Pneumatically Driven Multi-DOF Surgical Forceps Manipulator with a Bending Joint Mechanism Using Elastic Bodies

2016 ◽  
Vol 28 (4) ◽  
pp. 559-567 ◽  
Author(s):  
Kyouhei Takikawa ◽  
◽  
Ryoken Miyazaki ◽  
Takahiro Kanno ◽  
Gen Endo ◽  
...  
Keyword(s):  
The Other ◽  
Tracking Performance ◽  
Slave System ◽  
Flexible Joints ◽  
Drive Unit ◽  
Bending Angle ◽  
Bending Force ◽  
Elastic Bodies ◽  
Joint Mechanism ◽  
Pneumatic Cylinders

[abstFig src='/00280004/13.jpg' width='300' text='Proposed pneumatically driven multi-DOF surgical forceps manipulator' ] In this study, a pneumatically-driven forceps manipulator was developed for a master-slave-type surgical robot. The proposed manipulator had two flexible joints, one for the bending joint at the tip and the other for transmitting a bending force from the actuators to the wires of the forceps. The manipulator had two degree-of-freedoms (DOFs) of bending driven by only two pneumatic cylinders and a gripper driven by a cylinder. Given the interoperability in real surgery, a mechanism was proposed such that the clean forceps part could be easily attached to and detached from the filthy drive unit. An experiment of the master-slave-system was conducted with the proposed manipulator to verify the tracking performance of the cylinders’ position and the bending angle of the forceps manipulator.

A Note on Elastic Surface Deformation

1951 ◽  
Vol 18 (3) ◽  
pp. 251-252
Author(s):  
Murray Kornhauser
Keyword(s):  
Principal Curvature ◽  
Surface Deformation ◽  
The Other ◽  
Elastic Surface ◽  
Elastic Bodies

Abstract Surface deformation of elastic bodies having the same modulus is treated by the standard texts on elasticity, but the applicability of the solution is limited to the range of the tables of coefficients presented. This note extends the tables to cover the range that applies to bodies having one principal curvature much larger than the other. Some inaccuracy in the tables in current use also is noted. The reader is referred to any good text on elasticity for a general discussion of this problem.

Rotating Loosening Mechanism of a Nut Connecting a Rotary Disk Under Rotating-Bending Force

2005 ◽  
Vol 127 (6) ◽  
pp. 1191-1197 ◽  
Author(s):  
Yasuo Fujioka ◽  
Tomotsugu Sakai
Keyword(s):  
High Pressure ◽  
Contact Area ◽  
The Other ◽  
Bearing Surface ◽  
Bending Force ◽  
Rotary Disk ◽  
Rotating Bending ◽  
Dimensional Errors ◽  
The Revolution

Structures composed of a rotary disk and a shaft, which are fastened with bolts and nuts having tapered bearing surfaces, are loaded with a rotating-bending force. Upon investigation, two rotating mechanisms of the nut were derived. In one mechanism a high-pressure contact area is formed at the nearest loading point on threads and bearing surfaces. This leads to a difference in the curvature radii between the bearing surface of the disk and that of the nut. During the revolution of the disk, two friction torques occur in opposite directions on the bearing surface and the threads, respectively. The relative rotating direction of the nut is dominated by the greater torque. The other mechanism is due to the eccentricities caused by dimensional errors of the bolt, nut, and disk. By combining the two mechanisms, the rotations of the nuts either cause a loosening or tightening after many revolutions of the disk.

