Engineering Commons^™

Dynamic In Vivo Skeletal Feature Tracking Via Fluoroscopy Using A Human Gait Model, William Patrick Anderson

Doctoral Dissertations

The Tracking Fluoroscope System II, a mobile robotic fluoroscopy platform, developed and built at the University of Tennessee, Knoxville, presently employs a pattern matching algorithm in order to identify and track a marker placed upon a subject’s knee joint of interest. The purpose of this research is to generate a new tracking algorithm based around the human gait cycle for prediction and improving the overall accuracy of joint tracking.

This research centers around processing the acquired x-ray images of the desired knee joint obtained during standard clinical operation in order to identify and track directly through the acquired image. Due …

Cross Case Study Of An Elementary Engineering Task, John Heffernan

Doctoral Dissertations

Designerly play has been identified as a fundamental component of childhood learning (Baynes, 1994; Petroski, 2003). However, as students enter grade one and beyond, the increasing academic focus has resulted in the loss of opportunities for designerly play (Zhao, 2012). At the same time, there are increasing calls to increase the number, skill, and diversity of STEM workers (Brophy, Portsmore, Klein, & Rogers, 2008). The robotics based Elementary Engineering Curriculum (Heffernan, 2013) - used by students in this study - and other similar projects have the potential to increase the STEM pipeline but elementary engineering is not well-understood. Research is …

Belief-Space Planning For Resourceful Manipulation And Mobility, Dirk Ruiken

Doctoral Dissertations

Robots are increasingly expected to work in partially observable and unstructured environments. They need to select actions that exploit perceptual and motor resourcefulness to manage uncertainty based on the demands of the task and environment. The research in this dissertation makes two primary contributions. First, it develops a new concept in resourceful robot platforms called the UMass uBot and introduces the sixth and seventh in the uBot series. uBot-6 introduces multiple postural configurations that enable different modes of mobility and manipulation to meet the needs of a wide variety of tasks and environmental constraints. uBot-7 extends this with the use …

Modeling, Analysis, Force Sensing And Control Of Continuum Robots For Minimally Invasive Surgery, Caroline Bryson Black

Doctoral Dissertations

This dissertation describes design, modeling and application of continuum robotics for surgical applications, specifically parallel continuum robots (PCRs) and concentric tube manipulators (CTMs). The introduction of robotics into surgical applications has allowed for a greater degree of precision, less invasive access to more remote surgical sites, and user-intuitive interfaces with enhanced vision systems. The most recent developments have been in the space of continuum robots, whose exible structure create an inherent safety factor when in contact with fragile tissues. The design challenges that exist involve balancing size and strength of the manipulators, controlling the manipulators over long transmission pathways, and …