bluuebunny/crossref_metadata_2025 huggingface dataset:
Experimental and theoretical evaluation of the buoyancy and gravity driven underwater robots
Authors: Gumusel L. , Baz A.
Published: March 2009

The dynamic model of a new class of underwater robot is derived and the validity of the model is checked experimentally. Close agreements between theory and experiment are attained. The interaction between the buoyancy and gravity forces acting on the robot arm, present in the underwater environment, is used to generate torques necessary to move the arm. The mathematical model of a multi-arm robot is developed to define the interaction between the dynamics of the moving weight and the robot links under the action of the resisting water drag and other external forces. The Lagrangian method is used in the formulation of the arm dynamics. The developed dynamic equations serve as means for designing the control laws necessary for controlling the position of the different joints of the robots. The study indicates that the buoyancy and gravity-driven robot can position a payload accurately as well as at a fairly fast speed of response. It is indicated from the theoretical and experimental study that the arm motion is created by a small displacement of moving weight on the power screw. Therefore, power requirement of this type of robot is just as enough to overcome the friction between the power screw and the moving weight. This features emphasize the potential of the concept as a viable means for driving underwater robots
A numerical approach for time-optimal path-planning of kinematically redundant manipulators
Authors: Wu Chia-Ju
Published: March 2009

In this paper, a numerical approach is proposed to solve the time-optimal path-planning (TOPP) problem of kinematically redundant manipulators between two end-points. The first step is to transform the TOPP problem into a nonlinear programming problem by an iterative procedure. Then an approach to find the initial feasible solutions of the problem is proposed. Since initial feasible solutions can be found easily, the optimization process of the nonlinear programming problem can be started from different points to find the global minimum. A planar three-link robotic manipulator is used to illustrate the validity of the proposed approach.
A dexterous anthropomorphic hand for robotic and prosthetic applications
Authors: Mehdian M. , Rahnejat H.
Published: March 2009

This paper outlines the analysis methodology employed in the design of an anthropomorphic hand for the purposes of object handling by robotic manipulators, and for prosthetics. The final design is described and the safe handling of various objects using this anthropomorphic hand is discussed.
On the generation of robotic assembly sequences based on separability and assembly motion stability
Authors: Shin C.K. , Cho H.S.
Published: March 2009

This paper presents a method for the automatic generation of robotic assembly sequences based on the verification of a disassemblability for a part to be disassembled. To derive the disassemblability of a candidate part, we first inference collision free assembly directions by extracting separable directions for the part and calculating the separability which gives information as to how the part can be easily separated. Using the result, we determine the disassemblability defined in terms of the separability and stability costs. The separability cost represents a facility of the part disassembly operation, while the stability cost represents a degree of the stability for the base assembly motion which gives a guidance for design of jig/fixture. The proposed method provides a potentially local optimal solution for finding a cost effective assembly plan, and the feasibility of generating robot motion programs by evaluating separable directions in flexible manufacturing applications. A case study is given to illustrate the concepts and procedure of the proposed scheme.
A mobile robot navigation method using a fuzzy logic approach
Authors: Beaufrere Bertrand , Zeghloul Saïd
Published: March 2009

This paper treats, in a general way, the problem of mobile robot navigation in a totally unknown environment. The different aspects of this problem are dealt with one by one. We begin by introducing a simple method for perceiving and analyzing the robot's local environment based on a limited amount of distance information. Using this analysis as our base, we present a navigation algorithm containing different action modules; some of these actions use Fuzzy Logic. The results presented whether experimental or simulation show that our method is well adapted to this type of problem.
Position localization for mobile robots using a colour image of equipment at nuclear plants
Authors: Ebihara Kenichi , Otani Takayuki , Kume Etsuo
Published: March 2009

Position localization is a necessary and important task for an intelligent robot, which moves and works in place of human workers. Various methods for position localization tasks have been proposed and developed by many researchers; for example, can active method using ultrasonic waves or laser and a passive method using images of bar codes or marks in the workspace of the robot. The passive method, using images of the object in the workspace of the robot, is particularly desirable, as this method does not influence the workspace. Thus, an arrangement of the workspace is not necessary and many robots can work simultaneously.
On the sensitivity analysis of the computational kinematics of the robotic manipulators
Authors: Vahidi Siamak , Kazerounian Kazem
Published: March 2009

In the computational kinematics of robotic manipulators, accuracy and sensitivity of the results are highly dependent on the choice of the coordinate system, the metric system, and the appropriateness of performance evaluation measure. In this paper, these undesired sensitivities are examined and suitable performance criteria are developed to eliminate the coordinate system and metric system dependencies, and adverse numerical effects associated with them. Also a new formulation for the Jacobian matrix, joint velocities, and hand velocities, based on the Euler angles, is developed. This formulation, further improves numerical accuracy of the computations. Numerical experiments are included.
Application of the Taguchi method to the design of a robot sensor
Authors: Rowlands H. , Pham D. T.
Published: March 2009

