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Graphical simulation of a new concept of low sized surgical parallel robot for camera guidance in minimally invasive surgery

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PAMM 2008年第1期7卷

作者： C. Vaida D. Pisla N. Plitea Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Phone: +00 40 264 401655 Fax: +00 40 264 415676

Robotic systems have been developed in every field where a further progress was constricted due to the human limitations in terms of speed, precision, fatigue, repeatability, strength, safety etc. One of the pioneer fields for robots is their assimilation in surgery, especially in minimally invasive procedures which aim the treatment of a disease with minimum damage to healthy tissue and suffering for the patient [1], [2]. The paper presents a complex simulation system used for the study of the characteristics of a new low sized parallel robot used for minimally invasive surgery (MIS). (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Preface

Lecture Notes in Computer Science (including subseries Lectu...

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Lecture Notes in computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) 2011年 6546 LNCS卷

作者： Page, Rex Horváth, Zoltán Zsók, Viktória University of Oklahoma School of Computer Science 110 West Boyd Street NormanOK73019 United States Eötvös Loránd University Faculty of Informatics Department of Programming Languages and Compilers Pázmány Péter sétány 1/C Budpest1117 Hungary

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CONCURRENT BOUNDARY-ELEMENT COMPUTATION

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INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 1993年第2期6卷 83-98页

作者： MCDOWALL, DS LEE, TW FUSCO, VF Microwave Research Group Department of Electrical and Electronic Engineering The Queen's University of Belfast Ashby Building Stranmillis Road Belfast BT9 5AH Northern Ireland U.K. D. Stewart McDowall was born in Dublin epublic of Ireland in 1967. He received the M. Eng. degree in Electrical and Electronic Engineering from the Queen's University of Belfast in 1990. In the same year he was presented with a Distinction Award from the Department of Education of Northern Ireland and he is currently pursuing his Ph.D. in the Microwave Research Group at Q.U.B. His principal research area is the electromagnetic field mapping of microwave systems using concurrient programming. He is an Associate Member of the Institute of Electrical Engineers. Lee Thaim Wee was awarded the degree of B. Eng. in Electronics from the Queen's University of Belfast in July 1991. He is currently serving in the Malaysian Armed Forces. Vincent F. Fusco was educated at the Queen's Univeristy of Belfast where he obtained the degree of Ph.D. in 1982. He has worked as a research engineer on short-range radar and radio telementry systems. Currently he is a reader in Microwave Communications in the School of Electrical Engineering and Computer Science the Queen's Univeristy of Belfast. His current research interests include non-linear microwave circuit simulation and concurrent programming techniques for electromagnetic field problems with particular emphasis on EMC applications. He has published numerous research papers in these areas. He is the author of the bookMicrowave Circuits Analysis and Computer Aided Design Prentice-Hall 1987. Dr Fusco is a Chartered Electrical Engineer and a Member of the Institute of Electrical Engineers.

A major limitation of the boundary element method (BEM) for the solution of electrical potential problems is the long computational time required. However, a large portion of the calculations involved can be viewed as being parallel in nature and can therefore be computed concurrently. This paper makes an effort to increase the efficiency of the BEM process using transputer-based multiprocessor computing techniques. The algorithms developed may equally well be applied to any multiprocessor system. The application selected to demonstrate the technique is the solution of an electrostatic problem governed by a two-dimensional Laplace equation. A parallel algorithm for problem setup and field extraction using BEM is designed and implemented on a transputer array. Special attention is directed to the utilization of the parallel processors to achieve maximum efficiency. The analysis in this work concentrates on the communication strategies for passing data between processors as well as a consideration of the workload attributed to each processor. The parallel algorithms were implemented using 3L Parallel Fortran;however, the choice of topology for the overall BEM implementation was limited by the fact that certain parts of the algorithm could only utilize a pipeline configuration of processors. Comprehensive results for the parallel BEM algorithm are given and they are encouraging, indicating that parallel processing has much to offer when applied to the boundary element method.

