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Sensorized Surgical Forceps for Robotic-Assisted Minimally Invasive Surgery
Kim, Uikyum,Kim, Yong Bum,So, Jinho,Seok, Dong-Yeop,Choi, Hyouk Ryeol Institute of Electrical and Electronics Engineers 2018 IEEE transactions on industrial electronics Vol.65 No.12
<P>A novel force-sensing mechanism for surgical robotic systems is required for further innovation of robotic-assisted minimally invasive surgery (RMIS). In this paper, novel sensorized surgical forceps are presented with five-degree-of-freedom (5-DOF) force/torque (F/T) sensing capability: a grasping force, a 3-DOF manipulating force, and a rotational torque acting at the forceps. Two compact 3-DOF force sensors are integrated into the proximal region on two jaws of the forceps to measure 5-DOF F/T. The forceps also present important advantages for actual use in RMIS, such as miniaturization, compatible configuration to various shapes of surgical forceps, and packaged sensor electronics. In this study, the forceps are designed and manufactured at a low cost and are even disposable. To evaluate the forceps in a surgical robotic environment, the instrument is installed in a surgical robot, named S-Surge. In the environment, the 5-DOF F/T sensing capability is evaluated through comparison with reference sensors.</P>
Software-based single-node multi-GPU systems for interactive display wall
Kim, Inhyeok,Kim, Junghan,Park, Jonggyu,Eom, Young Ik Institute of Electrical and Electronics Engineers 2017 IEEE transactions on consumer electronics Vol.63 No.2
<P>A display wall, one of the multiple display environments (MDEs), has been widely adopted in various fields including consumer electronics. Conventional display walls are constructed by utilizing cluster-based systems where multiple displays are connected via multiple cluster nodes. However, cluster-based systems have suffered from communication overheads among the cluster nodes when they provide interaction features and run diverse applications. This paper proposes a software-based single-node multi-GPU system for interactive display walls. The proposed system allows multiple GPUs in a single-node system to connect multiple displays, by providing an individual compositor for each GPU in the system. This paper also analyzes memory management models of multi-GPU systems and compositing overheads for multiple displays. Experimental results show that the FPS (frames per second) of the proposed system outperforms that of the conventional system by up to 1.36x, reducing copy overheads among the GPUs by efficient memory management and distributing compositing overheads to multiple GPUs.</P>
Schottky Barrier in Organic Transistors
Xu, Yong,Sun, Huabin,Noh, Yong-Young Institute of Electrical and Electronics Engineers 2017 IEEE transactions on electron devices Vol.64 No.5
<P>Organic FETs (OFETs) are essential devices in future flexible electronics. Yet, a crucial issue associated with electronic contact is still unsolved and our fundamental understanding remains very limited. Unlike many other previous reports talking about the contact resistance, in this paper, we specifically discuss its major root: the Schottky barrier, by comparison of the conventional metal-silicon contacts, and the unconventional metal-organic contacts, where the special features in OFETs are underlined. We not only examine the basics of the Schottky barrier but also the extrinsic effects as well as the characterization methods. The key factors in device fabrication are also reviewed in order to minimize the detrimental impacts of the Schottky barrier for obtaining optimum device performance.</P>
Institute of Electrical and Electronics Engineers 2018 IEEE transactions on plasma science Vol. No.