This paper considers the use of the Taguchi method as a means to identify the optimum design of a robot sensor. The sensor is modelled by a complex set of equations which makes optimisation using traditional calculusbased methods difficult. The Taguchi method is employed as a systematic method to understand the performance of the sensor whilst using a limited number of model evaluations. The Taguchi method is based on the experimental design technique and the results of using a full factorial design, 1/2 and 1/4 fractional factorial designs are compared. The advantage of using the Taguchi method over traditional experimental techniques is also discussed.
A min-max problem of optimal actuator placement for lifting
Authors: Beiner L.
Published: March 2009

The paper addresses the following problem: for a three-bar lifting linkage, find the locations of the two ends of the actuated link so as to minimize the maximum value of the force seen by the actuator over a specified range of arm angular positions. A simple analytical solution to this min-max problem is given, showing that the optimal locations are with the actuated link perpendicular either to the fixed link or to the lifting arm, when the arm is in a horizontal position. The method can be used to optimize the actuation of robots, doors, platforms, landing gears, etc., and allows to account for actuator length constraints. It can be extended also to Stewart's platform-type spatial manipulators.
Complete 3D boundary representation from multiple range images: exploiting geometric constraints
Authors: Gupta Kamal , Xu Zukang
Published: March 2009

We describe an approach that generates a complete b-rep description of a polyhedral object from (geometric primitives derived from) dense range images taken from multiple view-points. Our approach, starting from basic face models of visible surfaces of objects in each local view, matches certain geometric features, extracts rigid-body transformations that relate the local views, and incrementally merges the face models (in local views) into a global 3-dimensional b-rep description of the object. A convenient and effective termination criterion is designed to monitor the merging process. The emphasis is on the use of geometric constraints in building a complete 3-dimensional model of the object.

We have implemented this system in C, running on a SUN Sparcstation. The system, as presented, has been tested on face models derived from several synthetic and real range images and performs successfully with realistic noise levels.
Chattering-free sliding modes in robotic manipulators control
Authors: Šabanović Asif , Jezernik Karel , Wada Kenzo
Published: March 2009

In this paper sliding mode motion design is considered for nonlinear plants which are linear with respect to control input. The dynamics of the robotic manipulators is treated with and without those of the actuators. When the dynamics of the actuators is included a design of the sliding modes for the systems with discontinuous control is performed. If actuators' dynamics is negelected the control is assumed to be continuous quantity. By combining the variable structure systems and Lyapunov designs a new algorithm is developed which has all the good properties of the sliding mode systems while avoiding unnecessary discontinuity of the control thus eliminating chattering. Neither the explicit calculation of the equivalent control, nor high gain inside the boundary layer are used. The parameters of the control depend on the plant's gain matrix, and the gradients of the sliding mode manifold. This control method is then applied to develop a unified control strategy for the motion control systems including the path tracking control, the impedance control and the force control of a robotic manipulator. It is shown that all these tasks can be formulated in the same mathematical form in which selected so-called sliding mode functions must track their references. In this way the systems state is forced to remain on the selected manifold in the state space after reaching it. The solution is interpreted in both the Joint space and the Work space for n -degrees of freedom robotic manipulators.
New approach to control of robotic manipulators interacting with dynamic environment
Authors: Vukobratović Miomir K. , Ekalo Yuri
Published: March 2009

The fundamentals of an approach to solving the control task of robots interaction with a dynamic environment based on the stability of a closed-loop control system are given in this paper. The task is set and solved in its general form. The traditional control concept of compliant robot motion—the hybrid position/force control is discussed. In the paper the proposed control laws ensure simultaneous stabilization of both the desired robot motion and the desired interaction force, as well as their required quality of transient responses. In order to emphasize the fundamental point of this approach in controlling the contact tasks in robotics, the authors have assumed ideal parameters of interacting dynamic systems. The proposed control procedure is demonstrated by one simple example.
Workspaces of a walking machine and their graphical representation. Part I: kinematic workspaces
Authors: Zhang S. J. , Sanger D. J. , Howard D.
Published: March 2009

This paper addresses the kinematic workspaces of a walking machine and their graphical representation. The workspaces for walking machines are denned and the methods for investigating various workspaces are presented; the kinematic workspace constraints are established; the displacement is analysed; an algorithm for investigation of kinematic workspaces is presented; and the position and orientation kinematic workspaces are analysed and graphically represented for an example walking machine design.
Man-adaptive control of teleoperators
Authors: Slutski Leonid , Coiffett Philippe
Published: March 2009

