keyword
MENU ▼
Read by QxMD icon Read
search

Slave

keyword
https://www.readbyqxmd.com/read/28227672/robot-assisted-microsurgical-forceps-with-haptic-feedback-for-transoral-laser-microsurgery
#1
Nikhil Deshpande, Manish Chauhan, Claudio Pacchierotti, Domenico Prattichizzo, Darwin G Caldwell, Leonardo S Mattos, Nikhil Deshpande, Manish Chauhan, Claudio Pacchierotti, Domenico Prattichizzo, Darwin G Caldwell, Leonardo S Mattos, Darwin G Caldwell, Leonardo S Mattos, Nikhil Deshpande, Domenico Prattichizzo, Manish Chauhan, Claudio Pacchierotti
In this paper, a novel, motorized, multi-degrees-of-freedom (DoF), microsurgical forceps tool is presented, which is based on a master-slave teleoperation architecture. The slave device is a 7-DoF manipulator with: (i) 6-DoF positioning and orientation, (ii) 1 open/close gripper DoF; and (iii) an integrated force/torque sensor for tissue grip-force measurement. The master device is a 7-DoF haptic interface which teleoperates the slave device, and provides haptic feedback in its gripper interface. The combination of the device and the surgeon interface replaces the manual, hand-held device providing easy-to-use and ergonomic tissue control, simplifying the surgical tasks...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28227664/development-of-five-finger-robotic-hand-using-master-slave-control-for-hand-assisted-laparoscopic-surgery
#2
Koki Yoshida, Hiroshi Yamada, Ryu Kato, Tatsuya Seki, Hiroshi Yokoi, Masaya Mukai, Koki Yoshida, Hiroshi Yamada, Ryu Kato, Tatsuya Seki, Hiroshi Yokoi, Masaya Mukai, Hiroshi Yokoi, Masaya Mukai, Tatsuya Seki, Hiroshi Yamada, Koki Yoshida, Ryu Kato
This study aims to develop a robotic hand as a substitute for a surgeon's hand in hand-assisted laparoscopic surgery (HALS). We determined the requirements for the proposed hand from a surgeon's motions in HALS. We identified four basic behaviors: "power grasp," "precision grasp," "open hand for exclusion," and "peace sign for extending peritoneum." The proposed hand had the minimum necessary DOFs for performing these behaviors, five fingers as in a human's hand, a palm that can be folded when a surgeon inserts the hand into the abdomen, and an arm for adjusting the hand's position...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28226570/a-wearable-signal-acquisition-system-for-physiological-signs-including-throat-ppg
#3
Yizhou Zhong, Yun Pan, Ling Zhang, Kwang-Ting Cheng, Yizhou Zhong, Yun Pan, Ling Zhang, Kwang-Ting Cheng, Yizhou Zhong, Ling Zhang, Kwang-Ting Cheng, Yun Pan
This paper presents a wearable signal acquisition system, which can measure physiological signs, i.e., electrocardiogram (ECG) and photoplethysmogram (PPG). The system is comprised of two parts: (1) an ECG sensor implemented in the master board which will be mounted on the chest and, (2) a combined PPG and motion sensor implemented in the slave board which will be worn around the neck area. The single-lead ECG, the single-channel PPG, and the 3-channel accelerometer signals are all sampled at 200Hz, and transmitted to an Android app through Bluetooth® low energy (BLE) in real time...
August 2016: Conference Proceedings: Annual International Conference of the IEEE Engineering in Medicine and Biology Society
https://www.readbyqxmd.com/read/28218650/middleware-design-for-swarm-driving-robots-accompanying-humans
#4
Min Su Kim, Sang Hyuck Kim, Soon Ju Kang
Research on robots that accompany humans is being continuously studied. The Pet-Bot provides walking-assistance and object-carrying services without any specific controls through interaction between the robot and the human in real time. However, with Pet-Bot, there is a limit to the number of robots a user can use. If this limit is overcome, the Pet-Bot can provide services in more areas. Therefore, in this study, we propose a swarm-driving middleware design adopting the concept of a swarm, which provides effective parallel movement to allow multiple human-accompanying robots to accomplish a common purpose...