<P>A capacitively coupled discharge source equipped with liquid nitrogen cooling system has been developed to create water-ice grains in a plasma environment at the Korea Atomic Energy Research Institute. We found that the gravitational force exerted on 5-mu m water-ice grains is nearly compensated by the thermophoretic force when the upper electrode is cooler than that of the bottom electrode by 10-15 K and we observed two distinct, axisymmetric vortex flows are formed in the upper and lower parts of the plasma. The numerical calculation solving a set of equations including the vorticity equation confirms that the observed axisymmetric vortices result from the nonconservative ion drag force.</P>
Degradation Characteristics of Superconducting Wires With Respect to Electrical Breakdown Tests
Kang, Jong O.,Onyou Lee,Seungmin Bang,Junil Kim,Hongseok Lee,Jonggi Hong,Seokho Nam,Tae Kuk Ko,Yoon Do Chung,Hyoungku Kang Institute of Electrical and Electronics Engineers 2015 IEEE transactions on applied superconductivity Vol.25 No.3
<P>The electrical insulation design for a superconducting system is important when developing a high-voltage superconducting apparatus as a substitute for a conventional one. In this paper, the degradation characteristics of 2G high temperature superconducting (HTS) wires, with respect to electrical breakdown tests, were studied. It was found that the superconducting materials in 2G HTS wires can be damaged in electrical breakdown, and the damaged structure of 2G HTS wires results in the degradation of the Ic and index number. As a result, it was found that the degradation characteristics of the 2G HTS wires were affected by the stabilizer material and applied breakdown voltage. Thus, the hardness and electrical conductivity of a stabilizer material can be considered as design parameters in developing a high-voltage superconducting coil. Finally, the cross-sectional views of 2G HTS wires were presented using a scanning electron microscope.</P>
Kwon, Ik-Soo,Na, Jin-Yong,Lee, Ho-Young,Lee, Bang-Wook Institute of Electrical and Electronics Engineers 2018 IEEE transactions on applied superconductivity Vol.28 No.3
<P>The externally applied electric field causing sudden increase in electrical conductivity is called the threshold electric field. And the information of this threshold electric field is very important for reliable insulation design of dc power apparatus because dc electric field distribution is governed by electrical conductivity of the insulating material. There are several reports on the threshold electric field of XLPE and polymeric materials used for dc power cables, operated at room temperature. However, there are no previous works on threshold field of cryogenic insulating materials, which is necessary for the reliable insulation design of a superconducting dc cable. Therefore, in this study, we tried to determine the characteristics of threshold electric field of a polypropylene laminated paper (PPLP) specimen in liquid nitrogen by varying the number of PPLP layers. From the experiments, we could observe that there exists the threshold electric field of PPLP in a cryogenic environment. Furthermore, it was found that there was no difference in the measured threshold electric field in spite of different number of PPLP layers. In addition, it was found that if electrical stress exceedes the threshold field on PPLP specimen, the conductivity can be varied according to the number of PPLP layers.</P>
Young Gun Park,Young Jin Hwang,Jae Young Jang,Hyung Jun Kim,Woo Seung Lee,Hyun Chul Jo,Ho Min Kim,Yong Soo Yoon,Tae Kuk Ko Institute of Electrical and Electronics Engineers 2014 IEEE transactions on applied superconductivity Vol.24 No.3
<P>Transporting large currents through High- Tc (HTS) current leads (CLs) inevitably involves using several HTS tapes in multi-stacked form to obtain a high current density. For safe operation of HTS CLs, the thermal stability of stacked HTS tapes should be considered. In this paper, we investigated electrical and thermal properties of multi-stacked HTS tapes using 2G coated conductor (CC). Three kinds of commercial CC with different specification of stabilizer were used for the experiment. Each stack sample was fabricated by soldering together CC tapes using In-Bi alloy. To verify the effects of a stabilizer on thermal stability for multi-stacked CC tapes, we performed an experiment of minimum quench energy measurements. In addition, transient electrical and thermal behavior were measured as a function of the external heat input energy. Each stack sample has a heater made of nickel-chromium (Ni-Cr) wire to make the external heat disturbance and a type-E thermocouple to measure the temperature. Based on the test results, electrical and thermal characteristics of multi-stacked CC tapes were evaluated.</P>
Uzhegov, Nikita,Smirnov, Alexander,Park, Cheol Hoon,Ahn, Ji Hun,Heikkinen, Janne,Pyrhonen, Juha Institute of Electrical and Electronics Engineers 2017 IEEE transactions on industrial electronics Vol.64 No.11
<P>Two-stage oil-free centrifugal air compressors can bring significant advantages and open new market opportunities for compressor manufacturers. One of the core technologies behind this compressor type is the high-speed electrical machine supported by active magnetic bearings. In this paper, the requirements set by the compressor on the electrical machine design are presented. The design solutions aimed to satisfy these requirements are discussed. Two case studies illustrate possible design approaches for the target application with examples of a 120-kW, 60 000-r/min induction machine with a solid rotor and a 225-kW, 50 000-r/min permanent-magnet synchronous machine (PMSM) with a full cylindrical magnet. The system design and simulation results are confirmed by measurements of a PMSM prototype.</P>