| 1. |
|
|
| 2. |
|
|
| 3. |
- Abelev, Betty, et al.
(författare)
-
Measurement of prompt J/psi and beauty hadron production cross sections at mid-rapidity in pp collisions at root s=7 TeV
- 2012
-
Ingår i: Journal of High Energy Physics. - 1029-8479. ; :11
-
Tidskriftsartikel (refereegranskat)abstract
- The ALICE experiment at the LHC has studied J/psi production at mid-rapidity in pp collisions at root s = 7 TeV through its electron pair decay on a data sample corresponding to an integrated luminosity L-int = 5.6 nb(-1). The fraction of J/psi from the decay of long-lived beauty hadrons was determined for J/psi candidates with transverse momentum p(t) > 1,3 GeV/c and rapidity vertical bar y vertical bar < 0.9. The cross section for prompt J/psi mesons, i.e. directly produced J/psi and prompt decays of heavier charmonium states such as the psi(2S) and chi(c) resonances, is sigma(prompt J/psi) (p(t) > 1.3 GeV/c, vertical bar y vertical bar < 0.9) = 8.3 +/- 0.8(stat.) +/- 1.1 (syst.)(-1.4)(+1.5) (syst. pol.) mu b. The cross section for the production of b-hadrons decaying to J/psi with p(t) > 1.3 GeV/c and vertical bar y vertical bar < 0.9 is a sigma(J/psi <- hB) (p(t) > 1.3 GeV/c, vertical bar y vertical bar < 0.9) = 1.46 +/- 0.38 (stat.)(-0.32)(+0.26) (syst.) mu b. The results are compared to QCD model predictions. The shape of the p(t) and y distributions of b-quarks predicted by perturbative QCD model calculations are used to extrapolate the measured cross section to derive the b (b) over bar pair total cross section and d sigma/dy at mid-rapidity.
|
|
| 4. |
- Abelev, Betty, et al.
(författare)
-
Underlying Event measurements in pp collisions at root s=0.9 and 7 TeV with the ALICE experiment at the LHC
- 2012
-
Ingår i: Journal of High Energy Physics. - 1029-8479. ; :7
-
Tidskriftsartikel (refereegranskat)abstract
- We present measurements of Underlying Event observables in pp collisions at root s = 0 : 9 and 7 TeV. The analysis is performed as a function of the highest charged-particle transverse momentum p(T),L-T in the event. Different regions are defined with respect to the azimuthal direction of the leading (highest transverse momentum) track: Toward, Transverse and Away. The Toward and Away regions collect the fragmentation products of the hardest partonic interaction. The Transverse region is expected to be most sensitive to the Underlying Event activity. The study is performed with charged particles above three different p(T) thresholds: 0.15, 0.5 and 1.0 GeV/c. In the Transverse region we observe an increase in the multiplicity of a factor 2-3 between the lower and higher collision energies, depending on the track p(T) threshold considered. Data are compared to PYTHIA 6.4, PYTHIA 8.1 and PHOJET. On average, all models considered underestimate the multiplicity and summed p(T) in the Transverse region by about 10-30%.
|
|
| 5. |
- Avizzano, C.A., et al.
(författare)
-
Haptic Desktop for Office Automation and Assisted Design
- 2005
-
Ingår i: Proceedings of the 2005 IEEE International Conference on Robotics and Automation. - : IEEE conference proceedings. - 078038914X ; , s. 4086-4091
-
Konferensbidrag (refereegranskat)abstract
- The present paper describes the conceptual and technical design of a new multimodal device named Haptic Desktop System (HDS). Haptic Desktop System is an integrated system, which merges haptic functionalities, and VDT systems into one. Specific care has been given to HDS design for enhancing and improving human-computer interaction from the following points of view: esthetical, ergonomic and functional. In order to improve the quality of the interaction, the HDS fully integrates proprioceptive, visual, audio and haptic functionalities, into a desk while minimizing the visual interference of the physical components. In the proposed approach classic input devices (i.e. keyboard and mouse) have been replaced by new features integrated within audio and haptic. Such features allow commanding and rendering natural force stimuli in such a way that they are completely coherent and co-located with respect to the visual information. The new features of the HDS are designed for reducing considerably the mental load required to the users during interaction operations. In the present paper the design guidelines and the achieved results are reported
|
|
| 6. |
- Avizzano, C.A., et al.
(författare)
-
Motor Learning Skill Experiments Using Haptic Interface Capabilities
- 2002
-
Ingår i: 11th IEEE International Workshop on Robot and Human Interactive Communication. Proceedings.. - : IEEE. - 0780375459 ; , s. 198-203
-
Konferensbidrag (refereegranskat)abstract
- This paper investigated the influence that proportional feedback programmed into haptic interface (HI) can have in the development of motor skills. The haptic interface design, adapted to the task to be performed, plays a key role inside motor learning processes as the kinesthetic and proprioceptive are the information pathway in the perception of incoming stimuli. Subjects learned to draw a shape using two kinds of training methods: visual, visual and haptic. The error position distance was measured and a statistical analysis was done in order to identify user's motion improvement when training trials were alternated with practice trials. In order to constraint the user to draw a predefined path, a control law is presented.
|
|
| 7. |
- Chida, K., et al.