February 17, 2017: Sensors
https://www.readbyqxmd.com/read/28218455/experimental-evaluation-of-magnified-haptic-feedback-for-robot-assisted-needle-insertion-and-palpation
#5
Leonardo Meli, Claudio Pacchierotti, Domenico Prattichizzo
BACKGROUND: Haptic feedback has been proven to play a key role in enhancing the performance of teleoperated medical procedures. However, due to safety issues, commercially-available medical robots do not currently provide the clinician with haptic feedback. METHODS: This work presents the experimental evaluation of a teleoperation system for robot-assisted medical procedures able to provide magnified haptic feedback to the clinician. Forces registered at the operating table are magnified and provided to the clinician through a 7-DoF haptic interface...
February 20, 2017: International Journal of Medical Robotics + Computer Assisted Surgery: MRCAS
https://www.readbyqxmd.com/read/28205221/bight-of-benin-a-maternal-perspective-of-four-beninese-populations-and-their-genetic-implications-on-the-american-populations-of-african-ancestry
#6
Giuseppina Primativo, Claudio Ottoni, Gianfranco Biondi, Sara Serafino, Cristina Martínez-Labarga, Maarten H D Larmuseau, Michele Scardi, Ronny Decorte, Olga Rickards
The understanding of the first movements of the ancestral populations within the African continent is still unclear, particularly in West Africa, due to several factors that have shaped the African genetic pool across time. To improve the genetic representativeness of the Beninese population and to better understand the patterns of human settlement inside West Africa and the dynamics of peopling of the Democratic Republic of Benin, we analyzed the maternal genetic variation of 193 Beninese individuals belonging to Bariba, Berba, Dendi, and Fon populations...
March 2017: Annals of Human Genetics
https://www.readbyqxmd.com/read/28184036/redox-preconditioning-deep-cratonic-lithosphere-for-kimberlite-genesis-evidence-from-the-central-slave-craton
#7
G M Yaxley, A J Berry, A Rosenthal, A B Woodland, D Paterson
We present the first oxygen fugacity (fO2) profile through the cratonic lithospheric mantle under the Panda kimberlite (Ekati Diamond Mine) in the Lac de Gras kimberlite field, central Slave Craton, northern Canada. Combining this data with new and existing data from garnet peridotite xenoliths from an almost coeval kimberlite (A154-N) at the nearby Diavik Diamond Mine demonstrates that the oxygen fugacity of the Slave cratonic mantle varies by several orders of magnitude as a function of depth and over short lateral distances...
December 2017: Scientific Reports
https://www.readbyqxmd.com/read/28145451/a-vlbi-experiment-using-a-remote-atomic-clock-via-a-coherent-fibre-link
#8
Cecilia Clivati, Roberto Ambrosini, Thomas Artz, Alessandra Bertarini, Claudio Bortolotti, Matteo Frittelli, Filippo Levi, Alberto Mura, Giuseppe Maccaferri, Mauro Nanni, Monia Negusini, Federico Perini, Mauro Roma, Matteo Stagni, Massimo Zucco, Davide Calonico
We describe a VLBI experiment in which, for the first time, the clock reference is delivered from a National Metrology Institute to a radio telescope using a coherent fibre link 550 km long. The experiment consisted of a 24-hours long geodetic campaign, performed by a network of European telescopes; in one of those (Medicina, Italy) the local clock was alternated with a signal generated from an optical comb slaved to a fibre-disseminated optical signal. The quality of the results obtained with this facility and with the local clock is similar: interferometric fringes were detected throughout the whole 24-hours period and it was possible to obtain a solution whose residuals are comparable to those obtained with the local clock...
February 1, 2017: Scientific Reports
https://www.readbyqxmd.com/read/28125609/master-leader-slave-cuckoo-search-with-parameter-control-for-ann-optimization-and-its-real-world-application-to-water-quality-prediction
#9
Najmeh Sadat Jaddi, Salwani Abdullah, Marlinda Abdul Malek
