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A dynamic voltage scaling algorithm for sporadic tasks
Dynamic voltage scaling (DVS) algorithms save energy by scaling down the processor frequency when the processor is not fully loaded. Many algorithms have been proposed for periodic and aperiodic taskExpand
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Natural orifice cholecystectomy using a miniature robot
BackgroundNatural orifice translumenal endoscopic surgery (NOTES) is surgically challenging. Current endoscopic tools provide an insufficient platform for visualization and manipulation of theExpand
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Modeling, Analysis, and Experimental Study of In Vivo Wheeled Robotic Mobility
Laparoscopy is abdominal surgery performed with long tools inserted through small incisions. The use of small incisions reduces patient trauma, but also eliminates the surgeon's ability to view andExpand
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The current state of miniature in vivo laparoscopic robotics
Minimally invasive surgery (MIS) reduces patient trauma and shortens recovery time, but also limits the dexterity of the surgeon because degrees of freedom are lost due to the fulcrum effect of theExpand
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Mechanical Design of Robotic In Vivo Wheeled Mobility
A new approach to laparoscopic surgery involves placing a robot completely within the patient. These in vivo robots are then able to provide visual feedback and task assistance that would otherwiseExpand
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A performance and schedulability analysis of an autonomous mobile robot
We present an autonomous, mobile, robotics application that requires dynamic adjustments of task execution rates to meet the demands of an unpredictable environment. The Robotic Safety Marker (RSM)Expand
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Natural orifice surgery with an endoluminal mobile robot
Natural orifice transgastric endoscopic surgery promises to eliminate skin incisions and reduce postoperative pain and discomfort. Such an approach provides a distinct benefit as compared withExpand
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Mobile in vivo camera robots provide sole visual feedback for abdominal exploration and cholecystectomy
Abstract The use of small incisions in laparoscopy reduces patient trauma, but also limits the surgeon’s ability to view and touch the surgical environment directly. These limitations generallyExpand
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The future of NOTES instrumentation: Flexible robotics and in vivo minirobots.
Natural orifice translumenal endoscopic surgery (NOTES) bridges the gap between standard endoluminal and extraluminal surgery and, as such, presents unique instrumentation challenges, including lackExpand
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Physics-based planning for planetary exploration
Recently a planetary rover returned important scientific information from Mars. More ambitious missions are planned. New planning methods are required that allow rovers to explore challenging areasExpand
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