1,720,953 research outputs found
Task-Based Design, Modeling, and Telemanipulation Assistance of Dexterous Robotics for Confined Spaces and Remote Intervention
No full textThe evolution from open surgery to laparoscopic surgery or minimally invasive surgery to robot-assisted minimally invasive surgery to the natural orifice and single port access surgery required more dexterous tools. The possible solutions to achieving such dexterity are using continuum robots and wire-actuated multi-articulated devices. As surgery
evolved from open to minimally invasive surgery (MIS), surgeons became challenged with perception barriers due to not holding the tools with their hands and the constrained visualization inherent to minimally invasive surgical access. Many robotic telesurgical systems in MIS have been developed to improve dexterity, hand-eye coordination, and sensation.
However, telemanipulation assistance for remote trauma care interventions is relatively unexplored. Moreover, the current paradigm of robot-assisted minimally invasive surgery lacks a set of systematic methodologies to quantitatively compare different manipulator designs and evaluate different kinematics configurations of the dexterous devices for robotic telesurgical systems. Such comparative approaches are important during the design stage for analyzing, characterizing, and making an informed decision between various design alternatives. This dissertation aims to address these challenges in the areas of design, modeling, and telemanipulation assistance. We first explore the feasibility of the identification of a robotic-palpation-assisted remote landmark (the cricothyroid membrane) for cricothyrotomy. Using a cricothyrotomy training simulator, we evaluated several telemanipulation alternatives for in-situ remote localization of the cricothyroid membrane through a small user study. The preliminary results show that the accuracy of remote landmark identification is improved when the user is aided with visual and force cues. Next, we address the challenge associated with the design and performance assessment of robotic telesurgical manipulators for operation in confined spaces. Unlike most works in the literature, we propose an approach for comparing design alternatives by considering the spurious motions along the length of the manipulator in lieu of existing approaches, looking at only the end-effector dexterity measures. We validate our proposed approach through two different illustrative simulation case studies. The dissertation further explores the design and performance assessment of continuum robots since they are increasingly becoming candidates for robotic architecture for surgical intervention. We present some geometrical insights for analyzing the kinematic singularity of continuum robots to improve the path planning and control of such dexterous devices. We also discuss the notion of safety zones around the nominal kinematic singular configurations to produce designs and paths that guarantee singularity-free performance despite norm-bounded deflections in configuration space. Lastly, we explore how force and motion transmission losses affect the minimal motion resolution at the end-effector of wire-actuated robots. We present a modeling framework that can be used at the design stage to evaluate the effects of internal transmission losses. Considerations of modeling the hysteresis effects of end-effector motion are used to define a performance measure that quantifies the quality of a given design within a workspace. We also discuss how multi-wire-driven wrists cannot be compared using conventional Jacobian-based performance measures because they disregard the wire-tension states. We discuss how to obtain the manipulability of multi-wire-driven wrists by manipulating conventional measures. The proposed methodology can guide the design of wire-actuated robots in selecting wire parameters, choosing wire arrangements, and determining their effects on the expected
uncertainty.
We believe the contributions presented in this dissertation have provided preliminary insights on the feasibility of robotic assistance for remote interventions and have provided design and modeling insights in the form of performance measures and geometric interpretations of singularities that can be used to guide the design and path planning of dexterous surgical devices
Going Beyond Counting First Authors in Author Co-citation Analysis
Get PDFThe present study examines one of the fundamental aspects of author co-citation analysis (ACA) - the way co-citation
counts are defined. Co-citation counting provides the data on which all subsequent statistical analyses and mappings
are based, and we compare ACA results based on two different types of co-citation counting - the traditional type that
only counts the first one among a cited work's authors on the one hand and a non-traditional type that takes into
account the first 5 authors of a cited work on the other hand. Results indicate that the picture produced through this non-traditional author co-citation counting contains more coherent author groups and is therefore considerably clearer. However, this picture represents fewer specialties in the research field being studied than that produced through the traditional first-author co-citation counting when the same number of top-ranked authors is selected and analyzed. Reasons for these effects are discussed
Variations on the Author
Get PDF“Variations on the Author” discusses two of Eduardo Coutinho’s recent films (Um Dia na Vida, from 2010, and Últimas Conversas, posthumously released in 2015) and their contribution to the general question of documentary authorship. The director’s filmography is characterized by a consistent yet self-effacing form of authorial self-inscription: Coutinho often features as an interviewer that rather than express opinions propels discourses; an interviewer that is good at listening. This mode of self-inscription characterizes him as an author who is not expressive but who is nonetheless markedly present on the screen. In Um Dia na Vida, however, Coutinho is completely absent form the image, while Últimas Conversas, on the contrary, includes a confessional prologue that moves the director from the margins to the center of his films. This article examines the ways in which these works stand out in the filmography of a director who offers new insights into the notion of cinematic authorship