Artificial neural networks (ANNs) have been employed to solve a broad variety of tasks. The selection of an ANN model with appropriate weights is important in achieving accurate results. This paper presents an optimization strategy for ANN model selection based on the cuckoo search (CS) algorithm, which is rooted in the obligate brood parasitic actions of some cuckoo species. In order to enhance the convergence ability of basic CS, some modifications are proposed. The fraction Pa of the n nests replaced by new nests is a fixed parameter in basic CS...
2017: PloS One
https://www.readbyqxmd.com/read/28114083/adaptive-exponential-synchronization-of-multislave-time-delayed-recurrent-neural-networks-with-l%C3%A3-vy-noise-and-regime-switching
#10
Liuwei Zhou, Quanyan Zhu, Zhijie Wang, Wuneng Zhou, Hongye Su
This paper discusses the problem of adaptive exponential synchronization in mean square for a new neural network model with the following features: 1) the noise is characterized by the Lévy process and the parameters of the model change in line with the Markovian process; 2) the master system is also disturbed by the same Lévy noise; and 3) there are multiple slave systems, and the state matrix of each slave system is an affine function of the state matrices of all slave systems. Based on the Lyapunov functional theory, the generalized Itô's formula, $M$-matrix method, and the adaptive control technique, some criteria are established to ensure the adaptive exponential synchronization in the mean square of the master system and each slave system...
September 27, 2016: IEEE Transactions on Neural Networks and Learning Systems
https://www.readbyqxmd.com/read/28114053/finite-time-and-fixed-time-cluster-synchronization-with-or-without-pinning-control
#11
Xiwei Liu, Tianping Chen
In this paper, the finite-time and fixed-time cluster synchronization problem for complex networks with or without pinning control are discussed. Finite-time (or fixed-time) synchronization has been a hot topic in recent years, which means that the network can achieve synchronization in finite-time, and the settling time depends on the initial values for finite-time synchronization (or the settling time is bounded by a constant for any initial values for fixed-time synchronization). To realize the finite-time and fixed-time cluster synchronization, some simple distributed protocols with or without pinning control are designed and the effectiveness is rigorously proved...
December 6, 2016: IEEE Transactions on Cybernetics
https://www.readbyqxmd.com/read/28113645/quantized-synchronization-of-chaotic-neural-networks-with-scheduled-output-feedback-control
#12
Ying Wan, Jinde Cao, Guanghui Wen
In this paper, the synchronization problem of master-slave chaotic neural networks with remote sensors, quantization process, and communication time delays is investigated. The information communication channel between the master chaotic neural network and slave chaotic neural network consists of several remote sensors, with each sensor able to access only partial knowledge of output information of the master neural network. At each sampling instants, each sensor updates its own measurement and only one sensor is scheduled to transmit its latest information to the controller's side in order to update the control inputs for the slave neural network...
August 24, 2016: IEEE Transactions on Neural Networks and Learning Systems
https://www.readbyqxmd.com/read/28113408/the-role-of-direct-and-visual-force-feedback-in-suturing-using-a-7-dof-dual-arm-teleoperated-system
#13
Ali Talasaz, Ana Luisa Trejos, Rajni Patel
The lack of haptic feedback in roboticsassisted surgery can result in tissue damage or accidental tool-tissue hits. This paper focuses on exploring the effect of haptic feedback via direct force reflection and visual presentation of force magnitude on performance during robotics-assisted minimally invasive surgery (RAMIS) suturing. For this purpose, a haptics-enabled dual-arm master-slave teleoperation system capable of measuring tool-tissue interaction forces in all 7 Degrees-of-Freedom (DOFs) was used. Two suturing tasks, tissue puncturing and knottightening, were chosen to assess user skills when suturing on phantom tissue...
