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Capps, Ryan Anthony. "Fatigue Characteristics of Pressurized Artificial Muscles". Thesis, Virginia Tech, 2014. http://hdl.handle.net/10919/49702.
Pełny tekst źródłaMaster of Science
Klute, Glenn K. "Artificial muscles : actuators for biorobotic systems /". Thesis, Connect to this title online; UW restricted, 1999. http://hdl.handle.net/1773/8058.
Pełny tekst źródłaSwamy, Amit. "Development of laboratory spine with artificial muscles". Thesis, University of Hull, 2007. http://hydra.hull.ac.uk/resources/hull:780.
Pełny tekst źródłaOdhner, Lael Ulam 1980. "Stochastic recruitment strategies for controlling artificial muscles". Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/55257.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (p. 171-176).
This thesis presents a new architecture for controlling active material actuators inspired by biological motor recruitment. An active material is broken down into many small fibers and grouped together to form one large actuator. Each of these fibers is held in a binary state, either relaxed or contracted, using a small local controller which responds to a broadcast input signal from a central controller. The output force and displacement of the actuator is a function of the number of contracted fibers at any point in time. This architecture enables the creation of large-scale, controllable actuators from highly non-linear active materials. The key innovation enabling the central controller to coordinate the behavior of very many small identical units is to randomize the behavior of each unit. This thesis explains how a collection of active material motor units responding in a random, uncorrelated fashion to broadcast commands will exhibit a predictable response that can be stabilized with feedback control and observed using a Kalman filter. Various control strategies will be presented and discussed, including open-loop plant behavior, linear feedback, optimal control, and model-based look-ahead control. Performance metrics such as accuracy and convergence time will be analyzed using dynamic programming and other control techniques. Parallels will also be discussed between this control problem and similar control problems in the field of swarm robotics.
(cont.) The stochastic, recruitment-like actuator architecture is demonstrated in shape memory alloy actuators, each composed of 60 individual elements, having a displacement of over 20 mm and a peak force of over 100 N. Control of displacement, isometric force and stiffness are demonstrated using the observer-controller framework. Two actuators are used in an antagonistic fashion to control the stiffness and position of a 1-DOF arm joint.
by Lael Ulam Odhner.
Sc.D.
Kingsley, Daniel A. "A COCKROACH INSPIRED ROBOT WITH ARTIFICIAL MUSCLES". Case Western Reserve University School of Graduate Studies / OhioLINK, 2004. http://rave.ohiolink.edu/etdc/view?acc_num=case1094932214.
Pełny tekst źródłaStubbs, Laura Kate. "The development of artificial muscles using textile structures". Thesis, University of Manchester, 2011. https://www.research.manchester.ac.uk/portal/en/theses/the-development-of-artificial-muscles-using-textile-structures(24551192-f3a6-476d-a446-8dc2abbcb71a).html.
Pełny tekst źródłaChandrapal, Mervin. "Intelligent Assistive Knee Orthotic Device Utilizing Pneumatic Artificial Muscles". Thesis, University of Canterbury. Mechanical Engineering, 2012. http://hdl.handle.net/10092/7475.
Pełny tekst źródłaLoccisano, Anthony. "Online Variable Recruitment for Pneumatic Artificial Muscles with Springs". Thesis, KTH, Mekatronik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279666.
Pełny tekst źródłaPneumatiska artificiella muskler (PAM) har fått uppmärksamhet inom området för mjuk robotik för deras höga effekt-/viktförhållande, låga tillverkningskostnader, låg vikt och relativt enkla att implementera. Detta gör dem till bra kandidater för exoskelett. Ett område inom ny forskning innefattar variabel rekrytering, en process där man successivt aktiverar enskilda PAM i ett system bestående av flera sådana, för att förbättra den totala systemeffektiviteten. Medan några simulerings- och kvasistatiska studier existerar, har väldigt lite forskning undersökt realtidskoppling med ett fysiskt system. I de kvasistatiska studierna har knäckningen av ickeaktiverade PAM: er varit en konsekvent fråga. I detta projekt är en uppsättning av sex parallella PAM-serier anslutna seriellt till enskilda fjädrar för att förhindra att icke-aktiverade PAM-skivor knäcks under sammandragning. Systemet körs genom både en "batch-" och en "orderly-"openloop-rekryteringscykel för att bättre förstå övergångseffekter och energiförbrukning. Det visade sig att batchmetoden använder mer energi och är mer benägen att påverkas av att störningar under övergångar. Fjädrarna förhindrar dock knäckning på bekostnad av individuell rekryteringsnivå. Rekommendationer för att implementera omkopplingsstrategierna och hur man använder fjädrar ges.
Choi, Jongung. "LOCOMOTION CONTROL EXPERIMENTS IN COCKROACH ROBOT WITH ARTIFICIAL MUSCLES". Case Western Reserve University School of Graduate Studies / OhioLINK, 2005. http://rave.ohiolink.edu/etdc/view?acc_num=case1117207152.
Pełny tekst źródłaShedd, Brian Ethan. "Multifunctional composites for data storage, artificial muscles, and microstructures". Diss., Restricted to subscribing institutions, 2008. http://proquest.umi.com/pqdweb?did=1779690431&sid=15&Fmt=2&clientId=48051&RQT=309&VName=PQD.
Pełny tekst źródłaMirvakili, Seyed M. (Seyed Mohammad). "High performance materials for artificial muscles and energy storage devices". Thesis, Massachusetts Institute of Technology, 2017. http://hdl.handle.net/1721.1/111738.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references.
