The Experts below are selected from a list of 78 Experts worldwide ranked by ideXlab platform
Chumpon Wilasrusmee - One of the best experts on this subject based on the ideXlab platform.
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Development of wire-driven laparoscopic surgical robotic system, "MU-LapaRobot"
2011 IEEE International Conference on Robotics and Biomimetics ROBIO 2011, 2011Co-Authors: Chawaphol Direkwatana, Jackrit Suthakorn, Chumpon WilasrusmeeAbstract:This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system. The aim of our design is to develop a surgical robotic system to work with traditional surgical tools to reduce the surgeon's learning curve in using our robotic system. The overall design is strictly based on surgical requirements which our specific workspace analysis also plays an important role. The motion of laparoscopic tool creates a Unique Constraint which is a remote-fulcrum point away from the robot at the small incision on abdominal wall. Our robot consists of 3 sections; 1) 2-link passive planar manipulator with level adjuster for locating the fulcrum point in 3D-space, 2) 2-DOF distant-parallel mechanical linkage for generating a cone-shape workspace, and 3) tool's quick release for switching tool during the surgery. Our current study and mechanical design is based on our first design of “A Passive Laparoscopic Tool Holder with Electromagnetic Brake System” in full motion Constraint. The new design is a wire-driven and motorized system. The design, implementation, experiment and results are discussed here. The ultimate goal of this project is to develop an interchangeable surgical robots which capable of human-robot collaboration and tele-operation.
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on the design and development of a novel 4 dof wire driven laparoscopic surgical robotic system mu laparobot
2011Co-Authors: Jackrit Suthakorn, Chumpon WilasrusmeeAbstract:This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system, “MU-LapaRobot.” The aim of our design is to develop a robotic system to work with traditional surgical tools to reduce the surgeon’s learning curve in using our robotic system. The overall design is strictly based on surgical requirements and superior improvements from available research and commercial systems. The concept of parallelogram mechanism is employed to create a Unique Constraint which is a remote-fulcrum point away from the robot at the small incision on abdominal wall. The ultimate goal of this project is to develop an interchangeable surgical robot which capable of both human-robot collaboration and tele-operation.
Jackrit Suthakorn - One of the best experts on this subject based on the ideXlab platform.
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Development of wire-driven laparoscopic surgical robotic system, "MU-LapaRobot"
2011 IEEE International Conference on Robotics and Biomimetics ROBIO 2011, 2011Co-Authors: Chawaphol Direkwatana, Jackrit Suthakorn, Chumpon WilasrusmeeAbstract:This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system. The aim of our design is to develop a surgical robotic system to work with traditional surgical tools to reduce the surgeon's learning curve in using our robotic system. The overall design is strictly based on surgical requirements which our specific workspace analysis also plays an important role. The motion of laparoscopic tool creates a Unique Constraint which is a remote-fulcrum point away from the robot at the small incision on abdominal wall. Our robot consists of 3 sections; 1) 2-link passive planar manipulator with level adjuster for locating the fulcrum point in 3D-space, 2) 2-DOF distant-parallel mechanical linkage for generating a cone-shape workspace, and 3) tool's quick release for switching tool during the surgery. Our current study and mechanical design is based on our first design of “A Passive Laparoscopic Tool Holder with Electromagnetic Brake System” in full motion Constraint. The new design is a wire-driven and motorized system. The design, implementation, experiment and results are discussed here. The ultimate goal of this project is to develop an interchangeable surgical robots which capable of human-robot collaboration and tele-operation.
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on the design and development of a novel 4 dof wire driven laparoscopic surgical robotic system mu laparobot
2011Co-Authors: Jackrit Suthakorn, Chumpon WilasrusmeeAbstract:This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system, “MU-LapaRobot.” The aim of our design is to develop a robotic system to work with traditional surgical tools to reduce the surgeon’s learning curve in using our robotic system. The overall design is strictly based on surgical requirements and superior improvements from available research and commercial systems. The concept of parallelogram mechanism is employed to create a Unique Constraint which is a remote-fulcrum point away from the robot at the small incision on abdominal wall. The ultimate goal of this project is to develop an interchangeable surgical robot which capable of both human-robot collaboration and tele-operation.
Nasir Saeed - One of the best experts on this subject based on the ideXlab platform.
