전기유압식 좌심실 보조장치의 박출량 자동제어

학위논문(석사)--서울大學校 大學院 :協同科程 醫用生體工學專攻,1997.Maste

Three-phase Voltage Unbalance Compensators Using Novel PWM AC Choppers

Maste

Case Study on the Assessment for liquefaction potential in a Existing Costal Structure

본 연구는 한국시설안전기술공단 지원에 의한 것입니다

CHEMICALMETHODFORROOM-TEMPERATUREACTIVATION OFMETAL-ORGANICFRAMEWORKMATERIALSANDMETAL ORGANICFRAMEWORKMATERIALSPREPAREDTHEREFROM

본 발명은 다공성 금속유기구조체 용매화물 내 제거가 어려운 용매를 다중 배위결합반응을 통해 제거하는 방법으로서, 다공성 금속유기구조체를 활성화시키는 방법 및 이에 의하여 활성화된 다공성 금속유기구조체를 제공하기 위한 것이다. 본 발명 명세서는 기존 활성화 방법에 비해 처리과정이 간단하고 비용적 측면에서 효율적이며 동시에 금속유기구조체의 높은 구조완전성을 확보할 수 있는 상온 활성화를 위한 다단계 배위치환법에 관한 것이다

Design and Control of a Robotic Steering Mechanism for Electrophysiological Catheters

This paper proposes a catheter robot system for cardiac ablation therapy. The robot mechanism for actuating the catheter and the control methods of the catheter tip position will be suggested. The robot system consists of a front module and a handle-control module. The front module is a dual-gripper mechanism for inserting and rotating the catheter without slip between the catheter and gripper, and the handle-control module is for controlling the knob for the bending motion of the catheter. The proposed dual-gripper mechanism has the advantage of large contact surface between the grippers and the catheter, like the human finger, allowing it to form a stable grip of the catheter. However, for continuous insertion, the grippers should be controlled interactively. To achieve this, we explain the motion-planning and trajectory-generation methods. Moreover, we propose a control method that can intuitively control the position of the catheter using a mapping system as manual work. We explain the method of updating the Jacobian model in real time using two position sensors attached to the catheter. Finally, we show the simulation and experimental results to confirm the proposed mechanism and control methods useful for controlling the cathete