/pdf/convex-analysisnoer-san-nojin-zhan-nituite-5dl2rbmoyr.pdf

Convex Analysisの二,三の進展について

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

This paper presents control and coordination algorithms for groups of vehicles. The focus is on autonomous vehicle networks performing distributed sensing tasks where each vehicle plays the role of a mobile tunable sensor. The paper proposes gradient descent algorithms for a class of utility functions which encode optimal coverage and sensing policies. The resulting closed-loop behavior is adaptive, distributed, asynchronous, and verifiably correct.

Coverage control for mobile sensing networks

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Flow The Psychology Of Optimal Experience

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Biomechanics And Motor Control Of Human Movement

Haptic technology is highlighted in minimally invasive vascular surgery simulation. During the virtual reality-based surgery training, realistic haptic feedback can be provided by control devices to help enhance the surgeons' surgical performance. In this paper, we present a haptic rendering scheme for the vascular surgery simulation. The scheme consists of a self-designed haptic device, a physics-based resistance model and a virtual coupling network. The resistance model considers not only the contact forces between the vasculature and the beam element model of the guide wire but also the blood flow resistance. The virtual coupling network is applied to guarantee safety of the manipulation and stability of the simulation. Experimental results verified that the haptic force is close to reality and of good usability.

Haptic rendering of guide wire manipulation in vascular surgery simulation

A skull reconstruction robot has been developed to effectively overcome shortcomings of the traditional skull surgery and improve its efficiency and quality. In this study, kinematics modeling and trajectory planning for the robot are carried out. Firstly, the kinematic model of the robot is established based on the D-H method. The positioning points, which are used to determine the cutting plane, are given on the surface of the skull by the surgeon. The contour data for cutting can be obtained using a two dimensional laser scanning sensor, by adjusting the scanning light curtain to coincide with the cutting plane. Then, to ensure that the tools fixed at the robot end can always be perpendicular to the skull surface during the cutting or drawing process, the principal component analysis is introduced to design the normal vectors at the selected key points of the point cloud data for the skull surface. Moreover, the quintic polynomial interpolation method is used to construct the curves between the adjacent key points to make up for the defects of the skull surface and ensure the smoothness of the trajectory. Finally, workspace analysis based on Monte Carlo method is implemented, and the proposed kinematics modeling and trajectory planning methods are validated by simulation.

Kinematics Modeling and Trajectory Planning for the Skull Reconstruction Robot

The present invention discloses a functional electrical stimulation system comprising a primary power, a boost module, an energy storage section, an output control relay, an automatic discharge circuit, a foot/hand controlled switch, a current detection chip and a current limiting fuse. The boost module comprises n DC chopper circuits connected in series, and outputs a high voltage of 100-200V. According to an enable signal and a current detection signal, the output control relay disables/enables the DC boost module. The automatic discharge circuit discharges capacitance of the energy storage section automatically when the relay turns off the power input. The Foot/hand controlled switch, the current detection chip and the current limiting fuse form a triple accident protection circuit. The functional electrical stimulation system maximizes the intensity of electrical stimulation within the range that the human body can withstand. Meanwhile, it provides multiple security protection mechanisms and enhanced reliability to avoid danger during the use.

System of functional electrical stimulation

Percutaneous transluminal coronary angioplasty (PTCA) has been proved to be a standard solution to most cardiovascular diseases (CVDs). The surgical simulator provides the trainees a new vehicle to learn this skill much more conveniently and effectively. The blood vessel model is at the core of the virtual environment. In this paper, a robust and semi-automatic approach to segment the abdominal aorta from the computed tomography angiography (CTA) is developed. The proposed approach employs the geodesic active contours method as the main component. The edge potential map is generated by applying nonlinear mapping function. The initial contours are evolved by applyging the fast marching method. The surface information representing the vessel is extracted by the marching cubes method. This approach has been proved successful for the construction of 3-D surface model of the aorta based on the CTA series.

Lumen segmentation and visualization of abdominal aorta using geodesic active contours for intravascular surgical simulation

In this paper, a velocity controller based on H ∞ loop shaping for an unmanned helicopter is presented. H ∞ loop shaping controller guaranteed the stability margin of the closed-loop system above desired level. The performance of the controller is improved using gain-scheduling of key parameters. The simulation results show that the controller is robust and has good performance.

Zeng-Guang Hou

Papers

Haptic rendering of guide wire manipulation in vascular surgery simulation

Kinematics Modeling and Trajectory Planning for the Skull Reconstruction Robot

System of functional electrical stimulation

Lumen segmentation and visualization of abdominal aorta using geodesic active contours for intravascular surgical simulation

Design of an H ∞ loop shaping velocity controller for a small unmanned helicopter