Artificial muscles (i.e., stimuli-responsive materials) are muscle-like materials and devices that mimic muscle's functionality (e.g., contraction, rotation, and bending) in different aspects. Some of the common performance metrics used for evaluating artificial muscles are cycle life, gravimetric/volumetric energy and/or power density, efficiency, cost, and controllability of muscle. Having a good combination of these performance metrics is very desirable and an active field of research. Many of the state-of-the-art designs are made from some exotic materials such as carbon nanotubes and metal nanowires which are not yet commercially available; here, new designs are proposed which their performance favorably compares to those of the rival materials and yet made of readily available materials. In addition to artificial muscles, designs for fast charging micro-supercapacitors are also proposed. Fast charging energy storage devices such as supercapacitors have applications in different industries ranging from automobile to telecommunication. Cellphones, for example, use fast charging micro-supercapacitors in their GSM/GPRS modulus to generate high current pulses for signal transmission purposes. The current technologies, such as tantalum/niobium oxide micro-supercapacitors are evolving around enhancing the energy and power density by increasing the specific capacitance and operating voltage. Yet, increasing the specific capacitance is still a major challenge. In this thesis, aside from discrete component geometry, flexible (e.g., yam-based) supercapacitors have various applications from flexible circuits to wearable devices. Design and fabrication of high performance supercapacitors by utilizing metal nanowires (e.g., niobium nanowires) in both forms (i.e., flexible and solid/rigid devices) are investigated as well.
by Seyed M. Mirvakili.
Ph. D.
Tadesse, Yonas Tegegn. "Creating Human-Like Facial Expressions Utilizing Artificial Muscles and Skin". Diss., Virginia Tech, 2009. http://hdl.handle.net/10919/30159.
Pełny tekst źródłaPh. D.
Mudigonda, Ashwin. "Static and Dynamic Characterization of Ionic Polymer Metal Composites - 'Artificial Muscles'". Ohio : Ohio University, 2006. http://www.ohiolink.edu/etd/view.cgi?ohiou1142538201.
Pełny tekst źródłaASSIS, PEDRO FERREIRA DA COSTA BLOIS DE. "CHARACTERIZATION OF ACTUATORS BASED ON POLYMERIC ARTIFICIAL MUSCLES WITH CAPACITIVE EFFECT". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2007. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=11510@1.
Pełny tekst źródłaÉ notória a necessidade de encontrar novas tecnologias para atuação de sistemas robóticos tão eficazes quanto a do músculo natural. Os atuadores tradicionais possuem grande agilidade e força quando comparados aos músculos naturais, mas suas dimensões e peso são elevados em relação à força que são capazes de exercer, e demandam muita energia para cumprirem suas tarefas. Manipuladores robóticos menores e mais baratos poderiam existir se pudessem utilizar músculos naturais para impulsioná-los. Ao mesmo tempo, as indústrias gastariam menos com os custos envolvidos em energia e compra desses manipuladores. Este trabalho estuda o comportamento de músculos artificiais baseados no polímero acrílico VHB4905, através da construção de uma bancada de teste com sensor de força, incluindo especificação de todos os equipamentos e o desenvolvimento de circuitos de alta tensão (até 10kV) para acioná-los. Durante o desenvolvimento e implementação do circuito foram encontrados problemas intrínsecos à manipulação de tensões da ordem de vários kV. Esses problemas foram apontados e soluções satisfatórias foram implementadas, de forma a tornar os experimentos possíveis. Modelos matemáticos de algumas das principais configurações possíveis para atuadores foram desenvolvidos. Os modelos desenvolvidos para uma das configurações típicas foram comparados com resultados experimentais com um erro máximo absoluto de 1% (26,7mN) do valor real. Experimentos em atuadores de molduras fixas foram feitos com resultados de 223% de deformação da região ativa, com desempenho muito superior ao dos músculos naturais. A partir de um dos modelos desenvolvidos, implementou-se um controlador PID compensado que gerou melhores resultados a entradas em degrau que o PID padrão, o qual não leva em consideração a não linearidade e a alta sensibilidade do atuador quando submetido a tensões próximas da tensão de quebra do dielétrico. A eficácia da técnica de controle proposta foi comprovada experimentalmente.
It is well known the needs of finding new technologies for robotic systems actuations, with the same efficiency of the natural muscles. The common actuators have better agility and force when compared to natural muscles, but the dimensions and weight are bigger and for that the demand of energy necessary for the actuation is higher. Smaller and cheaper robot manipulators could exist if they were able to use natural muscles to drive them. At the same time, industries would spend less money with energy and manipulators. This work studies the behavior of artificial muscles based on dielectric elastomers (VHB4905) through the development of a test bench with force transducer, including the specification of all the equipments and the development of a high voltage circuit (10kV maximum). During the development and implementation of the circuit, problems inherent to high voltage manipulation were found. Those problems were shown and tolerable solutions were taken, so that the experiments were feasible. Mathematic models of some of the main configurations for actuators were developed. One of those models (from a typical configuration) was compared with experimental results with a maximum absolute error of 1% (26.7mN) of the real value. Experiments with fixed frame actuators were made with 223% of strain, showing a much higher performance compared to natural muscles. With one of the mathematic models, a PID controller with adjustable gains was developed and presented better results, for a step response, when compared to a standard PID controller. This last one do not take into account the non-linearities and for that it behaviors with great sensibility when subjected to high voltages (close to dielectric breakdown). The effectiveness of the proposed control technique was proved experimentally.
Price, Aaron David. "Biologically inspired dexterous robot hand actuated by smart material based artificial muscles". Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27409.
Pełny tekst źródłaRAMOS, JOAO LUIZ ALMEIDA DE SOUZA. "TORQUE CONTROL OF AN EXOSKELETON ACTUATED BY PNEUMATIC ARTIFICIAL MUSCLES USING ELECTROMYOGRAPHIC SIGNALS". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2013. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=22293@1.
Pełny tekst źródłaCONSELHO NACIONAL DE DESENVOLVIMENTO CIENTÍFICO E TECNOLÓGICO
A robótica aplicada à reabilitação e amplificação humana está em uma fase iminente de se tornar parte de nossa vida diária. A justaposição da capacidade de controle humana e o poder mecânico desenvolvido pelas máquinas oferecem uma promissora solução para auxílio físico e de amplificação humana. O presente trabalho apresenta um exoesqueleto ativo para membros superiores controlado por uma alternativa e simples Interface Homem-Máquina (HMI) que utiliza o Modelo Muscular de Hill para aumentar a força e resistência mecânica do usuário. Músculos Pneumáticos Artificiais (PAM) são utilizados como atuadores por sua alta razão entre potência e peso e atuam o sistema através de um esquema com cabos de aço. Algoritmos Genéticos (GA) aproximam localmente os parâmetros do modelo matemático do atuador e o modelo fisiológico do músculo, que utiliza sinais eletromiográficos superficiais (sEMG) para estimar o torque na articulação do exoesqueleto. A metodologia proposta oferece três vantagens principais: (i) reduz o número de eletrodos necessários para monitorar a atividade muscular, (ii) elimina a necessidade de transdutores de força ou pressão entre o exoesqueleto e o usuário ou o ambiente e (iii) reduz o custo de processamento em tempo-real, necessário para implementações de sistemas embarcados. O exoesqueleto é restrito ao membro superior direito e a estratégia de controle é avaliada verificando o desempenho do usuário ao manipular uma carga de 3.1kg estática e dinamicamente com e sem o auxílio do equipamento assistivo.
