bluuebunny/crossref_metadata_2025_split huggingface dataset:
A compliant control method for disassembly of non-elastic parts using realised motion
Authors: Denizhan Yagmur 
Published: March 2009

SummaryIn disassembly tasks, due to the large variety of objects and the different positions and orientations in which they appear, the disassembly trajectories supplied on-line by a human operator or an automatic recognition system can contain large errors. The classical compliant control methods turn out to be insufficient to eliminate sticking which is due to these errors. This paper presents a compliant control method for disassembly of non-elastic parts in non-elastic environments which adopts the trajectories according to realised motion. In case of sticking a new direction of motion is searched for until the manipulated part is set into motion.
Telerobotic surgery project for laparoscopy
Authors: Rovetta Alberto , Sala Remo , Wen Xia , Cosmi Francesca , Togno Arianna , Milanesi Santo 
Published: March 2009

SummaryThis paper deals with the first transatlantic experiment of robotic telesurgery. A robot in Milan (Italy) performed an operation on a model of a pig, and the surgeon controller was in JPL, Pasadena (USA). By means of two communication satellites and of an optical fibre network, the robot performed a biopsy and a preliminary cut for a laparoscopic mini-invasive surgery operation.
A contribution to parallelization of symbolic robot models
Authors: Kirćanski N. , Davidović T. , Vukobratović M. 
Published: March 2009

SummaryThis paper is focused on task scheduling in multiprocessor robot controllers. To minimize the input-output time delay our consideration is restricted to parallel architectures that include complete crossbar interconnection networks. In this paper, an efficient scheduling algorithm based on a heuristic function is considered. This function takes into account delays caused by interprocessor communication and minimizes both the execution time and the communication cost. Robot control computation based on a highly efficient customized symbolic method is decomposed into a large number of simple tasks, each involving a single floating-point operation. Starting with an empty partial schedule, each step of the search extends the current partial schedule by adding one of the tasks yet to be scheduled. The heuristic function used in the algorithm actively directs the search for a feasible schedule, i.e. it helps choose the task that extends the current partial schedule. To increase the computational rate we introduced overlapping of computations.
Reexamination of the DCAL controller for rigid link robots
Authors: de Queiroz M. S. , Dawson D. , Burg T. 
Published: March 2009

SummaryIn this paper, we present two DCAL-like (Desired Compensation Adaptation Law) controllers for link position tracking of n-link, rigid, revolute robot manipulators. First, we use a simplified stability analysis to illustrate global asymptotic link position-velocity tracking for a DCAL-like controller withnonlinearfeedback. The proof is simplified by employing a different structure for the nonlinear feedback than that originally proposed and by making use of thenonlineardamping control design tool. We then use thenonlinear dampingtool to show that a DCAL-like controller withlinearfeedback can guarantee semi-global asymptotic link position-velocity tracking. The proposed nonlinear and linear feedback DCAL-like controllers are experimetally tested and compared using the Integrated Motion Inc. 2-link direct drive robot manipulator.
Sensor-based 2-D Potential Panel Method for Robot Motion Planning
Authors: Zhang Yanjun , Valavanis Kimon P. 
Published: March 2009

SummaryA potential panel method is proposed to solve simultaneously the path planning and collision avoidance problem for a mobile robot operating in an uncertain obstacle filled environment. The problem is solved in three steps: (1) transform the arbitrary shaped obstacles in the 2-D workspace into simple convex polygons; (2) generate a local minima-free potential field on the workspace; (3) generate a streamline from the starting position towards the goal position in the artificial potential field. The computational complexity of the pertinent algorithms justify the applicability of the approach in real-time. Simulation results are included.
Modelling of a single-link flexible manipulator system: theoretical and practical investigations
Authors: Tokhi M. O. , Azad A. K. M. 
Published: March 2009