关键词： Boundary element method

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Studies Regarding the Alternate Simulation Techniques for Machine Toolsand Industrial Robots

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PAMM 2004年第1期4卷

作者： A. Pisla D. Pisla Department for Machine Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

In the paper are presented results regarding the design, simulation and testing of some robotized structures with parallel kinematics in order to identify appropriate simulation techniques and to reveal the properties of particular studied characteristics. The paper is structured in three parts: introduction regarding the tasks of the simulations techniques and the developed applications, comparison of the results obtained in simulations, considering the working space modelling accuracy and the speed of workspace identification and the last part conclusions. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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The Relationships between the Shape of the Workspace and GeometricalDimensions of Parallel Manipulators

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PAMM 2004年第1期4卷

作者： D. Pisla A. Pisla Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Department for Machine Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676

In this paper, a new simulation program for the workspace analysis of parallel robots is presented. The system consists of modules, which enable a complex study of the parallel structures. A special method for generating the workspace of the parallel structures is used. The simulation program offers the possibility to generate automatically the virtual model of the parallel robot using the facilities of a 3D modeling software. The structure geometric parameters, which could be modified within the modeling software, influence the simulation environment. These facilities enable to establish the relationships between the workspace shape, elements links and geometrical parameters of the structure. (© 2004 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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Results of a pilot experiment on monitoring the condition of buildings and structures using unmanned aerial vehicles

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IOP Conference Series: Earth and Environmental Science 2021年第1期939卷

作者： M Yu Narkevich O S Logunova P I Kalandarov A N Kalitaev G V Tokmazov P Yu Romanov O Alimov Department of Design of Buildings and Building Structures Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Department of Computer Engineering and Programming Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Department of Automation and Control of Technological Process and Production Tashkent Institute of Irrigation and Agricultural Mechanization Engineers Tashkent Uzbekistan Department of Higher Mathematics Admiral F.F. Ushakov State Maritime University Novorossiysk Russia Department of Applied Mathematics and Computer Science Magnitogorsk State Technical University named after G.I. Nosov Magnitogorsk Russia Jizzakh Polytechnic Institute Jizzakh Uzbekistan

The purpose of the experimental study presented in the paper is to generate new knowledge about the possibility of using unmanned aerial vehicles to survey buildings and structures for subsequent extraction of information about their condition in hard-to-reach or remote places. As objects for the pilot experiment, the following were selected: a residential building in an urban environment that has been destroyed during operation; an object of unfinished construction; a roadway on the carriageway. An unmanned aerial vehicle of the model: DJI Mavic Air was used to survey the objects. The results of the study of objects are recorded in the form of photo and video streams for each object. Comparison of the results of the inspection of objects by experts and unmanned aerial vehicles showed the possibility and necessity of using new means to collect information about the condition of buildings and structures. The primary processing of the obtained images revealed their features: the effect of illumination on the color characteristics of the object of study; the presence of a textural component that complicates the process of separating the defect from the background; the presence of objects in the image that are not related to the elements of surface destruction; the change in the initial size of the object over time. The detected features of the images allow the use of standard algorithms and processing and require the synthesis of unique trajectories of their application.

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TLM MODELING USING AN SIMD computer

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INTERNATIONAL JOURNAL OF NUMERICAL MODELLING-ELECTRONIC NETWORKS DEVICES AND FIELDS 1993年第4期6卷 299-304页

作者： TAN, CC FUSCO, VF The Queen's University of Belfast Department of Electrical & Electronic Engineering Ashby Building Stranmillis Road Belfast BT9 5AH U.K. Chun Chia Tan obtained a first-class honours degree from The Queen's University of Belfast. He was awarded an IEE prize for best final-year project. His current research interests include the modelling of electromagnetic fields using parallel processing techniques. At present Mr Tan is working as an electrical engineer in Malaysia. Vincent F. Fusco was educated at The Queen's University of Belfast where he obtained the degree of Ph.D. He has worked as a research engineer on short-range radar and radio telementry systems. Currently he is a Reader in Microwave Commnications in the School of Electrical Engineering and Computer Science The Queen's Univeristy of Belfast. His current research interests include non-linear microwave circuit simulation and concurrent programming techniques for electromagnetic field problems. He has acted as consultant to a number of major companies and has published numerous research papers in these areas. He is author of the bookMicrowave Circuits Analysis and Computer Aided Design(Prentice Hall 1987). Dr Fusco is a Chartered Electrical Engineer and a Member of the Institute of Electrical Engineers.