Robotics for rehabilitation and human amplification is imminent to become part of our daily life. The juxtaposition of human control capability and machine mechanical power offers a promising solution for human assistance and physical enhancement. This work presents an upper limb active exoskeleton controlled by an alternative and simple Human-Machine Interface (HMI) that uses a Hill Muscle Model for strength and endurance amplification. Pneumatic Artificial Muscles (PAM) are used as actuators for its high power-to-weight ratio and to drive the system through a cable arrangement. Genetic Algorithms (GA) approach locally optimizes the model parameters for the actuator mathematical model and the physiologic muscle model that uses the surface electromyography (sEMG) to estimate the exoskeleton joint torque. The proposed methodology offers three main advantages: (i) it reduces the number of electrodes needed to monitor the muscles, (ii) it eliminates the need for user force or pressure sensoring, and (iii) it reduces the real-time processing effort which is necessary for embedded implementation and portability. The exoskeleton is restricted to the right upper limb and the control methodology is validated evaluating the user performance while dynamically and statically handling a 3.1kg payload with and without the aid of the assistive device.
Obiajulu, Steven (Steven C. ). "Soft pneumatic artificial muscles with low threshold pressures for a cardiac compression device". Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/83730.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (pages 45-47).
In this paper, I present the design, fabrication and characterization of fully soft pneumatic artificial muscles (PAMs) with low threshold pressures that are intended for direct cardiac compression (DCC). McKibben type PAMs typically have a threshold pressure of at least lOOkPa and require rigid end fittings which may damage soft tissue and cause local stress concentrations, and thus failure points in the actuator. The actuator design I present is a variant on the McKibben PAM with the following key differences: the nylon mesh is embedded in the elastomeric tube, and closure of the end of the tube is achieved without rigid ends. The actuators were tested to investigate the effects of mesh geometry and elastomer material on force output, contraction, and rise time. Lower initial braid angles and softer elastomer materials provided the best force, contraction, and rise times; Up to 50N of force, 24% contraction, and response times of 0.05s were achieved at 100kPa. The actuators exhibited low threshold pressures (<5kPa) and high rupture pressures (138kPa - 720kPa) which suggest safe operation for the DCC application. These results demonstrate that the actuators can achieve forces, displacements, and rise times suitable to assist with cardiac function.
by Steven Obiajulu.
S.B.
Sundar, Kartik. "The importance of muscle mechanics during movement". Diss., Atlanta, Ga. : Georgia Institute of Technology, 2009. http://hdl.handle.net/1853/28137.
Pełny tekst źródłaCommittee Chair: DeWeerth, Stephen P.; Committee Co-Chair: Ting, Lena H.; Committee Member: Burkholder, Thomas J.; Committee Member: Nichols, T. Richard; Committee Member: Tresch, Matthew C.
Bambeck, Timothy J. "A computer controlled data acquisition and control system for a shape-memory alloy artificial muscle". Ohio : Ohio University, 1993. http://www.ohiolink.edu/etd/view.cgi?ohiou1174935244.
Pełny tekst źródłaLOPEZ, ROCEM POL JIMENEZ. "DEVELOPMENT OF THREE-DIMENSIONAL ACTUATORS BASED ON DIELECTRIC ARTIFICIAL MUSCLES OF ONE OR MULTIPLE LAYERS". PONTIFÍCIA UNIVERSIDADE CATÓLICA DO RIO DE JANEIRO, 2009. http://www.maxwell.vrac.puc-rio.br/Busca_etds.php?strSecao=resultado&nrSeq=14603@1.
Pełny tekst źródłaFUNDAÇÃO DE APOIO À PESQUISA DO ESTADO DO RIO DE JANEIRO
Músculos artificiais são versáteis para o projeto de atuadores pois, assim como os músculos naturais, podem ter pequenas dimensões ou serem agrupados para alcançar maiores dimensões. A capacidade do músculo de permitir a construção de atuadores sem partes móveis permite uma grande economia de energia, evitando atritos por deslizamento, menor desgaste, e baixos ruídos.Músculos artificiais são usados para desenvolver atuadores contínuos ou binários, utilizando diversos tipos de configurações para aproveitar ao máximo as vantagens que oferecem estes materiais. Músculos artificiais eletrostrictivos, acionados por altas tensões, já estão sendo utilizados em aplicações comerciais. Circuitos eletrônicos estão sendo projetados para trabalhar com altas tensões elétricas e interagir com estes tipos de músculos. Diversos tipos de material estão sendo avaliados para a implementação destes músculos.Este trabalho visa desenvolver um atuador de configuração cilíndrica de acionamento elétrico, por efeito capacitivo. O atuador é acionado por 3 músculos artificiais em configuração paralela, construídos a partir do elastômero acrílico VHB4905, o qual possui características visco-elásticas e baixo custo de produção. São analisados distintos modelos constitutivos dos músculos, baseados em molas e amortecedores em série e em paralelo.São desenvolvidos métodos de calibragem para calcular os parâmetros dos modelos matemáticos dos músculos a partir de dados obtidos em laboratório. Um método de medição baseado em processamento de imagens e teoria de visão estéreo, desenvolvido especificamente para este trabalho, permite que a posição da extremidade do atuador seja medida de forma não-invasiva, sem interferir em seu movimento, e sem a necessidade de colocar sensores ou instrumentos de medição. Os resultados mostram que os modelos matemáticos são eficientes para descrever o comportamento do atuador.