(författare)
-
Development of the new anthropomorphic flutist robot WF-4
- 2004
-
Ingår i: ICRA '04. 2004 IEEE International Conference on Robotics and Automation, 2004. Proceedings.. - 0780382323 ; , s. 152-157
-
Konferensbidrag (refereegranskat)abstract
- Since 1990, we have been developing anthropomorphic flutist robots, which are mechanically similar to human organs needed for playing the flute. The goal of this research is to clarify the flute playing mechanism from an engineering point of view and to enable the communication with humans at emotional level. The control of the air beam parameters for obtaining a good sound is very important. Such parameters are related mainly to the lips shape and its relative position respect to the flute embouchure hole. Then, the newest version of the anthropomorphic flutist robot WF-4 has been implemented by improving the design of each part of the robot (lips, lungs, neck, etc.). This new version has succeeded in the improvement of the flute sound quality and the sound conversion efficiency. We describe the mechanical features of the WF-4 and the experiments done for evaluating its musical performance
|
|
| 8. |
|
|
| 9. |
|
|
| 10. |
- Garcia Ricardez, G. A., et al.
(författare)
-
Interaction Force Estimation for Quantitative Comfort Evaluation of an Eating Assistive Device
- 2018
-
Ingår i: HRI '18 Companion of the 2018 ACM/IEEE International Conference on Human-Robot Interaction. - New York, NY, USA : Association for Computing Machinery (ACM). - 9781450356152 ; , s. 113-114
-
Konferensbidrag (refereegranskat)abstract
- Robots usage in the fields of human support and healthcare is wide-spreading. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.
|
|
| 11. |
- Garcia Ricardez, Gustavo Alfonso, et al.
(författare)
-
Quantitative Comfort Evaluation of Eating Assistive Devices based on Interaction Forces Estimation using an Accelerometer
- 2018
-
Ingår i: RO-MAN 2018 - 27th IEEE International Symposium on Robot and Human Interactive Communication. - : IEEE. - 9781538679807 ; , s. 909-914
-
Konferensbidrag (refereegranskat)abstract
- Robot usage in the fields of human support and healthcare is expanding. Robotic devices to assist humans in the self-feeding task have been developed to help patients with limited mobility in the upper limbs but the acceptance of these robots has been limited. In this work, we investigate how to quantitatively evaluate the comfort of an eating assistive device by estimating the interaction forces between the human and the robot when eating. Rather than using expensive or commercially unavailable devices to directly measure the forces involved in feeding, we use an accelerometer to estimate these forces, which are calculated using a previously observed estimation of the system mass and the measured acceleration during the feeding process. We experimentally verify our concept with a commercially-available eating assistive device and a human subject. The evaluation results demonstrate the feasibility of our approach.
|
|
| 12. |
|
|
| 13. |
- Joffrin, E., et al.
(författare)
-
Overview of the JET preparation for deuterium-tritium operation with the ITER like-wall
- 2019
-
Ingår i: Nuclear Fusion. - : IOP Publishing. - 1741-4326 .- 0029-5515. ; 59:11
-
Forskningsöversikt (refereegranskat)abstract
- For the past several years, the JET scientific programme (Pamela et al 2007 Fusion Eng. Des. 82 590) has been engaged in a multi-campaign effort, including experiments in D, H and T, leading up to 2020 and the first experiments with 50%/50% D-T mixtures since 1997 and the first ever D-T plasmas with the ITER mix of plasma-facing component materials. For this purpose, a concerted physics and technology programme was launched with a view to prepare the D-T campaign (DTE2). This paper addresses the key elements developed by the JET programme directly contributing to the D-T preparation. This intense preparation includes the review of the physics basis for the D-T operational scenarios, including the fusion power predictions through first principle and integrated modelling, and the impact of isotopes in the operation and physics of D-T plasmas (thermal and particle transport, high confinement mode (H-mode) access, Be and W erosion, fuel recovery, etc). This effort also requires improving several aspects of plasma operation for DTE2, such as real time control schemes, heat load control, disruption avoidance and a mitigation system (including the installation of a new shattered pellet injector), novel ion cyclotron resonance heating schemes (such as the three-ions scheme), new diagnostics (neutron camera and spectrometer, active Alfven eigenmode antennas, neutral gauges, radiation hard imaging systems...) and the calibration of the JET neutron diagnostics at 14 MeV for accurate fusion power measurement. The active preparation of JET for the 2020 D-T campaign provides an incomparable source of information and a basis for the future D-T operation of ITER, and it is also foreseen that a large number of key physics issues will be addressed in support of burning plasmas.
|
|
| 14. |
- Kin Huat, Low, et al.
(författare)
-
Contribution Toward Future Biorobotics
- 2012
-
Ingår i: IEEE robotics & automation magazine. - : IEEE. - 1070-9932 .- 1558-223X. ; 19:2, s. 16-17
-
Forskningsöversikt (populärvet., debatt m.m.)
|
|
| 15. |
|
|
| 16. |
- Koga, H., et al.
