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Task Analysis, Modeling, And Automatic Identification Of Elemental Tasks In Robot-Assisted Laparoscopic Surgery, Lavie Pinchas Golenberg 2010 Wayne State University

Task Analysis, Modeling, And Automatic Identification Of Elemental Tasks In Robot-Assisted Laparoscopic Surgery, Lavie Pinchas Golenberg

Wayne State University Dissertations

Robotic microsurgery provides many advantages for surgical operations, including tremor filtration, an increase in dexterity, and smaller incisions. There is a growing need for a task analyses on robotic laparoscopic operations to understand better the tasks involved in robotic microsurgery cases. A few research groups have conducted task observations to help systems automatically identify surgeon skill based on task execution. Their gesture analyses, however, lacked depth and their class libraries were composed of ambiguous groupings of gestures that did not share contextual similarities.

A Hierarchical Task Analysis was performed on a four-throw suturing task using a robotic microsurgical platform. Three ...


Develop Sonic Infrared Imaging Nde For Local Damage Assessment In Civil Structures, Qi He 2010 Wayne State University

Develop Sonic Infrared Imaging Nde For Local Damage Assessment In Civil Structures, Qi He

Wayne State University Dissertations

Nondestructive Evaluation (NDE) is an interdisciplinary field of study, which is concerned with the development of analysis techniques and measurement technologies for the quantitative characterization of materials, tissues and structures. Ultrasonic IR Imaging is a novel NDE technique, which combines a short ultrasonic pulse excitation and infrared imaging to detect defects in materials and structures. In this technique, a sound pulse with a frequency in the range of 20-40kHz is infused on a target material for a short duration (usually less than one second). The sonic/ultrasonic sound waves travel into the material and cause rubbing and clapping between the ...


Unified Role Assignment Framework For Wireless Sensor Networks, Manish Mahendra Kumar Kochhal 2010 Wayne State University

Unified Role Assignment Framework For Wireless Sensor Networks, Manish Mahendra Kumar Kochhal

Wayne State University Dissertations

Wireless sensor networks are made possible by the continuing improvements in embedded sensor, VLSI, and wireless radio technologies. Currently, one of the important challenges in sensor networks is the design of a systematic network management framework that allows localized and collaborative resource control uniformly across all application services such as sensing, monitoring, tracking, data aggregation, and routing.

The research in wireless sensor networks is currently oriented toward a cross-layer network abstraction that supports appropriate fine or course grained resource controls for energy efficiency. In that regard, we have designed a unified role-based service paradigm for wireless sensor networks. We pursue ...


Application Of Magnetic Resonance Imaging To Understanding The Pathogenesis Of The X-Linked Leukodystrophy Pelizaeus-Merzbacher Disease, Jeremy Jerome Laukka 2010 Wayne State University

Application Of Magnetic Resonance Imaging To Understanding The Pathogenesis Of The X-Linked Leukodystrophy Pelizaeus-Merzbacher Disease, Jeremy Jerome Laukka

Wayne State University Dissertations

Myelin is a multilamellar membrane structure surrounding axons in both the CNS and PNS that facilitates nerve conduction. In the CNS, myelin is synthesized by oligodendrocytes, while in the PNS, myelin is synthesized by Schwann cells. In the CNS, Proteolipid protein 1 (PLP1), an integral membrane protein, is the major protein component of myelin, constituting ~50% of myelin protein. Mutations of the PLP1 gene in man cause a spectrum of neurological disease, ranging from the severe Pelizaeus-Merzbacher disease (PMD), that typically begins during infancy with nystagmus, seizures and hypotonia and evolves into spastic quadriparesis, cognitive impairment and ataxia, to ¡¥pure ...


The Fourier Spectrum Element Method For Vibration And Power Flow Analysis Of Complex Dynamic Systems, Hongan Xu 2010 Wayne State University

The Fourier Spectrum Element Method For Vibration And Power Flow Analysis Of Complex Dynamic Systems, Hongan Xu

Wayne State University Dissertations

A general numerical method, the so-called Fourier-Space Element Method (FSEM), is proposed for the vibration and power flow analyses of complex built-up structures. In a FSEM model, a complex structure is considered as a number of interconnected basic structural elements such as beams and plates. The essence of this method is to invariably express each of displacement functions as an improved Fourier series which consists of a standard Fourier cosine series plus several supplementary series/functions used to ensure and improve the uniform convergence of the series representation. Thus, the series expansions of the displacement functions and their relevant derivatives ...


