Contribution to the optimization of closed-loop multibody systems: Application to parallel manipulators

peer reviewedThis paper describes an original and robust method to optimize the design of closed-loop mechanisms, especially parallel manipulators. These mechanisms involve non linear assembling constraints. During optimization, the Newton-Raphson algorithm we use to solve these constraints may fail when the Jacobian matrix of the constraints is ill-conditioned and stops the redesign process. To circumvent the difficulty, the technique we propose takes advantage of numerical conditioning to penalize the objective function. Applications to an academic example and parallel robots demonstrate the capabilities of the methodology

Characterization and plasticity of human fetal-derived cartilage cells: implications for skeletal tissue regeneration

Abstract of paper from TCES (Tissue and Cell Engineering Society) meeting in 2005. The ability of the skin to extend and recoil is mediated by an elastic fibre network comprising elastin molecules deposited on a microfibrillar scaffold. Studies have demonstrated reduced tensile strength in scar tissue following cutaneous wounding, possibly due to decreased amounts of elastic fibres1. The dermal component of artificial skin substitutes also lacks an organised elastic fibre network, which may contribute to excessive contraction and scarring post-grafting. This study aimed to document the temporal and spatial distribution of elastic fibres following incisional and excisional cutaneous wounding in mice