It is shown that, particularly for terrestrial cellular telephony, the interference-suppression feature of CDMA (code division multiple access) can result in a many-fold increase in capacity over analog and even over competing digital techniques. A single-cell system, such as a hubbed satellite network, is addressed, and the basic expression for capacity is developed. The corresponding expressions for a multiple-cell system are derived. and the distribution on the number of users supportable per cell is determined. It is concluded that properly augmented and power-controlled multiple-cell CDMA promises a quantum increase in current cellular capacity. >

On the capacity of a cellular CDMA system

Surgical robotics is one of the most rapidly developing fields within robotics. Besides general motion control issues, control engineers often find it challenging to design robotic telesurgery systems, as these have to deal with complex environmental constrains. 
The unique behavior of soft tissues requires 
special approaches in both robot control and 
system modeling in the case of robotic tissue manipulation. Precise control depends on the appropriate modeling of the interaction between the manipulated tissues and the instruments held by the robotic arm, frequently referred to as the tool–tissue interaction. 
Due to the nature of the physiological environment, the mechatronics of the systems and the time delays, it is difficult to introduce a universal model or a general modeling approach. This paper gives an overview of the emerging problems in the design and modeling of telesurgical systems, analyzing each component, and introducing the most widely employed models. The arising control problems are reviewed in the frames of master–slave type teleoperation, proposing a novel oft tissue model and providing an overview of the 
possible control approaches.

Models for force control in telesurgical robot systems

Robotics in Dental Implantology

In this paper we propose a systematic strategy for migrating crosscutting concerns in existing object-oriented systems to aspect-based solutions. The proposed strategy consists of four steps: mining, exploration, documentation and refactoring of crosscutting concerns. We discuss in detail a new approach to aspect refactoring that is fully integrated with our strategy, and apply the whole strategy to an object-oriented system, namely the JHOTDRAW framework. The result of this migration is made available as an open-source project, which is the largest aspect refactoring available to date. We report on our experiences with conducting this case study and reflect on the success and challenges of the migration process, as well as on the feasibility of automatic aspect refactoring. Preprint accepted for publication in the Proceedings of the 7th IEEE International Conference on Source Code Analysis and Manipulation (SCAM’07).

/pdf/an-integrated-crosscutting-concern-migration-strategy-and-4t378zdwn4.pdf

An Integrated Crosscutting Concern Migration Strategy and its Application to JHoTDraw

The last decade (2010-2021) has witnessed the evolution of robotic applications in orthodontics. This review scopes and analyzes published orthodontic literature in eight different domains: (1) robotic dental assistants; (2) robotics in diagnosis and simulation of orthodontic problems; (3) robotics in orthodontic patient education, teaching, and training; (4) wire bending and customized appliance robotics; (5) nanorobots/microrobots for acceleration of tooth movement and for remote monitoring; (6) robotics in maxillofacial surgeries and implant placement; (7) automated aligner production robotics; and (8) TMD rehabilitative robotics. A total of 1,150 records were searched, of which 124 potentially relevant articles were retrieved in full. 87 studies met the selection criteria following screening and were included in the scoping review. The review found that studies pertaining to arch wire bending and customized appliance robots, simulative robots for diagnosis, and surgical robots have been important areas of research in the last decade (32%, 22%, and 16%). Rehabilitative robots and nanorobots are quite promising and have been considerably reported in the orthodontic literature (13%, 9%). On the other hand, assistive robots, automated aligner production robots, and patient robots need more scientific data to be gathered in the future (1%, 1%, and 6%). Technological readiness of different robotic applications in orthodontics was further assessed. The presented eight domains of robotic technologies were assigned to an estimated technological readiness level according to the information given in the publications. Wire bending robots, TMD robots, nanorobots, and aligner production robots have reached the highest levels of technological readiness: 9; diagnostic robots and patient robots reached level 7, whereas surgical robots and assistive robots reached lower levels of readiness: 4 and 3, respectively.

/pdf/robotic-applications-in-orthodontics-changing-the-face-of-8770869rzd.pdf

Robotic Applications in Orthodontics: Changing the Face of Contemporary Clinical Care.