To solve manipulation problems when fast transportation operations are combined with high precision positioning operations, an approach to telerobotic system organization with manipulator variable parameters is presented. It is proposed that the human operator should personally adjust the robot parameters in compliance with the situation requirements. Therefore, an additional channel of parameter control was introduced into the
system. The approach results in the organizing of highly effective on-line systems with sufficiently simple control algorithms.
Sensory integrated fabric ply separation
Authors: Monkman G. J.
Published: March 2009

A knowledge of the fabric material and its properties, mechanisms of prehension and an understanding of sensor and manipulator integration are essential for even the most basic of robotic textile handling tasks. This paper considers individually, and as a combination, the aspects of mechanical and electrical hardware, software and logistics necessary in making automated fabric ply separation and positioning possible.
Parallel computation of configuration space
Authors: González J. Solano , Jonest D.I.
Published: March 2009

Many motion planning methods use Configuration Space to represent a robot manipulator's range of motion and the obstacles which exist in its environment. The Cartesian to Configuration Space mapping is computationally intensive and this paper describes how the execution time can be decreased by using parallel processing. The natural tree structure of the algorithm is exploited to partition the computation into parallel tasks. An implementation programmed in the occam2 parallel computer language running on a network of INMOS transputers is described. The benefits of dynamically scheduling the tasks onto the processors are explained and verified by means of measured execution times on various processor network topologies. It is concluded that excellent speed-up and efficiency can be achieved provided that proper account is taken of the variable task lengths in the computation.
Local torque minimization for redundant manipulators: a correct formulation
Authors: Ma Shugen , Nenchev Dragomir N.
Published: March 2009

Local torque minimization for redundant manipulators has been considered by using a redundancy resolution approach. Since its initial formulation, however, proposed solutions have been plagued by performance instabilities. Till now, the reason was not clear. In this paper it is shown that the instability problem occurred because of incorrect formulation. A correct formulation is proposed, which is used to analyze the reason for instability. Special attention is paid to joint acceleration terms at the selfmotion manifold. This helps explaining the recent formulation of a stable scheme based on local joint velocity minimization in terms of torque. The results obtained. are related to dynamic redundancy resolution in general.
Task dependent synthesis of some geometrical parameters of a robot mechanism
Authors: Oblak Maks , Gotlih Karl
Published: March 2009

This paper deals with the synthesis of a robot mechanism, which has an open kinematic chain structure. The aim of the synthesis is to find optimal mechanism link lengths and the elevation of the robot mechanism base, with respect to the arbitrary chosen task which is described in a task space.

A mathematical model, which describes the problem and enables one to use a nonlinear optimization algorithm, was developed. The usefulness of the approach is demonstrated by the example of the Manutec r3 mechanism with a prescribed task for the robot's end-effector.
Health-care robotics goes commercial: the ‘HelpMate’ experience
Authors: Engelberger Joseph F.
Published: March 2009

Even as the first industrial robot started earning its keep, researchers were dreaming of using robots in servicejobs, intimately serving human mentors as Isaac Asimovwould have had it. But that was not to be. Initially therewas a paucity of appropriate technology. Then the barriers became economic and institutional.

These barriers will be discussed to set the scene. The discussion then will focus on a spectrum of technologythat has been channelled into a cost-effective commercialproduct. HelpMate utilises an array of sensors andsensor fusion to succeed as a courier in multi-storeyedcluttered hospitals. Our advice for all researchers whowould have robots serve in health care is: “Get out intothe real world as soon as you can”.
Development of a surgical robot for cementless total hip replacement
Authors: Mittelstadt Brent , Paul Howard , Kazanzides Peter , Zuhars Joel , Williamson Bill , Pettitt Robert , Cain Phillip , Kloth David , Rose Luke , Musits Bela
Published: March 2009

The combination of robotics and medical imaging may soon provide orthopaedic surgeons with a tool that significantly increases the precision of cementless total hip replacement operations and directly links preoperative planning with surgical execution. Twenty-six successful robot-assisted operations have been performed on dogs and the first clinical trials on human patients have recently taken place.
Prostatic resection: an example of safe robotic surgery
Authors: Davies B. L. , Ng W. S. , Hibberd R. D.
Published: March 2009

A special-purpose robot for prostatectomies has been developed. Details of the robot mechanism, control system and human/computer interface (HCI) are discussed with special emphasis on software methods to ensure system safety. The clinical application of the system is described and software requirements for operating-theatre use are indicated. These requirements include safe error recovery, facilitation of reliable surgical procedures, and an effective HCI.
Adaptive Learning Control for Cooperation of Two Robots Manipulating a Rigid Object with Model Uncertainties
Authors: Sun Dong , Xiaolun Shi Yunhui Liu F
Published: March 2009