SummaryThis paper presents theoretical and experimental investigations into modelling a single-link flexible manipulator system. An analytical model of the manipulator, characterised by an infinite number of modes, is developed using the Lagrange's equation and modal expansion method. This is used to develop equivalent time-domain and frequency-domain working models of the system in state-space and transfer function forms respectively. The model parameters are then estimated experimentally using system's measured input/output data. The model thus obtained is validated through experimentation and results including the effect of payload on system characteristics presented and discussed.
A remote center of motion robotic arm for computer assisted surgery
Authors: Eldridge B. , Gruben K. , LaRose D. , Funda J. , Gomory S. , Karidis J. , McVicker G. , Taylor R. , Anderson J. 
Published: March 2009

SummaryWe have designed a robotic arm based on a double parallel four bar linkage to act as an assistant in minimally invasive surgical procedures. The remote center of motion (RCM) geometry of the robot arm kinematically constraints the robot motion such that minimal translation of an instrument held by the robot takes place at the entry portal into the patientApos;s body. In addition to the two rotational degrees of freedom comprising the RCM arm, distal translation and rotation are provided to manoeuver the instrument within the patient's body about an axis coincident with the RCM. An XYZ translation stage located proximal to the RCM arm provides positioning capability to establish the RCM location relative to the patients anatomy. An electronics set capable of controlling the system, as well as performing a series of safety checks to verify correct system operation, has also been designed and constructed. The robot is capable of precise positional motion. Repeatability in the ±10 micron range is demonstrated. The complete robotic system consists of the robot hardware and an IBM PC-AT based servo controller connected via a custom shared memory link to a host IBM PS/2. For laparoscopic applications, the PS/2 includes an image capture board to capture and process video camera images. A camera rotation stage has also been designed for this application. We have successfully demonstrated this system as an assistant in a laparoscopic cholecystectomy. Further applications for this system involving active tissue manipulation are under development.
Modelling and Control of a Flexible Spherical Wrist
Authors: Perdereau Véronique , Ng S. , Wang D. 
Published: March 2009

SUMMARYIn this paper, a very inexpensive, lightweight and simple wrist mechanism is introduced. This wrist displays nonlinear torsional vibrations. This differs from conventional wrists in that structural flexibility in the mechanism is allowed to occur by design. In this paper, the dynamic equations of this wrist are derived. System identification techniques are then employed to obtain a linearized model. Various control strategies are studied. It is shown that the input-output feedback linearization technique is not feasible for these nonlinear dynamic equations. It is also shown that the use of conventional rigid body PID controllers on this proto-type is inadequate. A tracking controller which compensates for the flexible dynamics of the wrist is implemented with encouraging results. This controller allows the end-effector to be placed at an arbitrary orientation with little vibration. The effect of the controller is to make the wrist appear to have a much higher structural stiffness. The compliant nature of this wrist allows simple force control strategies to be implemented. It is the combination of the wrist with the control algorithm which makes this design viable.
The Track: Technion Robot And Controller Kit
Authors: Bar-On David , Gutman Shaul , Israeli Amos 
Published: March 2009

SUMMARYA modular hierarchical model for controlling robots is presented. This model is targeted mainly for research and development; it enables researchers to concentrate on a certain specific task of robotics, while using existing building blocks for the rest of their applications. The presentation begins by discussing the problems with which researchers and engineers of robotics are faced whenever trying to use existing commercial robots. Based on this discussion we propose a new general model for robot control to be referred as TERM (TEchnion Robotic Model). The viability of the new model is demonstrated by implementing a general purpose robot controller.
A unified approach to the inverse kinematic solution for a redundant manipulator
Authors: Won J. H. , Choi B. W. , Chung M. J. 
Published: March 2009