October 12, 2016: IEEE Transactions on Haptics
https://www.readbyqxmd.com/read/28113354/a-novel-switching-based-control-framework-for-improved-task-performance-in-teleoperation-system-with-asymmetric-time-varying-delays
#14
Di-Hua Zhai, Yuanqing Xia
This paper addresses the adaptive control for task-space teleoperation systems with constrained predefined synchronization error, where a novel switched control framework is investigated. Based on multiple Lyapunov-Krasovskii functionals method, the stability of the resulting closed-loop system is established in the sense of state-independent input-to-output stability. Compared with previous work, the developed method can simultaneously handle the unknown kinematics/dynamics, asymmetric varying time delays, and prescribed performance control in a unified framework...
January 19, 2017: IEEE Transactions on Cybernetics
https://www.readbyqxmd.com/read/28112723/global-and-regional-dissemination-and-evolution-of-burkholderia-pseudomallei
#15
Claire Chewapreecha, Matthew T G Holden, Minna Vehkala, Niko Välimäki, Zhirong Yang, Simon R Harris, Alison E Mather, Apichai Tuanyok, Birgit De Smet, Simon Le Hello, Chantal Bizet, Mark Mayo, Vanaporn Wuthiekanun, Direk Limmathurotsakul, Rattanaphone Phetsouvanh, Brian G Spratt, Jukka Corander, Paul Keim, Gordon Dougan, David A B Dance, Bart J Currie, Julian Parkhill, Sharon J Peacock
The environmental bacterium Burkholderia pseudomallei causes an estimated 165,000 cases of human melioidosis per year worldwide and is also classified as a biothreat agent. We used whole genome sequences of 469 B. pseudomallei isolates from 30 countries collected over 79 years to explore its geographic transmission. Our data point to Australia as an early reservoir, with transmission to Southeast Asia followed by onward transmission to South Asia and East Asia. Repeated reintroductions were observed within the Malay Peninsula and between countries bordered by the Mekong River...
January 23, 2017: Nature Microbiology
https://www.readbyqxmd.com/read/28102864/transthyretin-v122i-pv142i-cardiac-amyloidosis-an-age-dependent-autosomal-dominant-cardiomyopathy-too-common-to-be-overlooked-as-a-cause-of-significant-heart-disease-in-elderly-african-americans
#16
REVIEW
Joel N Buxbaum, Frederick L Ruberg
Since the identification of a valine-to-isoleucine substitution at position 122 (TTR V122I; pV142I) in the transthyretin (TTR)-derived fibrils extracted from the heart of a patient with late-onset cardiac amyloidosis, it has become clear that the amyloidogenic mutation and the disease occur almost exclusively in individuals of identifiable African descent. In the United States, the amyloidogenic allele frequency is 0.0173 and is carried by 3.5% of community-dwelling African Americans. Genotyping across Africa indicates that the origin of the allele is in the West African countries that were the major source of the slave trade to North America...
January 19, 2017: Genetics in Medicine: Official Journal of the American College of Medical Genetics
https://www.readbyqxmd.com/read/28099038/an-exome-sequencing-study-to-assess-the-role-of-rare-genetic-variation-in-pulmonary-fibrosis
#17
Slavé Petrovski, Jamie L Todd, Michael T Durheim, Quanli Wang, Jason W Chien, Fran L Kelly, Courtney Frankel, Caroline M Mebane, Zhong Ren, Joshua Bridgers, Thomas J Urban, Colin D Malone, Ashley Finlen Copeland, Christie Brinkley, Andrew S Allen, Thomas O'Riordan, John G McHutchison, Scott M Palmer, David B Goldstein
RATIONALE: Idiopathic pulmonary fibrosis (IPF) is an increasingly recognized, often fatal lung disease of unknown etiology. OBJECTIVES: The aim of this study was to use whole-exome sequencing to improve our understanding of the genetic architecture of pulmonary fibrosis. METHODS: We performed a case-control exome-wide collapsing analysis including 262 unrelated individuals with pulmonary fibrosis; clinically classified as IPF according to ATS/ERS/JRS/ALAT guidelines (81...
