The snake robot has advantages of high transverse force and intuitive control. This new robot may be clinically superior to conventional tools for transanal NOTES.

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In the IoT environment, context information is important to provide context service to the user. For this, collected data from devices such as sensors or actuators, converts to context information using the ontology. Because the existing ontologies designed for target service, if the user wants to change the service requirements, service condition, service environment or another service, overall ontology will be redesigned to the changed service. To overcome this difficulty, we propose the cross-vertical ontology model called the Generic Ontology Models(GOMs). It can define the user's desired services without regarding to place and situation. Also, we propose IoT service concept model that represents data flow of the IoT service and IoT service environment. Moreover, as the use case, we show that the proposed GOMs are able to provide the IoT service well.

To provide context aware service, certain phenomena and situation information of the user should be detecting and monitoring using sensors. But, the sensor data has heterogeneity about system, syntax, structure, and semantics. So, it is difficult to apply to various services. To solve this issue, we should remove these heterogeneities and convert to context information that is easy to provide context aware services. Also, the existing context aware service mash-up environment require relevant sensor type, criteria of context, programing ability to define the service situation. So, it is difficult to create service for a non-technical user. Therefore, we propose ontology based user-centric service environment to provide context aware IoT services. It provide context awareness and user-desired services using data that acquired via IoT paradigm. The proposed environment consist of the ontology based semantic sensor data processing and the user-centric service environment. It provide convert the object data to the context information and service mash-up process to create user service in easy way.

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