Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics   To simulate body organ motion due to breathing, heart beats, or peristaltic
movements, we designed a low-cost, miniaturized SPRK (Stewart Platform Research
Kit) to translate and rotate phantom tissue. This platform is 20cm x 20cm x
10cm to fit in the workspace of a da Vinci Research Kit (DVRK) surgical robot
and costs $250, two orders of magnitude less than a commercial Stewart
platform. The platform has a range of motion of +/- 1.27 cm in translation
along x, y, and z directions and has motion modes for sinusoidal motion and
breathing-inspired motion. Modular platform mounts were also designed for
pattern cutting and debridement experiments. The platform's positional
controller has a time-constant of 0.2 seconds and the root-mean-square error is
1.22 mm, 1.07 mm, and 0.20 mm in x, y, and z directions respectively. All the
details, CAD models, and control software for the platform is available at
github.com/BerkeleyAutomation/sprk.

9
The categories of this paper are: nlin
22
The categories of this paper are: chao-dyn
34
The categories of this paper are: chem-ph
13
The categories of this paper are: quant-ph
11
The categories of this paper are: hep-lat
35
The categories of this paper are: mtrl-th
0
The categories of this paper are: hep-ph
36
The categories of this paper are: cmp-lg
4
The categories of this paper are: cond-mat
16
The categories of this paper are: stat
21
The categories of this paper are: adap-org
19
The categories of this paper are: eess
7
The categories of this paper are: hep-th
2
The categories of this paper are: math
37
The categories of this paper are: supr-con
33
The categories of this paper are: plasm-ph