(författare)
-
Development of an Oral Rehabilitation Robot
- 2008
-
Ingår i: Gerontechnology. - Eindhoven. - 1569-111X. ; 7:2, s. 142-142
-
Tidskriftsartikel (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases. Althoughvarious apparatus have been developed for the massage of the torso and limbs, a machineto perform precise massage therapy to maxillofacial region is not developed yet.Therefore, we developed a robot system that provides massage therapy to the maxillofacialregion. The name of our newly developed robot was WAO-1. WAO-1 has been designedto perform appropriate massage to the patients with dry mouth. System descriptionThe mechanism of WAO-1 consists of two main parts: robot arms and the plungerdevice. The robot arms consist of two 6-DOF (degrees of freedom) manipulators used tocontrol the movement of the plunger device attached to the end-effector of each manipulator(Figure 1). The plunger device is the only part of the robot having direct contact withthe patient face. In order to control the motion of the plungers attached at each arm ofWAO-1, a position control system is implemented. The control system of WAO-1 is composedby a Massage Pattern Generator and Virtual Compliance Control1. Method Anevaluation experiment of WAO-1 is performed. In this experiment, WAO-1 provides themassage to 6 healthy volunteers (without any maxillofacial disorders). Each subject isprovided the massage to its parotid gland for 2 minutes. In order to confirm the effectivenessof the massage provide by WAO-1, the production of saliva was considered as aperformance index. This index is measured by using the Saxon test2; which is a standardmethod to confirm the effectiveness of the massage therapy. Results and discussionThe average production of saliva was increased by 0.63 g after providing the massage. Byanalyzing the collected data with a t-test, we found a significant difference (p < 0.05). Thusthe effectiveness of the massage to the parotid gland by WAO-1 is confirmed. On theother hand, when the doctor gives the massage to the parotid gland of the people, productionof saliva increases 1.4 g (average of 6 people). Therefore, the effect of WAO-1’s massageis less than that of doctor’s massage. We developed a robot system (WAO-1) whichcan massage the face. We think clinical trial is necessary to collect the data to certify theeffectiveness of robotic massage. The goal of this study is to establish robot massagetherapy as physiotherapy.
|
|
| 17. |
- Koga, H., et al.
(författare)
-
Development of an Oral Rehabilitation Robot for Massage Therapy
- 2007
-
Ingår i: Information Technology Applications in Biomedicine, 2007. ITAB 2007. 6th International Special Topic Conference on. - : IEEE. - 9781424418671 - 9781424418688 ; , s. 111-114
-
Konferensbidrag (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases. Although various apparatus have been developed for the massage of the torso and limbs, a machine to perform precise massage therapy to maxillofacial region is not developed yet. Therefore, we developed a robot system that provides massage therapy to maxillofacial region. The name of our newly developed robot was WAO-1. WAO-1 has been designed to perform appropriate massage to the patients with dry mouth, etc. WAO-1 is composed by two 6-degree of freedom arms with plungers attached at the end-effectors. The massage is applied to the patient by controlling the force and position of the plunger (virtual compliance). As a preliminary step of the clinical application, a simulation therapy of robotic massage to stimulate salivary flow from parotid gland was performed. The dynamic force on patient's head during the massage using WAO-1 was evaluated. The results suggested that WAO-1 could perform equivalent massage to human hand. We expect that WAO-1 will be useful to provide massage therapy to several patients with oral health problems. This will aim in reducing the therapy costs due to the need of human efforts when long-time therapies are needed
|
|
| 18. |
|
|
| 19. |
- Koga, Hiroki, et al.
(författare)
-
Development of the Oral Rehabilitation Robot WAO-1
- 2008
-
Ingår i: BioRob 2008. 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2008. Proceedings. - : IEEE conference proceedings. - 9781424428823 - 9781424428830 ; , s. 556-561
-
Konferensbidrag (refereegranskat)abstract
- It is well known that the massage therapy is useful for the rehabilitation of various diseases; i.e. oral health problems, etc. Authors have proposed the development of a novel rehabilitation robot designed to provide massage to maxillofacial region (as a therapy to patients with dry mouth, etc.). In this year, we have succeeded in developing the Waseda-Asahi oral-rehabilitation robot No.1 (WAO-1). WAO-1 is composed by two 6-DOF arms with plungers attached at their end-effector. A virtual compliance control has been implemented to control the positioning and the applied force by the plunger during the massage. Preliminary experiments were carried out to confirm the effectiveness of the proposed system. From the experimental results, we could detect the effectiveness of stimulating the production of saliva, and increasing the skin temperature as well as the size of masseter muscle on volunteers after providing the massage with WAO-1.
|
|
| 20. |
- Labit, B., et al.