Artificial muscles are versatile for the actuator projects, because, as well as the natural muscles, they can have small dimensions or they are grouped to obtain big dimensions. Muscle capacity to allow construction of actuators without movable parts allows great economy of energy, avoiding attritions for sliding, lessening waste, and reducing noise.Artificial muscles are used to develop continuous or binary actuators, using different types of configurations to take advantage to the benefit that offer these materials. Eletrostrictive artificial muscles, worked by high tensions, are already being used in commercial applications. Electronic circuits are being projected to work with high electric tensions and to interact with these types of muscles. Many types of materials are being evaluated for the implementation of these muscles.This work looks for to develop a cylindrical configuration actuator of electric activation, for capacitive effect. The actuator is activated by 3 artificial muscles in parallel configuration, built starting from the acrylic elastomer VHB4905, which possesses viscouselastic characteristics and low production cost. Different models of the muscles are analyzed, based on springs and shock absorbers in series and parallel.Calibrate methods are developed to calculate parameters of the mathematical models of the muscles starting from data obtained at laboratory. Measurement method based on processing of images and theory of stereo vision, specifically developed for this work, allows no-invasive measurement of the actuator’s extremity, without interfering in actuator’s movement, and without the need to put sensor or measurement instruments. The results show that mathematical models are efficient to describe the behavior of the actuator.
Simaite, Aiva. "Development of ionic electroactive actuators with improved interfacial adhesion : towards the fabrication of inkjet printable artificial muscles". Thesis, Toulouse, INSA, 2015. http://www.theses.fr/2015ISAT0043/document.
Pełny tekst źródłaOnic electroactive polymer based artificial muscles are promising alternative to traditional actuators, especially where compliant muscle-like response is desirable. Among them, conducting polymer actuators (CPAs) are most promising for biomedical applications, where biocompatibility, compactness and accurate positioning is essential. Nevertheless, development of applicable devices is hold down by their low efficiency and fast performance deterioration. The absence of a tactile, force or position feed-back is another feature limiting the development of functional devices. The goal of this thesis is to develop a fabrication technique for conducting polymer based actuators that could be up-scalable and enable facile integration of sensory feedback. Inkjet printing is key technology in the field of defined polymer deposition as well as in fabrication of strain sensors. It is also one of the most promising alternatives to prevalent fabrication of conducting polymer actuators. Nevertheless, inkjet printed actuators were not yet realized due to rheological properties of conducting polymer solutions that challenge jetting and the complex solution - membrane interactions, that lead to poor adhesion or uncontrolled infiltration. In order to enable this fabrication method, hybrid ion-storing membranes were developed. Argon plasma induced grafting-to of hydrophilic macromonomer with limited-indepth deposition was used to obtain polyvinylidene fluoride (PVDF) membranes with hydrophilic upper surfaces and hydrophobic centre. Functionalized PVDF membranes were shown to withhold good adhesion to the conducting polymer films and preserve electrically insulating layer in between them. Hybrid membranes were demonstrated to be advantageous in fabrication of CPAs by drop casting and enable production of actuators with various morphologies. Furthermore, fabricated poly(3,4-ethylenedioxythiophene) polystyrene sulfonate (PEDOT:PSS) based actuators demonstrated long lifetime with no signs of delamination as well as large strain of more than 0.6%. In addition, the complex nature of the physico-chemical mechanisms of the interactions between the polymer film and the porous membrane was better understood during this work. The conditions necessary in order to ensure strong adhesion as well as circumstances leading to uncontrolled infiltration were partially identified. These were used to set up limits to membrane preparation and polymer solution composition. Combining obtained knowledge with known requirements for inkjet printable solutions lead to the realization of the first inkjet printed PEDOT:PSS based ionic actuators
Yang, Hee Doo. "Modeling and Analysis of a Novel Pneumatic Artificial Muscle and Pneumatic Arm Exoskeleton". Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/78284.
Pełny tekst źródłaMaster of Science
Davidson, S. Naomi (Sarah Naomi). "Development of conducting polymer based biomimetic muscles and fabrication techniques for an artificial pectoral fish fin". Thesis, Massachusetts Institute of Technology, 2005. http://hdl.handle.net/1721.1/32362.
Pełny tekst źródłaIncludes bibliographical references.
Fish possess a greater degree of agility, maneuverability, and energy efficiency over current underwater vehicles constructed by engineers. Kinematics studies show that a high degree of three-dimensional control of multiple active surfaces distributed around an undersea vehicle's center of mass is critical to achieve fish-like superior performance. However, current technology has yet to exploit the use of actively controlled surfaces for underwater locomotion. Major obstacles limiting effectively achieving designs capable of active deformations in multiple degrees of freedom lie in the complexity associated with traditional actuators and their associated manufacturing techniques. Conducting polymers possess numerous desirable physical and active properties which make it possible to grow rather than build artificial muscles for an articulated device. Their potential for co-fabrication make it possible to implement simpler more integrated designs as they have been shown to provide all the basic elements required for a Biomimetic robot including: force sensors (analogous to the Golgi organs in tendons), strain sensors (like muscle spindles), structural elements (such as bones, joints, and webbing), and actuators (akin to muscle). Rapid prototyping and molding techniques were used to begin the development of a co-fabrication process for a pectoral fin which will be made from and actuated by conducting polymers. Conducting polymer actuators provide the necessary structural flexibility while exceeding the 800 kN/m² force requirements typical of fish muscle by 40 fold.
(cont.) Maximum speed requirements of 2.1 Hz for swimming speeds up to 1.1 TLs⁻¹ (total body length/s) are attainable at the strains required for metrics of the current artificial fin design.
by S. Naomi Davidson.
S.M.
Wu, Yongxian. "Experimental characterization and modeling of ionic polymer-metal composites as biomimetic actuators, sensors, and artificial muscles /". Diss., Connect to a 24 p. preview or request complete full text in PDF format. Access restricted to UC campuses, 2005. http://wwwlib.umi.com/cr/ucsd/fullcit?p3167842.
