Relevant bibliographies by topics / Skin traction

Contents

  1. Journal articles
  2. Dissertations / Theses
  3. Books
  4. Book chapters
  5. Conference papers

Academic literature on the topic 'Skin traction'

Author: Grafiati
Published: 4 June 2021
Last updated: 1 February 2022

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Journal articles on the topic "Skin traction"

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Orfi, Fayyaz Ahmad, Maira Waqas, and Shahid Majeed. "POP BOOT TRACTION." Professional Medical Journal 22, no. 12 (2015): 1624–28. http://dx.doi.org/10.29309/tpmj/2015.22.12.851.

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Introduction: Fractures of upper end of femur are generally applied sometraction pre- peratively. Traditionally either skin or skeletal traction is applied. In this study weapplied traction via POP Boot with a T behind ankle in 354 cases of fracture upper end of femurduring pre-operative management and the results were compared with those of skin and skeletaltraction. Objectives: To see whether effective pre-op traction can be applied via POP Boot inupper femur fractures and what are the complications and cost effectiveness as comparedto skin and skeletal traction. Study: In 354 patients POP Boot was applied and 3 kg trationapplied to the injured limb with fracture femur while in 50 cases skin traction and in another 50cases skeletal traction was applied. Design: It’s a randomized prospective double blind study.Settings: Study was carried out in tertiary care hospitals including combined military hospitalsof Rawalpindi, Muzaffarabad and Kharian. Period: Study was conducted between the periods of10 Sep 2003 to 20 Sep 2012 (9 years and 10 days). Methods: All patients have either simple orcommunited fracture of upper end of femur. All patients were adults and received same amountof analgaesia. 3 kg traction was applied as standard in all cases. All patients were operated fortheir fracture femur within 2 to 10 days of applying traction. Results: Results were compared interms of pain control, reduction achieved, rotational control, and discomfort during applicationof tration, complications, and cost effectiveness and compared with standard skin and skeletaltractions. Conclusion: POP Boot traction is an easily applied, effective and cost effective way oftraction which has very low rate of complications and should be used for pre-op traction in alladult cases with upper femur fracture.
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Shaikh, Abdul Malik, Muhammad Bakhsh Shahwani, and Mohammad Ishaq. "HIP FRACTURE." Professional Medical Journal 25, no. 01 (2018): 30–33. http://dx.doi.org/10.29309/tpmj/18.4179.

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Agbley, Daniel, Henry Holdbrook-Smith, and Yao Ahonon. "A comparative evaluation of the efficacy between skeletal traction and skin traction in pre-operative management of femur shaft fractures in Korle Bu Teaching Hospital." Ghana Medical Journal 54, no. 3 (2020): 146–50. http://dx.doi.org/10.4314/gmj.v54i3.4.

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Objectives: This study is to compare the outcomes of pre-operative skeletal and skin traction in adult femoral shaft fractures awaiting surgical fixation within two weeks of presentation to the Accident Center of Korle Bu Teaching Hospital.Methods: This study was a clinical trial on 86 recruited patients with closed femoral shaft fractures sustained within 24 hours of presentation grouped into 2 groups. Descriptive and inferential statistics comprising frequency, percentage, Chi-square, independent sample t-test and Mann-Whitney U test were used in analysing the data.Results: Of the total number of patients involved in the study, 74% (n=64) were males and 26% (n=22) were females with a mean age of 39.49 (SD ±15). There was no statistically significant difference in the mean visual analogue scale (VAS) pain assessment between the Skin traction group and Trans-tibia skeletal traction group after traction. With regards to complications, the difference between the Skin traction group and the Skeletal traction group was statistically significant (P=0.001). Moreover, the mean blood loss compared with the open type of reduction in the Transtibia skeletal traction group was significantly less than the Skin traction group (p=0.000).Conclusion: This study has shown that both Skeletal traction and Skin traction were equally effective in controlling pre-operative pain in adult patients with femoral shaft fractures and does not affect intra-operative blood loss and postoperative management. Therefore, pre-operative Skin traction can be considered a useful and cost-effective method of maintaining alignment and pain relief in adult femoral shaft fractures.Keywords: Skin traction, Trans-tibia skeletal, reamed Intramedullary nailing, Intra-operative blood loss, Visual Analogue ScaleFunding: Personal Funding
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Shabat, S., R. Gepstein, G. Mann, B. Kish, B. Fredman, and M. Nyska. "Deep skin slough following skin traction for hip fractures." Journal of Tissue Viability 12, no. 3 (2002): 108–12. http://dx.doi.org/10.1016/s0965-206x(02)80033-x.