(författare)
-
Dependence on plasma shape and plasma fueling for small edge-localized mode regimes in TCV and ASDEX Upgrade
- 2019
-
Ingår i: Nuclear Fusion. - : IOP Publishing. - 1741-4326 .- 0029-5515. ; 59:8
-
Tidskriftsartikel (refereegranskat)abstract
- © 2019 Institute of Physics Publishing. All rights reserved. Within the EUROfusion MST1 work package, a series of experiments has been conducted on AUG and TCV devices to disentangle the role of plasma fueling and plasma shape for the onset of small ELM regimes. On both devices, small ELM regimes with high confinement are achieved if and only if two conditions are fulfilled at the same time. Firstly, the plasma density at the separatrix must be large enough (ne,sep/nG ∼ 0.3), leading to a pressure profile flattening at the separatrix, which stabilizes type-I ELMs. Secondly, the magnetic configuration has to be close to a double null (DN), leading to a reduction of the magnetic shear in the extreme vicinity of the separatrix. As a consequence, its stabilizing effect on ballooning modes is weakened.
|
|
| 21. |
- Lindborg, Ann-Louise, 1979-, et al.
(författare)
-
Design approach of a robotic assistive eating device with a multi-grip and camera for frail elderly’s independent life
- 2017
-
Ingår i: ICRA 2017 Workshop on Advances and challenges on the development, testing and assessment of assistive and rehabilitation robots: Experiences from engineering and human science research.
-
Konferensbidrag (refereegranskat)abstract
- This project aims at making a mock-up of a multigrip tool for a robotic assistive device and a camera systemwhich enable frail elderly to live more independently and tokeep track of their food intake. The robot will be developedthrough user centred design with analyses of real use cases inJapan and Sweden. Thanks to the collaborating researcherswith a strong applied research approach as well as thecompanies with a strong experience in engineering solutionsin both the Japanese and Swedish teams, the functionalities ofBestic, an assistive eating device, could be enhanced forcommercial use, and distributed to municipalities and to thegeneral public
|
|
| 22. |
- Malcı, Koray, et al.
(författare)
-
Improved production of Taxol ® precursors in S. cerevisiae using combinatorial in silico design and metabolic engineering
- 2023
-
Ingår i: Microbial Cell Factories. - 1475-2859. ; 22:1
-
Tidskriftsartikel (refereegranskat)abstract
- Background: Integrated metabolic engineering approaches that combine system and synthetic biology tools enable the efficient design of microbial cell factories for synthesizing high-value products. In this study, we utilized in silico design algorithms on the yeast genome-scale model to predict genomic modifications that could enhance the production of early-step Taxol® in engineered Saccharomyces cerevisiae cells. Results: Using constraint-based reconstruction and analysis (COBRA) methods, we narrowed down the solution set of genomic modification candidates. We screened 17 genomic modifications, including nine gene deletions and eight gene overexpressions, through wet-lab studies to determine their impact on taxadiene production, the first metabolite in the Taxol® biosynthetic pathway. Under different cultivation conditions, most single genomic modifications resulted in increased taxadiene production. The strain named KM32, which contained four overexpressed genes (ILV2, TRR1, ADE13, and ECM31) involved in branched-chain amino acid biosynthesis, the thioredoxin system, de novo purine synthesis, and the pantothenate pathway, respectively, exhibited the best performance. KM32 achieved a 50% increase in taxadiene production, reaching 215 mg/L. Furthermore, KM32 produced the highest reported yields of taxa-4(20),11-dien-5α-ol (T5α-ol) at 43.65 mg/L and taxa-4(20),11-dien-5-α-yl acetate (T5αAc) at 26.2 mg/L among early-step Taxol® metabolites in S. cerevisiae. Conclusions: This study highlights the effectiveness of computational and integrated approaches in identifying promising genomic modifications that can enhance the performance of yeast cell factories. By employing in silico design algorithms and wet-lab screening, we successfully improved taxadiene production in engineered S. cerevisiae strains. The best-performing strain, KM32, achieved substantial increases in taxadiene as well as production of T5α-ol and T5αAc. These findings emphasize the importance of using systematic and integrated strategies to develop efficient yeast cell factories, providing potential implications for the industrial production of high-value isoprenoids like Taxol®.
|
|
| 23. |
- Micah, Angela E., et al.
