A Low-Jitter and Low-Spur Charge-Sampling PLL

This article presents a low-jitter and low-spur charge-sampling phase-locked loop (CSPLL). A charge-domain sub-sampling phase detector is introduced to achieve a high phase-detection gain and to reduce the PLL in-band phase noise. Even without employing any power-hungry isolation buffers, the proposed phase detector dramatically suppresses...

Follow-The-Leader Control: A mechanical control mechanism for path following deployment of surgical instruments

Surgical procedures are shifting towards Minimal Invasive Surgery (MIS). Surgeons are currently limited in their actions by the straight rigid instruments available to them. Devices capable of navigating along curved trajectories increase a surgeon's workspace, which can benefit surgical performance. This paper shortly goes over the state of the...