SUMMARYFor a kinematically redundant manipulator, some performance indices can be optimized while carrying out a given task. So far, the redundancy resolution has been solved at the joint angle level, the joint velocity level, or joint acceleration level depending on the performance indices. According to the resolution level, the solution is represented by high-order differential equations or superfluous number of equations. We propose a unified approach to the inverse kinematic solution which optimizes it at the joint velocity level regardless of the types of the performance indices. A unified approach to obtain an optimal joint velocity is derived by using the necessary condition for optimality so that the proposed method provides an optimal solution for any performance indices and tasks. The optimal solution becomes a set of the minimum number of first-order differential equations which requires a minimum search dimension.To show the validity of the approach, it is applied to a three-link planar manipulator for various types of performance indices.
Conceptual design and dynamics modeling of a cooperative dual-arm cam-lock manipulator
Authors: Meghdari Ali 
Published: March 2009

SUMMARYThis paper presents the conceptual designs, kinematics and dynamics modeling of a cooperative re-configurable Dual-Arm Cam-Lock Manipulator. A cam-lock manipulator is a robotics structure with a pair of multi-degree of freedom planar arms jointed together at a shared base. This manipulator is designed to be capable of performing a wide variety of tasks by automatically re-configuring itself to form a variable geometry, stiffness, damping, and workspace robotics structure by the virtue of a novel link/joint design along i''s arms, labeled as the cam-lock design. The kinematics and dynamics of this manipulator is described using admissible variables (i.e., variables that define the constrained admissible motion). Along with the dynamic relations of this manipulator, a generic equation was also developed for the joint servo system.
Parameter identification of a semi-flexible kinematic model for serial manipulators
Authors: Gourdeau Richard , Cloutier Guy M. , Laflamme Joseph 
Published: March 2009

SUMMARYStructural and control flexibilities affect the absolute precision of serial manipulators. A semi-flexible kinematic model is developed, to improve the absolute static precision. It expands the solid body model by incorporating a spring effect for each joint and a beam effect for each link. The identifiability of the added parameters and the effect of measurement noise are explored on a R4 robot. It requires efforts and pose errors to be known in the tool frame only. Simulation results show that identification of some of the parameters is sensitive to measurement noise on forces and pose. In fact, joint flexibility displacement and beam flexion that occur in the same plane are difficult to dissociate in noisy condition. However, a subset of the original parameters can be defined leading to a model that can be more accurately identified when measurement noise is present. In simulation, precompensation is used in an inverse semi-flexible model that results in a 98% decrease of pose error compared to the rigid body inverse geometric model.
A fast algorithm for distance calculation between convex objects using the optimization approach
Authors: Zeghloul SaÏd , Rambeaud Patrick 
Published: March 2009

SUMMARYThis paper describes an efficient and fast algorithm for finding the minimum distance between two convex polyhedrons in a three dimensional space. To obtain the minimal distance, the proposed computational scheme is based on a direct approach to minimizing the distance function which produces a succession of optimal search directions along object boundaries. This algorithm combines the gradient projection method'; and an additional optimal search direction when the gradient projection method leads to a zigzagging phenomenon. In this case, the additional optimal search direction accelerates significantly the convergence of the process. Extensive numerical experiments with convex polyhedra show the performance of this algorithm when compared with that of previous approaches. The proposed algorithm may be very helpful in solving the computation of minimal distance between a pair of convex sets, the collision detection problem or to track the closest points of moving convex objects.
Generation of adjacent configurations for a collision-free path planning of manipulators
Authors: Ceccarelli Marco , Valero Francisco , Mata Vicente , Cuadrado† Ignacio 
Published: March 2009

SUMMARYIn this paper an algorithm is proposed for the problem of path planning of redundant manipulators among obstacles by using a suitable formulation for robot configurations and path strategy. In particular robotic manipulators have been modelled by using reference points on the kinematic chain and their Cartesian coordinates description. The path planning has been formulated as an optimization problem for the determination of adjacent configurations and the path among obstacles with minimum manipulator displacement. The fully Cartesian coordinates description has been useful for the economy of the numerical procedure and for the constraints formulation of link interference and obstacles avoidance constraints. Some examples are reported which prove the practical feasibility of the path planning procedure, and the numerical results have been tested as applicable to industrial robots through easy programming because of the concept of adjacent configurations.
Dynamic model of a two-trailer articulated vehicle subject to nonholonomic constraints
Authors: Bolzern P. , DeSantis R. , Locatelli A. , Togno S. 
Published: March 2009

