The Experts below are selected from a list of 14475 Experts worldwide ranked by ideXlab platform
Blake Hannaford - One of the best experts on this subject based on the ideXlab platform.
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Automated Tool Handling for the Trauma Pod Surgical Robot
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Diana C.w. Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake HannafordAbstract:In order to enable robotic surgery without human assistance, a means must be developed to change Tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an Automated Tool rack capable of holding, accepting, and dispensing up to 14 Tools for the da Vinci surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored Tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during Tool exchange. RFID equipment is integrated into the system and the Tools so that Tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.
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ICRA - Automated Tool Handling for the Trauma Pod Surgical Robot
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Diana C.w. Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake HannafordAbstract:In order to enable robotic surgery without human assistance, a means must be developed to change Tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an Automated Tool rack capable of holding, accepting, and dispensing up to 14 Tools for the da Vinci surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored Tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during Tool exchange. RFID equipment is integrated into the system and the Tools so that Tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.
Diana C.w. Friedman - One of the best experts on this subject based on the ideXlab platform.
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Automated Tool Handling for the Trauma Pod Surgical Robot
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Diana C.w. Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake HannafordAbstract:In order to enable robotic surgery without human assistance, a means must be developed to change Tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an Automated Tool rack capable of holding, accepting, and dispensing up to 14 Tools for the da Vinci surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored Tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during Tool exchange. RFID equipment is integrated into the system and the Tools so that Tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.
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ICRA - Automated Tool Handling for the Trauma Pod Surgical Robot
Proceedings 2007 IEEE International Conference on Robotics and Automation, 2007Co-Authors: Diana C.w. Friedman, Jesse Dosher, Tim Kowalewski, Jacob Rosen, Blake HannafordAbstract:In order to enable robotic surgery without human assistance, a means must be developed to change Tools. As part of the larger Trauma Pod Project, we developed the Tool Rack Subsystem - an Automated Tool rack capable of holding, accepting, and dispensing up to 14 Tools for the da Vinci surgical robot. Borrowing some techniques from industrial automation, we developed a robust system capable of presenting any stored Tool in 700ms or less. Tools are positively retained in a sterilizable carousel in a compliant manner designed to accomodate misalignment during Tool exchange. RFID equipment is integrated into the system and the Tools so that Tools can be inventoried and presented by function or serial number instead of rack position. The resulting device has completed testing and integration into the Trauma Pod system and met all its design requirements.
Chia-heng Tu - One of the best experts on this subject based on the ideXlab platform.
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ISPA - V2X: An Automated Tool for Building SystemC-Based Simulation Environments in Designing Multicore Systems-on-Chips
International Symposium on Parallel and Distributed Processing with Applications, 2010Co-Authors: Yun-hung Liaw, Shih-hao Hung, Chia-heng TuAbstract:Hardware/software (HW/SW) co-design has become an important issue for system design, and simulation environments have been utilized widely to shorten the development cycle. However, traditional hardware description languages (HDL), e.g., Verilog and VHDL, which are used by hardware designers to describe the hardware and model the hardware in a detailed simulated environment, are not appropriate for the purpose of HW/SW co-design. Instead, SystemC provides a higher-level simulation environment to the developers and is more suitable for HW/SW co-design. Furthermore, HDL-based simulation environments are far too slow to execute parallel programs as the number of processor cores increases. Thus, one would have liked an Automated Tool for converting existing HDL-based chip designs to SystemC or even higher-level functional descriptions so that the simulation speed would be acceptable for multicore systems. However, since existing Tools failed to accomplish that, we developed an Automated Tool, called V2X, to convert Verilog chip designs to SystemC. In this paper, we show that complicated Verilog-based multicore chip descriptions were translated into SystemC descriptions automatically and resulted in better performance and programmability. In our case study, V2X successfully translated the 8-core OpenSPARC T1 system-on-chip into SystemC. Without further abstraction, the simulation speed was improved by ~40 times. The two-stage translation scheme makes V2X flexible and extensible, which paves the way for further abstraction to speed up the simulation environment.
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V2X: An Automated Tool for Building SystemC-Based Simulation Environments in Designing Multicore Systems-on-Chips
International Symposium on Parallel and Distributed Processing with Applications, 2010Co-Authors: Yun-hung Liaw, Shih-hao Hung, Chia-heng TuAbstract:Hardware/software (HW/SW) co-design has become an important issue for system design, and simulation environments have been utilized widely to shorten the development cycle. However, traditional hardware description languages (HDL), e.g., Verilog and VHDL, which are used by hardware designers to describe the hardware and model the hardware in a detailed simulated environment, are not appropriate for the purpose of HW/SW co-design. Instead, SystemC provides a higher-level simulation environment to the developers and is more suitable for HW/SW co-design. Furthermore, HDL-based simulation environments are far too slow to execute parallel programs as the number of processor cores increases. Thus, one would have liked an Automated Tool for converting existing HDL-based chip designs to SystemC or even higher-level functional descriptions so that the simulation speed would be acceptable for multicore systems. However, since existing Tools failed to accomplish that, we developed an Automated Tool, called V2X, to convert Verilog chip designs to SystemC. In this paper, we show that complicated Verilog-based multicore chip descriptions were translated into SystemC descriptions automatically and resulted in better performance and programmability. In our case study, V2X successfully translated the 8-core OpenSPARC T1 system-on-chip into SystemC. Without further abstraction, the simulation speed was improved by ~40 times. The two-stage translation scheme makes V2X flexible and extensible, which paves the way for further abstraction to speed up the simulation environment.