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Endo, Jun, Satoshi Yamaguchi, Masahito Saito, et al. "Efficacy of preoperative skin traction for hip fractures: a single-institution prospective randomized controlled trial of skin traction versus no traction." Journal of Orthopaedic Science 18, no. 2 (2013): 250–55. http://dx.doi.org/10.1007/s00776-012-0338-1.

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Colquhoun-Flannery, W., A. Davis, and J. A. S. Carruth. "Improving the endoscopic view of the hypopharynx with anterior neck traction during the trumpet manoeuvre." Journal of Laryngology & Otology 114, no. 4 (2000): 283–84. http://dx.doi.org/10.1258/0022215001905562.

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The postcricoid subsite is difficult to visualize on flexible laryngopharyngoscopy. The view can be improved with either auto-insufflation manoeuvres or anterior neck skin traction. In this study, the view of the hypopharynx was graded whilst anterior neck skin traction was applied during the trumpet manoeuvre; the latter involves the patient blowing on his finger as if blowing up a balloon. On auto-insufflation alone, the postcricoid site was demonstrated in 22/25 (88 per cent) of cases and the upper oesophageal sphincter (UOS) in two out of 25 (eight per cent). Of the 22 cases in whom only the postcricoid site was demonstrated, subsequent neck skin traction revealed the UOS in eight. Overall, the use of auto-insufflationsolely or in combination with traction resulted in UOS visualization in 40 per cent (10/25) of cases. The application of skin traction during trumpeting is easy to perform and should be used routinely.
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Duperouzel, Wendy, Beverley Gray, and Julie Santy-Tomlinson. "The principles of traction and the application of lower limb skin traction." International Journal of Orthopaedic and Trauma Nursing 29 (May 2018): 54–57. http://dx.doi.org/10.1016/j.ijotn.2017.10.004.

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Turgut, Gürsel, Arzu Özcan, Onur Sümer, Nebil Yeşiloğlu, and Lütfü Baş. "Reconstruction of Complicated Scalp Defect Via Skin Traction." Journal of Craniofacial Surgery 20, no. 1 (2009): 263–64. http://dx.doi.org/10.1097/scs.0b013e3181843766.

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Swanson, George C. "Traction Suture Tympanoplasty." Otolaryngology–Head and Neck Surgery 98, no. 4 (1988): 291–94. http://dx.doi.org/10.1177/019459988809800403.

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Subtotal tympanic membrane perforations are very common in Micronesia. The great distance between the islands, primitive conditions, and shortages of medical facilities and supplies must all be considered when a technique is designed for the closure of these perforations. Such a technique, using dissolvable sutures to position and support a medial temporalis fascia graft, is presented. A suture is used to place traction on the graft to assure proper placement under the anterior remnant or anterior canal wall skin. The graft is placed medial to the remnant but lateral to the malleus handle, which has been carefully dissected free of epithelium. Two hundred eighty-one cases were followed for' 6 months or more, with a success rate of slightly more than ninety-five percent. Complications of blunting, lateralization, reperforation of the graft, and cholesteatoma formation are discussed.
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Kocialkowski, A., D. R. Marsh, and D. C. Shackley. "Closure of the skin defect overlying infected non-union by skin traction." British Journal of Plastic Surgery 51, no. 4 (1998): 307–10. http://dx.doi.org/10.1054/bjps.1997.0238.

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Dissertations / Theses on the topic "Skin traction"

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Huaytia, Fernandez Ricardo. "Skin and proximity effect analysis of traction motor." Thesis, KTH, Elektrisk energiomvandling, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-96302.

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Traction motors are thermally pressed to obtain a high torque per unit volume at the same time as a relatively high frequency is used. Because of the high frequency the phenomenon skin effect and proximity effects appear, this is explored in the thesis. To find a link between the parasitic and thermal effects on the insulation is important. In this thesis, a finite element model of the Flux 2D suitable for skin effect analysis is developed; also a thermal network has been developed to find thermal hotspots in the stator slot. In this thesis, sinusoidal supplies for two operating points are studied and triangular sinusoidal PWM supply is as well studied for the nominal operating point.
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Maroteaux, Anaïs. "Study of Analytical Models for Harmonic Losses Calculations in Traction Induction Motors." Thesis, KTH, Skolan för elektro- och systemteknik (EES), 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-187662.