SUMMARYThe dynamic model of an articulated vehicle consisting of one tractor and two semi-trailers is derived according to a systematic approach available in the literature. The model is produced on the assumption of no slippage, which enforces nonholonomic constraints. The resulting equations encompass a number of significant special cases.
‘English fever’ in South Korea: its history and symptoms
Authors: Park Jin-Kyu 
Published: March 2009

ABSTRACT‘Education fever’ drives the demand for English in South Korea today. One professor of politics has recently deplored the current pursuit of ‘English education’ (yeongeokyoyuk) in South Korea as a ‘collective neurosis of English fever’ (Y-M. Kim, 2002). What has brought this current English boom to South Korea? It can be traced back to the traditional ‘education fever’ (kyoyukyeol) or ‘preoccupation with education’ (Seth, 2002). The English boom resulting from the Korean education fever has led to a strong antipathy toward Koreans – even in English-speaking countries.This article explains how the current English boom in South Korea has been founded on the long tradition of education fever in the country, and why more and more Korean children are sent abroad to learn the English language. In addition, I also attempt to show the connection between this English boom and an associated antipathy toward the Korean language and Korean speakers in English-speaking countries.
Medical Technology and Health Services in South Korea
Authors: Cho Byong-Hee 
Published: March 2009

AbstractThis article chronicles the adoption of medical technology in twentieth-century Korea. The author suggests that the structure of the present health care delivery system has relied predominantly on small clinic practice and has resulted in a shortage of highly capitalized hospitals and a maldistribution of modern technology. In addition, the author argues that medical practice in small unconnected clinics and hospitals isolate physicians from academic medicine and hamper research. Finally, the highly decentralized structure of Korean medicine is a weak basis for controlling the diffusion of medical technology and leaves most acquisition judgments in the hands of individual hospital owners.
Technology in France
Authors: Lacronique J. F. 
Published: March 2009

AbstractThe author describes how France has attempted to reconcile its ethos of optimum health care for all with a belief in free enterprise, with increasing medical costs and complex technological innovations, and with a traditional distrust of widespread regulation. Effective oversight of the diffusion of technology is further hampered by the shared responsibilities of several government agencies. Although France has enacted a fee schedule for physicians, created national procedures for evaluating equipment, and exercised some control over hospitals, the general sentiment is anti-bureaucratic and third-party insurers will most likely play an important role in limiting the diffusion of technology in the future.
Economic Forces and Hospital Technology
Authors: Buxton Martin J. 
Published: March 2009

AbstractThe paper considers the economic characteristics of technology and suggests a categorization based on the economic nature of particular technologies and their effect on the product health care that may be helpful in considering the economics of technology in hospitals.It reviews the range of economic forces that might be expected to apply to the use of technology in the hospital setting, and notes some of the evidence to support such hypotheses. In considering the limited evidence from the United Kingdom and elsewhere in Europe, the paper contrasts its focus on socio-political, institutional, and organizational factors, rather than the direct economic factors considered in the United States work.It suggests that the multiplicity of forces at work make cross-national, empirical, and policy analyses very difficult. Indeed, without more economic appraisal the effect of differences in technology adoption cannot be evaluated.
What Do Mortality Studies Reveal about Hospital Volume, Teaching Status, And Ownership?
Authors: Kelly Joyce V. 
Published: March 2009

AbstractNumerous recent studies use risk-adjusted patient mortality rates to measure hospital performance, focusing on such hospital characteristics as volume of patients, teaching status, and ownership. This article summarizes the empirical findings of these studies, critiques their methods and models, and offers recommendations for overcoming several obstacles to meaningful correlation of patient outcomes and provider performance.
Peaks and Pits of Using Large Data Bases to Measure Quality of Care
Authors: Flood Ann Barry 
Published: March 2009

