This paper presents the design of a teleoperation system with a haptic display for the active needles with tip-force sensing and tip-steering capabilities. The active needle design employs sensorized tendons by fiber ...
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ISBN:
(数字)9798350386523
ISBN:
(纸本)9798350386530
This paper presents the design of a teleoperation system with a haptic display for the active needles with tip-force sensing and tip-steering capabilities. The active needle design employs sensorized tendons by fiber Bragg gratings sensor (FBGs), while the teleoperation system combines a general haptic interface with electrical stimulation as its steering interface, delivering not only general force feedback but also tip-force information measured by the FBGs-based tendons to the operators. The essential features, such as tip-force sensing, teleoperation of the tip-joint, and human perception of the measured tip-force, were experimentally evaluated with their prototypes in tissue phantoms. Based on the results obtained, necessary follow-up studies were identified and suggested for the effective teleoperation of force-sensing steerable instruments in clinical environments. If successfully developed, such systems can enable surgeons to perceive clinical situations and perform operations more precisely and safely.
There are a growing number of industrial applications for shearography, especially in non-destructive testing of composite materials. Its tolerance to hostile environments is probably the most relevant success factor ...
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ISBN:
(数字)9781510664463
ISBN:
(纸本)9781510664456
There are a growing number of industrial applications for shearography, especially in non-destructive testing of composite materials. Its tolerance to hostile environments is probably the most relevant success factor for industrial applications. The introduction of carrier fringes for phase recovery, replacing temporal phase shift techniques, allows measurements with a single exposure for each loading state, making shearography even more robust. Some defects are better evident when the shearing direction is horizontal. Others are best viewed with a vertical shearing direction. Thus, it is desirable to inspect in both directions. Fortunately, the literature reports some configurations capable of using carrier fringes to perform simultaneous measurements in more than one shearing direction. These systems work well, but since they use a mask with circular holes, they require a high amount of light. An alternative is the use of a pair of oblong slits, which increases the amount of light captured. This paper extends the use of oblong slit pairs for simultaneous measurement in two orthogonal shearing directions. Two pairs of parallel oblong slits are arranged orthogonally on the system mask. Although the Fourier transform of the resulting signal at the camera sensor contains the desired signals as well as a crosstalk between the slit pairs. However, the mask can be designed in such a way that the orthogonal signals are separable. To promote shearing in orthogonal directions, a polymeric lens was sectioned, forming four quadrants of 90°. The quadrants were radially displaced and arranged so that each oblong slit covers only one quadrant of the lens. As a result, four laterally shifted images are formed, two of them with horizontal shearing and the other two with vertical shearing. A proof-of-concept prototype was developed and the first results were evaluated by the authors in the laboratory environment and are presented in this article. The paper also shows details of the
Brain-Computer Interface (BCI) is a technique that uses real-time brain impulses to connect with and control external devices. BCI provides a new method for controlling external devices by translating brain signals in...
Brain-Computer Interface (BCI) is a technique that uses real-time brain impulses to connect with and control external devices. BCI provides a new method for controlling external devices by translating brain signals into computer commands, facilitating the daily lives of people with disabilities and enhancing their ability to exhibit expected behavior. A Brain-Computer Interface (BCI) system based on Electroencephalography (EEG) was built to control the robotic arm. The EEG signals utilized included both eyes blinking, the right eye, the left eye, and the jaw contraction. EEG data were recorded from seven healthy subjects. The threshold approach is used to classify EEG signals, with the feature employed being the amplitude of the EEG signal. The highest threshold value for the blinking signal was 0.6 mV with an accuracy of 97.9%, while the best threshold value for jaw contraction was 0.4 mV with an accuracy of 93.34 percent. The healthy, inexperienced participants took part in system testing. The total results of testing each robot movement yielded an overall success rate of 84.52 percent. Therefore, it was determined that the system could facilitate the operation of the length robot even if the user lacked prior experience with EEG-based systems.
The increasing public demand for electric vehicles also impacts the demand for electric motors. The prominent problem electric motors faces are excess heat when operating because it affects the age and performance of ...