In this paper, an adaptive learning (A-L) control scheme is proposed for cooperation of two manipulators handling a rigid object with model uncertainties. For robots performing repetitive cooperating tasks, their operations are decomposed into two modes: the single operational mode and the repetitive operational mode on which the A-L controller is based. In the single operational mode, the controller is a learning based adaptive controller in which the robotic parameters are updated by using the information of the previous operation. In the repetitive operational mode, the controller is a model-based iterative learning controller. The advantages of the A-L controller lie in the fact that it can improve the transient performance as robots repeat operations at a high speed of the learning convergence. Simulation results ascertain that the A-L algorithm is effective in controlling two cooperated robots with model uncertainties.
Swing-up control of inverted pendulum systems
Authors: Bradshaw Alan , Shao Jindi
Published: March 2009

In Part I a technique for the swing-up control of single inverted pendulum system is presented. The requirement is to swing-up a carriage mounted pendulum system from its natural pendent position to its inverted position. It works for all carriage balancing single inverted pendulum systems as the swing-up control algorithm does not require knowledge of the system parameters. Comparison with previous swing-up controls shows that the proposed swing-up control is simpler, eaiser. more efficient, and more robust.

In Part II the technique is extended to the case of the swing-up control of double inverted pendulum systems. Use is made of a novel selective partial-state feedback control law. The nonlinear, open-loop unstable, nonminimum-phase. and interactive MIMO pendulum system is actively linearised and decoupled about a neutrally stable equilibrium by the partial-state feedback control. This technique for swing-up control is not at all sensitive to uncertainties such as modelling error and sensor noise, and is both reliable and robust.
The anatomy of a humanoid robot
Authors: Seward D. W. , Bradshaw A. , Margrave F.
Published: March 2009

This paper investigates the feasibility of constructing a humanoid robot using existing technology. Firstly, the adoption of the humanoid form is justified. The structure, strength and power capabilities of a human are analysed in engineering terms, and taken to represent the requirements specification for a humanoid robot. Technological alternatives to the biological components are reviewed and compared to this specification. The feasibility of matching human performance is considered, and it is concluded that the necessary power and energy requirements can be fitted within the mass and volume of the human body.
Technical Note: Advanced teleoperation testbed—A system you can see through
Authors: Hopper David , Boddy Cliff , Reilly Dennis
Published: March 2009

To remove humans from hazardous environments “good” teleoperated robotic systems are needed. “Good” is defined here to mean a system which is task centred and which is transparent to the user-in other words, a system you can see through. A teleoperated robotic system which strives towards this goal is described by way of illustration. The fundamentals that have helped to achieve this are: design and build from a task centred viewpoint, careful design of the Human Computer Interface(HCI) and special consideration for the systems integration task.
A bending and expanding motion actuator
Authors: Tominaga Takayuki , Senda Kouji , Ohya Nobuyuki , Idogaki Takaharu , Hattori Tadashi
Published: March 2009

A bending and expanding motion actuator which iscomposed of multi-layered PZT unimorph cells has beendeveloped. These cells are piled one against another.Each cell's electrode is divided into three sectors and thefacing sectors are connected to one another. Multidirectionalbending is realized by controlling the drivingvoltage of each sector. The actuator is 12 mm indiameter, 20 mm in length and 6.4 g in weight with 40cells. The bending angle was 2.2 degrees, and the expansion displacement was 700 μm with 150 V. The resonant frequency was 95 Hz at 25 V.
Group work of distributed microactuators
Authors: Fujita Hiroyuki , Ataka Manabu , Konishi Satoshi
Published: March 2009

This paper proposes and demonstrates a method toobtain macroscopic work out of distributed microactuatorsfabricated by IC-compatible micromachiningprocesses. We have coordinated the simple and smallmotion of microactuators in order to perform a task. Theconcept and a control scheme are discussed first. In orderto show the feasibility, the fabrication and operation ofarrayed microactuators for conveyors are described. One uses thermally driven cantilevers and the other uses controlled air flow from micronozzles to carry flat objects.
Kinematic Calibration of Industrial Hydraulic Manipulators
Authors: Khoshzaban M. , Sassani F. , Lawrencet P. D.
Published: March 2009

