This paper shows ongoing research results on the development of automatic control modes for robotized laparoscopic surgery. We show how both force feedback and visual feedback can be used in an hybrid control scheme to autonomously perform basic surgical subtasks. Preliminary experimental results on an example clamping tasks are given.

Effect of clamping pressure on electrical resistance between Gas diffusion layer (GDL) and bipolar plate is a very important parameter in Proton exchange membrane (PEM) fuel cells. For investigation of this matter some researches have been done in these years. But there is not an experimental investigation of clamping pressure effect on PEM electrical resistance. In this paper, some experimenta...

We have studied five pigs undergoing bilateral clamping of the renal pedicles, seven pigs undergoing orthotopic liver transplantation and three control animals without surgery in order to examine the roles of the kidney and liver in the plasma clearance of pipecuronium. An i.v. infusion of pipecuronium was controlled to maintain a constant 90-95% twitch depression throughout the investigation. ...

In this paper, we investigate the effects of non-ideal clamping shapes on the dynamic behavior of silicon nanocantilevers. We fabricated silicon nanocantilevers using silicon on insulator (SOI) wafers by employing stepper ultraviolet (UV) lithography, which permits a resolution of under 100 nm. The nanocantilevers were driven by electrostatic force inside a scanning electron microscope (SEM). B...

In oilfield equipment, a significant place is occupied by clamping mechanisms used to grip pipes during tripping operations. They are mainly divided into 2 groups. The first includes with forced of the part. second group self-clamping devices wedge mechanism. Here, force increases in proportion axial shear force. these devices, jaws serve as common element. addition smooth jaws, there may be no...

Friction stir welding (FSW) is a solid-state jointing technology, in which the butted plates are heated, plasticized and jointed locally by the plunged probe and shoulder moving along the joint line. The residual stresses due to the thermomechanical performance of the material and the constraint of the welded plates by the xture are one of main concerns for this process. A prediction of the cla...