Pełny tekst źródłaGomes, Cristiane Faccio. "Avaliação eletromiográfica dos músculos masseter, temporal e bucinador de lactentes em situação de aleitamento natural e artificial /". Botucatu : [s.n.], 2005. http://hdl.handle.net/11449/104692.
Pełny tekst źródłaBanca: Emílio Cezar Mamede Murade
Banca: Luciana Tavares Sebastião
Banca: Maria Teresa Cera Sanches
Resumo: Considerando as especificidades da eletromiografia com eletrodos de captação de superfície na avaliação da atividade muscular e a escassez de trabalhos que demonstrem as diferenças entre as atividades dos músculos responsáveis pela sucção no aleitamento materno, aleitamento por mamadeira e por copo em lactentes, este trabalho tem como objetivos: a) estabelecer um padrão da participação dos músculos masseter, temporal e bucinador no grupo de aleitamento materno com lactentes a termo e sadios e b) mensurar e comparar a atividade muscular dos músculos masseter, temporal e bucinador quando em aleitamento materno, aleitamento por mamadeira e por copo, no que se refere à amplitude e média de contração. Para tanto utiliza-se o estudo transversal, com participação de sessenta lactentes nascidos a termo e sem intercorrências, entre dois e três meses de idade, divididos em três grupos: 1) vinte lactentes em aleitamento materno exclusivo, 2) vinte lactentes em aleitamento misto com uso de mamadeira e 3) vinte lactentes em aleitamento materno exclusivo com uso de copo. Foi realizada eletromiografia com eletrodos de captação de superfície durante a alimentação do lactente. O teste estatístico utilizado foi Krushal-Wallis complementado com as comparações múltiplas entre pares de grupos e todas as discussões foram realizadas no nível de 5% de significância. Verifica-se, inicialmente, que na padronização do grupo de aleitamento materno obtém-se maior participação do músculo temporal, seguido do masseter, ficando o bucinador com menores valores tanto no que se refere à amplitude quanto à média de contração muscular, revelando que, de acordo com a literatura, no aleitamento materno o lactente apresenta condições para o adequado crescimento das estruturas e desenvolvimento das funções... (Resumo completo, clicar acesso eletrônico abaixo)
Abstract: Considering the specificities of electromyography with surface electrodes in evaluation of muscular activity, and the scarcity of studies that would demonstrate the differences between the activities of the muscles responsible for sucking in breastfeeding, bottle feeding and cup feeding in infants, this work aimed to: a) establish a standard of participation of the masseter, temporal and buccinator muscles in the breastfeeding group with infants at term and healthy and b) measure and compare the muscular activity of masseter, temporal and buccinator muscles under breastfeeding, bottle feeding and cup feeding with reference to cycles of sucking and amplitude. For this a transversal study was utilized with participation of sixty newborn infants at term and without complications, aged between two and three months, divided into three groups: 1) twenty lactents under exclusive breastfeeding; 2) twenty lactents under breast and bottle fed and 3) twenty lactents in exclusive breastfeeding with cup use. Electromyography was realized with surface electrodes during infant feeding. The statistical test utilized was Krushal-Wallis complemented with multiple comparisons between pairs of groups and the level of significance of all discussions was 5%. It was verified that, initially, in standard of the breastfeeding group was obtained the greatest participation of the temporal muscle, followed by the masseter and with the buccinator presenting the smallest values for amplitude as much as mean muscular contraction, revealing that, in agreement with the literature, in breastfeeding the lactent presents adequate growth of structures and development of Stomatognathic System. From measuring and comparing results of muscular activity of muscles... (Complete abstract click electronic access below)
Doutor
Gomes, Cristiane Faccio [UNESP]. "Avaliação eletromiográfica dos músculos masseter, temporal e bucinador de lactentes em situação de aleitamento natural e artificial". Universidade Estadual Paulista (UNESP), 2005. http://hdl.handle.net/11449/104692.
Pełny tekst źródłaConsiderando as especificidades da eletromiografia com eletrodos de captação de superfície na avaliação da atividade muscular e a escassez de trabalhos que demonstrem as diferenças entre as atividades dos músculos responsáveis pela sucção no aleitamento materno, aleitamento por mamadeira e por copo em lactentes, este trabalho tem como objetivos: a) estabelecer um padrão da participação dos músculos masseter, temporal e bucinador no grupo de aleitamento materno com lactentes a termo e sadios e b) mensurar e comparar a atividade muscular dos músculos masseter, temporal e bucinador quando em aleitamento materno, aleitamento por mamadeira e por copo, no que se refere à amplitude e média de contração. Para tanto utiliza-se o estudo transversal, com participação de sessenta lactentes nascidos a termo e sem intercorrências, entre dois e três meses de idade, divididos em três grupos: 1) vinte lactentes em aleitamento materno exclusivo, 2) vinte lactentes em aleitamento misto com uso de mamadeira e 3) vinte lactentes em aleitamento materno exclusivo com uso de copo. Foi realizada eletromiografia com eletrodos de captação de superfície durante a alimentação do lactente. O teste estatístico utilizado foi Krushal-Wallis complementado com as comparações múltiplas entre pares de grupos e todas as discussões foram realizadas no nível de 5% de significância. Verifica-se, inicialmente, que na padronização do grupo de aleitamento materno obtém-se maior participação do músculo temporal, seguido do masseter, ficando o bucinador com menores valores tanto no que se refere à amplitude quanto à média de contração muscular, revelando que, de acordo com a literatura, no aleitamento materno o lactente apresenta condições para o adequado crescimento das estruturas e desenvolvimento das funções...
