A5058103274- Teleoperation and Haptic Systems
- Soft Robotics and Applications
- Surgical Simulation and Training
- Geophysics and Sensor Technology
- Robot Manipulation and Learning
- Robotics and Automated Systems
- Stroke Rehabilitation and Recovery
- Muscle activation and electromyography studies
- Spinal Fractures and Fixation Techniques
- Robotic Mechanisms and Dynamics
- Catalysis and Hydrodesulfurization Studies
- Prosthetics and Rehabilitation Robotics
- Cancer Treatment and Pharmacology
- Gastric Cancer Management and Outcomes
- Parallel Computing and Optimization Techniques
- Virtual Reality Applications and Impacts
- Interconnection Networks and Systems
- Prostate Cancer Treatment and Research
- Cancer Diagnosis and Treatment
- Adaptive Control of Nonlinear Systems
- Amyloidosis: Diagnosis, Treatment, Outcomes
- Embedded Systems Design Techniques
- Air Quality Monitoring and Forecasting
- Herpesvirus Infections and Treatments
- Numerical Methods and Algorithms
Korea Institute of Machinery and Materials
2014-2025
Konkuk University Medical Center
2022
MSD (South Korea)
2022
University of Washington
2020
Sungkyunkwan University
2017-2019
Samsung Medical Center
2017-2019
Sunchon National University
2017
Technion – Israel Institute of Technology
2016
Lund University
2012-2014
Max Planck Institute for Biological Cybernetics
2013
Identification of unknowns is a bottleneck for large-scale untargeted analyses like metabolomics or drug metabolite identification. Ion mobility-mass spectrometry (IM-MS) provides rapid two-dimensional separation ions based on their mobility through neutral buffer gas. The an ion related to its collision cross section (CCS) with the gas, physical property that determined by size and shape ion. This structural dependency makes CCS promising characteristic compound identification, but this...
In this paper, we investigate a motion-tracking system for robotic computer-assisted implant surgery. Failure of the accurate positioning may result in significant problems, thus an real-time is crucial avoiding these issues Essential features are analyzed and classified into four categories: workspace, sampling rate, accuracy, back-drivability. Based on analysis, requirements each category have been derived to ensure that meets desired performance criteria. A novel 6-DOF proposed which...
This study evaluates the long-term biomechanical and energy efficiency effects of a high-torque, lightweight robotic ankle-foot prosthesis (RAF Pro) in transtibial amputee, focusing on its potential to enhance gait symmetry functionality. A six-month longitudinal case was conducted 51-year-old male amputee transitioning from passive RAF Pro. Comprehensive analyses, including motion capture force plate assessments, were performed at four intervals: initial fitting, three months, half six...
Surgical teleoperation systems are being increasingly deployed recently. There are, however, some unsolved issues such as nonlinear characteristics of the interaction between slave robot and soft tissues difficulty in employing force sensors surgical end-effectors slave. These make it difficult to generalize any approach develop a control for system. This paper addresses these by proposing <formula formulatype="inline" xmlns:mml="http://www.w3.org/1998/Math/MathML"...
Breast cancer rarely metastasizes to the gastrointestinal tract, including stomach. Due rarity of this metastasis, it is occasionally confused with a primary stomach malignancy. However, discriminating characteristic features clinical implications may exist. The aim current study was analyze and prognosis breast gastric metastasis. Between January 1994 October 2016, 13 patients at Samsung Medical Center (Seoul, Korea) were clinically or pathologically determined have present retrospectively...
We propose a new telerobotic system for untact swab sampling to prevent the infection of medical staff during upper respiratory sample collection. The consists slave robot and two master devices. is designed move in 6 degrees freedom within facial area insert remove under remote control by an operator at site based on magnified imaging patient’s area. insertion removal into from nostril are implemented means unit; as counterpart this unit, also includes device unit remotely. A force sensor...
This paper presents a prototype system for robot-assisted ultrasound diagnosis. The includes master-slave configuration integrated with diagnostic machine. We designed new slave robot based on rotary Stewart platform and the conventional US probe is installed inside of contacts patient's skin through hole in base frame. In experiments, 3D workspace including circular motion, tilting twisting motion was investigated. Position accuracy between master device evaluated. Tele-robotic real-time...
This paper focuses on the human perception capabilities for haptic interaction with remote environments. The are compared two well-known control methods kinds of cues. Analytical and psychophysical used to analyze performance. first method aims at maximizing transparency interactions (i.e., transparency-based method), whereas second one detection discrimination abilities operator perception-based method). For each these methods, cues studied, which use position force from Hybrid matrix...