A novel off-line technique for automatic calibration of kinematic parameters for hydraulic manipulators is presented. Hydraulically actuated manipulators have joints which are always powered and, unlike conventional robots, may not have conventional joint sensors to exploit in the calibration procedure. Instead, our approach employs an external three-dimensional linkage, termed “the calibrator”, which has sufficient number of joints with corresponding sensors. One end of the calibrator is grasped by the manipulator's end effector while the other end is attached to a passive spherical joint fixed to the world coordinate system. The mobile closed kinematic chain thus formed has the added advantage of eliminating the explicit measurement of the manipulator's endpoint location. A sequential identification technique that uses a least squares numerical search algorithm has been developed based on link-by-link movement of the manipulator. Simulation and experimental calibration results on a typical mobile hydraulic manipulator are reported in this paper, which show that the proposed technique is globally stable, and potentially fast, inexpensive, and easy to apply on site.
Towards a virtual work-bench for robotics training
Authors: Liu Jiming
Published: March 2009

Learning in the age of information superhighway necessitates a properly-developed efficient vehicle that is not only powerful in directing users to the needed information or to situate in a reality through virtual settings, but also controllable at the various comfortable paces. The goal of this project is to explore a new on-line medium for users to navigate at their own pace in the structured cyberspace—knowledge space composed of concepts, systems design, application-oriented case studies, up-to-date industrial news (trends and product review), and on-line robotic systems, and to use it as a robotics work-bench for conducting controllable experiments/simulations. Through such an electronic learning medium, users will be able to acquire a global outlook as well as an integrated understanding of modern robotics in a manner that is low-cost, time-and-place-free, and student-centered.
The history of be fixing to: grammaticization, sociolinguistic distribution and emerging literary spaces
Authors: Smith K. Aaron
Published: March 2009

The be fixing to structure not only has a long and fascinating history but also a highly contemporary presence in Internet communication. The rise of the futurate verbal periphrasis be fixing to + V shows an essentially textbook example of grammaticization, not so different in many ways from the development of be going to. However, there are some important differences too. While be going to has a wide distribution among speakers of Englishes in the world, having much to do with its sixteenth century development and subsequent global diffusion in the colonial period, be fixing to grammaticized in Southern US English in the eighteenth and nineteenth centuries, a fact which resulted in a relatively small circumscribed geographical distribution in its earliest uses.
Exploring discourse on globalizing English
Authors: Onysko Alexander
Published: March 2009

A case study of discourse on anglicisms in German.

“By recognizing our uncanny strangeness, we shall neither suffer from it nor enjoy it from the outside. The foreigner is within me, hence we are all foreigners. If I am a foreigner, there are no foreigners.” (Julia Kristeva, Strangers to Ourselves (1991)).

Is Kristeva's dissolution of the notion ‘foreign’ also applicable to language? The nature of language as a semiotic system of arbitrarily bound units of meaning and form determines the essential foreignness of signifier and signified. As such, every linguistic unit is indeed intrinsically foreign on the level of designation and, thus, there is no foreign language. On the surface of human communication, however, incomprehensibility among speakers can emerge as a criterion of foreignness. The perception of the foreign in language is particularly tied to situations of contact between different language-cultural areas. Such contact can occur internally in a multilingual speaker or can be observed externally as happening in the speech community. In both ways, crucial to language contact is a perceived intertwining of linguistic units from at least two distant, i.e. incomprehensible, codes culturally rooted in diverse speech communities.
Graveyard frolics
Authors: Tulloch Alexander
Published: March 2009

We all need to relax. Teachers, doctors, solicitors, bricklayers, salesmen, shop assistants and even grossly over-paid footballers all need a break. Once we have performed whatever daily task it is that provides us with our daily bread, we need to recharge our batteries, ‘chill out’ (as they now say) and do something entirely different to help us unwind. There are those who like to take part in some form of sporting activity whereas others prefer to settle down with a good book or crash out in front of the telly. And then there are those who would rather have an enjoyable meal at a decent restaurant and take in a show or go to what we seem to refer to increasingly as the ‘movies’ where they can ‘check out’ the most recent Bond film or Spielberg production. Whatever our preference, entertainment of one form or another plays a vital role in everyone's life and some choices, whether we are aware of it or not, link us with ancient societies whose need to enjoy themselves now and again was no less than ours is today.
Cost-Effective Health Technology at Home as an Avenue for Reducing National Health Expenditures
Authors: Hermesse Jean
Published: March 2009

As in many industrialized countries, the national health insurance system of Belgium is concerned about endemic financial losses. In response, the government has probably resorted to the final revenue-producing remedy, an increase in social security contributions, and several reductions in reimbursement rates have been instituted. This classic remedy cannot be repeated again, because some professionals either will not survive or will react with a consumption increase. Other ways must be found rapidly to provide enough savings. This is the essential issue that concerns the policy maker in Belgium, and probably in most developed countries as well.
Home Health Care
Authors: Loucks Vernon R.
Published: March 2009