Fault Testing Quantum Switching Circuits, Marek Perkowski, Jacob Biamonte 2010 Portland State University

Fault Testing Quantum Switching Circuits, Marek Perkowski, Jacob Biamonte

Electrical and Computer Engineering Faculty Publications and Presentations

Test pattern generation is an electronic design automation tool that attempts to find an input (or test) sequence that, when applied to a digital circuit, enables one to distinguish between the correct circuit behavior and the faulty behavior caused by particular faults. The effectiveness of this classical method is measured by the fault coverage achieved for the fault model and the number of generated vectors, which should be directly proportional to test application time. This work address the quantum process validation problem by considering the quantum mechanical adaptation of test pattern generation methods used to test classical circuits. We found ...


Elementary Statistical Methods And Measurement Error, Stephen B. Vardeman, Joanne Wendelberger, Tom Burr, Michael S. Hamada, Leslie M. Moore, Marcus Jobe, Max Morris, Huaiqing Wu 2010 Iowa State University

Elementary Statistical Methods And Measurement Error, Stephen B. Vardeman, Joanne Wendelberger, Tom Burr, Michael S. Hamada, Leslie M. Moore, Marcus Jobe, Max Morris, Huaiqing Wu

Industrial and Manufacturing Systems Engineering Publications

How the sources of physical variation interact with a data collection plan determines what can be learned from the resulting dataset, and in particular, how measurement error is reflected in the dataset. The implications of this fact are rarely given much attention in most statistics courses. Even the most elementary statistical methods have their practical effectiveness limited by measurement variation; and understanding how measurement variation interacts with data collection and the methods is helpful in quantifying the nature of measurement error. We illustrate how simple one- and two-sample statistical methods can be effectively used in introducing important concepts of metrology ...


Variable-Wavelength Frequency-Domain Terahertz Ellipsometry, Tino Hofmann, C. M. Herzinger, A. Boosalis, T. E. Tiwald, John A. Woollam, Mathias Schubert 2010 University of Nebraska-Lincoln

Variable-Wavelength Frequency-Domain Terahertz Ellipsometry, Tino Hofmann, C. M. Herzinger, A. Boosalis, T. E. Tiwald, John A. Woollam, Mathias Schubert

Faculty Publications from the Department of Electrical and Computer Engineering

We report an experimental setup for wavelength-tunable frequency-domain ellipsometric measurements in the terahertz spectral range from 0.2 to 1.5 THz employing a desktop-based backward wave oscillator source. The instrument allows for variable angles of incidence between 30° and 90° and operates in a polarizer-sample-rotating analyzer scheme. The backward wave oscillator source has a tunable base frequency of 107–177 GHz and is augmented with a set of Schottky diode frequency multipliers in order to extend the spectral range to 1.5 THz. We use an odd-bounce image rotation system in combination with a wire grid polarizer to prepare ...


Robust Observers And Controllers For Marine Surface Vessels Undergoing Maneuvering And Course-Keeping Tasks, Nassim Khaled 2010 Wayne State University

Robust Observers And Controllers For Marine Surface Vessels Undergoing Maneuvering And Course-Keeping Tasks, Nassim Khaled

Wayne State University Dissertations

The dynamic behavior of marine surface vessels is highly nonlinear. Moreover, it is significantly influenced by environmental disturbances induced by winds, random sea waves and currents. To yield a desired response of the ship, the guidance and control system of the ship should be robust to both modeling imprecision and significant environmental disturbances.

The focus of the current work is threefold. First, a six degree-of-freedom nonlinear model for a marine surface vessel is developed. It accounts for the coriolis and centripetal acceleration terms, added mass and wave damping terms, wave excitation forces, so-called "memory" effect terms, nonlinear restoring forces, wind ...


Detection Statistics Of Multiple-Pulse Optical Signals Through Atmospheric Turbulence, Jacob C. Brandenburg 2010 Wayne State University

Detection Statistics Of Multiple-Pulse Optical Signals Through Atmospheric Turbulence, Jacob C. Brandenburg

Wayne State University Dissertations

Statistics are studied for signal detection in optical communication systems operating through the atmosphere. Optical communication systems with which this study is concerned are those that employ intensity modulation and direct detection. Atmospheric turbulence, which is fluctuations in the atmosphere's optical index of refraction, is a hindrance to optical wireless communications because of the signal fades, called scintillation, it causes at the optical receiver. In order to mitigate the deteriorative effect of turbulence on the communications system, the signal length and detection threshold for the signal detector must be properly chosen.

