Abstract: In this paper, the feasibility of using machine vision to assess task completion in a surgical intervention is investigated, with the aim of incorporating vision based inspection in robotic surgery systems. The visually rich operative field presents a good environment for the development of automated visual inspection techniques in these systems, for a more comprehensive approach when performing a surgical task. As a proof of concept, machine vision techniques were used to distinguish the two possible outcomes i.e. satisfactory or unsatisfactory, of three primary surgical tasks involved in creating a burr hole in the skull, namely incision, retraction, and drilling. Encouraging results were obtained for the three tasks under consideration, which has been demonstrated by experiments on cadaveric pig heads. These findings are suggestive for the potential use of machine vision to validate successful task completion in robotic surgery systems. Finally, the potential of using machine vision in the operating theatre, and the challenges that must be addressed, are identified and discussed.
Abstract: The tension leg platform (TLP) is a vertically moored structure with excess buoyancy. The TLP is regarded as moored structure in horizontal plan, while inherit stiffness of fixed platform in vertical plane. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark’s beta integration scheme. The effect of tethers length and wave characteristics such as wave period and wave height on the response of TLP's was evaluated.
Only uni-directional waves in the surge direction was considered in the analysis. It was found that for short wave periods (i.e. 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on tether length, wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about that is significantly dependent on tether length.
Abstract: In water pipeline systems, the flow control is an integrated part of the operation, for instance, opening and closing the valves, starting and stopping the pumps, when these operations very quickly performed, they shall cause the hydraulic transient phenomena, which may cause pump and, valve failures and catastrophic pipe ruptures. Fluid transient analysis is one of the more challenging and complicated flow problems in the design and the operation of water pipeline systems. Transient control has become an essential requirement for ensuring safe operation of water pipeline systems. An accurate analysis and suitable protection devices should be used to protect water pipeline systems. The fourth-order Runge-Kutta method has been used to solve the dynamic and continuity equations in the rigid column method, while the characteristics method used to solve these equations in the full elastic methods. This paper presents the problem of modeling and simulating of transient phenomena in conveying pipeline systems based on the rigid column and full elastic methods. Also, it provides the influence of using the protection devices to protect the pipeline systems from damaging due to the gain pressure which occur in the transient state. The results obtained provide that the model is an efficient tool for flow transient analysis and provide approximately identical results by using these two methods. Moreover; using the closed surge tank reduces the unfavorable effects of transients.
Abstract: This paper discusses aspects of outages in the electric transmission network in the Kosovo Power System caused by the atmospheric discharges.
Frequency and location of the atmospheric discharges in Kosovo territory will be provided by a lightning location system ALARM (Automated Lightning Alert and Risk Management) and from the data from the Meteorological Department in Prishtina International Airport. These data will be used to make comparisons with the actual outages registered in the Kosovo Power System from the Kosovo Transmission, systems and market operator (KOSTT) during a specific time period.
The lines with the worst performance determined, regarding the atmospheric discharges, will be choose for further discussions in terms of over voltages caused by the direct or indirect lightning strokes.
Recommendations for protection in terms of insulator coordination and surge arresters will be given at the end and in this stage dynamic simulation will take part.
Abstract: In this study, a comparison of two control methods,
Proportional Control (PC) and Fuzzy Logic Control (FLC), which
have been used to develop an ideal thermoelectric renal hypothermia
system in order to use in renal surgery, has been carried out. Since
the most important issues in long-lasting parenchymatous renal
surgery are to provide an operation medium free of blood and to
prevent renal dysfunction in the postoperative period, control of the
temperature has become very important in renal surgery. The final
product is seriously affected from the changes in temperature,
therefore, it is necessary to reach some desired temperature points
quickly and avoid large overshoot. PIC16F877 microcontroller has
been used as controller for both of these two methods. Each control
method can simply ensure extra renal hypothermia in the targeted
way. But investigation of advantages and disadvantages of every
control method to each other is aimed and carried out by the
experimental implementations. Shortly, investigation of the most
appropriate method to use for development of system and that can be
applied to people safely in the future, has been performed. In this
sense, experimental results show that fuzzy logic control gives out
more reliable responses and efficient performance.
