Quasi-Static Analysis on Transoral Surgical Tendon-Driven Articulated Robot Units

Wire actuation in tendon-driven continuum robots enables the transmission of force from a distance, but it is understood that tension control problems can arise when a pulley is used to actuate two cables in a push-pull mode. This paper analyzes the relationship between angle of rotation, pressure, as well as variables of a single continuum unit in a quasi-static equilibrium. The primary objective of the quasi-static analysis was to output pressure and the analysis, given the tensions applied. Static equilibrium condition was established, and the bisection method was carried out for the angle of rotation. The function for the bisection method considered pressure-induced forces, friction forces, and weight. {\theta} was 17.14{\deg}, and p was 405.6 Pa when Tl and Ts were given the values of 1 N and 2 N, respectively. The results seemed to be consistent with the preliminary design specification, calling for further simulations and experiments

Deciding whether there are infinitely many prime graphs with forbidden induced subgraphs

A homogeneous set of a graph G is a set X of vertices such that 2≤|X|V(G)| and no vertex in V(G)−X has both a neighbor and a non-neighbor in X. A graph is prime if it has no homogeneous set. We present an algorithm to decide whether a class of graphs given by a finite set of forbidden induced subgraphs contains infinitely many non-isomorphic prime graphs

POMY: 햅틱 피드백을 적용한 몰입형 영어 학습 시스템

국내110Yscopu

Plug-in nanoliter pneumatic liquid dispenser with nozzle design flexibility

This paper presents a novel plug-in nanoliter liquid dispensing system with a plugand-play interface for simple and reversible, yet robust integration of the dispenser. A plug-in type dispenser was developed to facilitate assembly and disassembly with an actuating part through efficient modularization. The entire process for assembly and operation of the plug-in dispenser is performed via the plug-and-play interface in less than a minute without loss of dispensing quality. The minimum volume of droplets pneumatically dispensed using the plug-in dispenser was 124 nl with a coefficient of variation of 1.6%. The dispensed volume increased linearly with the nozzle size. Utilizing this linear relationship, two types of multinozzle dispensers consisting of six parallel channels (emerging from an inlet) and six nozzles were developed to demonstrate a novel strategy for volume gradient dispensing at a single operating condition. The droplet volume dispensed from each nozzle also increased linearly with nozzle size, demonstrating that nozzle size is a dominant factor on dispensed volume, even for multinozzle dispensing. Therefore, the proposed plug-in dispenser enables flexible design of nozzles and reversible integration to dispense droplets with different volumes, depending on the application. Furthermore, to demonstrate the practicality of the proposed dispensing system, we developed a pencil-type dispensing system as an alternative to a conventional pipette for rapid and reliable dispensing of minute volume droplets. (C) 2015 AIP Publishing LLC.open114sciescopu

Deterministic bead-in-droplet ejection utilizing an integrated plug-in bead dispenser for single bead-based applications

This paper presents a deterministic bead-in-droplet ejection (BIDE) technique that regulates the precise distribution of microbeads in an ejected droplet. The deterministic BIDE was realized through the effective integration of a microfluidic single-particle handling technique with a liquid dispensing system. The integrated bead dispenser facilitates the transfer of the desired number of beads into a dispensing volume and the on-demand ejection of bead-encapsulated droplets. Single bead-encapsulated droplets were ejected every 3 s without any failure. Multiple-bead dispensing with deterministic control of the number of beads was demonstrated to emphasize the originality and quality of the proposed dispensing technique. The dispenser was mounted using a plug-socket type connection, and the dispensing process was completely automated using a programmed sequence without any microscopic observation. To demonstrate a potential application of the technique, bead-based streptavidin-biotin binding assay in an evaporating droplet was conducted using ultralow numbers of beads. The results evidenced the number of beads in the droplet crucially influences the reliability of the assay. Therefore, the proposed deterministic bead-in-droplet technology can be utilized to deliver desired beads onto a reaction site, particularly to reliably and efficiently enrich and detect target biomolecules.112Ysciescopu

Defining the Optimal Time of Adaptive Replanning in Prostate Cancer Patients with Weight Change during Volumetric Arc Radiotherapy: A Dosimetric and Mathematical Analysis Using the Gamma Index

We evaluated the changes in the dose distribution of radiation during volumetric arc radiotherapy (VMAT), to determine the right time for adaptive replanning in prostate cancer patients with progressive weight (WT) changes. Five prostate cancer patients treated with VMAT were selected for dosimetric analysis. On the original computed tomography images, nine artificial body contours were created to reflect progressive WT changes. Combined with three different photon energies (6, 10, and 15-MV), 27 comparable virtual VMAT plans were created per patient. The dosimetric analysis included evaluation of target coverage (D95%,Dmax), conformity index, homogeneity index, and organs at risk doses. The dose differences among the plans were determined using the gamma index analysis and were compared with the dosimetric analysis. Mean D95% became lower than 98% when body contour expanded by 2.0 cm or more and Dmax became higher than 107% when body contour contracted by 1.5 cm or more in 10-MV plans. This cut-off values correlated well with gamma index analysis results. Adaptive replanning should, therefore, be considered if the depth of body contour becomes 1.5 cm smaller (WT loss) or 2.0 cm larger (WT gain) in patients treated by VMAT with 10-MV photons

Nanostructured Electrode Materials for Electrochemical Capacitor Applications

The advent of novel organic and inorganic nanomaterials in recent years, particularly nanostructured carbons, conducting polymers, and metal oxides, has enabled the fabrication of various energy devices with enhanced performance. In this paper, we review in detail different nanomaterials used in the fabrication of electrochemical capacitor electrodes and also give a brief overview of electric double-layer capacitors, pseudocapacitors, and hybrid capacitors. From a materials point of view, the latest trends in electrochemical capacitor research are also discussed through extensive analysis of the literature and by highlighting notable research examples (published mostly since 2013). Finally, a perspective on next-generation capacitor technology is also given, including the challenges that lie ahead