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常用推拿手法的专项练功方法简介 被引量:2
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作者 李亚明 李江山 +2 位作者 李铁浪 余霜泉 周国平 《中医药导报》 2008年第2期59-60,64,共3页
根据常用推拿手法的动作结构,并运用推拿手法的动作技巧,设计了以徒手或用器具辅助的方式,针对各常用单式或复合推拿手法的手法运动进行专项练习,在学员推拿练功的过程中,加强对各单式或复合推拿手法的动作结构和技巧等方面的训练,而在... 根据常用推拿手法的动作结构,并运用推拿手法的动作技巧,设计了以徒手或用器具辅助的方式,针对各常用单式或复合推拿手法的手法运动进行专项练习,在学员推拿练功的过程中,加强对各单式或复合推拿手法的动作结构和技巧等方面的训练,而在学习推拿手法过程中,又用之以强化手法的力度、手法运动的持久性等方面的练功,解决了以往传统教学过程中,出现的推拿练功与各手法动作结构和技巧配合不够,而手法练习也缺乏与手法运动相适合的专项手法练功,这些专项练功方法可使手法操练与练功相辅相成,适宜在推拿练功课程和推拿手法课程中共同开展。 展开更多
关键词 推拿手法 推拿练功 手法的专项练功方法
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麻醉下手法松解综合方法治疗重症冻结期肩周炎对患者血清IL-6、IL-10及TNF-α水平的影响 被引量:9
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作者 任红艳 刘建利 +2 位作者 高长敏 王营 曹玉红 《临床合理用药杂志》 2016年第4期129-130,共2页
目的探讨麻醉下手法松解综合方法治疗重症冻结期肩周炎对患者血清IL-6、IL-10及TNF-α水平的影响。方法将重症冻结期肩周炎患者95例随机分为研究组48例和对照组47例。对照组采用麻醉下手法松解治疗,研究组在对照组的基础上联合中西医综... 目的探讨麻醉下手法松解综合方法治疗重症冻结期肩周炎对患者血清IL-6、IL-10及TNF-α水平的影响。方法将重症冻结期肩周炎患者95例随机分为研究组48例和对照组47例。对照组采用麻醉下手法松解治疗,研究组在对照组的基础上联合中西医综合法治疗,分别于2组患者治疗前后检测血清IL-6、IL-10及TNF-α水平。结果治疗后2组血清IL-6、IL-10及TNF-α水平均低于治疗前,且研究组血清IL-6、IL-10及TNF-α水平较对照组显著性降低,差异均有统计学意义(P<0.05)。结论麻醉下手法松解综合方法对重症冻结期肩周炎进行治疗能有效地降低患者血清IL-6、IL-10及TNF-α水平。 展开更多
关键词 手法松解综合方法 重症冻结期肩周炎 血清炎性指标
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关于职业院校英语课程教学改革研究的浅谈——以教学手法与方法的改革为主
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作者 朱岱霖 《海外英语》 2015年第12期41-42,共2页
职业院校将英语课程教学定位为主干公共课。如何能更好地帮助实现职业院校教育的培养目标,促进学生就业,同时能服务于培养复合型人才的要求,并且为学生的终身学习与职业发展奠定扎实的基础,充分发挥基础课程的功能。这是职业院校英语教... 职业院校将英语课程教学定位为主干公共课。如何能更好地帮助实现职业院校教育的培养目标,促进学生就业,同时能服务于培养复合型人才的要求,并且为学生的终身学习与职业发展奠定扎实的基础,充分发挥基础课程的功能。这是职业院校英语教学研究者和实践者亟须分析清楚与解决的问题。针对这一问题,该文在对相关文献进行整理、分析的基础上,在分析职业素质内涵和我国社会经济发展对高等职业教育人才素质要求的基础上,从教学理念、教学模式、教学方法、课程框架、师资配备、设施配置等方面对教学研究改革进行了浅谈,对教学手法与方法改革进行了重点讨论与分析,为职业院校英语课堂教学提供有建设性意义的指导,为职业院校英语教学改革提供依据和借鉴。 展开更多
关键词 职业教育 英语 教学改革 教学手法方法
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自动经皮腰椎间盘切吸术配合手法治疗腰椎间盘突出症48例 被引量:1
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作者 许瑞明 张晓莺 《中医杂志》 CSCD 北大核心 2005年第6期443-444,共2页
为了进一步提高自动经皮腰椎间盘切吸术(APLD)的疗效,我们将88例腰椎间盘突出症患者,分别采用APLD加手法治疗和单纯APLD治疗的方法,进行对照研究.现报告如下.
