Kaiserslautern - Fachbereich Informatik
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Objective: In some surgical specialties, e.g. orthopedics, robots are already used in the operating room for bony milling work. Oto- and otoneurosurgery may also greatly benefit by robotic enhanced precision. Study Design: Experimental study on robotic milling on oak wood and human temporal bone specimen. Methods: A standard industrial robot with a 6 degrees-of-freedom serial kinematics was used with force feedback to proportionally control the robot speed. Different milling modes and characteristic path parameters were evaluated to generate milling paths based on CAD geometry data of a cochlear implant and an implantable hearing system. Results: The best suited strategy proofed to be the spiral horizontal milling mode with the burr held perpendicularly to the temporal bone surface. In order to avoid high grooves, the distance in between paths should equal half the radius of the cutting burr head. Due to the vibration of the robot’s own motors, a rather high oscillation of the standard deviation of forces was encountered. This oscillation dropped drastically to nearly 0 N, when the burr head reached contact with the dura mater due to its damping characteristics. The cutting burr could be moved a long time on the dura without damaging it, because of its rather blunt head. The robot moved the burr very smoothly according to the encountered resistances. Conclusion: This is the first development of an functioning robotic milling procedure for otoneurosurgery with force-based speed control. It is planned to implement ultrasound-based local navigation and to perform robotic mastoidectomy.
This report explains basic notions and concepts of Abstract State Machines (ASM) as well as notation for defining ASM models. The objective here is to provide an intuitive understanding of the formalism; for a rigorous definition of the mathematical foundations of ASM, the reader is referred to [2] and [3]. Further references on ASM-related material can be found on the ASM Web Pages [1].
UML and SDL are languages for the development of software systems that have different origins, and have evolved separately for many years. Recently, it can be observed that OMG and ITU, the standardisation bodies responsible for UML and SDL, respectively, are making efforts to harmonise these languages. So far, harmonisation takes place mainly on a conceptual level, by extending and aligning the set of language concepts. In this paper, we argue that harmonisation of languages can be approached both from a syntactic and semantic perspective. We show how a common syntactical basis can be derived from the analysis of the UML meta-model
and the SDL abstract grammar. For this purpose, conceptually sound and well-founded mappings from meta-models to abstract grammars and vice versa are defined and applied. On the semantic level, a comparison between corresponding language constructs is performed.
We propose several algorithms for efficient Testing of logical Implication in the case of ground objects. Because the problem of Testing a set of propositional formulas for (un)satisfiability is \(NP\)-complete there's strong evidence that there exist examples for which every algorithm which solves the problem of testing for (un)satisfiability has a runtime that is exponential in the length of the input. So will have our algorithms. We will therefore point out classes of logic programs for which our algorithms have a lower runtime. At the end of this paper we will give an outline of an algorithm for theory refinement which is based on the algorithms described above.