S. A. Abbasi - One of the best experts on this subject based on the ideXlab platform.
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analytical simulation and profat ii a new methodology and a computer Automated Tool for fault tree analysis in chemical process industries
Journal of Hazardous Materials, 2000Co-Authors: Faisal Khan, S. A. AbbasiAbstract:Abstract Fault tree analysis (FTA) is based on constructing a hypothetical tree of base events (initiating events) branching into numerous other sub-events, propagating the fault and eventually leading to the top event (accident). It has been a powerful technique used traditionally in identifying hazards in nuclear installations and power industries. As the systematic articulation of the fault tree is associated with assigning probabilities to each fault, the exercise is also sometimes called probabilistic risk assessment. But powerful as this technique is, it is also very cumbersome and costly, limiting its area of application. We have developed a new algorithm based on analytical simulation (named as AS-II), which makes the application of FTA simpler, quicker, and cheaper; thus opening up the possibility of its wider use in risk assessment in chemical process industries. Based on the methodology we have developed a computer-Automated Tool. The details are presented in this paper.
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Analytical simulation and PROFAT II: A new methodology and a computer Automated Tool for fault tree analysis in chemical process industries
Journal of Hazardous Materials, 2000Co-Authors: Faisal I. Khan, S. A. AbbasiAbstract:Fault tree analysis (FTA) is based on constructing a hypothetical tree of base events (initiating events) branching into numerous other sub-events, propagating the fault and eventually leading to the top event (accident). It has been a powerful technique used traditionally in identifying hazards in nuclear installations and power industries. As the systematic articulation of the fault tree is associated with assigning probabilities to each fault, the exercise is also sometimes called probabilistic risk assessment. But powerful as this technique is, it is also very cumbersome and costly, limiting its area of application.We have developed a new algorithm based on analytical simulation (named as AS-II), which makes the application of FTA simpler, quicker, and cheaper; thus opening up the possibility of its wider use in risk assessment in chemical process industries. Based on the methodology we have developed a computer-Automated Tool. The details are presented in this paper. Copyright (C) 2000 Elsevier Science B.V.
Henrietta Galiana - One of the best experts on this subject based on the ideXlab platform.
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EMBC - Multi-input GNL-HybELS: An Automated Tool for the analysis of oculomotor dynamics during visual-vestibular interactions
Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and, 2011Co-Authors: Atiyeh Ghoreyshi, Henrietta GalianaAbstract:The eyes play a major role in our everyday activities. Eye movements are controlled by the oculomotor system, which enables us to stay focused on visual targets, switch visual attention, and compensate for external perturbations. This system's response to isolated visual or vestibular stimuli has been studied for decades, but what seems to be more critical is to know how it would respond to a combination of these stimuli, because in most natural situations, multiple stimuli are present. It is now believed that sensory fusion does not affect the dynamics of oculomotor modalities, despite studies suggesting otherwise. However, these interactions have not been studied in mathematical detail due to the lack of proper analysis Tools and poor stimulus conditions. Here we propose an Automated Tool to analyze oculomotor responses without a-priori classification of nystagmus segments, where visual and vestibular stimuli are uncorrelated. Our method simultaneously classifies and identifies the responses of a multi-input multi-mode system. We validated our method on simulations, estimating sensory delays, semicircular canal time constant, and dynamics in both slow and fast phases of the response. Using this method, we can now investigate the effect of sensory fusion on the dynamics of oculomotor subsystems. With the analysis power of our new method, clinical protocols can now be improved to test these subsystems more efficiently and objectively.
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Multi-input GNL-HybELS: An Automated Tool for the analysis of oculomotor dynamics during visual-vestibular interactions
2011 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2011Co-Authors: Atiyeh Ghoreyshi, Henrietta GalianaAbstract:The eyes play a major role in our everyday activities. Eye movements are controlled by the oculomotor system, which enables us to stay focused on visual targets, switch visual attention, and compensate for external perturbations. This system's response to isolated visual or vestibular stimuli has been studied for decades, but what seems to be more critical is to know how it would respond to a combination of these stimuli, because in most natural situations, multiple stimuli are present. It is now believed that sensory fusion does not affect the dynamics of oculomotor modalities, despite studies suggesting otherwise. However, these interactions have not been studied in mathematical detail due to the lack of proper analysis Tools and poor stimulus conditions. Here we propose an Automated Tool to analyze oculomotor responses without a-priori classification of nystagmus segments, where visual and vestibular stimuli are uncorrelated. Our method simultaneously classifies and identifies the responses of a multi-input multi-mode system. We validated our method on simulations, estimating sensory delays, semicircular canal time constant, and dynamics in both slow and fast phases of the response. Using this method, we can now investigate the effect of sensory fusion on the dynamics of oculomotor subsystems. With the analysis power of our new method, clinical protocols can now be improved to test these subsystems more efficiently and objectively.