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This Master Thesis deals with the study of analytical and finite-element (FE) models for calculation of losses in traction induction motors. Motors are fed through inverters for this type of application. Therefore, both fundamental and harmonic losses are considered. The study is done with one particular motor and one initial analytical model. In order to validate the model and improve it, a FE model is developed with the tool FLUX 2D. Several chosen operating points with different modulation patterns are simulated both with FE and analytical models and results are compared. Stator and rotor Joule losses are studied first. A model to calculate stator Joule losses at strand level is proposed as an improvement to the current analytical model. Then iron losses, both in stator and rotor, are calculated. Two different computations methods with data extraction from FE are studied: the Bertotti model and a recently developed method called MVPRS in the report. It is based on a mathematical model for curve fitting of the core loss material data. Results with the two methods are compared with the ones from ana-lytical model. Finally total fundamental and harmonic losses are compared with measurements and conclusions are drawn on the quality and accuracy of the analytical model.<br>Detta examensarbete handlar om analytiska och Finita Element (FE) modeller för beräkning av förluster i asynkronmotorer för traktion. Motorer matas genom växelriktare för denna typ av applikation. Därför är det nödvändigt att både grundläggande och harmoniska förluster beaktas. Studien görs för en särskild motor och en redan existerande analytisk modell. För att validera modellen och förbättra den, utvecklats en FE modell med verktyget FLUX 2D. Flera arbetspunkter med olika moduleringsmönster simuleras både med FE och analytiska modeller och resultaten jämförs. Först studeras stator och rotor Joule förluster. En modell för att beräkna stator Joule förluster i varje ledare föreslås som en förbättring av den nuvarande analytiska modellen. Sedan beräknas järnförluster, både i stator och rotor, beräknas. Två olika metoder baserad på flödestäthet variationer i tid och rum från FE simuleringar studeras med Bertottis modell och en nyutvecklad metod som kallas MVPRS. Den är baserat på en matematisk modell för kurvanpassning av materialet förlust data. Resultaten med de två metoderna jämförs med de från analytiska modellen. Slutligen jämförs totala fundamentala och harmoniska förluster med mätningar och slutsatser dras om kvalitet och noggrannhet av analytiska modellen.
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Falcai, Mauricio José. "Desenvolvimento de um sistema modificado de suspensão do rato pela cauda, como modelo de osteopenia." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/17/17142/tde-30092011-162252/.

