Piezoelectric materials have long been used as sensors and actuators, however their use electrical generators is less established. A piezoelectric power generator has great potential for some remote applications such in vivo sensors, embedded MEMS devices, distributed networking. Such are capable of converting mechanical energy into energy, but developing challenging because poor source characteristics (high voltage, low current, high impedance) relatively output. In the past these...

This paper presents the results of tests that demonstrate feasibility using piezoelectric (PZT) ceramics to generate in vivo electrical energy for orthopedic implants. Sensors encapsulated within implants could provide diagnostic capabilities such as monitoring implant duty (i.e., walking) cycle, detecting abnormally asymmetric or high forces, sensing misalignment and early loosening, detection wear. Early diagnosis abnormalities impending failure is critical minimize patient harm. However,...

This paper investigates the control and localization of a heterogeneous (e.g., different sensing, mechanical, computational capabilities) group mobile robots. The considered here has several inexpensive sensor-limited computationally limited robots, which follow leader robot in desired formation over long distances. situation is similar to search, demining, or planetary exploration where there are deployable/disposable robots led by more sophisticated leader. Specifically, this designed for...

Dynamic voltage scaling (DVS) algorithms save energy by down the processor frequency when is not fully loaded. Many have been proposed for periodic and aperiodic task models but none support canonical sporadic model. A DVS algorithm, called DVSST, presented that can be used with tasks in conjunction preemptive EDF scheduling. The algorithm proven to guarantee each meets its deadline while saving maximum amount of possible scaling. DVSST was implemented /spl mu/C/OS-II real-time operating...

Advances in endoscopic techniques for abdominal procedures continue to reduce the invasiveness of surgery. Gaining access peritoneal cavity through small incisions prompted first significant shift general The complete elimination external natural orifice is potentially next step reducing patient trauma. While minimally invasive offer advantages, are surgically challenging. Robotic surgical systems being developed that address visualization and manipulation limitations, but many these remain...

Recently a planetary rover returned important scientific information from Mars. More ambitious missions are planned. New planning methods required that allow rovers to explore challenging areas with high level of autonomy. This paper presents methodology based on physics-based model the and environment. Plans developed perform mission while explicitly considering constraints such as power, actuator, wheel slip, vehicle stability limits. Results obtained detailed simulations presented.

Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of incisions reduces patient trauma, but also eliminates the surgeon's ability to view and touch surgical environment directly. These limitations generally restrict application laparoscopy procedures less complex than those during open surgery. This paper presents a theoretical experimental analysis miniature, wheeled, in vivo robots support laparoscopy. objective develop wireless mobile...

Long development times and high costs prevent robots from being practical for use in many important field missions. Here a modular design approach is proposed to produce rapidly deployable low cost robotic system. An inventory of components such as actuated joints, links, power supplies, software modules are assembled system specified task. The method uses hierarchical selection process combined with genetic algorithm select robot configuration action plan given This applied an inspection...

There has been a continuing push to reduce the invasiveness of surgery by accessing abdominal cavity through single incision, such as with laparoendoscopic single-site (LESS) surgery. Although LESS procedures offer significant benefits, added complexities still inhibit procedures. Robotic is proving be an excellent option overcome these limitations. This paper presents experimental results single-incision in vivo surgical robot (SISR), multifunctional, dexterous, two-armed capable performing...

This paper presents an articulated manipulator with multiple instruments for natural orifice endoscopic transluminal surgery (NOTES). robotic system is made up of four major components, namely a multifunctional manipulator, robot-connecting arm, drive mechanism, and surgeon control console. The capable changing in situ at the surgical site, was developed to reduce infection risk, improve workflow, encourage solo by providing surgeons all required instruments. arm serves as experimental...

Current laparoscopic surgical robots are expensive, bulky, and fundamentally constrained by the small entry incisions. A potential new approach to minimally invasive surgery is place robot completely within patient. We have developed several such miniature mobile conducted tests during animal surgeries. These can provide vision task assistance surgeon without being port. used a biopsy camera sample hepatic tissue from an anesthetized porcine model. This successful test demonstrated...

Abstract Background Existing methods used to perform laparoendoscopic single‐site surgery (LESS) require multiple laparoscopic tools that are inserted into the peritoneal cavity through a single, specialized port. These inherently limited in visualization and dextrous capabilities by working single access point. A miniature vivo robotic platform is completely incision can address these limitations, providing more intuitive manipulation improved visualization. Methods The for LESS consists of...

Long-term human space exploration will require contingencies for emergency medical procedures including some capability to perform surgery. The ability minimally invasive surgery (MIS) would be an important capability. use of small incisions reduces surgical risk, but also eliminates the surgeon view and touch environment directly. Robotic surgery, or telerobotic may provide care in remote harsh environments such as flight, extremely forward battlefields. However, because current robots are...

Safety-critical applications often use dependability cases to validate that specified properties are invariant, or demonstrate a counter example showing how property might be violated. However, most written with single product in mind. At the same time, software lines (families of related products) have been studied goal modeling variability and commonality, building family based techniques for both analysis testing. there has little work on an end case line (where is modeled, found then...