Considering the specificities of electromyography with surface electrodes in evaluation of muscular activity, and the scarcity of studies that would demonstrate the differences between the activities of the muscles responsible for sucking in breastfeeding, bottle feeding and cup feeding in infants, this work aimed to: a) establish a standard of participation of the masseter, temporal and buccinator muscles in the breastfeeding group with infants at term and healthy and b) measure and compare the muscular activity of masseter, temporal and buccinator muscles under breastfeeding, bottle feeding and cup feeding with reference to cycles of sucking and amplitude. For this a transversal study was utilized with participation of sixty newborn infants at term and without complications, aged between two and three months, divided into three groups: 1) twenty lactents under exclusive breastfeeding; 2) twenty lactents under breast and bottle fed and 3) twenty lactents in exclusive breastfeeding with cup use. Electromyography was realized with surface electrodes during infant feeding. The statistical test utilized was Krushal-Wallis complemented with multiple comparisons between pairs of groups and the level of significance of all discussions was 5%. It was verified that, initially, in standard of the breastfeeding group was obtained the greatest participation of the temporal muscle, followed by the masseter and with the buccinator presenting the smallest values for amplitude as much as mean muscular contraction, revealing that, in agreement with the literature, in breastfeeding the lactent presents adequate growth of structures and development of Stomatognathic System. From measuring and comparing results of muscular activity of muscles... (Complete abstract click electronic access below)
Ramirez, Arias José Luis. "Development of an artificial muscle for a soft robotic hand prosthesis". Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100190/document.
Pełny tekst źródłaIn the field of robotic hand prosthesis, the use of smart and soft materials is helpful in improving flexibility, usability, and adaptability of the robots, which simplify daily living activities of prosthesis users. However, regarding the smart materials for artificial muscles, technologies are considered to be far from implementation in anthropomorphic robotic hands. Therefore, the target of this thesis dissertation is to reduce the gap between smart material technologies and robotic hand prosthesis. Five central axes address the problem: i)identification of useful grasping gestures and reformulation of the robotic hand mechanism, ii) analysis of human muscle behavior to mimic human grasping capabilities, iii) modeling robot using the hybrid model DHKK-SRQ for the kinematics and the virtual works principle for dynamics, iv) definition of actuation requirements considering the synergy between prehension conditions and robot mechanism, and v) development of a smart material based actuation system.This topics are addressed in four chapters:1. Human hand movement analysis toward the hand prosthesis requirements2. Design and modeling of the soft robotic hand ProMain-I3. Mechatronic assessment of Prosthetic hand4. Development of an artificial muscle based on smart materials
Pan, Min, Zhe Hao, Chenggang Yuan i Andrew Plummer. "Development and control of smart pneumatic mckibben muscles for soft robots". Technische Universität Dresden, 2020. https://tud.qucosa.de/id/qucosa%3A71262.
Pełny tekst źródłaZávodný, Tomáš. "Návrh umělého svalu pro oblast robotiky". Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2018. http://www.nusl.cz/ntk/nusl-382411.
Pełny tekst źródłaKonez, Eroglu Aylin. "Development And Analysis Of Grasshopper-like Jumping Mechanism In Biomimetic Approach". Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608733/index.pdf.
Pełny tekst źródłaBassil, Maria. "Muscles artificiels à base d’hydrogel électroactif". Thesis, Lyon 1, 2009. http://www.theses.fr/2009LYO10127/document.
Pełny tekst źródłaHydrolyzed Polyacrylamide (PAAM) hydrogels are electroactive, biocompatible and non-biodegradable materials. Their main attractive characteristic is their operative similarity with biological muscles and particularly their life-like movement. They suit better the artificial muscle fabrication despite their response time which stays low compared to natural human muscle due to their bulky structure and due to the kinetics of the size dependence of their volume change. In order to copy the natural skeletal muscle design into a new artificial muscle system this study is divided into two steps. The first step is the development of a comprehensive study of the hydrogel itself in order to obtain the elementary background needed for the design of actuating devices based on this material. The effect of polymerization parameter on the hydrogel properties is investigated. The electrochemical properties and actuation mechanisms of the hydrogel is studied, the bending of PAAM actuators induced by electric field is discussed and a mechanism for the bending phenomenon is proposed. The second step is the proposition of a new artificial muscle architecture based on PAAM hydrogel. The model consists on a fiber like elements of hydrolyzed PAAM, working in parallel, embedded in a thin conducting gel layer which plays the role of electrodes. The fiber-like elements enable the system to exhibit relatively rapid response and the gel layers enhance their mechanical properties. Aiming to realize the model we have put in place a new electrospinning setup which is a modified process for the production of micro to nanofibers via electrostatic fiber spinning of polymer solutions. The main advantage of this technology is to produce aligned electrospun fibers over large areas by simple and a low cost process making it possible to produce fiberbased devices efficiently and economically. Using this setup, we succeeded in the fabrication of electroactive crosslinked hydrogel microfibers that can achieve fast electroactive response
Diaz, Zagal Sergio. "Conception et développement d’un mini-actionneur à muscle artificiel : application à la robotique médicale". Toulouse, INSA, 2007. http://eprint.insa-toulouse.fr/archive/00000205/.
Pełny tekst źródłaThe experience of the laboratory in the matter of pneumatic artificial muscle for the robotics is applied to the development of mini-actuators with artificial muscles intended for miniature robot-like systems. The field of medical robotics is particularly aimed. The goal of this work is to develop actuators whose characteristics and performances correspond to those presented by the natural muscles. These actuators will be used in the field of robotics and the medical field. Thus, initially we were interested in the development and the study of the pneumatic artificial muscle of McKibben. It is a type of very powerful actuator, presenting satisfactory properties, approaching those of the natural muscles enormously. So their use in the field of robotics is very advantageous. However, the energy source that they use - compressed air - presents a serious restraint with respect to a flexible or medical use. So in the second time, we adapted these muscles of McKibben to the biomedical field by replacing the compressed air by exchanging resins of ions or hydrogels. We thus developed and studied muscles mecanochimic based on McKibben’s muscles
Petsch, Sebastian [Verfasser], i Hans [Akademischer Betreuer] Zappe. "Artificial muscle micro-optics". Freiburg : Universität, 2016. http://d-nb.info/1122831811/34.
Pełny tekst źródłaNemer, Sérgio Nogueira. "Avaliação da força muscular inspiratória (Pi Max), da atividade do centro respiratório (P 0.1) e da relação da atividade do centro respiratório/força muscular inspiratória (P 0.1 / Pi Max) sobre o desmame da ventilação mecânica". Universidade de São Paulo, 2007. http://www.teses.usp.br/teses/disponiveis/5/5150/tde-02082007-104326/.