Abstract: Determining depth of anesthesia is a challenging problem
in the context of biomedical signal processing. Various methods
have been suggested to determine a quantitative index as depth of
anesthesia, but most of these methods suffer from high sensitivity
during the surgery. A novel method based on energy scattering of
samples in the wavelet domain is suggested to represent the basic
content of electroencephalogram (EEG) signal. In this method, first
EEG signal is decomposed into different sub-bands, then samples
are squared and energy of samples sequence is constructed through
each scale and time, which is normalized and finally entropy of the
resulted sequences is suggested as a reliable index. Empirical Results
showed that applying the proposed method to the EEG signals can
classify the awake, moderate and deep anesthesia states similar to
BIS.
Abstract: With a surge of stream processing applications novel
techniques are required for generation and analysis of association
rules in streams. The traditional rule mining solutions cannot handle
streams because they generally require multiple passes over the data
and do not guarantee the results in a predictable, small time. Though
researchers have been proposing algorithms for generation of rules
from streams, there has not been much focus on their analysis.
We propose Association rule profiling, a user centric process for
analyzing association rules and attaching suitable profiles to them
depending on their changing frequency behavior over a previous
snapshot of time in a data stream.
Association rule profiles provide insights into the changing nature
of associations and can be used to characterize the associations. We
discuss importance of characteristics such as predictability of
linkages present in the data and propose metric to quantify it. We
also show how association rule profiles can aid in generation of user
specific, more understandable and actionable rules.
The framework is implemented as SUPAR: System for Usercentric
Profiling of Association Rules in streaming data. The
proposed system offers following capabilities:
i) Continuous monitoring of frequency of streaming item-sets
and detection of significant changes therein for association rule
profiling.
ii) Computation of metrics for quantifying predictability of
associations present in the data.
iii) User-centric control of the characterization process: user
can control the framework through a) constraint specification and b)
non-interesting rule elimination.
Abstract: A registration framework for image-guided robotic
surgery is proposed for three emergency neurosurgical procedures,
namely Intracranial Pressure (ICP) Monitoring, External Ventricular
Drainage (EVD) and evacuation of a Chronic Subdural Haematoma
(CSDH). The registration paradigm uses CT and white light as
modalities. This paper presents two simulation studies for a
preliminary evaluation of the registration protocol: (1) The loci of the
Target Registration Error (TRE) in the patient-s axial, coronal and
sagittal views were simulated based on a Fiducial Localisation Error
(FLE) of 5 mm and (2) Simulation of the actual framework using
projected views from a surface rendered CT model to represent white
light images of the patient. Craniofacial features were employed as
the registration basis to map the CT space onto the simulated
intraoperative space. Photogrammetry experiments on an artificial
skull were also performed to benchmark the results obtained from the
second simulation. The results of both simulations show that the
proposed protocol can provide a 5mm accuracy for these
neurosurgical procedures.
Abstract: Human amniotic membrane (HAM) is a useful
biological material for the reconstruction of damaged ocular surface.
The processing and preservation of HAM is critical to prevent the
patients undergoing amniotic membrane transplant (AMT) from cross
infections. For HAM preparation human placenta is obtained after an
elective cesarean delivery. Before collection, the donor is screened
for seronegativity of HCV, Hbs Ag, HIV and Syphilis. After
collection, placenta is washed in balanced salt solution (BSS) in
sterile environment. Amniotic membrane is then separated from the
placenta as well as chorion while keeping the preparation in BSS.
Scrapping of HAM is then carried out manually until all the debris is
removed and clear transparent membrane is acquired. Nitrocellulose
membrane filters are then placed on the stromal side of HAM, cut
around the edges with little membrane folded towards other side
making it easy to separate during surgery. HAM is finally stored in
solution of glycerine and Dulbecco-s Modified Eagle Medium
(DMEM) in 1:1 ratio containing antibiotics. The capped borosil vials
containing HAM are kept at -80°C until use. This vial is thawed to
room temperature and opened under sterile operation theatre
conditions at the time of surgery.