Throughout the industrialized world—from the United States to Japan, from Scandinavia to Australia—the theme of cost containment dominates the discourse on health care. This issue is the offspring of successful past efforts to ensure all patients effective medical care. While many countries have groups with special health disadvantages, the great majority of people in the industrialized nations have access to modern medical care and make ready use of it. The problem now is its cost, as aging populations, increasing in number as the result of advanced techniques that are more effective in prolonging life, place considerable strains on health care budgets.
Experience with CAPD as Home Dialysis
Authors: Lameire Norbert H.
Published: March 2009

For patients who have had the misfortune to develop terminal renal failure, three basic modes of treatment can be offered. One is renal transplantation, with a graft taken from either a living or a cadaveric donor. When successful, it offers the best quality of life and treatment for patients with end-stage kidney disease. However, the elderly and those with severe cardiovascular or systemic complications are not always suitable candidates for renal transplantation (1).
The Economics of Home Care for the Treatment of End-Stage Renal Failure
Authors: Ludbrook Anne
Published: March 2009

Economic appraisals of health care come in various forms and tackle different questions. A treatment is worth providing, in economic terms, if the benefits it produces outweigh the costs of provision. New treatments and methods of delivery should be substituted for old ones if they allow more patients to be treated for the same cost, or the same patients at less cost. These are the basic issues which cost benefit and cost-effectiveness analyses address.
Parenteral Nutrition in Different Settings
Authors: Dinkel Rolf
Published: March 2009

As in all European countries, Germany's public health service expenditures have climbed significantly over the last few years, outstripping increases in GNP and cost of living increases. A detailed analysis of this development shows hospitals to be the sector where costs are escalating the most rapidly.
Continuous Cancer Chemotherapy
Authors: Schlag Peter
Published: March 2009

In the last decade, the incidence of mortality caused by malignant disease has risen. Cancer related deaths are more frequent than those caused by infections or accidents, exceeded only by heart and vascular diseases. In most cases, it is not the primary tumor that kills patients, but its metastatic spread: metastases have a fatal outcome more than 90% of cases (1). By the time metastases have occurred, cure is rarely obtained through surgical procedures. Local radiotherapy to distant metastases is also rarely successful in the treatment of disseminated malignancies. Most patients with metastatic disease need a palliative systemic treatment, which means cytotoxic cancer chemotherapy. Its objective is to destroy cancer cells. Systemic chemotherapy has become standard in the last decades for most disseminated malignancies (1).
An Annotated Bibliography on Home Care Technologies
Authors: Leenders Josette , Marké Lars-Åke
Published: March 2009

Curtiss, F. R. (1984). Reimbursement dilemma regarding home health-care products and services. Am. J. Hosp. Pharm., August, 41(8), 1548–57.

Reimbursement mechanisms for home health-care products and services are discussed in detail. The two major categories of the home health care industry—(1) skilled nursing, homemaker, and other services, and (2) equipment, supplies, and other products (including drugs)—are reimbursed by third-party payers differently. While prospective pricing of inpatient care encourages the growth of home-care services, government administrators are concerned about potential spending growth at time of ballooning deficits, and private health insurers are uncertain about coverage criteria. Nuances of Medicare coverage criteria and private insurance reimbursement for home health care services are described. Medicaid coverage of drugs and biologicals for home patients is also described. The Health Care Financing Administration (HCFA) is expected to clarify and restrict Medicare coverage and payment of home-care products, equipment, and supplies. Medical justification will probably become more specific with greater attention to patient diagnoses and prognosis of patient therapies. Per-case payment methods will be refined to encompass home care. The government and private insurance programs will move toward capitation payment methods under which institutions will have even greater incentives to develop sophisticated home-care programs to substitute for institutional care. L.A.M.
Look to Norway
Authors: Saetnan Ann Rudinow , Backe Bjørn , Kolstad Arnulf , Lamvik Torarin
Published: March 2009

The authors of the paper argue that Norway's national health service, despite public perceptions, is both inexpensive and technologically advanced. Norway has a highly regulated medical system at both the national and local levels, and many distribution issues take the form of political debate. As a result, the authors believe that medical care and equipment is equitably distributed, but perhaps over-densely, throughout the country. Although the overall picture is optimistic, there is some concern that technologies, health care priorities, and decision-making processes should be more carefully examined by consensus conferences, advisory groups, and experts in technology assessment.
Health Policy in Finland
Authors: Bäckman Guy
Published: March 2009

This article surveys attempts by the Finnish government to plan and budget health care since the Primary Health Care Act of 1972. A national board of health allocates approved resources to local authorities who develop plans for preventative and primary health care and hospital services. The acquisition of expensive technologies are debated at the national level. The author presents studies which suggest that there is a considerable need for expansion of both diagnostic and therapeutic technologies in Finland. These adjustments will be necessary to meet the needs of an economically, socially, and demographically changing country.
Medical Technology and its Diffusion in Australia
Authors: Richardson Jeffrey
Published: March 2009