Appropriate Similarity Measures for Author Cocitation Analysis
Get PDFWe provide a number of new insights into the methodological discussion about author cocitation analysis. We first argue that the use of the Pearson correlation for measuring the similarity between authors’ cocitation profiles is not very satisfactory. We then discuss what kind of similarity measures may be used as an alternative to the Pearson correlation. We consider three similarity measures in particular. One is the well-known cosine. The other two similarity measures have not been used before in the bibliometric literature. Finally, we show by means of an example that our findings have a high practical relevance.information science;Pearson correlation;cosine;similarity measure;author cocitation analysis
Dispelling the Myths Behind First-author Citation Counts
Get PDFWe conducted a full-scale evaluative citation analysis study of scholars in the XML research field to explore just how different from each other author rankings resulting from different citation counting methods actually are, and to demonstrate the capability of emerging data and tools on the Web in supporting more realistic citation counting methods. Our results contest some common arguments for the continued
use of first-author citation counts in the evaluation of scholars, such as high correlations between author rankings by first-author citation counts and other citation
counting methods, and high costs of using more realistic citation counting methods that are not well-supported by the ISI databases. It is argued that increasingly available digital full text research papers make it possible for citation analysis studies to go beyond what the ISI databases have directly supported and to employ more
sophisticated methods
koamabayili/VECTRON-author-checklist: VECTRON author checklist
No full textWe have done our best to complete the author checklist relating to the use of animals in the hut study. Note that the objective for the hut study was to evaluate the IRS treatment applications for residual efficacy against Anopheles mosquitoes, including the local An. coluzzii mosquito population. Cows were only used to attract mosquitoes into the huts and no tests were carried out directly on the cows. The author checklist is intended for use with studies where experiments are carried out on animals, which is why we have had such difficulty in completing this for the hut study, as many of the questions do not relate to how the cows were used
Author-wise bibliometric analysis based on entropy.
No full textAuthor-wise bibliometric analysis based on entropy.</p
Author Under Sail The Imagination of Jack London, 1893-1902
No full textIn Author Under Sail, Jay Williams offers the first complete literary biography of Jack London as a professional writer engaged in the labor of writing. It examines the authorial imagination in London's work, the use of imagination in both his fiction and nonfiction, and the ways he defined imagination in the creative process in his business dealings with his publishers, editors, and agents. In this first volume of a two-volume biography, Williams traverses the years 1893 to 1902, from London's "Story of a Typhoon" to The People of the Abyss. The Jack London who emerges in the pages of Author Under Sail is a writer whose partnership with publishers, most notably his productive alliance with George Brett of Macmillan, was one of the most formative in American literary history. London pioneered many author models during the heyday of realism and naturalism, blurring the boundaries of these popular genres by focusing on absorption and theatricality and the representation of the seen and unseen. London created an impassioned, sincere, and extremely personal realism unlike that of other American writers of the time. Author Under Sail is a literary tour de force that reveals the full range of London as writer, creative citizen, and entrepreneur at the same time it sheds light on the maverick side of machine-age literature.Intro -- Title Page -- Copyright Page -- Dedication -- Contents -- Acknowledgments -- Introduction -- 1. Spirit Truth -- 2. From Absorption to Theatricality and Back Again -- 3. "I Will Build a New Present" -- 4. Sons as Authors -- 5. Fathers as Publishers -- 6. The Daughter as Author -- 7. Lovers as Authors -- 8. At Sea with the Family -- 9. Yellow News, Yellow Stories -- 10. The Return Home -- Notes -- Bibliography -- Index -- About Jay WilliamsIn Author Under Sail, Jay Williams offers the first complete literary biography of Jack London as a professional writer engaged in the labor of writing. It examines the authorial imagination in London's work, the use of imagination in both his fiction and nonfiction, and the ways he defined imagination in the creative process in his business dealings with his publishers, editors, and agents. In this first volume of a two-volume biography, Williams traverses the years 1893 to 1902, from London's "Story of a Typhoon" to The People of the Abyss. The Jack London who emerges in the pages of Author Under Sail is a writer whose partnership with publishers, most notably his productive alliance with George Brett of Macmillan, was one of the most formative in American literary history. London pioneered many author models during the heyday of realism and naturalism, blurring the boundaries of these popular genres by focusing on absorption and theatricality and the representation of the seen and unseen. London created an impassioned, sincere, and extremely personal realism unlike that of other American writers of the time. Author Under Sail is a literary tour de force that reveals the full range of London as writer, creative citizen, and entrepreneur at the same time it sheds light on the maverick side of machine-age literature.Description based on publisher supplied metadata and other sources.Electronic reproduction. Ann Arbor, Michigan : ProQuest Ebook Central, YYYY. Available via World Wide Web. Access may be limited to ProQuest Ebook Central affiliated libraries
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