(författare)
-
Tracking development assistance for health and for COVID-19 : a review of development assistance, government, out-of-pocket, and other private spending on health for 204 countries and territories, 1990-2050
- 2021
-
Ingår i: The Lancet. - : Elsevier. - 0140-6736 .- 1474-547X. ; 398:10308, s. 1317-1343
-
Forskningsöversikt (refereegranskat)abstract
- Background The rapid spread of COVID-19 renewed the focus on how health systems across the globe are financed, especially during public health emergencies. Development assistance is an important source of health financing in many low-income countries, yet little is known about how much of this funding was disbursed for COVID-19. We aimed to put development assistance for health for COVID-19 in the context of broader trends in global health financing, and to estimate total health spending from 1995 to 2050 and development assistance for COVID-19 in 2020. Methods We estimated domestic health spending and development assistance for health to generate total health-sector spending estimates for 204 countries and territories. We leveraged data from the WHO Global Health Expenditure Database to produce estimates of domestic health spending. To generate estimates for development assistance for health, we relied on project-level disbursement data from the major international development agencies' online databases and annual financial statements and reports for information on income sources. To adjust our estimates for 2020 to include disbursements related to COVID-19, we extracted project data on commitments and disbursements from a broader set of databases (because not all of the data sources used to estimate the historical series extend to 2020), including the UN Office of Humanitarian Assistance Financial Tracking Service and the International Aid Transparency Initiative. We reported all the historic and future spending estimates in inflation-adjusted 2020 US$, 2020 US$ per capita, purchasing-power parity-adjusted US$ per capita, and as a proportion of gross domestic product. We used various models to generate future health spending to 2050. Findings In 2019, health spending globally reached $8. 8 trillion (95% uncertainty interval [UI] 8.7-8.8) or $1132 (1119-1143) per person. Spending on health varied within and across income groups and geographical regions. Of this total, $40.4 billion (0.5%, 95% UI 0.5-0.5) was development assistance for health provided to low-income and middle-income countries, which made up 24.6% (UI 24.0-25.1) of total spending in low-income countries. We estimate that $54.8 billion in development assistance for health was disbursed in 2020. Of this, $13.7 billion was targeted toward the COVID-19 health response. $12.3 billion was newly committed and $1.4 billion was repurposed from existing health projects. $3.1 billion (22.4%) of the funds focused on country-level coordination and $2.4 billion (17.9%) was for supply chain and logistics. Only $714.4 million (7.7%) of COVID-19 development assistance for health went to Latin America, despite this region reporting 34.3% of total recorded COVID-19 deaths in low-income or middle-income countries in 2020. Spending on health is expected to rise to $1519 (1448-1591) per person in 2050, although spending across countries is expected to remain varied. Interpretation Global health spending is expected to continue to grow, but remain unequally distributed between countries. We estimate that development organisations substantially increased the amount of development assistance for health provided in 2020. Continued efforts are needed to raise sufficient resources to mitigate the pandemic for the most vulnerable, and to help curtail the pandemic for all. Copyright (C) 2021 The Author(s). Published by Elsevier Ltd.
|
|
| 24. |
- Nakadate, Ryu, et al.
(författare)
-
Development of a robot assisted carotid blood flow measurement system
- 2011
-
Ingår i: Mechanism and machine theory. - : Elsevier. - 0094-114X .- 1873-3999. ; 46:8, s. 1066-1083
-
Tidskriftsartikel (refereegranskat)abstract
- The ultrasound diagnosis of the carotid artery is one of the most common non-invasive methods to detect early stage heart and cerebrovascular diseases. However, the precision and repetitiveness of the probe positioning depend exclusively on the operator's skills and dexterity. For this purpose, we propose the development of a robot assisted system to enhance the accuracy and repetitiveness of the probe positioning to measure the wave intensity (WI) index. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 2 Refined (WTA-2R) is presented. The WTA-2R consists of a conventional ultrasound diagnosis system, a 6-DOFs parallel link slave manipulator, a 6-DOFs serial link passive arm, and a master device. Experiments were carried out to verify its effectiveness in terms of accuracy and required time to perform the task. From the experimental results, the positioning accuracy and reduction of required time were confirmed.
|
|
| 25. |
- Nakadate, Ryu, et al.
(författare)
-
Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System
- 2011
-
Ingår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - : IEEE conference proceedings. - 9781612843858
-
Konferensbidrag (refereegranskat)abstract
- Up to now, there are different kinds of robot-assisted ultrasound diagnostic systems proposed in the last decade. However, the compensation of the ultrasound probe position according to the patient movement is still one of the most important and useful functions required for those systems. For this purpose, in this research, we aim at developing an automated diagnostic system for the measurement of the wave intensity which is usually measured at the common carotid artery. In particular, in this paper, we focus on proposing a robust visual servoing method for tracking out-of-plane motion for a robot-assisted medical ultrasound diagnostic system by using a conventional 2D probe. A robotic device which manipulates the ultrasound probe firstly scans a small area around the target position and records several B-mode images at a regular interval. In order to track the out-of-plane motion, an inter-frame block matching method has been proposed and implemented on the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 2 Refined (WTA-2R). A set of experiments was proposed to verify the effectiveness of the proposed method. From the experimental results, we could confirm its robustness while doing the task with real human tissues.
|
|
| 26. |
|
|
| 27. |
|
|
| 28. |
- Noh, Y., et al.
(författare)
-
Development of an Airway Management Training System that Embeds an Array of Sensors on a Conventional Mannequin
- 2007
-
Ingår i: Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on. - 9781424409129 - 9781424409129 ; , s. 1296-1301
-
Konferensbidrag (refereegranskat)abstract
- Airway management is provided by emergency medical technicians or anesthetists in order to save unconscious patients who are unable to breathe. Even though it is a basic technique, many accidents may occur when the procedure is not provided followed. In order to avoid any risks to patients, emergency medical technicians are required to practice airway management using training devices such as mannequins; which are designed to accurately reproduce the human anatomy. However, such training devices do not provide any quantitative information about the learning progress of trainees (passive training). For that purpose, we have proposed the development of a airway management training system which is designed to embed array of sensors so that quantitative information of trainees' performance can be acquired. In this paper, we are presenting the Waseda-KyotoKagaku airway No. 1 (WKA-1). The WKA-1 consists of three different kinds of array of sensors which are embedded into a conventional mannequin. In order to embed the array of sensors, we have simplified the design of some of the simulated organs (upper airway, oral cavity, tongue and teeth) of the mannequin. A set of evaluation parameters were proposed based on the information collected through the sensors. A set of experiments were proposed to experimentally verify the effectiveness of the proposed evaluation parameters to quantitatively detect differences among different levels of skills (anesthetists and unskilled persons).
|
|
| 29. |
- Noh, Yohan, et al.