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Introdução: A suspensão do rato pela cauda é método usado para simular os efeitos da microgravidade e hipoatividade física sobre o sistema musculoesquelético e outros sistemas. O método convencional usa a tração cutânea para a fixação da cauda do animal ao sistema de suspensão, sendo idealmente aplicado durante até três semanas. Depois desse período surgem lesões cutâneas, situações estressantes e soltura dos animais. Estes fatos limitam observações por períodos mais longos. O objetivo deste trabalho foi propor e avaliar um sistema de suspensão do rato pela cauda que utiliza tração esquelética com fio de Kirschner atravessado na vértebra caudal, comparando sua eficiência como modelo de osteopenia com a tração cutânea convencional, durante três e seis semanas. Metodologia: 60 ratas foram distribuídas em seis grupos (n=10): GI - três semanas-suspensão pela cauda em tração esquelética; GII - três semanas-suspensão em tração cutânea; GIII - três semanas sem suspensão; GIV - seis semanas-suspensão em tração esquelética; GV - seis semanas-suspensão em tração cutânea; GVI - seis semanas sem suspensão. Avaliação foi clínica com preenchimento de lista diária de achados de estresse e exame post-mortem com determinação dos níveis de corticosterona plasmática e estado da mucosa gastroesofágica. Avaliação dos efeitos da suspensão sobre osso ocorreu por meio da determinação da densidade mineral óssea, ensaio mecânico e histomorfometria, realizados tanto no fêmur, quanto no úmero. Resultados: não houve diferença estatisticamente significante entre os grupos suspensos observados durante três semanas, para quaisquer dos parâmetros investigados. Entretanto, em seis semanas, sete animais (70%) em tração cutânea foram perdidos por lesões de pele e, na tração esquelética, apenas um (10%). Quanto ao ganho de peso corporal e os outros parâmetros clínicos não houve diferenças entre os grupos suspensos por seis semanas. A densidade mineral óssea, força máxima, rigidez e parâmetros histomorfométricos dos fêmures diminuíram até três semanas quando os animais suspensos foram comparados com os controles. Entretanto, depois estabilizaram, tanto para os animais suspensos pela tração cutânea, quanto esquelética, sem diferenças entre eles. No úmero não houve diferenças importantes entre os animais suspensos e os controles. Conclusão: O sistema de tração esquelética foi mais eficiente para manter os animais suspensos até seis semanas, quando o número de complicações foi menor que na tração cutânea. A eficiência de ambos os métodos de suspensão em termos de enfraquecimento ósseo foi semelhante em ambos grupo.<br>Background: Suspension of the rat by the tail is a method that is used to simulate the effects of microgravity and physical hypoactivity on the musculoskeletal system and also on other systems. The conventional suspension method uses the skin traction for fixing the animal to the suspension system and it is ideally applied for three weeks. After this period of time, skin lesions, stressful conditions and animal loosening may occur. These facts limit observations for longer periods of time. The aim of the present study was to propose and evaluate a rat tail suspension system using skeletal traction with a crossing Kirschner wire in the tail vertebra and to compare it with the conventional skin traction method, during three and six weeks. Methods: 60 rats allocated in six groups (n = 10): GI - three-week tail suspension in skeletal traction; GII - three week skin traction-suspension; GIII - three weeks without suspension; GIV - six-week suspension skeletal traction; GV - six weeks in cutaneous traction, GVI - six weeks without any suspension. Clinical evaluation was made filling up a daily list of findings of stress indicators and, at the end of the experimental period, by post-mortem examination, with determination of plasma corticosterone levels and status of the gastroesophageal mucosa. Evaluation of the effects of suspension on bone was carried out by the determination of bone mineral density, histomorphometry and mechanical tests that were conducted both in femurs and humerus. Results: no statistically significant difference was observed between groups for three weeks for the suspended animals, for any of the parameters investigated. In six weeks, seven suspended animals in skin traction were lost by skin lesions (70%) and, in skeletal traction, one (10%). As for the weight gain and other clinical parameters no differences was observed between the suspended groups. Comparison between suspended and control animals showed that bone mineral density, maximum strength, stiffness and histomorphometric parameters of the femur of suspended decreased in three weeks and then stabilized for both groups suspended by the skin traction and skeleton, with no differences between them. Humerus presented no significant differences between suspended animals and controls. Conclusion: The system of skeletal traction was more efficient to keep the animal suspended for six weeks, when the number of complications was lower than in the skin traction group. Both suspension methods had the same efficiency to weaken the bone.
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Matucha, Tomáš. "Nezávislý nízkonapěťový trakční asynchronní pohon." Doctoral thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2009. http://www.nusl.cz/ntk/nusl-233490.

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This work deals with creation of an exact mathematical model of a traction drive with low-voltage induction machine (28 V) which is fed from accumulators. This model was developed in MATLAB – Simulink and consists of induction machine model, inverter model and load model. Vector Control was added to models connected together. This complex model allows considering many effects into simulations. These effects are commonly neglected, although they have significant influence on drive behaviour, especially by using low-voltage machine. It is impact of magnetic circuit saturation, impact of temperature and skin effect on winding resistance, impact of inverter nonlinearities such as on-state voltage drops on switching elements, dead times and transistors switching times. The attention was paid to determination of losses in drive parts. The correctness of the model was verified at laboratory workplace established for this purpose. The laboratory drive can be controlled by a microprocessor or by using MATLAB and dSPACE application. The influence of compensations of inverter nonlinearities and DC-link voltage ripple on higher harmonics of inverter output currents was analyzed. Furthermore, the control, which decreased resistive losses, was solved.
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Handoko, Yunendar Aryo, and yunendar@inka web id. "INVESTIGATION OF THE DYNAMICS OF RAILWAY BOGIES SUBJECTED TO TRACTION / BRAKING TORQUE." Central Queensland University. Centre for Railway Engineering, 2006. http://library-resources.cqu.edu.au./thesis/adt-QCQU/public/adt-QCQU20070209.101959.

