The cell-type continuous electromagnetic radiation system is a demonstration device capable of generating high-power millimeter electromagnetic waves of a specific wavelength and observing their effects on living orga...The cell-type continuous electromagnetic radiation system is a demonstration device capable of generating high-power millimeter electromagnetic waves of a specific wavelength and observing their effects on living organisms.It irradiates a biological sample placed in a 30×30×50 cm^(3)cell with electromagnetic waves in the 3.15-mm-wavelength region(with an output of≥1 W)and analyzes the temperature change of the sample.A vacuum electronic device-based coupled-cavity backward-wave oscillator converts the electron energy of the electron beam into radiofrequency(RF)energy and radiates it to the target through an antenna,increasing the temperature through the absorption of RF energy in the skin.The system causes pain and ultimately reduces combat power.A cell-type continuous electromagnetic radiation system consisting of four parts—an electromagnetic-wave generator,a highvoltage power supply,a test cell,and a system controller—generates an RF signal of≥1 W in a continuous waveform at a 95-GHz center frequency,as well as a chemical solution with a dielectric constant similar to that of the skin of a living organism.An increase of 5°C lasting approximately 10 s was confirmed through an experiment.展开更多
The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness,lightness in its weight,and safety toward the human organ.However,it cannot be used widely because of its difficult...The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness,lightness in its weight,and safety toward the human organ.However,it cannot be used widely because of its difficulty of control.To control a soft robot manipulator accurately,shape sensing is essential.This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube(MWCNT)and silicone(p7670).The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator.In its fabrication,MWCNT is sprayed on a teflon sheet,and liquid-state silicone is poured on it.After curing,we turn it over and cover it with another silicone layer.The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor.After calibration and determining the relationship between the resistance of the sensor and the strain,three sensors are attached at 120°intervals.Using the obtained data,the curvature of the manipulator is calculated,and the entire shape is reconstructed.To validate its accuracy,the estimated shape is compared with the camera data.We experiment with three,six,and nine sensors attached,and the result of the error of shape estimation is compared.As a result,the minimum tip position error is approximately 8.9 mm,which corresponded to 4.45%of the total length of the manipulator when using nine sensors.展开更多
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.NRF-2021M2E8A1038938,No.NRF-2021R1F1A1048374,and No.NRF-2016R1A3B1908336)supported by a grant of the Korea Institute of Radiological and Medical Sciences(KIRAMS),funded by the Ministry of Science and ICT(MSIT),Republic of Korea(No.50051—2021,No.50623—2021)。
文摘The cell-type continuous electromagnetic radiation system is a demonstration device capable of generating high-power millimeter electromagnetic waves of a specific wavelength and observing their effects on living organisms.It irradiates a biological sample placed in a 30×30×50 cm^(3)cell with electromagnetic waves in the 3.15-mm-wavelength region(with an output of≥1 W)and analyzes the temperature change of the sample.A vacuum electronic device-based coupled-cavity backward-wave oscillator converts the electron energy of the electron beam into radiofrequency(RF)energy and radiates it to the target through an antenna,increasing the temperature through the absorption of RF energy in the skin.The system causes pain and ultimately reduces combat power.A cell-type continuous electromagnetic radiation system consisting of four parts—an electromagnetic-wave generator,a highvoltage power supply,a test cell,and a system controller—generates an RF signal of≥1 W in a continuous waveform at a 95-GHz center frequency,as well as a chemical solution with a dielectric constant similar to that of the skin of a living organism.An increase of 5°C lasting approximately 10 s was confirmed through an experiment.
基金supported by the National Research Foundation of Korea(NRF)grant funded by the Korea government(MSIT)(No.2020R1A4A1018227).
文摘The soft robot manipulator is attracting attention in the surgical fields with its intrinsic softness,lightness in its weight,and safety toward the human organ.However,it cannot be used widely because of its difficulty of control.To control a soft robot manipulator accurately,shape sensing is essential.This paper presents a method of estimating the shape of a soft robot manipulator by using a skin-type stretchable sensor composed of a multiwalled carbon nanotube(MWCNT)and silicone(p7670).The sensor can be easily fabricated and applied by simply attaching it to the surface of the soft manipulator.In its fabrication,MWCNT is sprayed on a teflon sheet,and liquid-state silicone is poured on it.After curing,we turn it over and cover it with another silicone layer.The sensor is fabricated with a sandwich structure to decrease the hysteresis of the sensor.After calibration and determining the relationship between the resistance of the sensor and the strain,three sensors are attached at 120°intervals.Using the obtained data,the curvature of the manipulator is calculated,and the entire shape is reconstructed.To validate its accuracy,the estimated shape is compared with the camera data.We experiment with three,six,and nine sensors attached,and the result of the error of shape estimation is compared.As a result,the minimum tip position error is approximately 8.9 mm,which corresponded to 4.45%of the total length of the manipulator when using nine sensors.