(författare)
-
Development of the Airway Management Training System WKA-4 : for Improved High-Fidelity Reproduction of Real Patient Conditions, and Improved Tongue and Mandible Mechanisms
- 2011
-
Ingår i: 2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA). - : IEEE conference proceedings. - 9781612843858 ; , s. 1726-1731
-
Konferensbidrag (refereegranskat)abstract
- In recent years advanced robotic technology has seen more use in the medical field to assist in the development of efficient training systems. Such training systems must fulfill the following criteria: they must provide quantitative information, must simulate the real-world conditions of the task, and assure training effectiveness. We developed Waseda Kyotokagaku Airway series to fulfill all of those requirements. The WKA series we had developed does not consider external appearance such as patient skin, or internal appearance such as the pharynx, larynx, and esophagus. Moreover, the tongue mechanism of the previous system can not precisely measure the force applied by medical devices and cannot simulate muscle stiffness. In addition, the mandible mechanism of the previous system could not adequately reproduce various airway difficulties or apply force control. For these reasons, we propose the WKA-4, which has high-fidelity simulated human anatomy, and we have improved the mechanism over the previous system. We have also attached a lung to the proposed system to improve simulation of the real-world conditions of the task. In this paper, we present how to design several organs with various embedded sensors and actuators, for a conventional patient model with high-fidelity simulated human anatomy. We also present the control system for the WKA-4. Finally, we present a set of experiments carried out using doctors as subjects, and they gave their valuable opinions about our system.
|
|
| 30. |
|
|
| 31. |
|
|
| 32. |
- Noh, Y., et al.
(författare)
-
Reproducing Difficulties of Airway Management on Patients with Restricted Mouth Opening using the WKA-1
- 2007
-
Konferensbidrag (refereegranskat)abstract
- Airway management is provided by emergency medical technicians or anesthetists in order to save unconscious patients under emergency situations. Even though airway management is basic skill, there may be some difficulties while performing airway management to patients with abnormalities. Therefore, it is important to train medical students to perform such a task on patients with abnormalities. Recently, many companies are developing airway training mannequins designed to reproduce the conditions of the airway management procedure. However, such training devices cannot provide any quantitative information of the training progress so that few amount of feedback can be provided to trainees. For this purpose, we have proposed the development of an airway management training system which has been designed to embed sensors into a conventional mannequin. As a result, we have developed the Waseda-Kyotokagaku airway No. 1 (WKA-1). In this paper, the WKA-1 was used to reproduce the airway management on patients with abnormalities on jaw opening. For this purpose, we have added an array of springs to simulate those abnormalities. Then, we proposed an experiment to detect the differences on performances among doctors (anesthetist) while performing the airway management in patients with and without abnormalities on the jaw opening. Both cases were analyzed quantitatively by using the functionalities of the WKA-1. From the experimental results, we could find a statistically significant difference between both cases
|
|
| 33. |
- Noh, Y., et al.
(författare)
-
WKA-1R robot-assisted quantitative assessment of airway management
- 2008
-
Ingår i: International Journal of Computer Assisted Radiology and Surgery, 3(6): 543-550. - : Springer. - 1861-6410 .- 1861-6429. ; 3:6, s. 543-550
-
Tidskriftsartikel (refereegranskat)abstract
- ObjectThe emerging field of medical robotics aims tointroduce intelligent tools for physician support. The main challenges for developing efficient medical robotic training systems are simulating real-world conditions of the task and assuring training effectiveness. High anatomic fidelity has been achieved in current systems, but they are limited to provide merely subjective assessments of the training progress. We simulated airway intubation using a unique medical robot and developed objective performance criteria to assess task performance.Materials and methodsA patient simulation robot was designed to mimic real-world task conditions and provide objective assessments of training progress. The Waseda– Kyotokagaku Airway No. 1R (WKA-1R) includes a human patient model with embedded sensors. An evaluation function was developed for the WKA-1R to quantitatively assess task performance. The evaluation includes performance indices and coefficient weighting. The performance indices were defined based on experiments carried out with medical doctors and from information found in the medical literature. The performance indices are: intubation time, jaw opening, incisor teeth force, cuff pressure, tongue force and tube position. To determine the weighting of coefficients, we used discriminant analysis.ResultsExperiments were carried out with volunteers to determine the effectiveness of the WKA-1R to quantitatively evaluate their performance while performing airway management. We asked subjects from different levels of expertise (from anesthetists to unskilled) to perform the task. From the experimental results, we determined operator effectiveness using the proposed performance indices. We found a significant difference between the experimental groups by evaluating their performances using the proposed evaluation function (P < 0.05).ConclusionsThe WKA-1R robot was designed to quantitatively acquire information on the performances of trainees during intubation procedures. From the experimental results, we could objectively determine operator effectiveness while providing quantitative task assessments.
|
|
| 34. |
- Oka, T., et al.