关键词 自动经皮腰椎间盘切吸术 手术配合 手法方法 腰椎间盘突出症 APLD 腰肌痉挛
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手法复位治疗良性阵发性位置性眩晕的复发影响因素分析 被引量:12
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作者 秦海燕 张敏 蔡慧仙 《医学临床研究》 CAS 2018年第6期1186-1188,共3页
【目的】分析手法复位治疗良性阵发性位置性眩晕(BPPV)患者的复发相关影响因素。【方法】选取2013年1月至2016年12月于本院就诊的BPPV患者100例,经手法复位治疗后进行为期3个月的随访跟踪,统计手法复位后1、2、3个月的复发率,并分... 【目的】分析手法复位治疗良性阵发性位置性眩晕(BPPV)患者的复发相关影响因素。【方法】选取2013年1月至2016年12月于本院就诊的BPPV患者100例,经手法复位治疗后进行为期3个月的随访跟踪,统计手法复位后1、2、3个月的复发率,并分析复发的相关因素。【结果】随访结果显示治疗1个月后的复发率为11%;2个月后为22%;3个月后高达27%;单因素分析结果显示,复发组在年龄≥50岁、治疗前发作次数≥10次、复位次数≥10次、高血压、BPPV病程以及过度劳累等生活相关因素的比例上均明显较高,且差异有统计学意义(P〈0.05);多因素Logistic分析结果显示年龄≥50岁、高血压史、BPPV病程、过度劳累、睡眠障碍、长期使用电脑、发作次数≥10次以及复位次数≥10次是BPPV患者手法复位后复发的独立危险因素。【结论】多种因素可能会导致BPPV患者经手法复位治疗后复发,在临床上加强对患者的健康宣教显得尤为重要,如血压控制、合理作息、避免瞬间旋转头部等不良诱因;重视家庭康复有助于降低该病的复发率。 展开更多
关键词 眩晕/分类 肌肉骨骼手法/方法 复发 危险因素
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中药热敷联合理筋正骨牵引法治疗重度神经根颈椎病患者的临床疗效
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作者 李欢 相洁 陈慧 《医学临床研究》 CAS 2024年第10期1537-1539,共3页
【目的】探讨中药热敷联合理筋正骨牵引法治疗重度神经根颈椎病患者的临床疗效。【方法】选取2018年1月至2020年1月在本院就诊的98例重度神经根型颈椎病患者,按照随机数字表法分为观察组和对照组,每组49例。对照组给予中药热敷治疗,观... 【目的】探讨中药热敷联合理筋正骨牵引法治疗重度神经根颈椎病患者的临床疗效。【方法】选取2018年1月至2020年1月在本院就诊的98例重度神经根型颈椎病患者,按照随机数字表法分为观察组和对照组,每组49例。对照组给予中药热敷治疗,观察组在对照组基础上加用理筋正骨牵引法治疗。治疗3个月后,比较两组临床症状积分及颈椎疼痛评级指数(PBI)评分。【结果】观察组颈椎疼痛、上肢麻木、眩晕、神经根压迫积分显著低于对照组,差异有统计学意义(P<0.05);观察组PBI中胀痛、撕裂痛、热灼痛、跳痛及牵扯痛评分低于对照组,差异有统计学意义(P<0.05)。【结论】中药热敷联合理筋正骨牵引法治疗重度神经根型颈椎病患者,可改善患者临床症状,减轻病灶及周围组织的疼痛感,值得临床推广应用。 展开更多
关键词 颈椎病/中医药疗法 正骨手法/方法 治疗结果
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不同外科手术治疗分化型甲状腺癌的疗效观察 被引量:6
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作者 陈大勇 《中国实用医药》 2014年第23期60-61,共2页
目的探讨不同外科手术治疗分化型甲状腺癌的临床效果。方法 56例分化型甲状腺癌患者,均经过病理组织学检查证实,所选的56例患者在全身麻醉下实施手术。在手术过程中根据患者甲状腺癌肿的范围大小、甲状腺癌类型、颈部淋巴结转移情况,对... 目的探讨不同外科手术治疗分化型甲状腺癌的临床效果。方法 56例分化型甲状腺癌患者,均经过病理组织学检查证实,所选的56例患者在全身麻醉下实施手术。在手术过程中根据患者甲状腺癌肿的范围大小、甲状腺癌类型、颈部淋巴结转移情况,对患者实施不同的手术切除方式。本组患者中,21例患者实施患侧手术切除;25例患者实施患侧切除、峡部切除术和对侧大部分甲状腺切除手术方式;10例患者患者实施双侧甲状腺切除,同时行淋巴结清扫术。结果本组56例患者手术均顺利成功,术后出现并发症共2例,发生率为3.6%,1例患者为术后出血,1例患者出现后喉返神经损伤。上述患者均随访,随访时间最短为1年,最长为4.2年,平均随访时间为(2.5±0.7)年,乳头状甲状腺癌33例患者中再次手术治疗2例,滤泡状甲状腺癌患者13例中1例患者死亡(发生肺转移)。结论手术治疗是分化型甲状腺癌的主要治疗措施,可根据甲状腺癌的病理分型、肿瘤范围大小、是否有颈部转移等来采取不同的手术治疗方式,可取得较好治疗效果。 展开更多
关键词 甲状腺癌 分化型 手术治疗 手法方法
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腧穴配伍效应的影响因素 被引量:4
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作者 袁建菱 薛晓 《中华中医药学刊》 CAS 北大核心 2015年第9期2115-2117,共3页
通过针灸穴位的选择、腧穴配伍、针灸时间因素、刺激量、针灸手法、刺激方法等对腧穴配伍的临床应用和现代研究的影响,总结各种因素对腧穴配伍效应影响的规律,阐明腧穴配伍的机理,更好地将临床观察和实验研究有机的结合在一起,在中医理... 通过针灸穴位的选择、腧穴配伍、针灸时间因素、刺激量、针灸手法、刺激方法等对腧穴配伍的临床应用和现代研究的影响,总结各种因素对腧穴配伍效应影响的规律,阐明腧穴配伍的机理,更好地将临床观察和实验研究有机的结合在一起,在中医理论的指导下合理有效的运用腧穴配伍指导针灸临床。 展开更多
关键词 腧穴配伍 穴位选择 时间因素 刺激量 手法方法
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Patterns of local recurrence in rectal cancer after a multidisciplinary approach 被引量:14
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作者 Jose M Enríquez-Navascués Nerea Borda +5 位作者 Aintzane Liz-erazu Carlos Placer Jose L Elosegui Juan P Ciria Adelaida Lacasta Luis Bujanda 《World Journal of Gastroenterology》 SCIE CAS CSCD 2011年第13期1674-1684,共11页