Abstract: A retrospective study was undertaken to record the
occurrence and pattern of fractures in small animals (dogs and cats)
from year 2005 to 2010. A total of 650 cases were presented in small
animal surgery unit out of which of 116 (dogs and cats) were
presented with history of fractures of different bones. A total of
17.8% (116/650) cases were of fractures which constituted dogs 67%
while cats were 23%. The majority of animals were intact. Trauma in
the form of road side accident was the principal cause of fractures in
dogs whereas as in cats it was fall from height. The ages of the
fractured dog ranged from 4 months to 12 years whereas in cat it was
from 4 weeks to 10 years. The femoral fractures represented 37.5%
and 25% respectively in dogs and cats. Diaphysis, distal metaphyseal
and supracondylar fractures were the most affected sites in dog and
cats. Tibial fracture in dogs and cats represented 21.5% and 10%
while humoral fractures were 7.9% and 14% in dogs and cats
respectively. Humoral condyler fractures were most commonly seen
in puppies aged 4 to 6 months. Fractured radius-ulna incidence was
19% and 14% in dogs and cats respectively. Other fractures recorded
were of lumbar vertebrae, mandible and metacarpals etc. The
management comprised of external and internal fixation in both the
species. The most common internal fixation technique employed was
Intramedullary fixation in long followed by other methods like stack
or cross pinning, wiring etc as per findings in the cases. The cast
bandage was used majorly as mean for external coaptation. The
paper discusses the outcome of the case as per the technique
employed.
Abstract: This study mainly aims at assessing the level of
microbial pollution of the water used in the chair system in dental
clinics. For this purpose 36 samples have been randomly collected
from a number of dental surgeries in the city of Tripoli in Libya.
However, 32 of the samples have tested positive to microbial
pollution including 13 of the samples, which have tested positives to
Pseudomonas aeruginosa. Based on the results of the test a further
investigation of the biofilms incorporated within the dental chair
system has been conducted. The laboratory tests of biofilms with
similar design to those found in dental chairs have proved that
bacterial pollution takes place through saliva of the patients who use
the chairs, and that this saliva is rich with nutrients which provides a
suitable breeding ground for all types of bacteria.
Abstract: One of the major disadvantages of the minimally
invasive surgery (MIS) is the lack of tactile feedback to the surgeon.
In order to identify and avoid any damage to the grasped complex
tissue by endoscopic graspers, it is important to measure the local
softness of tissue during MIS. One way to display the measured
softness to the surgeon is a graphical method. In this paper, a new
tactile sensor has been reported. The tactile sensor consists of an
array of four softness sensors, which are integrated into the jaws of a
modified commercial endoscopic grasper. Each individual softness
sensor consists of two piezoelectric polymer Polyvinylidene Fluoride
(PVDF) films, which are positioned below a rigid and a compliant
cylinder. The compliant cylinder is fabricated using a micro molding
technique. The combination of output voltages from PVDF films is
used to determine the softness of the grasped object. The theoretical
analysis of the sensor is also presented.
A method has been developed with the aim of reproducing the
tactile softness to the surgeon by using a graphical method. In this
approach, the proposed system, including the interfacing and the data
acquisition card, receives signals from the array of softness sensors.
After the signals are processed, the tactile information is displayed
by means of a color coding method. It is shown that the degrees of
softness of the grasped objects/tissues can be visually differentiated
and displayed on a monitor.
Abstract: The Ramon preparation is received from a plant; it is destined for external treatment of inflammations in post-surgery period. The Ramon is a biogenic immune stimulator accelerating metabolism, contributing to improvement of blood indexes, having general tonic, anti-inflammatory and bactericidal effect.
Abstract: New Zealand-s product markets experienced a surge in
import competition beginning from the late 1970-s when its
government began to promote a policy of more open markets. This
study considers how the trade liberalization aspect of the policy may
have influenced unionization and union-organizing success. For
describing the trade liberalization, a model shows how the removal of
import tariffs can lead to countervailing influences upon the union
membership of a domestic firm. The evidence supports the prediction
that union membership has been decreased rather than increased. In
the context of debates concerning globalization, it can be said that the
power of unions has been diminished.
Abstract: Eight Etawah cross bred does were divided into two
groups based on body condition score (BCS). Group I (BSC 2, body
weight 25-30 kg; n = 4), and Group II (BSC 3, body weight, 35-40 kg, n=4). All does received intravaginal controlled internal drug
release devices (CIDR) for 10 days, and a prostaglandin F2α at 48 h before CIDR removal. Estrus detection was carried out using
vasectomized buck. Vaginal epithelium was taken to determine estrus cycle. Blood samples were taken every 3-6 hours, started from
moment of CIDR removal until the end of estrus. The results showed vaginal histological indicated estrus occurred at the hours of 25 to 60
and 30 to 70 post CIDR removal in BCS 2 and 3, respectively. Progesterone peak of BCS 2 and BCS 3 were 0.18±0.31 and
0.48±0.31 ng/mL on the hour 0 post CIDR removal. Estradiol -17ß
peak of each group was 53.25±35.08 and 89.91±92.84 pg/mL at 48
post CIDR removal. LH surge only occurred on BCS 3 groups, the LH concentrations were 9.9± 9.1; 4.5± 4.0; and 18.2± 9.1 ng/mL at
45, 48 and 51 hours post CIDR removal, respectively. It was concluded that the BCS had effects on vaginal histological changes
and LH surge.