(författare)
-
Chopstick-type gripper mechanism for meal-assistance robot capable of adapting to size and elasticity of foods
- 2019
-
Ingår i: Mechanisms and Machine Science. - Cham : Springer Netherlands. - 2211-0984 .- 2211-0992. ; 66, s. 284-292
-
Tidskriftsartikel (refereegranskat)abstract
- This paper proposed a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and the contact force with the target food according to the size and the elasticity of the food. Solely using position control of the driving motor for the mechanism, this feature was enabled without relying on force sensors. The gripper was designed based on the concept of under-actuation and a planar mechanism with 2 DOF composed of a combination of 2 four-bar mechanisms having a torsion spring in a passive joint. To clarify the gripping motion and relationship among the contact force, food’s size and elasticity, a simulation based on kineto-elasto-static analysis was performed. Finally, to verify the theoretical analysis, a simple prototype was manufactured and an experiment to measure the contact force has been conducted.
|
|
| 35. |
- Oka, Tomohiro, et al.
(författare)
-
Kineto-elasto-static Design of UnderactuatedChopstick-type Gripper Mechanism forMeal-Assistance Robot
- 2020
-
Ingår i: Robotics. - : MDPI. - 2218-6581. ; 9(3):50
-
Tidskriftsartikel (refereegranskat)abstract
- Our research aims at developing a meal-assistance robot with vision system and multi-gripper that enables frail elderly to live more independently. This paper presents a development of a chopstick-type gripper for a meal-assistance robot, which is capable of adapting its shape and contact force with the target food according to the size and the stiffness. By solely using position control of the driving motor, the above feature is enabled without relying on force sensors. The gripper was designed based on the concept of planar 2-DOF under-actuated mechanism composed of a pair of four-bar chains having a torsion spring at one of the passive joints. To clarify the gripping motion and relationship among the contact force, food’s size and stiffness, and gripping position, kineto-elasto-static analysis of the mechanism was carried out. It was found from the result of the analysis that the mechanism was able to change its gripping force according to the contact position with the target object, and this mechanical characteristic was utilized in its grasp planning in which the position for the gripping the object was determined to realize a simple control system, and sensitivity of the contact force due to the error of the stiffness value was revealed. Using a three-dimensional (3D) printed prototype, an experiment to measure the gripping force by changing the contact position was conducted to validate the mechanism feature that can change its gripping force according to the size and the stiffness and the contact force from the analysis results. Finally, the gripper prototype was implemented to a 6-DOF robotic arm and an experiment to grasp real food was carried out to demonstrate the feasibility of the proposed grasp planning.
|
|
| 36. |
|
|
| 37. |
|
|
| 38. |
|
|
| 39. |
|
|
| 40. |
|
|
| 41. |
|
|
| 42. |
- Petersen, Klaus, et al.
(författare)
-
Application of a Musical-based Interaction System to the Waseda Flutist Robot WF-4RIV : Development Results and Performance Experiments
- 2012
-
Ingår i: 2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB). - : IEEE conference proceedings. - 9781457712005 ; , s. 937-942
-
Konferensbidrag (refereegranskat)abstract
- During several years of development, the hardware of the anthropomorphic flutist robot Waseda Flutist WF-4RIV has been continuously improved. The robot is currently able to play the flute at the level of an intermediate human player. Lately we have been focusing our research on the interactivity of the performance of the robot. Initially the robot has only been able to play a static performance that was not actively controllable by a partner musician of the robot. In a realistic performance set-up, in a band or an orchestra, musicians need to interact in order to create a performance that gives a natural and dynamic impression to the audience. In this publication we present the latest developments on the integration a Musical-based Interaction System (MbIS) with WF-4RIV. Such a human robot interaction system is to allow human musicians to do natural musical communication with the flutist robot through audio-visual cues. Here we would like to summarize our previous results, present the latest extensions to the system and especially concentrate on experimenting with applications of the system. We evaluate our interactive performance system using three different methods: A comparison of a passive (non-interactive) and an interactive performance, evaluation of the technical functionality of the interaction system as a whole and by examining the MbIS from a user perspective with a user survey including amateur and professional musicians. We present experiment results that show that our Musical-based Interaction System extends the anthropomorphic design of the flutist robot, to allow increasingly interactive, natural musical performances with human musicians.
|
|
| 43. |
|
|
| 44. |
- Petersen, K., et al.
(författare)
-
Development of a Real-Time Instrument Tracking System for Enabling the Musical Interaction with the WF-4RIV
- 2008
-
Ingår i: IROS 2008. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2008.. - 9781424420575 ; , s. 3654-3659
-
Konferensbidrag (refereegranskat)abstract
- The aim of this paper is to create an interface for human-robot interaction. Specifically, musical performance parameters (i.e. vibrato expression) of the Waseda Flutist Robot No.4 Refined IV (WF-4RIV) are to be manipulated. Our research is focused on enabling the WF-4RIV to interact with human players (musicians) in a natural way. In this paper, as a first approach, a vision processing algorithm, that is able to track the 3D-orientation and position of a musical instrument, was developed. In particular, the robot acquires image data through two cameras attached to its head. Using color histogram matching and a particle filter, the position of the musicianpsilas hands on the instrument are tracked. Analysis of this data determines orientation and location of the instrument. These parameters are mapped to manipulate the musical expression of the WF-4RIV, more specifically sound vibrato and volume values. We present preliminary experiments to determine if the robot may dynamically change musical parameters while interacting with a human player (i.e. vibrato etc.). From the experimental results, we may confirm the feasibility of the interaction during a performance, although further research must be carried out to consider the physical constraints of the flutist robot
|
|
| 45. |
- Petersen, K., et al.