Improvements in surgery and the application of combined approaches to fight rectal cancer have succeeded in reducing the local recurrence (LR) rate and when there is LR it tends to appear later and less often in isola... Improvements in surgery and the application of combined approaches to fight rectal cancer have succeeded in reducing the local recurrence (LR) rate and when there is LR it tends to appear later and less often in isolation. Moreover, a subtle change in the distribution of LRs with respect to the pelvis has been observed. In general terms, prior to total mesorectal excision the most common LRs were central types (perianastomotic and anterior) while lateral and posterior forms (presa-cral) have become more common since the growth in the use of combined treatments. No differences have been reported in the current pattern of LRs as a function of the type of approach used, that is, neo-adjuvant therapies (short-term or long-course radiotherapy, orchemoradiotherapy versus extended lymphadenectomy, though there is a trend towards posterior or presacral LR in patients in the Western world and lateral LR in Asia. Nevertheless, both may arise from the same mechanism. Moreover, as well as the mode of treatment, the type of LR is related to the height of the initial tumor. Nowadays most LRs are related to the advanced nature of the disease. Involvement of the circumferential radial margin and spillage of residual tumor cells from lymphatic leakage in the pelvic side wall are two plausible mechanisms for the genesis of LR. The patterns of pelvic recurrence itself (pelvic subsites) also have important implications for prognosis and are related to the potential success of salvage curative approach. The re-operability for cure and prognosis are generally better for anastomotic and anterior types than for presacral and lateral recurrences. Overall survival after LR diagnosis is lower with radio or chemoradiotherapy plus optimal surgery approaches, compared to optimal surgery alone. 展开更多
关键词 Rectal cancer Local neoplasm recurrence pelvis Pattern of recurrence multidisciplinary approach
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Rhetorical appeal-based writing model
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作者 LI Jian YIN Pi-an 《Sino-US English Teaching》 2008年第5期11-14,共4页
Teaching English composition has long been recognized as one of the most daunting tasks of college education in China. So this thesis is intended to investigate the applicability of the audience-oriented rhetorical ap... Teaching English composition has long been recognized as one of the most daunting tasks of college education in China. So this thesis is intended to investigate the applicability of the audience-oriented rhetorical appeals to the teaching of English composition. 展开更多
关键词 rhetorical appeal ETHOS PATHOS LOGOS
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Showcasing modeling strategies in the ESOL writing class: Blending rhetorical fluency with grammatical accuracy
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作者 Anjali Pandey 《Sino-US English Teaching》 2010年第9期1-18,共18页
This paper argues for an overt innovational shift in praxis, as well as classroom configuration in the ESOL writing class by calling for a move away from the current foci on process-based pedagogies for newcomer popul... This paper argues for an overt innovational shift in praxis, as well as classroom configuration in the ESOL writing class by calling for a move away from the current foci on process-based pedagogies for newcomer populations, to an explicit teaching of modeling strategies with concomitant practice opportunities provided in the ESOL writing class. It is argued that explicit, sequenced instruction in the domains of rhetorical structure as well as grammatical accuracy provide ESOL (English for Speakers of Other Languages) learners in the emerging stages of language learning with a more concrete grasp of meaning, structure and grammar in rhetorical construction. The modeling strategies proposed in the paper focus on a simultaneous building of rhetorical fluency and grammatical accuracy via spotlighted and