The capacity and cost-per-bit of DRAM have historically scaled to satisfy the needs increasingly large complex computer systems. However, latency has remained almost constant, making memory performance bottleneck in today's We observe that high access is not intrinsic DRAM, but a trade-off made decrease cost-per-bit. To mitigate area overhead sensing structures, commodity DRAMs connect many cells each sense-amplifier through wire called bitline. These bitlines parasitic capacitance due their...

This paper presents a novel surgical instrument integrated with four-degree-of-freedom (DOF) force sensor. By adopting the capacitive transduction principle, sensor enables direct sensing of normal and shear forces at tips. Thus, three-DOF pulling single-DOF grasping can be measured for haptic feedback control robotic minimally invasive surgery systems. The consists four transducers, all transducers including analog signal processing units are embedded in small four-DOF is enabled thanks to...

The peg-in-hole assembly is a representative robotic task that involves physical contact with the external environment. In this paper, in contrast to past research area, which has involved utilization of such expensive devices as force/torque sensors or remote compliance mechanisms, an inexpensive method proposed for without force feedback passive mechanisms. consists analysis state between peg and hole well strategy overcome inevitable positional uncertainty incurred recognition process. A...

This paper presents an anthropomorphic robotic hand named "KITECH-Hand," along with its kinematic analysis and detailed mechanical features. From a perspective, the authors particularly focus on structure of metacarpophalangeal (MCP) joints fingers. The KITECH-Hand adopts new "roll-pitch"-type MCP to replace conventional "yaw-pitch" structures. proposed provides benefits such as enhanced performance ease design. Through analysis, it is shown that shows remarkably high dexterity, well...

This paper presents a novel six-axis force/torque (F/T) sensor for robotic applications that is self-contained, rugged, and inexpensive. Six capacitive cells are adopted to detect three normal shear forces. cell readings converted F/T information via calibrations transformation. To simplify the manufacturing processes, design with parallel orthogonal arrangements of sensing proposed, which achieves large improvement sensitivity. Also, signal processing realized single printed circuit board...

This paper presents an innovative design of a six-axis force/torque sensor, which enables ease manufacturing, cost reduction, and ruggedness in operation. The advantages are realized by simplifying the structure sensor reducing manual labor during manufacturing process. In order to achieve simple structure, we propose capacitive-type force sensing scheme elements aligned in-plane. By using this method, all can be fabricated on single printed circuit board, thus, tasks, such as bonding...

This paper presents a laparoscopic grasping tool for minimally invasive surgery with the capability of multiaxis force sensing. The is able to sense three-axis Cartesian manipulation and single-axis force. forces are measured by wrist sensor located at distal end tool, two torque sensors base, respectively. We propose an innovative design miniature achieving structural simplicity potential cost effectiveness. A prototype manufactured experiments conducted in simulated surgical environment...

Dianthus koreanus sp. nov., from Gyeongsangbuk-do, Republic of Korea, is described and illustrated. It a chasmophyte growing on the rocks seashore in eastern coast Korea. The new species similar to D. chinensis by its vegetative floral morphology. Differential characters refer leaves (oblanceolate oblong greenish-gray coriaceous), bracts (3 pairs, each bract being elliptic obovate with apex acute). conservation status was assessed according IUCN Red List criteria.

Marssonina coronaria associated with apple blotch disease causes severe premature defoliation, and is widely distributed in Korea. Thirteen isolates were collected from orchards located Gyeongbuk Province 2005~2007. All displayed over 99.6% 99.2% sequence similarity to each other internal transcribed spacer regions partial sequences of 28S rDNA, respectively. The phylogenetically closely related Chinese isolates. Selected did not differ their pathogenicity. optimum conditions for fungal...

To achieve a compact and lightweight surgical robot with force-sensing capability, in this paper, we propose called "S-surge," which is developed for robot-assisted minimally invasive surgery, focusing mainly on its mechanical design system. The consists of 4-degree-of-freedom (DOF) instrument 3-DOF remote center-of-motion manipulator. manipulator designed by adopting double-parallelogram mechanism spherical parallel to provide advantages such as compactness, simplicity, improved accuracy,...

The peg-in-hole method using the compliance characteristics of robots has advantages in terms cost and speed compared to conventional methods based on contact force feedback with force/torque sensors. In our previous study, we proposed a compliant assembly blind searching spiral trajectory (SFT). main drawback this was deviation completion time for tasks. Therefore, analyzed efficiency SFT developed an improved called partial (PSFT). PSFT reduced variance elapsed by eliminating uncertainty...

In this paper, we present the autonomous pipeline navigation method of an in-pipe robot, based on landmark recognition system and 3D orientation sensor. The fittings pipelines such as elbows branches can be used landmarks. introduce a noise tolerant detection using line laser beam projected internal surface pipeline. Once is landmarks, unique pattern generated. By pattern, robot easily detect distinguish these landmarks while recognizing direction path. Simultaneously, robot's pose...

Abstract This paper reports a microfabrication-free approach to make hollow channel mass sensors by pulling glass capillary and suspending it on top of machined jig. A part the pulled section makes simple contact with an actuation node quartz tuning fork (QTF) which acts as sensing node. The two nodes define micro tube resonator (P μ TR) simply supported at contacts. While piezo actuator beneath excites P TR, QTF senses resonance frequency TR. proposed concept was validated electrical...

Occupational exposure and risk assessment were conducted to evaluate the safety of operators when insecticide acetamiprid was applied apple orchard using a speed sprayer. Dermal patches, cotton gloves, socks, masks used monitor dermal exposure, personal air pump with solid sorbent measure potential inhalation exposure. In validation analytical methods, limit detection quantitation 0.25 ng 1 ng, respectively. Good reproducibility (coefficient variation < 4%), linearity determination > 0.999),...

This paper presents a grasper-integrated force sensor that provides the capability of measuring dual axial forces at tip surgical robot for minimally invasive surgery (MIS). On sensorized forceps, combination measured each side grasper three pulling and single grasping sensing, which provide feedback control using haptic device. It consists simple structure triangular prism shape two capacitive-type pressure cells based on elastomeric polymer information normal shear forces. The sensing...

In-pipe works such as inspection or cleaning which are difficult to be done by human seem suitable tasks for automatic robots. Since the wireless communication is hardly accessible in pipeline and wired severely limits mobility of in-pipe robot, working robot should work autonomously independently. Landmark based localization widely used mobile also can applied environment. In a pipeline, specific structures branches elbows treated landmarks distinguishable from this paper, we introduce...

본 조사는 1992년부터 2005년까지 14년간 경남북 및 전북의 <TEX>$4{\sim}8$</TEX>개 시군의 사과주산지에서 <TEX>$16{\sim}30$</TEX>개 사과원을 대상으로 실시되었으며, 과실을 직접 가해하는 2종 해충인 복숭아심식나방(Carposina sasakii)과 복숭아순나빈 Grapholita molesta)의 발생 피해정도를 비교, 분석하였다. 수확기 복숭아순나방에 의한 평균 피해과율은 <TEX>$0.02{\sim}1.64%$</TEX>였으며, 1997년을 기점으로 그 이전 연도보다 후 연도의 피해가 많은 경향이었다. 반면 복숭아심식나방의 <TEX>$0.02{\sim}1.30%$</TEX>였으며, 1998년을 제외하고 피해과율이 0.3% 이하로 극히 낮았다. 복숭아순나방과 발생과원율은 각각 <TEX>$13{\sim}71%,\;12{\sim}57%$</TEX>였으며, 1997년 이후로 복숭아순나방의 발생과원율이 복숭아심식나방 발생과원율에 비하여...