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The limitations of current simulation packages in addressing the true longitudinal behaviour of railway bogie dynamics during braking/traction has prompted the development of a Rail Bogie Dynamics (RBD) program in this thesis. The RBD program offers novel features for the calculation of the speed profile as a function of the brake torque as well as explicitly determining wheelset angular velocity. With such capability, the speed profile is no longer treated as an input calculated as a priori as required by most of the current simulation systems. The RBD program has been developed using a formulation that includes the wheelset pitch degree of freedom explicitly with a coordinate reference system that is fixed in space and time. The formulation has made the simulation of the bogie dynamics during braking/traction possible in a natural way using the brake/traction torque as the input and the resulting speed profile as the output without any need for working out the speed profile as a priori. Consequently, severe dynamics during braking such as the wheelset skid and the onset of wheel climb derailment can be modelled and critical parameters investigated using the RBD program. The RBD program has been validated, where possible, through a series of simulations using a commercial software package (VAMPIRE). For cases which cannot be simulated by VAMPIRE such as the wheelset skid, a novel experimental program has been designed and commissioned in the Heavy Testing Laboratory of the Central Queensland University as reported in this thesis. One of the possible applications of the RBD program in examining the effect of asymmetric brake shoe force in bogies equipped with one-side push brake shoe arrangement is illustrated in this thesis. It is believed that the model and RBD program will have significant benefit in understanding the true longitudinal behaviour of wagons in suburban passenger trains that operate under braking/ traction torques for most of their travel. Similar studies will also be useful to freight train wagon dynamics during entry and exit of speed restriction zones and tight curves.
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Books on the topic "Skin traction"

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Joint Winter Runway Friction Measurement Program. Overview of the Joint Winter Runway Friction Measurement Program. Transportation Development Centre, 2004.

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G, Pottinger Marion, Yager Thomas J, ASTM Committee E-17 on Traveled Surface Characteristics., and ASTM Committee on F-9 on Tires., eds. The Tire pavement interface: A symposium. ASTM, 1986.

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The 2006-2011 World Outlook for Skid Steer, Wheel, and Crawler Tractor Shovel Loaders and Integral-Design Loader-Backhoes. Icon Group International, Inc., 2005.

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Parker, Philip M. The 2007-2012 World Outlook for Skid Steer, Wheel, and Crawler Tractor Shovel Loaders and Integral-Design Loader-Backhoes. ICON Group International, Inc., 2006.

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Book chapters on the topic "Skin traction"

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Shah, Sejal K. "Traction Alopecia." In Pediatric Skin of Color. Springer New York, 2015. http://dx.doi.org/10.1007/978-1-4614-6654-3_15.

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Jackson-Richards, Diane. "Traction Alopecia." In Dermatology Atlas for Skin of Color. Springer Berlin Heidelberg, 2014. http://dx.doi.org/10.1007/978-3-642-54446-0_19.

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Cottingham, Kirsten L., and Porcia B. Love. "Traction Alopecia." In Clinical Cases in Skin of Color. Springer International Publishing, 2015. http://dx.doi.org/10.1007/978-3-319-23615-5_3.

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Yem, Vibol, Mai Shibahara, Katsunari Sato, and Hiroyuki Kajimoto. "Expression of 2DOF Fingertip Traction with 1DOF Lateral Skin Stretch." In Lecture Notes in Electrical Engineering. Springer Singapore, 2017. http://dx.doi.org/10.1007/978-981-10-4157-0_4.

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Bancelin, Stéphane, Barbara Lynch, Christelle Bonod-Bidaud, et al. "Combination of Traction Assays and Multiphoton Imaging to Quantify Skin Biomechanics." In Methods in Molecular Biology. Springer New York, 2019. http://dx.doi.org/10.1007/978-1-4939-9095-5_11.

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Avelar, Juarez M. "Importance of Pitanguy’s Surgical Principles on Rhytidoplasty – Direction of Traction of the Skin Flap." In Aesthetic Facial Surgery. Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-57973-9_1.

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Weber, Paul, and Gale Oleson. "Traction-Modified Blepharoplasty." In Innovative Techniques in Skin Surgery. CRC Press, 2002. http://dx.doi.org/10.1201/b14063-85.

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"Traction-Modified Blepharoplasty." In Innovative Techniques in Skin Surgery. CRC Press, 2002. http://dx.doi.org/10.3109/9780203909065-87.

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Serdev, Nikolay P. "Debridement of Lower Lateral Cartilages in Cleft Lip–Nose Cases along with Management of Skin and Fibrotic Traction." In Miniinvasive Techniques in Rhinoplasty. InTech, 2016. http://dx.doi.org/10.5772/62075.

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Verity, David H., and Geoffrey E. Rose. "Management of Entropion and Trichiasis." In Surgery of the Eyelid, Lacrimal System, and Orbit. Oxford University Press, 2011. http://dx.doi.org/10.1093/oso/9780195340211.003.0012.

