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Optimum design of a parallel robot using neuro-genetic algorithm
Erick García López,Wen Yu,Xiaoou Li 대한기계학회 2021 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.35 No.1
There are some advantages of parallel robots over serial ones, such as strong structure, big payload ratio with respect to the weight, and good dynamic response. The disadvantages of the parallel robots are the difficulty of solving the forward kinematics and the limited workspace. We apply the advantages of both neural networks and genetic algorithm, for the parallel robot design. With these two methods, we solve the problems of the maximum workspace and the forward kinematics. The design method we proposed in this paper uses the optimum algorithms such that the workspace volume of the robot is maximum. We successfully applied this method to the Stewart platform.
Paola A. Escalante Abril,Miguel Fdo. Salazar,Nubia L. López García,Mónica N. Madrazo Moya,Yadir U. Zamora Guerra,Yadira Gandhi Mata Mendoza,Erick Gómez Apo,Laura G. Chávez Macías 대한병리학회 2015 Journal of Pathology and Translational Medicine Vol.49 No.6
We report a 50-year-old woman with no relevant clinical history who presented with headache and loss of memory. Magnetic resonance imaging showed a left parieto-temporal mass with annular enhancement after contrast media administration, rendering a radiological diagnosis of high-grade astrocytic neoplasm. Tumour sampling was performed but the patient ultimately died as a result of disease. Microscopically, the lesion had areas of glioblastoma mixed with a benign mesenchymal constituent; the former showed hypercellularity, endothelial proliferation, high mitotic activity and necrosis, while the latter showed fascicles of long spindle cells surrounded by collagen and reticulin fibers. With approximately 40 previously reported cases, gliofibroma is a rare neoplasm defined as either glio-desmoplastic or glial/benign mesenchymal. As shown in our case, its prognosis is apparently determined by the degree of anaplasia of the glial component.
Miguel Fdo. Salazar,Paola A. Escalante Abril,Nubia L. López García,Mónica N. Madrazo Moya,Yadir U. Zamora Guerra,Yadira Gandhi Mata Mendoza,Erick Gómez Apo,Laura G. Chávez Macías 대한병리학회 2015 Journal of Pathology and Translational Medicine Vol.49 No.4
We report a 50-year-old woman with no relevant clinical history who presented with headache and loss of memory. Magnetic resonance imaging showed a left parieto-temporal mass with annular enhancement after contrast media administration, rendering a radiological diagnosis of high-grade astrocytic neoplasm. Tumour sampling was performed but the patient ultimately died as a result of disease. Microscopically, the lesion had areas of glioblastoma mixed with a benign mesenchymal constituent; the former showed hypercellularity, endothelial proliferation, high mitotic activity and necrosis, while the latter showed fascicles of long spindle cells surrounded by collagen and reticulin fibers. With approximately 40 previously reported cases, gliofibroma is a rare neoplasm defined as either glio-desmoplastic or glial/benign mesenchymal. As shown in our case, its prognosis is apparently determined by the degree of anaplasia of the glial component.