Computer Engineering Commons^™

Development Of A Novel Handheld Device For Active Compensation Of Physiological Tremor, Abhijit Saxena

Electronic Thesis and Dissertation Repository

In microsurgery, the human hand imposes certain limitations in accurately positioning the tip of a device such as scalpel. Any errors in the motion of the hand make microsurgical procedures difficult and involuntary motions such as hand tremors can make some procedures significantly difficult to perform. This is particularly true in the case of vitreoretinal microsurgery. The most familiar source of involuntary motion is physiological tremor. Real-time compensation of tremor is, therefore, necessary to assist surgeons to precisely position and manipulate the tool-tip to accurately perform a microsurgery. In this thesis, a novel handheld device (AID) is described for compensation …

Vision-Based Robot Control In The Context Of Human-Machine Interactions, Andrzej Nycz

Doctoral Dissertations

This research has explored motion control based on visual servoing – in the context of complex human-machine interactions and operations in realistic environments. Two classes of intelligent robotic systems were studied in this context: operator assistance with a high dexterity telerobotic manipulator performing remote tooling-centric tasks, and a bio-robot for X-ray imaging of lower extremity human skeletal joints during natural walking. The combination of human-machine interactions and practical application scenarios has led to the following fundamental contributions: 1) exploration and evaluation of a new concept of acquiring fluoroscope images of musculoskeletal features of interest during natural human motion, 2) creation …

Bio-Inspired Design And Dynamic Maneuverability Of A Minimally Actuated Six-Legged Robot, Aaron Hoover, Samuel Burden, Xiao-Yu Fu, S. Sastry, Ronald Fearing

Aaron M. Hoover

Rapidly running arthropods like cockroaches make use of passive dynamics to achieve remarkable locomotion performance with regard to stability, speed, and maneuverability. In this work, we take inspiration from these organisms to design, fabricate, and control a 10cm, 24 gram underactuated hexapedal robot capable of running at 14 body lengths per second and performing dynamic turning maneuvers. Our design relies on parallel kinematic mechanisms fabricated using the scaled smart composite microstructures (SCM) process and viscoelastic polymer legs with tunable stiffness. In addition to the novel robot design, we present experimental validation of the lateral leg spring (LLS) locomotion model's prediction …

A Wireless And Digital Electrode Bus Topology For Biopotential Measurement, Mark Nolan, Edward Burke, Eugene Coyle

Conference Papers

The conventional biopotential measurement configuration utilises long lead wires which connect measuring electrodes to signal conditioning circuitry. The majority of bioelectric signals that are measured from the human body have a tiny signal amplitude (5µV-5mV range) and thus any interference that is induced on the lead wires can have a detrimental effect on the original signal. In this paper, we present an alternative configuration, in which digitisation occurs on the electrode, potentially providing enhanced signal measurement as well as significant benefits in terms of the simplification of the physical interconnections between electrodes. Multiple electrodes are combined to form a digital …

Polygrasp: Reach; Myoelectric Prosthetic Hand Iteration, Devon Patrick Augustus, Mighells Blaed Deuel, Ian Noel Fraser, Nicholas Philip Moesser

Mechanical Engineering

Amputations are a common occurrence in soldiers returning home who have suffered the effects of IED and munitions explosions. For upper limb amputees, trans-radial amputations are the most common. Traditional hook devices do not offer an adequate level of normalcy for users, prompting the use of myoelectric devices. While current myoelectric devices do offer a more natural experience, they come with a host of other problems that makes their adoption by service personnel not desirable or not permitted by the VA. PolyGrasp Reach seeks to reduce weight and cost and improve performance. This addresses several of the issues with devices …

Improvement Of Statistical Process Control At St. Jude Medical's Cardiac Manufacturing Facility, Christopher Lance Edwards

Master's Theses

Sig sigma is a methodology where companies strive to reproduce results ending up having a 99.9996% chance their product will be void of defects. In order for companies to reach six sigma, statistical process control (SPC) needs to be introduced. SPC has many different tools associated with it, control charts being one of them. Control charts play a vital role in managing how a process is behaving. Control charts allow users to identify special causes, or shifts, and can therefore change the process to keep producing good products, free of defects.

There are many factories and manufacturing facilities having implemented …

Field Programmable Gate Arrays To Accelerate Sub-Surface Imaging Problems, Miriam Leeser

Miriam Leeser

No abstract provided.

The Presence Of Regional Accents In Electrolarynx Speech And The Resultant Effect On Overall Intelligibility., Brian Madden, Eugene Coyle

Conference Papers

During voiced speech, the larynx provides quasi-periodic acoustic excitation of the vocal tract. In most electrolarynxes, mechanical vibrations are produced by a linear electromechanical actuator, the armature of which percusses against a metal or plastic plate at a frequency within the range of glottal excitation. In this paper, a phonological analysis of a section of results from an online perceptual intelligibility test was performed which compared speech produced using a novel hands-free electrolarynx and a commercially available electrolarynx. A portion of the test consisted of a closed-set format containing a selection of four sets of four random CVC audio samples …

Image-Guided Robotic Dental Implantation With Natural-Root-Formed Implants, Xiaoyan Sun

Electrical & Computer Engineering Theses & Dissertations

Dental implantation is now recognized as the standard of the care for tooth replacement. Although many studies show high short term survival rates greater than 95%, long term studies (> 5 years) have shown success rates as low as 41.9%. Reasons affecting the long term success rates might include surgical factors such as limited accuracy of implant placement, lack of spacing controls, and overheating during the placement.

In this dissertation, a comprehensive solution for improving the outcome of current dental implantation is presented, which includes computer-aided preoperative planning for better visualization of patient-specific information and automated robotic site-preparation for superior …

Techniques For Sensor-Integrated Robotic Systems: Raman Spectra Analysis, Image Guidance, And Kinematic Calibration, Luke Anthony Reisner

Wayne State University Dissertations

Robotics and sensor technology have made impressive advancements over the years. There are now robotic systems that help perform surgeries or explore the surface of Mars, and there are sensors that detect trace amounts of explosives or identify diseased human tissue. The most powerful systems integrate robots and sensors, which are natural complements to each other. Sensors can provide information that might otherwise be unavailable due to indirect robotic manipulation (e.g., images of the target environment), and robots can provide suitably precise positioning of an analytical sensor.

To have an effective sensor-integrated robotic system, multiple capabilities are needed in the …