In this study, mathematical models for photoelectron generation ...


Filter Scheduling Function Model In Internet Server: Resource Configuration, Performance Evaluation And Optimal Scheduling, Minghua Xu 2010 Wayne State University

Filter Scheduling Function Model In Internet Server: Resource Configuration, Performance Evaluation And Optimal Scheduling, Minghua Xu

Wayne State University Dissertations

ABSTRACT

FILTER SCHEDULING FUNCTION MODEL IN INTERNET SERVER:

RESOURCE CONFIGURATION, PERFORMANCE EVALUATION AND

OPTIMAL SCHEDULING

by

MINGHUA XU

August 2010

Advisor: Dr. Cheng-Zhong Xu

Major: Computer Engineering

Degree: Doctor of Philosophy

Internet traffic often exhibits a structure with rich high-order statistical properties like selfsimilarity

and long-range dependency (LRD). This greatly complicates the problem of

server performance modeling and optimization. On the other hand, popularity of Internet

has created numerous client-server or peer-to-peer applications, with most of them,

such as online payment, purchasing, trading, searching, publishing and media streaming,

being timing sensitive and/or financially critical. The scheduling policy in Internet ...


What Do Collaborations With The Arts Have To Say About Human-Robot Interaction?, William D. Smart, Annamaria Pileggi, Leila Takayama 2010 Washington University in St Louis

What Do Collaborations With The Arts Have To Say About Human-Robot Interaction?, William D. Smart, Annamaria Pileggi, Leila Takayama

All Computer Science and Engineering Research

This is a collection of papers presented at the workshop "What Do Collaborations with the Arts Have to Say About HRI", held at the 2010 Human-Robot Interaction Conference, in Osaka, Japan.


Split And Merge Functions For Supporting Multiple Processing Pipelines In Mercury Blastn, Jwalant Ahir, Jeremy Buhler, Roger D. Chamberlain 2010 Washington University in St Louis

Split And Merge Functions For Supporting Multiple Processing Pipelines In Mercury Blastn, Jwalant Ahir, Jeremy Buhler, Roger D. Chamberlain

All Computer Science and Engineering Research

Biosequence similarity search is an important application in computational biology. Mercury BLASTN, an FPGA-based implementation of BLAST for DNA, is one of the alternatives for fast DNA sequence comparison. The re-design of BLAST into a streaming application combined with a high-throughput hardware pipeline have enabled Mercury BLAST to emerge as one of the fastest implementations of bio-sequence similarity search. This performance can be further enhanced by exploiting the data-level parallelism present within the application. Here we present a multiple FPGA-based Mercury BLASTN design in order to double the speed and throughput of DNA sequence computation. This paper describes a dual ...


A Scalable Method For Solving High-Dimensional Continuous Pomdps Using Local Approximation, Tom Erez, William D. Smart 2010 Washington University in St Louis

A Scalable Method For Solving High-Dimensional Continuous Pomdps Using Local Approximation, Tom Erez, William D. Smart

All Computer Science and Engineering Research

Partially-Observable Markov Decision Processes (POMDPs) are typically solved by finding an approximate global solution to a corresponding belief-MDP. In this paper, we offer a new planning algorithm for POMDPs with continuous state, action and observation spaces. Since such domains have an inherent notion of locality, we can find an approximate solution using local optimization methods. We parameterize the belief distribution as a Gaussian mixture, and use the Extended Kalman Filter (EKF) to approximate the belief update. Since the EKF is a first-order filter, we can marginalize over the observations analytically. By using feedback control and state estimation during policy execution ...


End-To-End Delay Analysis For Fixed Priority Scheduling In Wirelesshart Networks, Abusayeed Saifullah, You Xu, Chenyang Lu, Yixin Chen 2010 Washington University in St Louis

End-To-End Delay Analysis For Fixed Priority Scheduling In Wirelesshart Networks, Abusayeed Saifullah, You Xu, Chenyang Lu, Yixin Chen

All Computer Science and Engineering Research

The WirelessHART standard has been specifically designed for real-time communication between sensor and actuator devices for industrial process monitoring and control. End-to-end communication delay analysis for WirelessHART networks is required for acceptance test of real-time data flows from sensors to actuators and for workload adjustment in response to network dynamics. In this paper, we map the scheduling of real-time periodic data flows in a WirelessHART network to real-time multiprocessor scheduling. We, then, exploit the response time analysis for multiprocessor scheduling and propose a novel method for the end-to-end delay analysis of the real-time flows that are scheduled using a fixed ...


