysiology N. I. Lobachevsky State University Nizhny Novgorod Russia. Institute of Information Technology Mathematics and Mechanics Department of Applied Mathematics N. I. Lobachevsky State University Nizhny Novgorod Russia. Department of Experimental Diagnostic and Specialty Medicine (DIMES) University of Bologna Bologna Italy.

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On-pump modular systemfor automated adjustment and control for axial piston pumps

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PAMM 2008年第1期7卷

作者： L. Vaida L. Nascutiu C. Vaida D. Pisla T. Itul A. Pisla Department of Thermal Machines and Equipment TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401685 Fax: +00 40 264 415490 Department of Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Phone: +00 40 264 401758 Fax: +00 40 264 415676 Department of Machine-Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401762 Fax: +00 40 264 430461

Axial piston pumps are the most widely used pumps in hydraulic actuation systems. Their technical characteristics make them the best option for most applications starting from industrial machine tools, up to mobile equipments. Thus, the optimization of their functional parameters and their control within the system is of great importance [1], [4]. The paper presents the construction of a modular measuring and control head (developed by the authors) mounted directly on the pump which ensures the automated achievement of any type of control: flow, pressure, power or their combinations. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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