Tensorial Deformation Measures for Flexible Joints

2010 ◽  
Vol 6 (3) ◽  
Author(s):  
Olivier A. Bauchau ◽  
Leihong Li ◽  
Pierangelo Masarati ◽  
Marco Morandini
Keyword(s):  
Finite Deformation ◽  
Nonlinear Behavior ◽  
Critical Issue ◽  
Finite Deformations ◽  
Flexible Joints ◽  
Elastic Bodies ◽  
Infinitesimal Deformations ◽  
Stiffness Characteristics ◽  
Definition Of

Flexible joints, sometimes called bushing elements or force elements, are found in all multibody dynamics codes. In their simplest form, flexible joints simply consist of sets of three linear and three torsional springs placed between two nodes of a multibody system. For infinitesimal deformations, the selection of the lumped spring constants is an easy task, which can be based on a numerical simulation of the joint or on experimental measurements. If the joint undergoes finite deformations, the identification of its stiffness characteristics is not so simple, especially if the joint itself is a complex system. When finite deformations occur, the definition of deformation measures becomes a critical issue. Indeed, for finite deformation, the observed nonlinear behavior of materials is partly due to material characteristics and partly due to kinematics. This paper focuses on the determination of the proper finite deformation measures for elastic bodies of finite dimension. In contrast, classical strain measures, such as the Green–Lagrange or Almansi strains, among many others, characterize finite deformations of infinitesimal elements of a body. It is argued that proper finite deformation measures must be of a tensorial nature, i.e., must present specific invariance characteristics. This requirement is satisfied if and only if the deformation measures are parallel to the eigenvector of the motion tensor.

Complementary Object Tracking Using Average Peak-to-Correlation Energy

2021 ◽  
Author(s):  
Kosuke Honda ◽  
Hamido Fujita
Keyword(s):  
Neural Networks ◽  
Object Tracking ◽  
Convolutional Neural Networks ◽  
Correlation Energy ◽  
Target Object ◽  
The Other ◽  
Tracking Performance ◽  
Correlation Filter ◽  
Evaluation Index ◽  
Siamese Network

In recent years, template-based methods such as Siamese network trackers and Correlation Filter (CF) based trackers have achieved state-of-the-art performance in several benchmarks. Recent Siamese network trackers use deep features extracted from convolutional neural networks to locate the target. However, the tracking performance of these trackers decreases when there are similar distractors to the object and the target object is deformed. On the other hand, correlation filter (CF)-based trackers that use handcrafted features (e.g., HOG features) to spatially locate the target. These two approaches have complementary characteristics due to differences in learning methods, features used, and the size of search regions. Also, we found that these trackers are complementary in terms of performance in benchmarking. Therefore, we propose the “Complementary Tracking framework using Average peak-to-correlation energy” (CTA). CTA is the generic object tracking framework that connects CF-trackers and Siamese-trackers in parallel and exploits the complementary features of these. In CTA, when a tracking failure of the Siamese tracker is detected using Average peak-to-correlation energy (APCE), which is an evaluation index of the response map matrix, the CF-trackers correct the output. In experimental on OTB100, CTA significantly improves the performance over the original tracker for several combinations of Siamese-trackers and CF-rackers.

Toward a Taxonomy of Automobile Driving: I. Tracking

1966 ◽  
Vol 22 (3) ◽  
pp. 759-762 ◽  
Author(s):  
Nathaniel J. Ehrlich
Keyword(s):  
Mathematical Biophysics ◽  
Automobile Driving ◽  
Tracking Task ◽  
Constant Speed ◽  
The Other ◽  
Tracking Performance ◽  
Error Feedback ◽  
Public Road ◽  
Straight Line ◽  
Line Tracking

An experiment was conducted to explore the characteristics of straight line tracking performance in automobile driving. Two Ss were used in driving an automobile on a public road at 50, 60, 70, and 80 mph. Photographic records were made of the track of the automobile while the drivers were instructed simply to “drive as straight as possible” at a constant speed. An analysis of the tracking records indicates that different strategies were being employed by the two drivers. One corresponded to the mathematical biophysics formulation of Rashevsky (avoidance of lateral boundaries) while the other operated under the more familiar psychological laboratory tracking task (direct error-feedback). The experiment is an exploratory effort in the microcharacteristics of automobile driving.