A major limitation of the transmission-line matrix (TLM) method used to solve Maxwell's equations is the long computation time required. The TLM scattering calculations involved can, however, be viewed as parallel in nature. This paper describes an effort to reduce computational time by using an SIMD, DAP multiprocessor computer employed to solve a two-dimensional TLM electromagnetic field formulation. A parallel algorithm based on the TLM scattering algorithm is designed and implemented using FORTRAN-PLUS Enhanced on an AMT DAP 510 machine. Here the connectivity of the DAP is exploited to simulate the intrinsic scattering behaviour on which the TLM algorithm relies. The results show that parallel processing on an SIMD machine such as the DAP is advantageous, especially for higher-order mesh sizes.

关键词： Electric lines

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Piquasso: A Photonic Quantum computer Simulation Software Platform

arXiv

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arXiv 2024年

作者： Kolarovszki, Zoltán Rybotycki, Tomasz Rakyta, Péter Kaposi, Ágoston Poór, Boldizsár Jóczik, Szabolcs Nagy, Dániel T.R. Varga, Henrik El-Safty, Kareem H. Morse, Gregory Oszmaniec, Michal Kozsik, Tamás Zimborás, Zoltán Quantum Computing and Quantum Information Research Group HUN-REN Wigner Research Centre for Physics Konkoly-Thege Miklós út 29-33 BudapestH-1525 Hungary Department of Programming Languages and Compilers Eötvös Loránd University Pázmány Péter sétány 1/a BudapestH-1117 Hungary Center for Theoretical Physics Polish Academy of Sciences Al. Lotników 32/46 Warszawa02-668 Poland Department of Physics of Complex Systems Eötvös Loránd University Pázmány Péter sétány 1/a BudapestH-1117 Hungary Quantinuum 17 Beaumont Street OxfordOX1 2NA United Kingdom Robert Bosch Kft. Gyömrői út 104. BudapestH-1103 Hungary Department of Computer Engineering Technical University of Munich Arcisstraße 21 München80333 Germany Algorithmiq Ltd. Kanavakatu 3C Helsinki00160 Finland

We introduce the Piquasso quantum programming framework, a full-stack open-source software platform for the simulation and programming of photonic quantum computers. Piquasso can be programmed via a high-level Python programming interface enabling users to perform efficient quantum computing with discrete and continuous variables. Via optional high-performance C++ backends, Piquasso provides state-of-the-art performance in the simulation of photonic quantum computers. The Piquasso framework is supported by an intuitive web-based graphical user interface where the users can design quantum circuits, run computations, and visualize the results. Copyright © 2024, The Authors. All rights reserved.

关键词： Quantum computers

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The SCIP Optimization Suite 9.0