sequenced strategies which afford learners practice in smaller chunks of composition including but not limited to thesis statement writing, varied paragraph organization, multiple modes of exposition, and grammatical complexity all in a bid to generate rhetorical depth and grammatical detail in writing. In short, both form and function need to be explicitly taught in the ESOL writing class with adequate opportunities provided for rhetorical practice. Using a meticulous blend of meaningful, authentic and purposeful tasks combined with one-on-one instruction which incorporates a variety of visual and rhetorical modeling strategies, emerging writers, it is argued a move from controlled to automatic writing fluency within a short time span. The pedagogy proposed in the current paper spotlights the specific learner, rather than the writing process and entails a move away from traditional, teacher-fronted classrooms to targeted, workshop-centered configurations which permit for one-on-one conferencing in the ESOL writing class. The visually rendered modeling strategies proposed in this paper argue for writing instruction for ESOL students which is learner responsive, relevant and practical. 展开更多
关键词 ESOL writers paragraph structure grammar teaching practice and modeling strategies
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Surgical treatment effects in cancer of the cardia and esophagogastric junction
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作者 Yumin Zhou Jiong Pan Yuwei Sheng Hao Liu Ziping Fan 《The Chinese-German Journal of Clinical Oncology》 CAS 2007年第3期220-221,共2页
Objective: To evaluate the treatment effects of total gastrectomy (TG) and proximal gastrectomy (PG) for cancer of the cardia and esophagogastric junction. Methods: forty-five patients with cancer of the cardia ... Objective: To evaluate the treatment effects of total gastrectomy (TG) and proximal gastrectomy (PG) for cancer of the cardia and esophagogastric junction. Methods: forty-five patients with cancer of the cardia and esophagogastric junction underwent surgical resection. Of them, 29 were treated using proximal gastrectomy and 16 total gastrectomy. The 3-year and 5-year survival rate and the postoperative complication rate and mortality rate were followed up and compared between the two groups. Results: The 3-year and 5-year survival rates of group PG were 44.8% and 20.7%, of group TG were 37.5% and 18.8%, respectively, and the differences were not statistically significant (X^2= 3.84, P 〉 0.05; X^2= 3.89, P 〉 0.05). The postoperative complication and mortality rate of group PG were 13.7% and 6.8%, of group TG was all 6%, respectively. Conclusion: Proximal and total gastrectomy treatment effects can not significantly influence the prognosis of patients in progressive stage of cancer of cardia and esophagogastric junction. 展开更多
关键词 stomach neoplasms surgical procedures operative survival rate
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Reflections on Basic Skill Training in Piano Teaching
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作者 WANG Sheng 《International English Education Research》 2017年第4期106-108,共3页
By analyzing several effective finger practices, it is possible to consolidate the basic skills to help students adjust and establish a good touch mode. This is an important pre-requisite for pursuing strength and spe... By analyzing several effective finger practices, it is possible to consolidate the basic skills to help students adjust and establish a good touch mode. This is an important pre-requisite for pursuing strength and speed during playing. The training method can be targeted to solve some common problems, and guide students to consciously feel the touch and the change of tone, listening with ears, controlling with fingers to achieve solid and soft balanced unity. 展开更多