The Contact Problem Studied by Pseudocaustics Formed at the Vicinity of the Contact Zone

1984 ◽  
Vol 106 (3) ◽  
pp. 211-215 ◽  
Author(s):  
P. S. Theocaris ◽  
C. A. Stassinakis
Keyword(s):  
Contact Problem ◽  
Contact Zone ◽  
Contact Area ◽  
The Other ◽  
Tangential Stresses ◽  
Elastic Bodies ◽  
First Case ◽  
Reflected Light ◽  
Spline Polynomial ◽  
Distribution Of Stresses

The method of caustics is applied to formulate the normal and tangential stresses developed in the contact zone of two elastic bodies, and also for one elastic and the other plastic. The stresses are represented by a cubic spline polynomial, its coefficients calculated by pseudocaustics from reflected light around the contact zone. The method is applied to determine the stresses along the boundary of a half-plane and the stresses along the contact area of two disks. The deviation of calculated stresses from the applied ones, in the first case was small, while in the second case it was found that the normal distribution of stresses was similar to a Hertzian distribution. This experimental method can be used to accurately obtain contact stresses.

scholarly journals On the expediency of assigning specific names to such functions of simple elements as represent definite physical properties; with the suggestion of a new term in mechanics; illustrated by an investigation of the machine moved by recoil, and also by some observations on the steam engine

1833 ◽  
Vol 2 ◽  
pp. 299-300
Keyword(s):  
Physical Properties ◽  
Effective Action ◽  
The Other ◽  
Steam Engine ◽  
Similar Function ◽  
Centre Of Gravity ◽  
Elastic Bodies ◽  
General Law ◽  
The Subject ◽  
The Common

The author commences this paper by stating the necessity of distinguishing by separate appellations all such functions as measure the intensity of physical properties, which he considers rendered obvious by a reference to the controversy respecting motion. The subject of this controversy, he observes, was the measure of motion itself, it being contended on one hand that the motion of a body is always proportional to its weight multiplied by its velocity; this opinion being supported by reference to the properties of the common centre of gravity of systems, &c.; while on the other hand the affections of elastic bodies in collision, and the general law of the conservation of living or active forces, were adduced in support of the latter measure. No sooner, however, were the terms “momentum” and “impetus” introduced into the science of mechanics, than the opinions of the contending parties were reconciled by the removal of every ground of dispute. In the Bakerian lecture on the force of percussion, read to this Society in 1806, he observes, it is remarked, that neither impetus nor momentum are usually correct measures of the effective action of machines. The criterion of this is the force exerted, multiplied by the space through which it acts, and this measure numerically expressed has been denominated duty by Mr. Watt; and the raising of one pound one foot high has been by him made the dynamic unit; according to which estimate, the duty performed by one bushel of coals, of 84 pounds, has been found to vary from 30 to 50 millions of such units, according to the nature of the engine, and the mode of combustion. To the measure or function represented by the force applied, multiplied by the space through which it acts, the author, however, proposes to give the name efficiency, retaining the word duty for a similar function, indicative of the work performed; and by a comparison of these two functions, viz. the efficiency expended on, and the duty performed by, any machine, an exact measure of its intrinsic work will be obtained.

Contact Between Elastic Bodies With an Elliptic Contact Interface in Torsion

1997 ◽  
Vol 64 (1) ◽  
pp. 144-148 ◽  
Author(s):  
J. F. Cuttino ◽  
T. A. Dow
Keyword(s):  
Finite Element Analysis ◽  
Finite Element ◽  
Three Dimensional ◽  
The Other ◽  
Contact Interface ◽  
Element Analysis ◽  
Elastic Bodies ◽  
Torque Generation ◽  
Elliptical Contact ◽  
Elliptic Contact

When two elastic three-dimensional bodies of specified radii come into contact, Hertzian forces at the interface result in the formation of an elliptical contact area. The rotation of one body relative to the other about an axis normal to the contact induces a nonlinear torque due to the progression of sliding in the contact interface. Using finite element analysis, a relationship describing torsional compliance with slip is presented for two elastic bodies with an elliptic contact interface under pure twist. The effect of changing material and geometric parameters is studied, and the relationships between torque generation and angle are defined with respect to these nondimensionalized parameters.

scholarly journals Standardized relational pairs in interviews with former slaves

