Medicine and Health Sciences Commons^™

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. …

Cardio-Net: A Matlab-Based Software For The Display And Diagnostic Utilization Of Vectorcardiograms, Ali H. Mannaa, Domenico Gatti

Medical Student Research Symposium

Background: The 12-lead technique is the standard in ECG, however alternate cardiography modalities such as vectorcardiography (VCG) exist . While the VCG modality offers unique clinical metrics and certain advantages over ECG, it is hardly utilized due to it being more difficult to obtain than ECG. Here we introduce Cardio-Net, a MATLAB-based software that uses standard 12-lead ECG data to generate and visualize VCGs. Furthermore, we demonstrate the diagnostic potential of VCG by utilizing a recurrent neural network (RNN) to accurately classify vectorcardiograms.

Methods: MATLAB version 2019b and the following toolboxes were used for data processing: Deep learning, …

Full-Body Biomechanical Characterization Of Children With Hypermobile Ehlers-Danlos Syndrome During Gait And Activities Of Daily Living, Anahita Alahmoradiqashqai

Theses and Dissertations

Hypermobile Ehlers-Danlos syndrome (hEDS) is an inherited connective tissue disorder, often under-diagnosed, and presenting with frequent chronic pain and severe musculoskeletal symptoms that can drastically reduce the quality of life during one’s life span. While there are limited quantitative approaches in the literature on adult movements, the biomechanics of movements during activities of daily living (ADLs) in children have not been investigated comprehensively. Therefore, the primary purpose of this dissertation was to characterize the biomechanics of the musculoskeletal system and investigate the biomechanics of hEDS by quantifying joint dynamics and muscle activations during ADLs and gait in the pediatric population. …