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Entropion is a posterior rotation of the upper or lower lid margin against the globe; the causes include involutional changes within the eyelid tissues or cicatricial shortening of the posterior lamella of the eyelid. Congenital lower lid entropion is rare and results from an excess of skin and orbicularis oculi muscle being only loosely attached to the eyelid retractors. The symptoms of entropion—which include ocular irritation, lid spasm, pain, redness, and watering—are worse in the presence of a keratinized lid margin (occurring in cicatricial disease) and where the ocular surface is compromised. Discomfort may lead to secondary blepharospasm, which exacerbates the entropion by causing the preseptal part of the orbicularis muscle to override the pretarsal component. The eyelids and globe should be examined to identify underlying causative factors—in particular the degree and position of tissue laxity, the position of the eyelid margin and lashes, and the thickness of the tarsus. Any secondary effects of entropion, both within the lid and on the ocular surface, should also be noted. 7-1-1 Tissue Laxity. Aging of collagen and the force of gravity leads to eyelid laxity and an excess of tissues, particularly the anterior lamella of the lid. Stretching of the orbicularis muscle and canthal tendons results in horizontal laxity, and eyelid stability is further compromised by enophthalmos due to age-related fat atrophy. Where there is a relative dissociation between the anterior and posterior lamellae, the preseptal orbicularis muscle overrides the pretarsal muscle, leading to eyelid inversion, and this effect is exacerbated both by laxity of the lower lid retractors and age-related tarsal atrophy. Tissue laxity in the absence of orbicularis overriding tends to cause ectropion; with complete loss of retractor action, this can result in complete eversion of the tarsus (“shelf ectropion”). Horizontal laxity of the eyelid tissues is assessed by grasping the lid skin and applying gentle traction in the appropriate direction. The overall horizontal laxity is judged by the extent to which the eyelid can be parted from the globe—greater than about 6 mm is abnormal for a lower eyelid—and by the speed with which the retracted lid returns to the surface of the globe (the “spring-back” test).
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Conference papers on the topic "Skin traction"

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Rens, Jan, Sigrid Jacobs, and Emmanuel Attrazic. "Improved loss modelling of electrical traction motors by including magnetic skin effect." In 2018 IEEE International Conference on Electrical Systems for Aircraft, Railway, Ship Propulsion and Road Vehicles & International Transportation Electrification Conference (ESARS-ITEC). IEEE, 2018. http://dx.doi.org/10.1109/esars-itec.2018.8607575.

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Ingram, Mark, and Dennis Hong. "Whole Skin Locomotion Inspired by Amoeboid Motility Mechanisms." In ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2005. http://dx.doi.org/10.1115/detc2005-85419.

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In this paper, we present a novel locomotion mechanism for mobile robots inspired by the motility mechanisms of single celled organisms that use cytoplasmic streaming to generate pseudopods for locomotion. The Whole Skin Locomotion, as we call it, works by way of an elongated toroid which turns itself inside out in a single continuous motion, effectively generating the overall motion of the cytoplasmic streaming ectoplasmic tube in amoebae. With an elastic membrane or a mesh of links acting as its outer skin, the robot can easily squeeze between obstacles or under a collapsed ceiling and move forward using all of its contact surfaces for traction, or even squeeze itself through holes with diameters smaller than its nominal width by actively changing its cross section diameter making this the ideal locomotion method for search and rescue robots that need to traverse over or under rubble, or for applications where a robot needs to move in and maneuver itself into tight spaces such as for robotic endoscopes. This paper summarizes the many existing theories of amoeboid motility mechanisms, and examines how these can be applied on a macro scale as a novel mobile robot locomotion concept. Four locomotion mechanism models are presented with preliminary experiments and their results, demonstrating the feasibility of the whole skin locomotion strategy.
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Lahr, Derek, and Dennis Hong. "The Development of an Incrementally Loaded Finite Element Model of the Whole Skin Locomotion Mechanism: Discovering the Relationship Between Its Shape and Motion." In ASME 2008 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2008. http://dx.doi.org/10.1115/detc2008-49559.

