In this article, we present an adaptive busing-table service (BTS) gripper. The BTS gripper is a mode-changeable three-fingered parallel gripper with compliant linkage-based finger mechanisms and has ...two modes: adaptive grasp and nongrasp modes (push/pull operation). For the BTS task, the gripper must be able to grasp dishes of various sizes, shapes, and weights. In addition, the gripper must have the capability to push and pull dishes so that there is sufficient space for holding the dishes. A compliant linkage-based finger mechanism using mechanical compliance and a stopper was developed to implement adaptive grasping. A mode-changing mechanism and rigid posture of the finger with a mechanical stopper were designed to achieve the nongrasp mode. A gripper prototype was designed, and the feasibility and effectiveness of the proposed gripper were verified through several experiments on various dishes and objects on a 1-DOF jig testbed and 6-DOF manipulator. Thus, this study contributes to the advancement of robotic manipulation technology by offering a novel gripper design for complex BTS scenarios.
Abstract Post-traumatic striatocapsular infarction is extremely rare and has been described only within the vascular territory of the perforating arteries originating from the middle cerebral artery ...(MCA). We recently encountered a patient presenting with unilateral multifocal striatocapsular hemorrhagic infarctions following mild head injury. This 25-year-old female was admitted to our trauma center after a motorcycle accident. Initial brain computed tomography and magnetic resonance (MR) imaging showed multifocal acute hemorrhagic infarctions with a clustering in the right caudate head, anterior limb of internal capsule, and globus pallidus. MR angiography and digital subtraction angiography showed suspicious luminal irregularities of the lenticulostriate arteries of the right MCA. Vessel wall MR images (VWI) did neither indicate intramural hematoma nor wall enhancement in the right MCA, suggesting dissection. However, VWI showed the passages of each lenticulostriate artery supplying each infarction site. Therefore, based on both conventional images and VWI, we postulate that this patient's post-traumatic multifocal striatocapsular hemorrhagic infarctions were caused by damage to multiple lenticulostriate arteries.
This article presents WAVE, a four-bar linkage-based stair-climbing robot. WAVE is designed to be a last mile delivery robot that can deliver goods on stairways and flat ground. When the cranks ...comprising WAVE undergo rotation, the body and legs rotate parallel to each other. The rotating body and legs climb the stairs alternately. WAVE has a right-angled groove tailored to the shape of the stairs at the bottom so that it can step stably on the stairs. To prevent the robot from tilting quickly when exiting the stairs, the groove was designed to divide the angle of the robot into three. In-wheel motors are attached to the bottom of the WAVE so that it moves using the wheels on flat ground. Also, as a result of the dynamic analysis, we obtained the motor torque and friction coefficient required to climb stairs. The length of the crank, which is a design variable, was determined via mechanical analysis. The first experiment was performed on the test bench to ensure that the WAVE worked as intended. In addition, through field tests, it was confirmed that WAVE can move upstairs and downstairs on stairs of various sizes.
Abstract Post-traumatic striatocapsular infarction is extremely rare and has been described only within the vascular territory of the perforating arteries originating from the middle cerebral artery ...(MCA). We recently encountered a patient presenting with unilateral multifocal striatocapsular hemorrhagic infarctions following mild head injury. This 25-year-old female was admitted to our trauma center after a motorcycle accident. Initial brain computed tomography and magnetic resonance (MR) imaging showed multifocal acute hemorrhagic infarctions with a clustering in the right caudate head, anterior limb of internal capsule, and globus pallidus. MR angiography and digital subtraction angiography showed suspicious luminal irregularities of the lenticulostriate arteries of the right MCA. Vessel wall MR images (VWI) did neither indicate intramural hematoma nor wall enhancement in the right MCA, suggesting dissection. However, VWI showed the passages of each lenticulostriate artery supplying each infarction site. Therefore, based on both conventional images and VWI, we postulate that this patient's post-traumatic multifocal striatocapsular hemorrhagic infarctions were caused by damage to multiple lenticulostriate arteries.
Post-traumatic striatocapsular infarction is extremely rare and has been described only within the vascular territory of the perforating arteries originating from the middle cerebral artery (MCA). We ...recently encountered a patient presenting with unilateral multifocal striatocapsular hemorrhagic infarctions following mild head injury. This 25-year-old female was admitted to our trauma center after a motorcycle accident. Initial brain computed tomography and magnetic resonance (MR) imaging showed multifocal acute hemorrhagic infarctions with a clustering in the right caudate head, anterior limb of internal capsule, and globus pallidus. MR angiography and digital subtraction angiography showed suspicious luminal irregularities of the lenticulostriate arteries of the right MCA. Vessel wall MR images (VWI) did neither indicate intramural hematoma nor wall enhancement in the right MCA, suggesting dissection. However, VWI showed the passages of each lenticulostriate artery supplying each infarction site. Therefore, based on both conventional images and VWI, we postulate that this patient’s post-traumatic multifocal striatocapsular hemorrhagic infarctions were caused by damage to multiple lenticulostriate arteries.
This paper proposes a mobile robotic platform, LEVO, which uses a normal wheel and a curved-spoke tri-wheel (CSTW). The normal wheel is used for driving on flat terrain, and the CSTW is used for ...stair climbing. In order to use the two mechanisms independently, a switching mechanism that consists of ball screw, linear motion guide, and actuator is added. Therefore, the proposed robot can be driven in both wheel mode and CSTW mode. The CSTW mode is implemented by lowering the CSTW to the ground and raising the rear wheels (caster), while the wheel mode is implemented by lowering caster to the ground and raising the CSTW. In order to design the switching mechanism and CSTW mechanism, static and kinematic analyses are performed. Further, a prototype is assembled to verify the mode-switching, stair climbing, and wheel-driving functions. The experiment was repeated on stairs with different sizes and materials. The results show that robots can drive on both flat terrain and stairs. Therefore, the proposed robot is expected to be useful as a mobile robot platform suitable for indoor environments.
Today, startups are achieving innovation differently from traditional companies based on quick application of new technologies, promptness in decision-making, and active risk-taking. In this ...background, the startup innovation ecosystem (SIE) is defined as a system of innovation actors and influencing factors and their relationship, affecting innovation-based startup activities and their performance. SIE is distinct from the traditional national innovation system (NIS) and has an impact on NIS and government policy, co-evolving in the time. This study investigated how the Korean government, which is experiencing the R&D paradox of high R&D investment but low productivity, seeks to change the NIS by developing the SIE. According to our analytical framework of the SIE, Korea’s SIE is analysed in terms of startups, technology/knowledge, training/human capital, finance, infrastructure, and globalisation. In particular, the evolutionary process of startups-related policies is explained with several specific examples of policy programmes. It is found that Korea’s SIE has achieved unique development, with the government’s active supporting policy for startups, and has produced a big positive impact on Korea’s NIS.
A compact and high efficient magnetic coupled resonator that uses additional parallel capacitors is presented. The proposed resonators are used as a transmitter (TX) and receiver (RX) for a magnetic ...coupled wireless power transmission. Compared with a conventional magnetic coupled resonator, the resonator's size is effectively decreased and the efficiency is increased by the additional capacitor at long distances. Interestingly, the proposed wireless power transmission system shows increased efficiency even when the axis between the TX and RX is misaligned, in contrast to with the conventional one. The proposed resonator has 88% maximum efficiency at a distance of 45 cm, and maintains 80% efficiency up to 25 cm offset.
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