Pełny tekst źródłaIntroduction: We hypothesized that maximal inspiratory pressure (Pi Max), airway tracheal occlusion pressure (P 0.1) and its ratio (P 0.1/Pi Max) can be used to predict weaning outcome in a mixed ICU mechanically ventilated patients. Methods: Pi Max, P 0.1 and P 0.1 / Pi Max ratio were measured in seventy consecutive intubated or tracheostomized, mechanically ventilated patients, who fulfilled weaning criteria. After these measurements of Pi Max, P0.1, respiratory rate and expiratory tidal volume (L) with the calculation of f / Vt ratio and the product P0.1x f / Vt , the patients were submitted to a spontaneous breathing trial (SBT) . Those who were able to sustain the SBT and had no need to return to mechanical ventilation in the following 24 hours were considered weaned. The sensitivity, specificity, positive predictive value, negative predictive value, diagnostic accuracy and Receiver- operating-characteristics (ROC) curves for this population were calculated. Results: The mean value of P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC e P 0.1 x FR /VC were 2,49 ±1,2, -34,6± 13, 0,07± 0,01, 75,4±33 and 184,6±123 respectively for the weaned patients and 4,36± 2,0, -32,1±11,0 , 0,15± 0,09, 148,4± 42 e 652,9± 358 for the not weaned patients. All the indexes distinguished between the weaned and not weaned patient, except for the Pi Max. The sensitivity for the P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were respectively 78,85, 65,38, 80,77, 82,69, 88,46. The specificity for P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were 72,2, 38,8, 72,2, 83,3, 72,2 respectively. The positive predictive value for P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were respectively 89,1, 75,5, 89,3, 93,4 e 90,2. The negative predictive value for P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were respectively 54,1, 28,0, 56,5, 62,5 e 68,4. The diagnostic accuracy for P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were respectively 77,1, 58,5, 78,5, 82,8 e 84,2. The area under the ROC curves for P 0.1 , Pi Max, P 0.1 / Pi Max, FR / VC and P 0.1 x FR /VC were respectively 0,76± 0,06, 0,52±0,08 , 0,78±0,06, 0,90±0,04 e 0,84±0,05. The comparison among the areas under the ROC curves showed that the best weaning indexes were f / Vt ratio, the product P 0.1 x f / Vt and the P0.1/ Pi Max ratio with no statistic differences among them. The Pi Max presented the smaller area under the ROC curve. The weaning indexes P 0.1, Pi Max e P 0.1/ Pi Max were not statistically different between intubated or tracheostomized patients. Conclusion: The best weaning indexes were f/Vt ratio , the product P 0.1 x f/Vt and the P 0.1 / Pi Max ratio with no statistically difference among them.
Amaral, Ian P. G. "Transcriptional regulation in skeletal muscle of zebrafish in response to nutritional status, photoperiod and experimental selection for body size". Thesis, University of St Andrews, 2012. http://hdl.handle.net/10023/2616.
Pełny tekst źródłaCreemers, Warren. "On the Recognition of Emotion from Physiological Data". Thesis, Edith Cowan University, Research Online, Perth, Western Australia, 2013. https://ro.ecu.edu.au/theses/680.
Pełny tekst źródłaRudder, Benjamin A. "Motor protein inspired "artificial muscle" actuator". Thesis, Queensland University of Technology, 2017. https://eprints.qut.edu.au/105648/1/Benjamin_Rudder_Thesis.pdf.
Pełny tekst źródłaBassil, Maria. "Muscles artificiels à base d'hydrogel électroactif". Phd thesis, Université Claude Bernard - Lyon I, 2009. http://tel.archives-ouvertes.fr/tel-00688340.
Pełny tekst źródłaHenke, E. F. Markus, Samuel Schlatter i Iain A. Anderson. "Soft dielectric elastomer oscillators driving bioinspired robots". Mary Ann Liebert, 2017. https://tud.qucosa.de/id/qucosa%3A32850.
Pełny tekst źródłaVanderhoff, Alexandra. "Metal hydride fluidic artificial muscle actuation system". abstract and full text PDF (free order & download UNR users only), 2008. http://0-gateway.proquest.com.innopac.library.unr.edu/openurl?url_ver=Z39.88-2004&rft_val_fmt=info:ofi/fmt:kev:mtx:dissertation&res_dat=xri:pqdiss&rft_dat=xri:pqdiss:1460785.
Pełny tekst źródłaGotti, Carlo <1988>. "Electrospun hierarchical artificial muscle for soft robotics applications". Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2022. http://amsdottorato.unibo.it/10412/1/gotti_carlo_tesi.pdf.
Pełny tekst źródłaMablouké, Cécile. "Étude des ratios isotopiques du carbone et de l'azote de la matière organique particulaire et des muscles de poissons d'intérêt commercial d'écosystèmes côtiers tropicaux du sud-ouest de l'océan Indien : contribution à l'étude de leur fonctionnement". Thesis, La Réunion, 2013. http://www.theses.fr/2013LARE0017/document.
Pełny tekst źródłaThe aim of this thesis was to study the feeding habits of coastal fish species of commercial interest andto use stable isotopes of carbon (δ13C) and nitrogen (δ15N) to investigate the trophic niches of fish and their use of coastal habitats in the south-west Indian Ocean. In the Bay of La Possession, the species among the most abundant around the artificial reefs immersed in 2003 (Luljanus kasmira, Priacanthus hamrur and Selar crumenophthalmus) feed essentially on pelagic prey and partition their trophic niche to limit interspecific competition. There was also a positive correlation between fish size and muscle δ15N values due to fish larvae contributing more to the diet of fish with age. The stable isotopie composition of the particulate organic matter (POM) was measured at the microscale (< 10 km) in the Bay of La Possession, the mesoscale (10's of km) around Reunion Island and, for the fish muscles, at the macroscale 100’s of km) along the Mascarene plateau and the Mozambique channel. At microscale, POM δ15N values do not show any spatial variability; at mesoscale, POM is 15N-enriched in the south-west of Reunion Island; at macroscale, fish muscles are gradually 15N-enriched towards the north. At microscale, POM shows a 13C-enrichment on the shallowest station; at mesoscale, stations on the east coast of the island are 13C-enriched compared to the west; at macroscale, POMδ13C values are not significantly correlated with latitude. Thus, the stable isotopes of carbon do not seem to be appropriate for the study of fish coastal habitat use at the meso- and macroscale, and the stable isotopes of nitrogen represent a better indicator of fish habitat use at the macroscale
Mirvakili, Seyed Mohammad. "Niobium nanowire yarns and their application as artificial muscle". Thesis, University of British Columbia, 2013. http://hdl.handle.net/2429/44257.