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The Whole Skin Locomotion (WSL) robotic platform is a novel biologically inspired robot that uses a fundamentally different locomotion strategy than other robots. Its motion is similar to the cytoplasmic streaming action seen in single celled organisms such as the amoeba. The robot is composed of a closed volume, fluid filled skin which generally takes the shape of an elongated torus. When in motion the outer skin is used as the traction surface. It is actuated by embedded smart material rings which undergo cyclical contractions and relaxations, generating an everting motion in the torroidially shaped skin. To better understand, design, and optimize this mechanism, it is necessary to have a model of the skin, fluid, and actuators and their interactions with the environment. This paper details the first steps in the development of a non-linear finite element (FE) model which will allow us to study these interactions and predict the shape and motion of the robot under various actuation strategies. A simple membrane element model is introduced from literature and is modified such that an incremental loading strategy can be employed. Finally, an underlying physical mechanism is introduced which could possibly describe the relationship between the shape of and pressure within the membrane skin and motion of the whole skin locomotion robot.
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4

Orekhov, Viktor, Mark Yim, and Dennis Hong. "Mechanics of a Fluid Filled Everting Toroidal Robot for Propulsion and Going Through a Hole." In ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/detc2010-29053.

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Whole Skin Locomotion (WSL) is an amoeba inspired locomotion mechanism for mobile robots in which an elongated torus turns itself inside out in a single continuous motion. Since the entire surface is used as a traction surface, WSL has the potential to traverse highly unstructured terrain, and when filled with fluid with an elastic membrane skin, it has the potential to squeeze through holes smaller than its nominal diameter. Previous work has investigated the mechanics of a concentric solid tube (CST) model in which motion is generated by expanding and contracting actuator rings pushing and pulling the membrane around a solid inner tube. In this paper, we present the mechanics of a fluid filled toroid (FFT) model which replaces the solid inner tube with incompressible fluid. Locomotion using contracting ring actuation is described for the FFT model and compared to the CST model. A novel actuation scheme which exploits the chemo-mechanics of soft polymeric elastic skin is also introduced to elicit useful locomotive behavior. Chemically induced swelling in polymeric skin is demonstrated to be a viable propulsion mechanism for a toroidal membrane under pressure. Finally, preliminary analysis is presented for finding forces required for a WSL robot to squeeze through a hole of a given depth and diameter to investigate the feasibility of using contracting ring actuation and chemically induced swelling for hole traversal.
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Kumar, Padmanabhan, Tristan W. Hill, D. Andrew Bryant, and Stephen L. Canfield. "Modeling and Design of a Linkage-Based Suspension for Tracked-Type Climbing Mobile Robotic Systems." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-48555.

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Skid steer tracked-based robots are popular due to their mechanical simplicity, zero-turning radius and greater traction. This architecture also has several advantages when employed by mobile platforms designed to climb and navigate ferrous surfaces, such as increased magnet density and low profile (center of gravity). However, the suspension design plays a critical and unique role in track-based climbing systems relative to their traditional counterparts. In particular, the suspension must both accommodate irregularities in the climbing surface as well as transfer forces to the robot chassis required to maintain equilibrium. Furthermore, when properly designed, the suspension will distribute the climbing forces in a prescribed manner over the tractive elements. This paper will present a model for analysis and design of a linkage-type suspension for track-based climbing robot systems. The paper will further propose a set of requirements termed “conditions of climbing” that must be met to ensure stable (no falling) climbing for a given robot design over a range of climbing surface geometries. A recursive strategy is proposed to implement these conditions and yield a factor of safety in the current climbing state. This model will be compared through empirical testing with several prototype climbing robot systems. A method will also be demonstrated to use this model in the design of a preferred suspension system.
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Dar, Tehmoor M., and Raul G. Longoria. "Estimating Traction Coefficients of Friction for Small-Scale Robotic Tracked Vehicles." In ASME 2010 Dynamic Systems and Control Conference. ASMEDC, 2010. http://dx.doi.org/10.1115/dscc2010-4228.

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A method is presented for using an extended Kalman filter with state noise compensation to estimate the trajectory, orientation, and coefficients of friction for a small-scale robotic tracked vehicle. The ultimate goal of the method is to enable terrain property estimation particularly during laboratory and field-testing utilizing onboard sensor data and/or other sources. A methodology is described that relies on kinematic and dynamic models for skid-steering, as well as tractive force models parameterized by key soil parameters. Favorable results for estimating coefficients of friction are presented based on experimental data collected for laboratory and field testing with an iRobot® PackBot™. Preliminary results confirm the dependence of coefficients of friction on vehicle trajectory turning radius and velocity.
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Hansen, Michael Rygaard, Torben Ole Andersen, and Henrik Clemmensen Pedersen. "Using an Electrically Scale Model to Evaluate Control Strategy for Damping of Hydraulically Driven Off-Highway Vehicles." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41454.