January 18, 2017: American Journal of Respiratory and Critical Care Medicine
https://www.readbyqxmd.com/read/28097937/an-assembly-type-master-slave-catheter-and-guidewire-driving-system-for-vascular-intervention
#18
Hyo-Jeong Cha, Byung-Ju Yi, Jong Yun Won
Current vascular intervention inevitably exposes a large amount of X-ray to both an operator and a patient during the procedure. The purpose of this study is to propose a new catheter driving system which assists the operator in aspects of less X-ray exposure and convenient user interface. For this, an assembly-type 4-degree-of-freedom master-slave system was designed and tested to verify the efficiency. First, current vascular intervention procedures are analyzed to develop a new robotic procedure that enables us to use conventional vascular intervention devices such as catheter and guidewire which are commercially available in the market...
January 2017: Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine
https://www.readbyqxmd.com/read/28095420/molecular-mechanism-of-disease-associated-mutations-in-the-pre-m1-helix-of-nmda-receptors-and-potential-rescue-pharmacology
#19
Kevin K Ogden, Wenjuan Chen, Sharon A Swanger, Miranda J McDaniel, Linlin Z Fan, Chun Hu, Anel Tankovic, Hirofumi Kusumoto, Gabrielle J Kosobucki, Anthony J Schulien, Zhuocheng Su, Joseph Pecha, Subhrajit Bhattacharya, Slavé Petrovski, Adam E Cohen, Elias Aizenman, Stephen F Traynelis, Hongjie Yuan
N-methyl-D-aspartate receptors (NMDARs), ligand-gated ionotropic glutamate receptors, play key roles in normal brain development and various neurological disorders. Here we use standing variation data from the human population to assess which protein domains within NMDAR GluN1, GluN2A and GluN2B subunits show the strongest signal for being depleted of missense variants. We find that this includes the GluN2 pre-M1 helix and linker between the agonist-binding domain (ABD) and first transmembrane domain (M1). We then evaluate the functional changes of multiple missense mutations in the NMDAR pre-M1 helix found in children with epilepsy and developmental delay...
January 2017: PLoS Genetics
https://www.readbyqxmd.com/read/28092590/adaptive-neural-synchronization-control-for-bilateral-teleoperation-systems-with-time-delay-and-backlash-like-hysteresis
#20
Huanqing Wang, Peter Xiaoping Liu, Shichao Liu
This paper considers the master and slave synchronization control for bilateral teleoperation systems with time delay and backlash-like hysteresis. Based on radial basis functions neural networks' approximation capabilities, two improved adaptive neural control approaches are developed. By Lyapunov stability analysis, the position and velocity tracking errors are guaranteed to converge to a small neighborhood of the origin. The contributions of this paper can be summarized as follows: 1) by using the matrix norm established using the weight vector of neural networks as the estimated parameters, two novel control schemes are developed and 2) the hysteresis inverse is not required in the proposed controllers...
January 10, 2017: IEEE Transactions on Cybernetics
keyword
keyword
91812
1
2
Fetch more papers »
Fetching more papers... Fetching...
Read by QxMD. Sign in or create an account to discover new knowledge that matter to you.
Remove bar
Read by QxMD icon Read
×

Search Tips

Use Boolean operators: AND/OR

diabetic AND foot
diabetes OR diabetic

Exclude a word using the 'minus' sign

Virchow -triad

Use Parentheses

water AND (cup OR glass)

Add an asterisk (*) at end of a word to include word stems

Neuro* will search for Neurology, Neuroscientist, Neurological, and so on

Use quotes to search for an exact phrase

"primary prevention of cancer"
(heart or cardiac or cardio*) AND arrest -"American Heart Association"