关键词 basic skills training for the piano LEGATO STACCATO
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Filtered-beam-search-based approach for operating theatre scheduling
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作者 周炳海 Yin Meng 《High Technology Letters》 EI CAS 2015年第1期1-7,共7页
To improve the efficiency of operating rooms, reduce the hospital' s costs and improve the level of service qualities, a scheduling method is presented based on a filtered-beam-search-based algo- rithm. Firstly, a sc... To improve the efficiency of operating rooms, reduce the hospital' s costs and improve the level of service qualities, a scheduling method is presented based on a filtered-beam-search-based algo- rithm. Firstly, a scheduling problem domain is described. Mathematical programming models are al- so set up with an objective function of minimizing related costs of the system. On the basis of the de= scriptions mentioned above, a solving policy of generating feasible scheduling solutions is estab- lished. Combining with the speeific constraints of operation theatres, a filtered-beam-search-based algorithm is put forward to solve scheduling problems. Finally, simulation experiments are designed. The performance of the proposed algorithm is evaluated and compared with that of other approaches through simulations. Results indicate that the proposed algorithm can reduce costs, and are of prac- ticality and effectiveness. 展开更多
关键词 operating theatres SCHEDULING ALGORITHM filtered beam search COSTS
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The Application of PBL in Surgery Theory Teaching Research
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作者 HU Xiaojian 《International English Education Research》 2016年第5期85-86,共2页
objective: to study the problem oriented (PBL) teaching method application in surgery theory teaching effect. Methods: according to the student id number of single and double the surgical theory study stage of the... objective: to study the problem oriented (PBL) teaching method application in surgery theory teaching effect. Methods: according to the student id number of single and double the surgical theory study stage of the 160 cases of medical students divided into two groups, the number into the control group (80 cases), double number into the experimental group (80 cases), traditional teaching method and PBL teaching method, respectively with the method of questionnaire survey to evaluate the two teaching methods. Results: after the introduction of PBL method in the experimental teaching, the students' classroom situation, knowledge situation, learning efficiency index score significantly higher than the control group, and the ability training all indicators were significantly higher than that of control group (P 〈 0.05). Conclusion: the introduction of PBL in surgery theory teaching method, the feasibility of high, can provide a good decision for surgical theory teaching. 展开更多
关键词 PBL SURGERY Theory TEACHING
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中医传统手法复位+闭合穿针固定术治疗小儿肱骨髁上骨折临床疗效观察
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作者 张雄辉 廖瑛扬 曾卓辉 《中文科技期刊数据库(全文版)医药卫生》 2022年第2期183-187,共5页
分析小儿肱骨髁上骨折患者接受闭合穿针固定术+中医传统手法复位治疗的效果。方法:随机选取我院于2019年12月起,开始收集病例,并制定本次研究计划,直至2021年12月截止,共收集30例肱骨髁上骨折患儿的临床资料。30例患儿均接受中医传统手... 分析小儿肱骨髁上骨折患者接受闭合穿针固定术+中医传统手法复位治疗的效果。方法:随机选取我院于2019年12月起,开始收集病例,并制定本次研究计划,直至2021年12月截止,共收集30例肱骨髁上骨折患儿的临床资料。30例患儿均接受中医传统手法复位+闭合穿针固定术治疗,统计治疗安全性、骨折愈合情况以及Flynn评分。结果 30例患儿骨折均达到骨性愈合,愈合时间为6-8周;患儿的肘关节功能恢复情况整体来说,较为理想,优良率可到达90%;并发症发生率仅为6.7%。结论 中医传统手法复位+闭合穿针固定术治疗小儿肱骨髁上骨折可有效缩短创口愈合时间,对肘关节功能的恢复有积极促进效果,且在治疗期间未诱发其他不良反应,同时具有医务人员“零辐射”等众多优点,值得临床推广。 展开更多
