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Articles 1 - 4 of 4
Full-Text Articles in Medicine and Health Sciences
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
A Framework For Stable Robot-Environment Interaction Based On The Generalized Scattering Transformation, Kanstantsin Pachkouski
Electronic Thesis and Dissertation Repository
This thesis deals with development and experimental evaluation of control algorithms for stabilization of robot-environment interaction based on the conic systems formalism and scattering transformation techniques. A framework for stable robot-environment interaction is presented and evaluated on a real physical system. The proposed algorithm fundamentally generalizes the conventional passivity-based approaches to the coupled stability problem. In particular, it allows for stabilization of not necessarily passive robot-environment interaction. The framework is based on the recently developed non-planar conic systems formalism and generalized scattering-based stabilization methods. A comprehensive theoretical background on the scattering transformation techniques, planar and non-planar conic systems is presented. …
The Development Of A Motion Sensing Device For Use In A Home Setting, Jaspreet K. Kalsi
The Development Of A Motion Sensing Device For Use In A Home Setting, Jaspreet K. Kalsi
Electronic Thesis and Dissertation Repository
Parkinson's disease (PD) is the second most prevalent neurodegenerative disease, with over 10 million individuals diagnosed with PD world-wide. The most common symptom characterized by PD is tremor. Tremor is an involuntary oscillatory motion that most prominently occurs in upper limb, specifically in the hand and wrist that has a measurable frequency and amplitude. This thesis aims to evaluate the usability and functionality of a tremor sensing device designed to collect quantitative data on individuals with PD. The designed device uses 23 commercially-available inertial measuring units (IMUs) located between 21 joints: distal interphalangeal (DIP) joints, proximal interphalangeal (PIP) joints, Interphalangeal …
A Two-Layer Continuous-Capillary Oxygen Transport Model: Development And Application To Blood Flow Regulation In Resting Skeletal Muscle., Keith C. Afas
Electronic Thesis and Dissertation Repository
In skeletal muscle (SM), the microcirculation distributes blood flow to capillary networks to meet local oxygen (O2) demand. Experiments using intra-vital video microscopy (IVVM) have quantified blood flow and O2 supply in capillary networks, and using an O2 exchange chamber have measured local changes in blood flow believed due to O2-dependent regulation. However, IVVM is unable to simultaneously measure capillary O2 supply and SM O2 content, implying the need for theoretical models to understand how flow regulation and SM oxygenation interact. In this thesis, a novel blood-tissue O2 transport model using …
Cost-Effective Non-Destructive Testing Of Biomedical Components Fabricated Using Additive Manufacturing, Santiago Fabian Cobos
Cost-Effective Non-Destructive Testing Of Biomedical Components Fabricated Using Additive Manufacturing, Santiago Fabian Cobos
Electronic Thesis and Dissertation Repository
Biocompatible titanium-alloys can be used to fabricate patient-specific medical components using additive manufacturing (AM). These novel components have the potential to improve clinical outcomes in various medical scenarios. However, AM introduces stability and repeatability concerns, which are potential roadblocks for its widespread use in the medical sector. Micro-CT imaging for non-destructive testing (NDT) is an effective solution for post-manufacturing quality control of these components. Unfortunately, current micro-CT NDT scanners require expensive infrastructure and hardware, which translates into prohibitively expensive routine NDT. Furthermore, the limited dynamic-range of these scanners can cause severe image artifacts that may compromise the diagnostic value of …