2011 ◽  
Vol 21 (1) ◽  
pp. 44-67 ◽  
Author(s):  
Dorien Van De Mieroop ◽  
Jonathan Clifton
Keyword(s):  
The Other ◽  
Slave System ◽  
Personal Involvement ◽  
Other Hand ◽  
The One ◽  
The Way

We investigate the use of standardized relational pairs (SRPs) and the way narrators align with these in two interviews with former slaves which were conducted in the 1940s. In particular, we look at stories in which slaves are compared to animals, thus not only invoking the SRP master/slave, but also the SRP owner/property. On the one hand, the interviewees negotiate their alignment with the ‘slave-property’-part of the SRP depending on the type of story that is told, which is based on the narrator’s personal involvement. On the other hand, the slave owners remain noticeably absent throughout these stories and by rendering this part of the SRP almost invisible, the development of another SRP, namely that of perpetrator/victim, is avoided. As such, through these SRPs, the hegemonic order of the slave system is (re)constructed in these stories, while the interviewees’ shifting alignment with them shows an orientation to personal face concerns.

Optical–optical double resonance study of the and &([a-z]+);(3A2) states of thiophosgene

1994 ◽  
Vol 72 (3) ◽  
pp. 745-757 ◽  
Author(s):  
Benoit Simard ◽  
Valerie J. Mackenzie ◽  
Peter A. Hackett ◽  
Ronald P. Steer
Keyword(s):  
Barrier Height ◽  
Energy Levels ◽  
Double Resonance ◽  
The Other ◽  
Bending Angle ◽  
Optical Double Resonance ◽  
Out Of Plane ◽  
State Potential ◽  
Minimum Potential ◽  
Plane Bending

The &([a-z]+);(3A2) and [Formula: see text] states of jet-cooled thiophosgene (Cl2CS) have been studied by optical–optical double resonance (OODR) spectroscopy. Two OODR schemes have been used to probe the [Formula: see text] state. One scheme uses selected vibronic levels of the &([a-z]+);(1A2) state as the intermediate state, while the other uses the vibrationless and 2131 levels of the &([a-z]+);(3A2) state. All of the vibronic levels in the 33 980−35 600 cm−1 region can be rationalized with the following origin band and fundamentals: 0° = 34 277 cm−1, v1 = 505 cm−1, v2 = 470 cm−1, v3 = 213 cm−1, v6 = 249 cm−1, 42 = 341 cm−1, 44 = 627 cm−1. The discrepancies among the various studies of the [Formula: see text] state will be discussed and reconciled. It is conjectured that the [Formula: see text] state potential along the C—S coordinate exhibits an asymmetric double-minimum potential resulting from the interaction of the 1A1 states arising from the [Formula: see text] configurations. The minimum corresponding to the [Formula: see text] configuration lies higher in energy and the principal decay mechanism for molecules pumped to its first few vibronic levels is fluorescence. On the other hand, molecules pumped to the minimum corresponding to the nominal [Formula: see text] configuration decay nonradiatively. The barrier height to inversion and the out-of-plane bending angle along the out-of-plane bending coordinate, v4, have been determined to be 945 cm−1 and 25°, respectively, by fitting quartic-quadratic and quadratic-Gaussian double-minimum potentials to the observed energy levels. The &([a-z]+);(3A2) state has been studied by a novel OODR scheme which uses the fluorescent vibrationless level of the [Formula: see text] state to monitor [Formula: see text]transitions. A vibronic analysis has been carried out and the following origin band and fundamentals derived for the &([a-z]+);(3A2) state: 0° = 17 499 cm−1, v1 = 923 cm−1, v2 = 474 cm−1, v3 = 247 cm−1, 42 = 297 cm−1, 44 = 560 cm−1, 46 = 741 cm−1. With the exception of a few corrections and additions, the results confirm the findings of previous studies, notably regarding the bent geometry and barrier height to inversion. An overall comparison of the data suggests that the wavenumber of v6 in theÃ(1A2) state is 279 cm−1 instead of 189 cm−1.

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