(författare)
-
Development of the Waseda Flutist Robot No. 4 Refined IV : Implementation of a Real-Time Interaction System with Human Partners
- 2008
-
Ingår i: 2008 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2008). - : IEEE conference proceedings. - 9781424428823 - 9781424428830 ; , s. 421-426
-
Konferensbidrag (refereegranskat)abstract
- The aim of our research is to develop an anthropomorphic flutist robot that on the one hand reproduces the human motor skills required for playing the flute, and on the other hand displays cognitive capabilities for interacting with other (human) musicians. In this paper, we detail the recent mechanical improvements on the Waseda Flutist Robot (WF-4RIV), enhancing the realistic production of the flute sound. In particular, improved lips, oral cavity and tonguing are introduced and their mechanisms described: The possibility to deform the lip shape in 3-DOF, allows us to accurately control the characteristics of the air-stream (width, thickness and angle). An improved tonguing mechanism (1-DOF) has been designed to reproduce double tonguing. Furthermore we present the implementation of a real-time interaction system with human partners. We developed, as a first approach, a vision processing algorithm to track the 3D-orientation and position of a musical instrument: Image data is recorded using two cameras attached to the head of the robot, and processed in real-time. The proposed algorithm is based on color histogram matching and particle filter techniques to follow the position of a musicianpsilas hands on an instrument. Data analysis enables us to determine the orientation and location of the instrument. We map these parameters to control musical performance parameters of the WF-4RIV, such as sound vibrato and sound volume. A set of experiments were proposed to verify the effectiveness of the proposed tracking system during interaction with a human player. We conclude, that the quality of the musical performance of the WF-4RIV and its capabilities to interact with musical partners, have been significantly improved by the implementation of the techniques, that are proposed in this paper
|
|
| 46. |
- Petersen, K., et al.
(författare)
-
Toward enabling a natural interaction between human musicians and musical performance robots : Implementation of a real-time gestural interface
- 2008
-
Ingår i: Robot and Human Interactive Communication, 2008. RO-MAN 2008. The 17th IEEE International Symposium on. - 9781424422128 ; , s. 340-345
-
Konferensbidrag (refereegranskat)abstract
- Our research aims to develop an anthropomorphic flutist robot as a benchmark for the better understanding of interaction between musicians and musical performance robots from a musical point of view. As a long-term goal of our research, we would like to enable such robots to play actively together with a human band, and create novel ways of musical expression. For this purpose, we focus on enhancing the perceptual capabilities of the flutist robot to process musical information coming from the aural and visual perceptual channels. In this paper, we introduce, as a first approach, a hands-free gesture-based control interface designed to modify musical parameters in real-time. In particular, we describe a set of virtual controllers, that a composer can manipulate through gestures of with a musical instrument. The gestures are identified by 2-D motion sensitive areas which graphically represent common control interfaces used in music production. The resulting information from the vision processing is then transformed into MIDI messages, which are subsequently played by the flute robot. In order to verify the effectiveness of the proposed gestural interface, we performed experiments to musically interact with musical partners. iquestFrom the experimental results we concluded that our method satisfies the technical and idiosyncratic requirements for being a suitable tool for musical performance.
|
|
| 47. |
|
|
| 48. |
- Proletov, Ian, et al.
(författare)
-
Primary and secondary glomerulonephritides 1.
- 2014
-
Ingår i: Nephrology, dialysis, transplantation : official publication of the European Dialysis and Transplant Association - European Renal Association. - : Oxford University Press (OUP). - 1460-2385. ; 29 Suppl 3:May, s. 186-200
-
Tidskriftsartikel (refereegranskat)
|
|
| 49. |
|
|
| 50. |
- Santangelo, James S., et al.
(författare)
-
Global urban environmental change drives adaptation in white clover
- 2022
-
Ingår i: Science. - : American Association for the Advancement of Science (AAAS). - 0036-8075 .- 1095-9203. ; 375
-
Tidskriftsartikel (refereegranskat)abstract
- Urbanization transforms environments in ways that alter biological evolution. We examined whether urban environmental change drives parallel evolution by sampling 110,019 white clover plants from 6169 populations in 160 cities globally. Plants were assayed for a Mendelian antiherbivore defense that also affects tolerance to abiotic stressors. Urban-rural gradients were associated with the evolution of clines in defense in 47% of cities throughout the world. Variation in the strength of clines was explained by environmental changes in drought stress and vegetation cover that varied among cities. Sequencing 2074 genomes from 26 cities revealed that the evolution of urban-rural dines was best explained by adaptive evolution, but the degree of parallel adaptation varied among cities. Our results demonstrate that urbanization leads to adaptation at a global scale.
|
|