Abstract: Medical applications are among the most impactful
areas of microrobotics. The ultimate goal of medical microrobots is
to reach currently inaccessible areas of the human body and carry out
a host of complex operations such as minimally invasive surgery
(MIS), highly localized drug delivery, and screening for diseases at
their very early stages. Miniature, safe and efficient propulsion
systems hold the key to maturing this technology but they pose
significant challenges. A new type of propulsion developed recently,
uses multi-flagella architecture inspired by the motility mechanism of
prokaryotic microorganisms. There is a lack of efficient methods for
designing this type of propulsion system. The goal of this paper is to
overcome the lack and this way, a numerical strategy is proposed to
design multi-flagella propulsion systems. The strategy is based on the
implementation of the regularized stokeslet and rotlet theory, RFT
theory and new approach of “local corrected velocity". The effects of
shape parameters and angular velocities of each flagellum on overall
flow field and on the robot net forces and moments are considered.
Then a multi-layer perceptron artificial neural network is designed
and employed to adjust the angular velocities of the motors for
propulsion control. The proposed method applied successfully on a
sample configuration and useful demonstrative results is obtained.
Abstract: In this work, we treat the problems related to chemical and petrochemical plants of a certain complex process taking the centrifugal compressor as an example, a system being very complex by its physical structure as well as its behaviour (surge phenomenon). We propose to study the application possibilities of the recent control approaches to the compressor behaviour, and consequently evaluate their contribution in the practical and theoretical fields. Facing the studied industrial process complexity, we choose to make recourse to fuzzy logic for analysis and treatment of its control problem owing to the fact that these techniques constitute the only framework in which the types of imperfect knowledge can jointly be treated (uncertainties, inaccuracies, etc..) offering suitable tools to characterise them. In the particular case of the centrifugal compressor, these imperfections are interpreted by modelling errors, the neglected dynamics, no modelisable dynamics and the parametric variations. The purpose of this paper is to produce a total robust nonlinear controller design method to stabilize the compression process at its optimum steady state by manipulating the gas rate flow. In order to cope with both the parameter uncertainty and the structured non linearity of the plant, the proposed method consists of a linear steady state regulation that ensures robust optimal control and of a nonlinear compensation that achieves the exact input/output linearization.
Abstract: Heat pipes are two-phase heat transfer devices with
high effective thermal conductivity. Due to the high heat transport
capacity, heat exchanger with heat pipes has become much smaller
than traditional heat exchangers in handling high heat fluxes. With
the working fluid in a heat pipe, heat can be absorbed on the
evaporator region and transported to the condenser region where the
vapour condenses releasing the heat to the cooling media. Heat pipe
technology has found increasing applications in enhancing the
thermal performance of heat exchangers in microelectranics, energy
saving in HVAC systems for operating rooms,surgery centers, hotels,
cleanrooms etc, temperature regulation systems for the human body
and other industrial sectors. Development activity in heat pipe and
thermosyphon technology in asia in recent years is surveyed. Some
new results obtained in Australia and other countries are also
included.
Abstract: Having considered tactile sensing and palpation of a
surgeon in order to detect kidney stone during open surgery; we
present the 2D model of nephrolithiasis (two dimensional model of
kidney containing a simulated stone). The effects of stone existence
that appear on the surface of kidney (because of exerting mechanical
load) are determined. Using Finite element method, it is illustrated
that the created stress patterns on the surface of kidney and stress
graphs not only show existence of stone inside kidney, but also show
its exact location.
Abstract: This study examines the design and construction of AC Electronics load surge protection in order to carry electric surge load arisen from faults in low voltage electricity system (single phase/220V) by using the principle of electronics load clamping voltage during induction period so that electric voltage could go through to safe load and continue to work. The qualification of the designed device could prevent both transient over voltage and voltage swell. Both will work in cooperation, resulting in the ability to improve and modify the quality of electrical power in Thailand electricity distribution system more effective than the past and help increase the lifetime of electric appliances, electric devices, and electricity protection equipments.