Decentralized control of bilateral teleoperation systems with time delays is considered within the H <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">2</sup> optimization framework. We demonstrate that problem quadratically invariant and can be split into two independent model matching optimizations partial multiplicative delay. The recent loop shifting techniques for delayed are used then to find a complete analytical solution. Explicit...
This paper describes the MetaCore system which is an ASIP (Application-Specific Instruction set Processor) development targeted for DSP applications. The goal of to offer efficient design methodology meeting specifications given as a combination performance, cost and turnaround time.
Dynamic parameters of a robot affect the performance advanced control schemes significantly. In this study experiments to identify dynamic AT2 are carried out. The excitation trajectory for identification is parameterized with Fourier series. optimized minimize effects uncertainty using condition number as index. Recursive optimization proposed so that robust from selection initial values and better result can be obtained. estimated weighted least-square method.
SUMMARY In this paper, human viscosity perception in haptic teleoperation systems is thoroughly analyzed. An accurate of viscoelastic environmental properties such as a critical ability several contexts, telesurgery, telerehabilitation, telemedicine, and soft-tissue interaction. We study compare the to perceive from standpoint detection discrimination using relevant control methods for teleoperator. The perception-based method, which was proposed by authors enhance operator's kinesthetic...
We present a compact and lightweight two Degrees of Freedom (DOF) needle driver to be applied teleoperated insertion-type interventional robotic system. The slave manipulator is located beside the patient bed inside CT scanner room. Physicians manipulate master device, separately in control room, order placement. provides one translational motion rotational biopsy needle, easily detachable from driver. performed several experiments measure repeatability insertion force evaluate basic...
A 6-way out-of-order issue custom VLSI implementation of the Alpha architecture runs at >1 GHz. The 13.1/spl times/14.7 mm/sup 2/ die contains 15.2 M transistors and utilizes 0.18 /spl mu/m CMOS which includes 7 aluminum interconnect layers flip-chip packaging. design this chip is highly leveraged from an existing 0.35 mu/m, issue, 6 metal layer with wire-bond packaging technology. two on-chip cache arrays; a 64 kB 2-way set associative instruction dual-ported data cache.
This paper presents a control design framework for robust teleoperation. The teleoperation system with uncertainties is modeled as linear parameter varying plant to employ the gain-scheduling framework. time-varying transmission delay, disturbances, and uncertainty of environment are considered in control. usual assumption that human operator passive not made this method. scheme employs an online estimation including disturbance time delay between master slave. Simulation results show...
In this paper we consider a problem of delayed bilateral teleoperation control. We exploit recent parameterization all feasible teleoperator admittance matrices to propose control synthesis procedure based on shaping. This leads an intuitive performance-oriented controller design that reveals important trade-offs inherent teleoperaton. particular, allows trade-off between performance and passivity, is not accessible while using classical passivity-based methods. The proposed illustrated with...
Results from randomized phase III trials have shown that thrice-weekly docetaxel added to androgen-deprivation therapy (ADT) has a significant impact on the survival of patients with metastatic castration-naïve prostate cancer (mCNPC) and established early chemotherapy as part standard care for high-risk disease. Controversy remains, however, because some experience critical toxicities related docetaxel. The purpose current study was evaluate feasibility adverse events biweekly-administered...
This paper studies the problem of interaction control based on force and velocity measurements. Without restricting ourselves to fixed structures such as admittance or impedance control, we consider general topology problem. Adopting idea Youla-based 2DOF reveal a generic architecture that splits into two independent parts: nominal shaping disturbance rejection. pinpoints conceptual flaws in classical architectures suggests way circumvent them. As by-product, complete compact...
In this paper we study performance achievable in delayed bilateral teleoperation control. Our goal is to characterize all system behaviors that can be achieved with communication but without any restrictive assumptions on the control law, such as passivity. To end, a recent non-restrictive stabilizing architecture for exploited. The main properties of are discussed and used obtain parameterization admittance matrices feasible under nominal stability constraint. use shaping behavior...
This paper presents a design of robot-assisted tele-echography system and experiments by using phantom model. The includes slave robot, master device, pair hardware codecs. Slave robot was designed to be handheld lightweight as well attachable with US probe. Hardware codec developed for the transmission data, control audio-visual data in normal broad internet environment. In experiments, we chose two sites physically separated from site distances 120 km 300 km. both cases, images were...