Introduction: The BMI and sit and reach test are the most common assessment in health related physical fitness. Major aims were analyzed to explore the comparatively same age and gender BMI and flexibility status and dissimilarity of diverse nation's young adults of 18-23 years gender group of Tsinghua University Beijing China (TUBC) and University of Sindh Pakistan (UOSP) male and female students. In this study we were compared the BMI and flexibility of identical age and masculinity group of two diverse nations china and Pakistan young adults students of bilateral Universities. Method: An experimental method was used to collect the normative data of TUBC and UOSP students. All the procedures were applied by ACSM health related fitness assessment battery, gauging BMI by Quetelet procedure and sit and reach in cm and three trails were administered of 150 male and 150 female of each university students during 2013 spring semester. Result: The mean of male TUBC and UOSP BMI (M=22.63, SD =2.99, lower than UOSP M=23.3, SD= 4.15, t= -1.64, p > 0.05 and female, M =21.22, SD =2.80, lower than UOSP M=22.22, SD= 3.41, t= -2.79, p < 0.05 significance. SRT mean of male TUBC M=9.60+ SD =5.95 UOSP M=9.14+ SD= 8.61, t= 0.54, p <0.05 and female TUBC M=11.05+ SD =5.84, UOSP M=10.87+ SD= 4.32, t= 0.30, p < 0.05. Conclusion: The study magnitudes discovered that the selected age group 10% overweight and 5% obese of UOSP male and female students were higher than TUBC and in flexibility TUBC both gender were better than UOSP. However, the numerical information disclosed TUBC both gender students obesity and flexibility status were recovering than UOSP students. The null hypothesis rejected expressively p<0.05 significantly except male obesity ratio.. Keyword: BMI, flexibility, Fitness, status, assessment, physical activity Sindh Univ. Res. Jour. (Sci. Ser.) Vol.47 (2) 327-330 (2015)

Sindh university research journal (science series)

As the complex anatomical structure of the maxillofacial region, operation in this area is of high hazard and difficult to implement. Thus, a multi-arm medical robot are designed to assisting maxillofacial surgery and one of the 6-DOF arm of the robot is controlled by Haptic device, which can improve surgical precision and reduce surgeon's strain for tele-robotic surgery. Firstly, overview of the whole system is introduced. Then this paper focuses on the Surgical manipulator, Haptic device and its control Algorithm by inverse kinematics. Finally, the prototype was established and experiments were carried out under the observation of Navigation system to show the robot's smooth running and accurate positioning.

6-DOF Maxillofacial surgical robotic manipulator controlled by Haptic device

Operation in the area of Maxillofacial section is very difficult and risky due to its complicated and random anatomical structure. Therefore, to resolve these types of surgical issues, a multi-arm medical robot is designed. This paper presents a system able to perform complex maxillofacial surgeries using 6-DOF surgical manipulator and haptic device with force feedback capability. Force sensor is placed on manipulator end-effector and force feedback responses are felt on Haptic device. This proposed system improves surgical accuracy and removes surgeon's tension during tele-operation. The prototype of the whole system is designed and tests are conceded out under the surveillance of optical tracking system. The results demonstrate the system accuracy and reliability with force feedback competency.

Maxillofacial surgical robotic manipulator controlled by haptic device with force feedback

The dental implant surgical applications full of risk because of the complex anatomical architecture of craio-maxillofacial area. Therefore, the surgeons move towards computer-aided planning for surgeries and then implementation using robotic assisted tele-operated techniques. This study divided into four main parts. The first part is developed by computer-aided surgical planning by image modalities .The second part is based on Virtual Surgical Environment through virtual force feedback haptic device. The third part is implemented the experimental surgery by integrating the prototype surgical manipulator with the haptic device poses using inverse kinematics method. The fourth part based on monitoring the robotic manipulator pose by using image guided navigation system to calculate the position error of the surgical manipulator. Thus, this tele-robotic system is able to comprehend the sense of complete practice, improve skills and gain experience of the surgeon during the surgery. Finally, the experimental outcomes show in satisfactory boundaries. DOI : http://dx.doi.org/10.11591/telkomnika.v12i1.3124

/pdf/tele-robotic-assisted-dental-implant-surgery-with-virtual-4fu2olmlfj.pdf

Tele-Robotic Assisted Dental Implant Surgery with Virtual Force Feedback

A 3D linear inverted pendulum model based push recovery & fall management scheme for small humanoid robots is presented in this paper. The size of step taken for push recovery is estimated based on inverted pendulum model considering change in kinetic and potential energies in case of external push. The direction and strength of push which is reflected by change in attitude of the robot is measured by a set of on-board inertial sensors. The proposed approach is then verified by a number of experiments on a 23-DOF small humanoid robot. And finally, if the push is too high and falling is inevitable, different safe-falling schemes are proposed in order to avoid or minimize the possible damage to the robot hardware.

Amjad Ali Syed

Papers

Sindh university research journal (science series)

6-DOF Maxillofacial surgical robotic manipulator controlled by Haptic device

Maxillofacial surgical robotic manipulator controlled by haptic device with force feedback

Tele-Robotic Assisted Dental Implant Surgery with Virtual Force Feedback

Stepping to recover: A 3D-LIPM based push recovery and fall management scheme for biped robots