The author examines the Australian health care system by surveying the financing techniques, physical organization, and government activity. He explains the impact of the public and private sectors and comments on the effectiveness of current evaluation procedures. While the author believes that the system is relatively healthy and cost effective, he recognizes a need for more comprehensive and scientific oversight. Using regression analysis and focusing on the installation of medical technology in hospitals, the author attempts to determine the specific factors that influence technology diffusion. He concludes by stressing that further studies analyzing the actual use of specific technologies are vital.
Assessment of Clinical Technologies
Authors: Jennett Bryan
Published: March 2009

The author contends that the diffusion and use of modern medical technologies has had a profound impact on the hospital environment, the doctor-patient relationship, and the humanity of the patient. On these grounds the author argues for a rigorous, comprehensive, and ongoing assessment of diagnostic and therapeutic technologies. He stresses the importance of developing standards by which to judge the human and economic impact of particular technologies. These studies would decrease the inappropriate use of medical technology and would provide guidelines to improve current use.
A Cost-Effectiveness Comparison of Surgical Treatments for Mitral Valve Disease
Authors: Papageorge Basil N. , Schweitzer Stuart O.
Published: March 2009

This study compares the cost-effectiveness of mitral valve reconstruction and replacement. Published clinical data were used to determine the effectiveness of each procedure. Both direct and indirect costs were calculated. The findings indicate that reconstruction has lower costs per year of life extended than replacement due to better outcomes. Changing outcome probabilities and discount rates did not alter these results. Cost savings in excess of 40% may be achieved by early reconstruction for suitable patients. These results suggest that the prevailing practice of delaying surgery until replacement is needed should be reconsidered, especially for patients who could benefit from reconstruction.
Rationing Medical Technology
Authors: Greer Ann Lennarson
Published: March 2009

This paper analyzes medical technology decision making in the United States and England in terms of the appropriateness of different decision-making models to the organization and delivery of medical care, and to the rationing of technology among and within hospitals. It examines the effect on the American hospital of prospective payment programs from the perspective of organizational structure and decision making. The strategies of central control and specification which characterize these programs are contrasted with decision-making procedures in the English National Health Service, which have emphasized decentralization, delegation, and consensus. The analysis suggests that decentralized models of decision making are more supportive of essential elements of medical care including doctor-patient trust and professional responsibility and are more able to achieve rationing decisions which are compatible with professional and consumer preferences.
The Rise of Technology in Chinese Hospitals
Authors: Henderson Gail , Liu Yuanli , Guan Xiaoming , Liu Zongxiu
Published: March 2009

Chinese hospitals in the 1980s are in the midst of a technological revolution. Based upon data from several regions in China, this paper describes the political, organizational, economic, and philosophical changes which have accompanied the shift in focus from primary care medicine to high technology tertiary care. The increased authority of physicians, greater contact with the West, and increased funding for medical equipment are key factors in these changes. Although the Chinese state continues to control the administration and financing of most hospitals, the decentralizing reforms of Deng Xiaoping have undermined its ability to effectively plan for, and assess new technology. At present, limited resources prevent most regions from excessive technology acquisition, but the state must rebuild its planning capacity in order to foster rational allocation of scarce medical resources.
Decision Making on the Adoption of Advanced Medical Technology in Taiwan
Authors: Lan Chung-Fu
Published: March 2009

This paper discusses both the current interest in and approaches to the employment of advanced medical technology in Taiwan. It describes the formation of the national policy, including funding, reimbursement, and regulatory processes, on adopting innovative and expensive medical technologies. Using the case of extracorporeal Shockwave lithotripsy (ESWL), the key players who affect organizational decision making on the adoption and diffusion of medical technology have also been analyzed. Finally, it examines some of the salient features of medical technology adoption and assessment in Taiwan, and in other countries which depend heavily upon imported advanced medical technology. It is hoped that an understanding of Taiwan's attempts to use innovative medical technology wisely while incorporating the practice of technology assessment and appropriate policies, will assist other countries with similar conditions to gain maximal benefit from technological advancement.
Introduction to Measuring Health Care Effectiveness
Authors: Sisk Jane E.
Published: March 2009

Policy makers in the United States have increasingly recognized the deficiencies in information related to technology assessment and quality assessment. This growing consensus resulted in the passage of legislation in 1989 to create a new Agency for Health Care Policy and Research and to expand substantially funding for assessment activities.
Measuring Health Care Effectiveness
Authors: Demlo Linda K.
Published: March 2009

