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  • Digitale Medien  (2)
  • 1995-1999  (2)
  • Dentate  (1)
  • Inverse kinematics  (1)
  • 1
    ISSN: 1432-0533
    Schlagwort(e): Key words Amyotrophic lateral sclerosis ; Dentate ; nucleus ; Multiple system degeneration ; Respirator ; Substantia nigra
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Medizin
    Notizen: Abstract This report concerns an autopsy case of amyotrophic lateral sclerosis (ALS) with unusual clinical and neuropathological findings. The patient was a Japanese man without hereditary burden who was 49 years old at the time of death. His clinical manifestation included dysarthria at age 48, followed by dysphagia, atrophy and fasciculation of the tongue, muscle weakness in the four extremities, tremor, rigidity, increased deep tendon reflexes in the upper and lower extremities, and incoordination of the four extremities. He died of respiratory failure 12 months after the disease onset. No respirator administration was performed throughout the clinical course. The neuropathological examination revealed not only degeneration of upper and lower motor neuron systems, including the presence of Bunina bodies and ubiquitin-immunoreactive neuronal inclusions in the lower motor neurons, but also prominent degeneration of the substantia nigra and dentate nucleus with slight neuronal loss in the locus ceruleus and pontine nucleus. To our knowledge, this is the first reported case of sporadic ALS without dementia and respirator support, showing degeneration of the substantia nigra and dentate nucleus. This report may contribute to the resolution of the question concerning the neuropathological heterogeneity of sporadic ALS with respiratory support.
    Materialart: Digitale Medien
    Bibliothek Standort Signatur Band/Heft/Jahr Verfügbarkeit
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  • 2
    Digitale Medien
    Digitale Medien
    Springer
    Artificial life and robotics 3 (1999), S. 55-60 
    ISSN: 1614-7456
    Schlagwort(e): Biped locomotion ; Optimal motion ; Inverse kinematics ; Inverse dynamics
    Quelle: Springer Online Journal Archives 1860-2000
    Thema: Informatik
    Notizen: Abstract In this paper we propose a calculation method for the optimal trajectory of a biped locomotion machine which is based on inverse kinematics and inverse dynamics. First, the trajectory of the waist is expressed by a Fourier series, where the bases are selected appropriately so that the periodic boundary conditions are strictly satisfied. A biped locomotion machine establishes optimal walking by using kicking forces to the ground at the moment of switching legs. In order to include the effecs of the kicking forces, additional terms that indicate the impulsive forces at the moment of switching legs are included in the formulation. Then the angles of each joint are determined by inverse kinematics, and using inverse dynamics, the input torques of each joint are expressed in terms of Fourier coefficients. By defining the performance index as a quadratic form of the input torques, the motion planning problem is formulated as an optimization problem of the trajectory of the waist, whose paramaters are Fourier coefficients of the trajactory of the waist. Using the successive quadratic programming (SQP) method, the optimal trajectory of a biped locomotion machine is obtained.
    Materialart: Digitale Medien
    Bibliothek Standort Signatur Band/Heft/Jahr Verfügbarkeit
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