关键词 中医手法复位方法 闭合穿针固定 “零辐射” 统计学方法的运用。
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“看我所见”——巴拉甘阅读报告 被引量:2
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作者 李兴钢 姜汶林 《建筑学报》 CSSCI 北大核心 2018年第5期83-90,共8页
概述了在"阅读巴拉甘"(李兴钢工作室系列研究之一)的过程中,以路易斯·巴拉甘的12个作品为对象,以制图和模型为手段,通过关键词的方式对巴拉甘作品中的设计手法、方法进行分析,并试图从李兴钢工作室的创作视角出发,窥探... 概述了在"阅读巴拉甘"(李兴钢工作室系列研究之一)的过程中,以路易斯·巴拉甘的12个作品为对象,以制图和模型为手段,通过关键词的方式对巴拉甘作品中的设计手法、方法进行分析,并试图从李兴钢工作室的创作视角出发,窥探巴拉甘的设计思想。 展开更多
关键词 路易斯·巴拉甘 设计手法方法 设计思想
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保守治疗与手术治疗在肱骨骨折中的疗效对比 被引量:3
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作者 许林东 《中国医师杂志》 CAS 2018年第6期911-913,共3页
目的比较保守治疗和手术治疗肱骨骨折的治疗效果。方法选取本院2014年6月至2016年3月收治单侧肱骨骨折患者79例,分为保守治疗组和手术组,采用constant和Murley评分标准评估疗效。结果两组间疗效优良率差异无统计学意义(P=0. 79)。手术... 目的比较保守治疗和手术治疗肱骨骨折的治疗效果。方法选取本院2014年6月至2016年3月收治单侧肱骨骨折患者79例,分为保守治疗组和手术组,采用constant和Murley评分标准评估疗效。结果两组间疗效优良率差异无统计学意义(P=0. 79)。手术组术后骨折对位优良率(81.1%)显著高于保守组(57.1%),差异有统计学意义(P=0. 02)。保守组治疗肱骨骨折后日常生活程度、肩关节运动范围以及疼痛评分均优于手术治疗,而手术治疗对术后肌力恢复改善程度优于保守治疗(均P<0.05)。结论肱骨骨折保守治疗无创性高,疗效明确,远期并发症少,能明显改善预后。 展开更多
关键词 肱骨骨折/治疗 手法 整骨/方法 骨折固定术/方法
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A Comprehensive Evaluation Method for Kinematic Accuracy of Space Manipulator Based on Analytic Hierarchy Process
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作者 项溪 朱晓敏 尚小溥 《Journal of Shanghai Jiaotong university(Science)》 EI 2016年第4期424-432,共9页
The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space man... The kinematic accuracy of space manipulator determines whether the spacecraft performs normally or not. Problems pertaining to structural deformation have received increased attention in recent times. In the space manipulator systems, flexible arms and joints can induce drastic dynamic instabilities. In applications such as the space station, kinematic error due to structural deformation can jointly affect the performance characteristics. And it is crucial for accuracy control of space manipulator to establish a precision index. Here we analyze the dynamics characteristic of flexible space manipulator considering the hysteresis of harmonic reducer based on method of nonconstraint boundary modal. For the sake of describing the output accuracy, we integrate the method of analytic hierarchy process(AHP) to establish a comprehensive evaluation index. A numerical simulation is performed to analyze the nonlinear dynamic characteristics of space manipulator with harmonic reducer. With the analysis of accuracy assessment, the relation among the hysteresis angle, rigidity and output accuracy is revealed. Considering the elastic modulus of flexible space manipulator and the hysteresis angle of harmonic reducer, we conduct an evaluation of output characteristics of flexible space manipulator with the proposed comprehensive evaluation index. The accuracy evaluation of output characteristics based on the proposed comprehensive evaluation index is implemented in the initial stage of space manipulator's design, which can not only solve the problems existing in the design but also save cost savings for ground tests. The results can be used in designing and optimizing future space manipulators, which may provide valuable references for design and thermal control of the space manipulator. 展开更多
关键词 spacecraft manipulator comprehensive evaluation method harmonic reducer kinematic accuracy analytic hierarchy process (AHP)
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