The implications of effectiveness research are far-reaching. Thus, the specification of a broad research agenda and the soundness of the underlying research methodologies and data bases are critical. This article discusses the quality of administrative data and the infrastructure supporting an ongoing effectiveness research effort.
Does It Work? The Outcomes of Medical Interventions
Authors: Bloom Bernard S.
Published: March 2009

The focus of this article is on contemporary roots of medical care quality measurement, while it also examines some of the most important historical precedents. Specifically, it singles out Dr. Ernest Avery Codman and his early 20th-century work emphasizing the assessment of outcome as the paramount indicator of medical care quality. The standard that he set for himself and others is the one that late 20th-century researchers must uphold, and to which we must answer.
Psychological Safety of a Multiple Channel Cochlear Implant Device
Authors: Haas Leonard J.
Published: March 2009

Fifty-three deaf patients were screened psychologically and medically for suitability to receive an intracochlear implant. After initial screening for psychological normalcy, candidates were assessed again 1 year postimplant. Isolated deleterious psychological effects were found, and certain aspects of psychological functioning were enhanced. Overall evidence suggests that the implant is not psychologically damaging.
Cost Containment and Computerized Medical Imaging
Authors: Wagner Judith L.
Published: March 2009

Today, computers are used in several important and fast-growing medical imaging modalities, such as digital subtraction angiography, positron emission tomography, magnetic resonance imaging, nuclear medicine, and diagnostic ultrasound. The ultimate test for the computer in medical imaging will be its ability to replace traditional film-based radiography as the mechanism for displaying, communicating, and storing imaging information. This transition will require radiologists and other imagers to accept information in digital form. The speed of that acceptance depends on the economic incentives of the health care system. These are changing as a result of cost containment, which is moving away from fee-for-service toward bundled payment. The increase in capitated health plans will encourage the development of digital radiography systems that realistically trade-off the perceived quality needs of radiologists with the costs of producing and operating such systems.
Introduction
Authors: Scherstén Tore , Sisk Jane E.
Published: March 2009

The Dutch physicist Gorter predicted in 1936, on theoretical grounds, the existence of the magnetic resonance (MR) phenomenon. This was ten years before Felix Bloch and Edward Purcell, independently of each other in different experimental settings, demonstrated it. Current medical and biological applications of magnetic resonance imaging and spectroscopy are directly derived from in vitro tissue studies performed in the 1960s and 1970s. Although Odelbiad and co-workers published as early as 1956 an MR study of human red blood cells, this and other early work was limited by the unavailability of suitable MR instrumentation.
Technology Assessment in Different Nations and Lessons from a Cross-Sectional Survey of Magnetic Resonance Imaging (MRI) Diffusion
Authors: Gross Paul F.
Published: March 2009

Magnetic resonance imaging (MRI) is a rapidly evolving medical technology which has become widely diffused before comprehensive assessment of its safety, efficacy, cost-effectiveness, and relative cost-effectiveness compared with diagnostic modalities that it seems most likely to replace could be made. In early 1982 there were fewer than ten units worldwide. In August 1984, there were about 150 units and the figure will be closer to 300 by the end of 1985.
Guidelines for the Clinical and Economic Assessment of Health Technologies
Authors: Guyatt Gordon , Drummond Michael
Published: March 2009

That new health technologies often diffuse into the health care systems of developed countries without adequate evaluation has long been a cause of concern (I). In addition, where clinical or economic assessments have been carried out, they often contain methodological weaknesses which reduce their usefulness to health policy makers or clinical practitioners (5,6).
Methodologic Considerations in Planning Clinical Trials of Cost-Effectiveness of Magnetic Resonance Imaging With a Commentary on Guyatt and Drummond
Authors: Weinstein Milton C.
Published: March 2009

The purpose of this paper is to outline some of the key methodologic issues in designing clinical trials to assess the cost-effectiveness of clinical magnetic resonance imaging (MRI). Because the possible objectives of such trials are so diverse, and the appropriate methodologies correspondingly numerous, no attempt is made to identify a single objective or methodology as appropriate. Rather, this paper should be read as an “options paper,” in which alternative formulations of objectives, outcome measures, study design, and protocol instrumentation are reviewed, with critical discussion of their theoretical strengths and weaknesses, as well as their practical implementability.
Clinical Potential of Magnetic Resonance Spectroscopy in Renal Disease
Authors: Ross Brian
Published: March 2009

Magnetic resonance spectroscopy (MRS), especially of31phosphorus, seeks to collect biochemical and metabolic information related to energy metabolism, intracellular pH, and oxygen delivery to the kidney (1,2). Earlier applications in clinical medicine have been established in diagnosis of metabolic myopathy (3,4), infantile cerebral anoxia (5), stroke (6,7), and in vascular insufficiency of the lower limb (8).