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In robotic surgery, a surgeon checks only a surgical site of patient in the progress of surgery by vision and sound information. In order to solve this limited information, the haptic function is necessary. For haptic realization, it requires much more information through various sensors. However, because of the special environment inside human body, it is not easy to apply sensors such as a force...
Instead of single mobile robot, multi mobile robots can perform complex tasks with simple robot system and algorithm. But multi mobile robots face much more complex driving problem than singular driving. To solve the problem, in this study, driving algorithm based on the energy method is applied to the individual robot in a group. This makes a cluster be in a formation automatically and suggests a...
Many surgical robots adopt a tendon driven mechanism using cable and pulley to transmit the power. However, although tension is the main medium of power structurally, it is directly related with cable material characteristics including not only elastic region which make it able to use fixed spring constant but also nonlinear elastic and yielding one. Therefore, in the view point of control, it is...
In spite of the nonlinear characteristic of cable pulley mechanism, surgical robot instrument has adopted it for safety. To operate the instrument properly, it needs robust control algorithm to overcome the nonlinear and uncertainty of the system. In the previous study, the sliding mode control with sliding perturbation observer has been applied to surgical robot instrument. Especially, the research...
In recent year, blogs or web discussion boards are becoming popular and widespread for netizens to express and share their opinions. In a survey conducted in 2007, more than 120,000 blogs are created in a day and more than 70 million blogs are collected by web search robots. A large number of blogs reflect current social trends and issues. In this kind of online communication, readers usually express...
To meet the needs of the next-generation programmable switch circuit, we propose a SbTeN-based resistive switch device, which unifies the functions of the pass transistor and the SRAM-cell, has non-volatility, and passes endurance specification. By adding an optimum nitrogen-content in a SbTe film, the on-resistance reduction is successfully demonstrated, which is considered to be the first solution...
We evaluated the electrical properties and change of nanostructure of Cu doped SiO2 and Ge2Sb2Te5 (GST) thin film under electrical stressing. Specialized scanning tunneling microscopy (STM)-transmission electron microscope (TEM) holder, which allows us to do the electrical characterization and observation of in-situ nano-structural evolution simultaneously, used as a approach method to confirm the...
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