The increasing public demand for electric vehicles also impacts the demand for electric motors. The prominent problem electric motors faces are excess heat when operating because it affects the age and performance of the electric motor. Installing fins on the electric motor housing is one way to reduce heat on the electric motor. In this study, a comparison of the six-fin design was carried out, and the effect on the thermal characteristics of the electric motor was examined. Fins are mounted radially and axially. The six types of fin designs studied are radial fins-round, radial fins-square, radial fins-servo, axial fins-round, axial fins-square, and axial fins-servo. The research uses the lumped circuit models method, and the software used is Motor-CAD. The type of electric motor being studied is a brushless permanent magnet machine (BPM) with an internal rotor. The study's findings indicate that the fin's performance in cooling the electric motor depends on its area. The lower temperatures in the axial fins-servo and radial fins-square compared to other fin designs are due to the broader area of the axial fins-servo and radial fins-square compared to the others. Axially mounted fins provide better cooling than radially mounted fins. For example, the winding temperature on the axial fins-servo is 140.54°C, and the winding temperature on the radial fins-square is 140.86°C even though the area of the axial fins-servo is 22.7% smaller than the area of the radial fins-servo.
This paper introduces an experimental method to detect the motion of an electrostatic Micro-Electro-mechanicalsystems (MEMS) resonator in aqueous media. The resonator comprises a micro cantilever beam subject to elec...
This paper introduces an experimental method to detect the motion of an electrostatic Micro-Electro-mechanicalsystems (MEMS) resonator in aqueous media. The resonator comprises a micro cantilever beam subject to electrostatic actuation through a side electrode. A Finite Element Method (FEM) model of the resonator is developed to determine the in-plane mode shapes and their natural frequencies in order to facilitate the experimental study. The motion of the resonator lead to variations in its capacitance and induce a current. The developed experiments demonstrate that motion-induced current can be measured and analyzed to detect the motion of the resonator's higher-order modes and can be used in chemical sensing.
Cobalt titanate, CoTiO3, is a honeycomb antiferromagnet recently confirmed experimentally to host Dirac magnons, topological spin-orbit excitons, and chiral phonons. Here, we investigate a magnon gap at the zone cente...
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Cobalt titanate, CoTiO3, is a honeycomb antiferromagnet recently confirmed experimentally to host Dirac magnons, topological spin-orbit excitons, and chiral phonons. Here, we investigate a magnon gap at the zone center which calls for a refined spin Hamiltonian. We propose a microscopic model for the magnon gap and attribute it to a lattice-distortion (phonon)-induced higher-order spin interaction. Strong magnetoelastic coupling in CoTiO3 is also evident in Raman spectra, in which the magnetic order exerts a stronger influence on phonons corresponding to in-plane ionic motions than those with out-of-plane motions. We further examine the evolution of the zone-center magnons in a high magnetic field up to 18.5 T via THz absorption spectroscopy measurements. Based on this field dependence, we propose a spin Hamiltonian that not only agrees with magnon dispersion measured by inelastic neutron scattering but also includes fewer exchange constants and a realistic anisotropy term. Our work highlights the broad implications of magnetoelastic coupling in the study of topologically protected bosonic excitations.
In the current day, digital transformation is imperative;both customer demand and market competitiveness are mostly driving that trend. The fourth industrial revolution has also affected the financial sector. One diff...
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Atomic-layer-deposited (ALD) zinc-tin-oxide (ZTO) thin films offer promising electronic properties for many applications, but their development has been limited by their tendency to experience significant nucleation d...
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Silicon has been one among a few key technologically important materials especially in our modern world. Silicon, especially in its current most useful forms (thin layers), is a brittle material by nature. Thin silico...
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To realize a super-smart society (Society 5.0) where humans and robots coexist, there is a need for a perceptual system that can recognize unknown objects in various unknown environments quickly and flexibly. In unkno...
To realize a super-smart society (Society 5.0) where humans and robots coexist, there is a need for a perceptual system that can recognize unknown objects in various unknown environments quickly and flexibly. In unknown environments, the characteristics of objects cannot be known in advance, so prior learning-based recognition methods such as deep reinforcement learning cannot fully cover the problem. There have been many studies on environment recognition (clustering, etc.) using a combination of RGB images and distance images, but the recognition performance is unstable because it strongly depends on the lighting conditions of the environment. Therefore, in this study, we construct a 3D topological map of the environment in real-time using Growing Neural Gas (GNG), which can learn 3D topological structures even for unlearned objects, using only 3D point cloud data as input. In the real world, due to the characteristics of RGB-D cameras, sample density decreases for more far-away objects and only sparse depth information can be obtained, so conventional GNG cannot generate high-density topological structures of unknown objects. Therefore, if the object category labels of the winner nodes (nearest nodes) for the input vector (3D point cloud) match the unknown object and are within a predefined tolerance area, then it is judged to be useful input information for learning the topological structure of the unknown object, and the topological structure of the unknown object is learned. We propose Add-if-Silent rule-based GNG (AiS-GNG) which can generate high-density topological structures for far-away objects by directly adding input data as a reference vector. We verify the effectiveness of the proposed method through experiments using a 3D dynamics simulator.
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