Pełny tekst źródłaPytel, Rachel Zimet. "Artificial muscle morphology : structure/property relationships in polypyrrole actuators". Thesis, Massachusetts Institute of Technology, 2007. http://hdl.handle.net/1721.1/39537.
Pełny tekst źródłaIncludes bibliographical references (leaves 183-204).
We seek to improve polypyrrole and other conducting polymer actuators by discovering and exploiting the connection between nanoscale transport events and macroscale active strain. To this end we have used diffraction and electron microscopy to investigate the microstructure of polypyrrole. and propose a new description consisting of disordered polypyrrole chains held together by small crystalline bundles, around which solvent and counterions are randomly distributed. We utilize different modes of deformation to impart orientational texture to polypyrrole films, and show that by controlling polymer chain conformation and packing at a sub-micron level a conducting polymer actuator can be engineered that shows a significantly larger macroscopic electroactive response. We also alter the synthesis and doping conditions to produce films with widely varying surface morphologies, allowing us to control the rate of electroactive response. Our detailed understanding of polypyrrole morphology at different lengthscales provides valuable insight to the mechanisms of polypyrrole actuation, and has helped us process polypyrrole more intelligently for improved electroactive devices.
by Rachel Zimet Pytel.
Ph.D.
Liu, Ming Ming. "Dynamic muscle force prediction from EMG signals using artificial neural networks". Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp04/mq20875.pdf.
Pełny tekst źródłaMurillo, Jaime. "Design of a Pneumatic Artificial Muscle for Powered Lower Limb Prostheses". Thèse, Université d'Ottawa / University of Ottawa, 2013. http://hdl.handle.net/10393/24104.
Pełny tekst źródłaMoore, Wayne Allen Jr. "Acute and Chronic Effects of Artificial Rearing on Rat Genioglossus Muscle". VCU Scholars Compass, 2005. http://scholarscompass.vcu.edu/etd/885.
Pełny tekst źródłaSecord, Thomas W. (Thomas William). "Design and application of a cellular, piezoelectric, artificial muscle actuator for biorobotic systems". Thesis, Massachusetts Institute of Technology, 2010. http://hdl.handle.net/1721.1/61612.
Pełny tekst źródłaCataloged from PDF version of thesis.
Includes bibliographical references (p. 219-227).
One of the foremost challenges in robotics is the development of muscle-like actuators that have the capability to reproduce the smooth motions observed in animals. Biological muscles have a unique cellular structure that departs from traditional electromechanical actuators in several ways. A muscle consists of a vast number of muscle fibers and, more fundamentally, sarcomeres that act as cellular units or building blocks. A muscle's output force and displacement are the aggregate effect of the individual building blocks. Thus, without using gearing or transmissions, muscles can be tailored to a range of loads, satisfying specific force and displacement requirements. These natural actuators are desirable for biorobotic applications, but many of their characteristics have been difficult to reproduce artificially. This thesis develops and applies a new artificial muscle actuator based on piezoelectric technology. The essential approach is to use a subdivided, cellular architecture inspired by natural muscle. The primary contributions of this work stem from three sequential aims. The first aim is to develop the operating principles and design of the actuator cellular units. The basic operating principle of the actuator involves nested flexural amplifiers applied to piezoelectric stacks thereby creating an output length strain commensurate with natural muscle. The second aim is to further improve performance of the actuator design by imparting tunable stiffness and resonance capabilities. This work demonstrates a previously unavailable level of tunability in both stiffness and resonance. The final aim is to showcase the capabilities of the actuator design by developing an underwater biorobotic fish system that utilizes the actuators for resonance-based locomotion. Each aspect of this thesis is supported by rigorous analysis and functional prototypes that augment broadly applicable design concepts.
by Thomas William Secord.
Ph.D.
Sabourin, Nicaulas A. (Nicaulas Alexandre) 1978. "Artificial muscle technology applied towards treating ischemic mitral regurgitation caused by left ventricular remodeling". Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/27117.
Pełny tekst źródłaIncludes bibliographical references (leaves 89-91).
Ischemic Mitral Regurgitation (MR) affects a large portion of patients suffering from ischemic heart disease. Significant MR develops in one quarter to one third of patients who suffer from ischemic heart disease and doubles their late mortality rate after a myocardial infarction or revascularization. MR is most often caused by the bulging, or remodeling, of the heart's left ventricle. This remodeling displaces the papillary muscles inside of the ventricle and tethers the mitral valve, preventing it from closing properly. Current treatments attempt to either repair or replace the valve. These treatments require the heart be stopped and the patient be placed on a cardiopulmonary bypass pump for many hours. Both treatment approaches have serious side-effects, including relapse of the MR as quickly as six months post-operatively. This thesis concerns the development of an active artificial muscle patch (AMP) for application to the exterior of the heart. The AMP constructively remodels the heart in order to alleviate MR. Two in-vivo experiments were conducted with a heart-gated fluid pumping apparatus connected to a balloon patch that successfully proofed the concept that an active patch can relieve MR. These experiments also established data on the mechanical requirements of such a patch. An in-vitro heart model was created to test iterations of AMP devices before undergoing further in-vivo studies. Development of an AMP using Nickel-Titanium shape memory alloy was begun and iterations of this device have had early success in in-vitro tests.
by Nicaulas A. Sabourin.
S.M.
Bahrami, Sanaz. "Low-Profile Polymer Actuator Fabrication for Spastic Hand Exoskeletons". Thesis, Université d'Ottawa / University of Ottawa, 2018. http://hdl.handle.net/10393/37953.
Pełny tekst źródła