arXiv

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arXiv 2024年

作者： Bolusani, Suresh Besançon, Mathieu Bestuzheva, Ksenia Chmiela, Antonia Dionísio, João Donkiewicz, Tim van Doornmalen, Jasper Eifler, Leon Ghannam, Mohammed Gleixner, Ambros Graczyk, Christoph Halbig, Katrin Hedtke, Ivo Hoen, Alexander Hojny, Christopher van der Hulst, Rolf Kamp, Dominik Koch, Thorsten Kofler, Kevin Lentz, Jurgen Manns, Julian Mexi, Gioni Mühmer, Erik Pfetsch, Marc E. Schlösser, Franziska Serrano, Felipe Shinano, Yuji Turner, Mark Vigerske, Stefan Weninger, Dieter Xu, Liding Gaul, Oliver Zuse Institute Berlin Department AIS2T Takustr. 7 Berlin14195 Germany Université Grenoble Alpes Inria LIG Grenoble38000 France CMUP Department of Computer Science Faculty of Sciences University of Porto R Campo Alegre Porto4169-007 Portugal RWTH Aachen University Lehrstuhl für Operations Research Kackertstr. 7 Aachen52072 Germany Eindhoven University of Technology Department of Mathematics and Computer Science P.O. Box 513 Eindhoven5600 MB Netherlands Friedrich-Alexander Universität Erlangen-Nürnberg Department of Data Science Cauerstr. 11 Erlangen91058 Germany Schenker AG Global Data & AI Kruppstr. 4 Essen45128 Germany University of Twente Department of Discrete Mathematics and Mathematical Programming P.O. Box 217 Enschede7500 AE Netherlands University of Bayreuth Universitaetsstr. 30 Bayreuth95440 Germany Technische Universität Berlin Straße des 17. Juni 135 Berlin10623 Germany Zuse Institute Berlin Department A2IM Takustr. 7 Berlin14195 Germany DAGOPT Optimization Technologies GmbH Austria Technische Universität Darmstadt Fachbereich Mathematik Dolivostr. 15 Darmstadt64293 Germany Fair Isaac Germany GmbH Takustr. 7 Berlin14195 Germany COPT GmbH Berlin Germany GAMS Software GmbH c/o Zuse Institute Berlin Department AIS2T Takustr. 7 Berlin14195 Germany Friedrich-Alexander Universität Erlangen-Nürnberg Department of Mathematics Cauerstr. 11 Erlangen91058 Germany École polytechnique LIX CNRR Rue Honoré d’Estienne d’Orves. 1 Palaiseau9120 France

MSC Codes 90C05, 90C10, 90C11, 90C30, 90C90, 65Y05The SCIP Optimization Suite provides a collection of software packages for mathematical optimization, centered around the constraint integer programming (CIP) framework SCIP. This report discusses the enhancements and extensions included in SCIP Optimization Suite 9.0. The updates in SCIP 9.0 include improved symmetry handling, additions and improvements of nonlinear handlers and primal heuristics, a new cut generator and two new cut selection schemes, a new branching rule, a new LP interface, and several bugfixes. SCIP Optimization Suite 9.0 also features new Rust and C++ interfaces for SCIP, new Python interface for SoPlex, along with enhancements to existing interfaces. SCIP Optimization Suite 9.0 also includes new and improved features in the LP solver SoPlex, the presolving library PaPILO, the parallel framework UG, the decomposition framework GCG, and the SCIP extension SCIP-SDP. These additions and enhancements have resulted in an overall performance improvement of SCIP in terms of solving time, number of nodes in the branch-and-bound tree, as well as the reliability of the solver. Copyright © 2024, The Authors. All rights reserved.

关键词： Mixed-integer linear programming

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New development of parallel robots and microrobots with three, four and five degrees of freedom

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PAMM 2008年第1期7卷

作者： N. Plitea A. Vidrean D. Pisla A. Pisla C. Vaida Department for Mechanics and Computer Programming TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401684 Fax: +00 40 264 415676 Department for Machine-Tools and Industrial Robots TU Cluj-Napoca C. Daicoviciu Str. 15 RO-400020 Cluj-Napoca Romania Phone: +00 40 264 401762 Fax: +00 40 264 430461

All over the world it can be noticed that product miniaturisation is a central theme in product development for different application areas. In robotics scientific research, one of the most important approaches is concerning the increase of the positioning accuracy by the use of parallel structures [3], [4], [5]. In this paper some variants of parallel robots and micro-robots with three, four and five degrees of freedom are presented, which are used for manipulation within high precision assembling processes. The corresponding kinematic models have been developed. (© 2008 WILEY-VCH Verlag GmbH & Co. KGaA, Weinheim)

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