The Design And Implementation Of Mcflow: A Real-Time Multi-Core Aware Middleware For Dependent Task Graphs, Huang-Ming Huang, Christopher Gill, Chenyang Lu 2010 Washington University in St Louis

The Design And Implementation Of Mcflow: A Real-Time Multi-Core Aware Middleware For Dependent Task Graphs, Huang-Ming Huang, Christopher Gill, Chenyang Lu

All Computer Science and Engineering Research

Modern computer architectures have evolved from uni-processor platforms to multi-processor and multi-core plat- forms, but traditional real-time distributed middleware such as RT-CORBA has not kept pace with that evolution. To address those issues, this paper describes the design and implementation of MCFlow, a new real-time distributed middleware for dependent task graphs running on multi-core platforms. MCFlow provides the following contributions to the state of the art in real-time middleware: (1) it provides an efficient C++ based component model through which computations can be configured flexibly for execution within a single core, across cores of a common host, or spanning multiple ...


Optimal Design-Space Exploration Of Streaming Applications, Shobana Padmanabhan, Yixin Chen, Roger D. Chamberlain 2010 Washington University in St Louis

Optimal Design-Space Exploration Of Streaming Applications, Shobana Padmanabhan, Yixin Chen, Roger D. Chamberlain

All Computer Science and Engineering Research

Many embedded and scientific applications are frequently pipelined asynchronously and deployed on architecturally diverse systems to meet performance requirements and resource constraints. We call such pipelined applications streaming applications. Typically, there are several design parameters in the algorithms and architectures used that, when customized, impact the tradeoff between different metrics of application performance as well as resource utilization. Automatic exploration of this design space is the goal of this research. When using architecturally diverse systems to accelerate streaming applications, the design search space is often complex. We present a global optimization framework comprising a novel domain-specific variation of branch-and-bound that ...


Toward A Two-Tier Clinical Warning System For Hospitalized Patients, Gregory Hackmann, Minmin Chen, Octav Chipara, Chenyang Lu, Yixin Chen, Marin Kollef, Thomas C. Bailey 2010 Washington University in St Louis

Toward A Two-Tier Clinical Warning System For Hospitalized Patients, Gregory Hackmann, Minmin Chen, Octav Chipara, Chenyang Lu, Yixin Chen, Marin Kollef, Thomas C. Bailey

All Computer Science and Engineering Research

Clinical study has found early detection and intervention to be essential for preventing clinical deterioration in patients at general hospital units. In this paper, we envision a two-tiered early warning system designed to identify the signs of clinical deterioration and provide early warning of serious clinical events. The first tier of the system automatically identifies patients at risk of clinical deterioration from existing electronic medical record databases. The second tier performs real-time clinical event detection based on real-time vital sign data collected from on-body wireless sensors attached to those high-risk patients. We employ machine-learning techniques to analyze data from both ...


An Inexpensive Robot Platform For Teleoperation And Experimentation, Daniel A. Lazewatsky, William D. Smart 2010 Washington University in St Louis

An Inexpensive Robot Platform For Teleoperation And Experimentation, Daniel A. Lazewatsky, William D. Smart

All Computer Science and Engineering Research

Most commercially-available robots are either aimed at the research community, or are designed with a single purpose in mind. The extensive hobbyist community has tended to focus on the hardware and the low-level software aspects. We claim that there is a need for a low-cost, general-purpose robot, accessible to the hobbyist community, with sufficient computation and sensing to run ``research-grade'' software. In this paper, we describe the design and implementation of such a robot. We explicitly outline our design goals, and show how a capable robot can be assembled from off-the-shelf parts, for a modest cost, by a single person ...


The Weakening Of Branch Predictor Performance As An Inevitable Side Effect Of Exploiting Control Independence, Christopher Joseph Michael 2010 Louisiana State University and Agricultural and Mechanical College

The Weakening Of Branch Predictor Performance As An Inevitable Side Effect Of Exploiting Control Independence, Christopher Joseph Michael

LSU Doctoral Dissertations

Many algorithms are inherently sequential and hard to explicitly parallelize. Cores designed to aggressively handle these problems exhibit deeper pipelines and wider fetch widths to exploit instruction-level parallelism via out-of-order execution. As these parameters increase, so does the amount of instructions fetched along an incorrect path when a branch is mispredicted. Many of the instructions squashed after a branch are control independent, meaning they will be fetched regardless of whether the candidate branch is taken or not. There has been much research in retaining these control independent instructions on misprediction of the candidate branch. This research shows that there is ...


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