AbstractThis review of the advantages (peaks) and problems (pits) of large data bases to study quality contrasts their suitability with randomized control trials. Researchers need to advise policymakers and others about whenstatisticallysignificant differences in quality are alsopoliticallyandsociallysignificant and deserve responsible reactions.
Using Administrative Diagnostic Data to Assess the Quality of Hospital Care: Pitfalls and Potential of ICD-9-CM
Authors: Iezzoni Lisa I. 
Published: March 2009

AbstractDiagnostic information within administrative data bases is generally in the form of lnternational Classification of Diseases, Ninth Revision, Clinical Modification (ICD-9-CM) codes. The purpose of this article is to introduce ICD-9-CM, to review its strengths and limitations, and to suggest ways that it can be used through administrative files for assessing the quality of hospital care.
Assessment of Medical Outcomes: New Opportunities for Achieving a Long Sought-After Objective
Authors: Schwart J. Sanford , Lurie Nicole 
Published: March 2009

AbstractHealth outcome assessment may be used for a variety of purposes: to evaluate the effectiveness of medical practices: to assess the quality of services provided; to educate providers, purchasers, and users of health services about the sequelae of treated and untreated disease; to guide reimbursement and regulatory policy; and to characterize the health status of a population. This article focuses on the use of health outcomes to evaluate the effectiveness of medical practices and to assess the quality of services provided.
Searching for Consensus Through Multicriteria Decision Analysis
Authors: Gales Catherine Le , Moatti Jean-Paul 
Published: March 2009

AbstractUntil now, no systematic strategy for the prevention of major hemoglobinopathies has been implemented in southeastern France, in spite of frequencies of β-thalassemia trait and HbS trait as high as 2·5–8% in some ethnic populations. The purpose of the study was to help a group of experts, brought together by the Regional Center for Disease Control, to reach a consensus about screening for carriers of heterozygote hemoglobinopathies. A multicriteria decision-analysis model was used to take into account not only the costs and effectiveness of potential screening strategies, but also five other qualitative criteria: technical and practical feasibilities, ethical acceptability, information follow-up in time, and global impact on health education. Conclusions differ significatively from those of a pure costeffectiveness analysis, but a multicriteria approach seems best suited to medical experts' preferences.
Social and Health Policy Issues in Total Joint Replacement Surgery
Authors: Liang Matthew H. , Wade John , Hartley Robert M. , Cullen Karen E. , Caplan Arthur L. 
Published: March 2009

AbstractTotal joint replacement has restored function and provided comfort to many patients who would otherwise have suffered. However, success and widespread diffusion of this procedure pose a number of important questions. The patient's and the doctor's criteria of success may not be the same: Which are to be used? Health resources are becoming limited: Should money be spent to restore function and for pain relief to those late in life or past their work life? Who makes this choice? A medical technology is tested in the best of settings but routinely practiced in many: How should society and health care professionals monitor the results of surgery? Who should do surgery and where should it be done?
The Adoption and Use of Extracorporeal Shock Wave Lithotripsy by Hospitals in the United States
Authors: Power Elaine J. 
Published: March 2009

AbstractExtracorporeal shock wave lithotripsy (ESWL) for upper urinary stones has been in use in the United States since 1984. It was accepted immediately by hospitals and physicians, and its diffusion has been and continues to be rapid. Government payment and planning policies do not seem to have slowed this diffusion, although they have had some effect on the ownership of lithotripters and the manner in which ESWL is provided. An unintended but foreseeable result of ESWL's popularity with hospitals, physicians, and patients is that ESWL is not only rapidly replacing traditional surgery but is being used on many patients who would not have had surgery. It is likely that many more upper urinary stones are being treated aggressively now than before ESWL was introduced.