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Cluster Based Multidimensional Scaling for Irregular Cognitive Radio Networks Localization
IEEE Transactions on Signal Processing, 2016Co-Authors: Nasir SaeedAbstract:In cognitive radio networks (CRNs), localization of primary users (PUs) and secondary users (SUs) can enable several key capabilities such as location aware routing and power control mechanisms for SUs. Therefore, SUs in a network must accurately locate PUs in order to efficiently use spectrum holes without interfering to the PUs. Accurate localization of PUs in CRN is an important but challenging task due to the Unique Constraint of CRNs, i.e., the non cooperative nature of PUs making the localization algorithm rely solely on sensing results. In this paper we propose cluster based CRN localization using multidimensional scaling (MDS) that improves accuracy, especially for irregular CRNs. Using the traditional MDS approach leads to low localization accuracy and higher computational complexity. Based on this fact, this paper proposes a novel cluster based multidimensional scaling algorithm for CRN localization (CB-MDS). Furthermore Cramér-Rao lower bound (CRLB) is derived to analyze the performance of the proposed algorithm. Moreover, extensive simulations are performed to confirm that the proposed CB-MDS algorithm is robust to noise and performs better than existing algorithms in attaining the CRLB.
Chawaphol Direkwatana - One of the best experts on this subject based on the ideXlab platform.
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Development of wire-driven laparoscopic surgical robotic system, "MU-LapaRobot"
2011 IEEE International Conference on Robotics and Biomimetics ROBIO 2011, 2011Co-Authors: Chawaphol Direkwatana, Jackrit Suthakorn, Chumpon WilasrusmeeAbstract:This paper describes the design and development of a new wire-driven laparoscopic surgical robotic system. The aim of our design is to develop a surgical robotic system to work with traditional surgical tools to reduce the surgeon's learning curve in using our robotic system. The overall design is strictly based on surgical requirements which our specific workspace analysis also plays an important role. The motion of laparoscopic tool creates a Unique Constraint which is a remote-fulcrum point away from the robot at the small incision on abdominal wall. Our robot consists of 3 sections; 1) 2-link passive planar manipulator with level adjuster for locating the fulcrum point in 3D-space, 2) 2-DOF distant-parallel mechanical linkage for generating a cone-shape workspace, and 3) tool's quick release for switching tool during the surgery. Our current study and mechanical design is based on our first design of “A Passive Laparoscopic Tool Holder with Electromagnetic Brake System” in full motion Constraint. The new design is a wire-driven and motorized system. The design, implementation, experiment and results are discussed here. The ultimate goal of this project is to develop an interchangeable surgical robots which capable of human-robot collaboration and tele-operation.
Kang G. Shin - One of the best experts on this subject based on the ideXlab platform.
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Robust Tracking of Small-Scale Mobile Primary User in Cognitive Radio Networks
IEEE Transactions on Parallel and Distributed Systems, 2013Co-Authors: Kang G. ShinAbstract:In cognitive radio networks (CRNs), secondary users must be able to accurately and reliably track the location of small-scale mobile primary users/devices (e.g., wireless microphones) in order to efficiently utilize spatial spectrum opportunities, while protecting primary communications. However, accurate tracking of the location of mobile primary users is difficult due mainly to the CR-Unique Constraint, i.e., localization must rely solely on reported sensing results (i.e., measured primary signal strengths), which can easily be compromised by malicious sensors (or attackers). To cope with this challenge, we propose a new framework, called Sequential mOnte carLo combIned with shadow-faDing estimation (SOLID), for accurate, attack/fault-tolerant tracking of small-scale mobile primary users. The key idea underlying SOLID is to exploit the temporal shadow fading correlation in sensing results induced by the primary user's mobility. Specifically, SOLID augments conventional Sequential Monte Carlo (SMC)-based target tracking with shadow-fading estimation. By examining the shadow-fading gain between the primary transmitter and CRs/sensors, SOLID 1) significantly improves the accuracy of primary tracking regardless of the presence/absence of attack, and 2) successfully masks the abnormal sensing reports due to sensor faults or attacks, preserving localization accuracy and improving spatial spectrum efficiency. Our extensive evaluation in realistic wireless fading environments shows that SOLID lowers localization error by up to 88 percent in the absence of attacks, and 89 percent in the presence of the challenging "slow-poisoning” attack, compared to the conventional SMC-based tracking.