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In the current paper the oscillatory nature of nonsuspended vehicles is examined with special reference to skid steer vehicles. For this type of application the oscillations represent one of the main difficulties to be overcome in order to increase marching speed. The basic idea of the control strategy is to accelerate the vehicle when it is pitching forward and vice versa with a view to keep the derivative of the pitch angle substantially zero. Physically, the traction system is employed as the controlling system with the developed torque as the manipulated variable. An accelerometer provides the signal related to the controlled variable. The overall control strategy is evaluated by a scale model that is driven by means of two permanent magnet dc-motors, and then applied to a hydraulically driven skid steer loader.
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8

Narvesen, Andrew, and Majura F. Selekwa. "Dynamics and Control of Four Wheeled Differentially Steered UGVs." In ASME 2014 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2014. http://dx.doi.org/10.1115/imece2014-38565.

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Autonomous navigation of ground vehicles is a growing research area. Skid steered wheeled ground vehicles are of interest because of the system’s relatively easy control parameters. Steered wheels require actuation and control for the steering and speed of the steered wheels while skid steering just requires actuation and control of the wheel speeds, usually just a left and right wheel speed. Four Wheeled differentially steered vehicles are built primarily for straight line motion since the instantaneous centers of zero velocities for the four wheels are always at infinity when there is no sliding in the wheels. When the vehicle has to negotiate a corner, it uses the differential velocities between sides to force the wheels to slide and perform the cornering maneuver. Maneuvering is difficult when the ground friction is very high because of undue stresses in the axle structure. This paper analyses the dynamics of such vehicles that relates the traction and skid friction forces and proposes a suitable control system. At this time, the paper is supported by simulation results while experimental work is still going on.
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Andersen, Torben Ole, Michael Rygaard Hansen, and Henrik Clemmensen Pedersen. "Control of Oscillations in Electrically Driven Skid Steer Vehicles." In ASME 2003 International Mechanical Engineering Congress and Exposition. ASMEDC, 2003. http://dx.doi.org/10.1115/imece2003-41462.

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This paper is concerned with the stabilization of skid steer wheeled vehicles. This type of vehicle is often characterized by a short wheelbase and without any suspension other than that of the wheels, and is therefore liable to rotational pitch oscillations. The objective of this paper is twofold. Firstly, the abovementioned oscillation phenomena are examined with a view to improve the understanding of its dependency on weight distribution, and traction characteristics of tire-surface contact. Secondly, a number of control strategies that dampens the oscillatory nature of the vehicle are derived and evaluated. The basic idea of the control strategy is to keep the angular pitch velocity at zero by increasing the motor torque when the vehicle is tilting forward and decreasing the motor torque when the vehicle is tilting backwards. The basic control design objective being to achieve the lowest possible mean square tracking error without letting the mean square input exceed its maximally permissible value. The results are experimentally evaluated by means of a small-scale vehicle.
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Sahu, Devesh, Rishi Sharma, Devesh Bharti, and Utkarsh Narain Srivastava. "Control Algorithm for Anti-Lock Braking System." In ASME 2013 International Mechanical Engineering Congress and Exposition. American Society of Mechanical Engineers, 2013. http://dx.doi.org/10.1115/imece2013-64640.

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Safer, controlled and efficient braking is the primary objective of Anti-lock Braking System wherein an efficient and robust braking system significantly enhances the vehicle performance during both straight line motion and cornering thus resulting in drastic reduction of stopping time and distance especially for a race car in long run. Hence clocking better lap times and a considerable reduction in wear of tires are an obvious outcome apart from the enhanced vehicle stability. This work on Anti-lock Braking System (ABS) prediction and control algorithm deals with technical paradigm for estimation of vehicle velocity using wheel angular velocity from wheel rpm sensors as the sole input and methodology to control the braking torque on each wheel so as to prevent loss of traction. The proposed algorithm is modeled using advanced simulating tools involving theoretical estimation of braking torque on each wheel. This is supposed to reduce tire skid with controlled wheel slip estimated using the tire data and the car vehicle dynamics with formula student vehicle as the subject. The work and hence the control algorithm can potentially be extended into a better traction control strategy with acceleration and yaw inputs from accelerometers and yaw sensors.
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