DESIGN AND ANALYSIS OF MULTIFUNCTIONAL ROBOT FOR NOTES

The elimination of all external incisions is an important step in reducing the invasiveness of surgical procedures. Natural Orifice Translumenal Endoscopic Surgery (NOTES) is an incision-less surgery and provides explicit benefits such as reducing patient trauma and shortening recovery time. However, technological difficulties impede the widespread utilization of the NOTES method. A novel robotic tool has been developed, which makes NOTES procedures feasible by using multiple interchangeable tool tips. The robotic tool has the capability of entering the body cavity through an orifice or a single incision using a flexible articulated positioning mechanism and once inserted is not constrained by incisions, allowing for visualization and manipulations throughout the cavity. Multiple interchangeable tool tips of the robotic device initially consist of three end effectors: a grasper, scissors, and an atraumatic Babcock clamp. The tool changer is capable of selecting and switching between the three tools depending on the surgical task using a miniature mechanism driven by micro-motors. The robotic tool is remotely controlled through a joystick and computer interface. In this thesis, the following aspects of this robotic tool will be detailed. The first-generation robot is designed as a conceptual model for implementing a novel mechanism of switching, advancing, and controlling the tool tips using two micro-motors. It is believed that this mechanism achieves a reduction in cumbersome instrument exchanges and can reduce overall procedure time and the risk of inadvertent tissue trauma during exchanges with a natural orifice approach. Also, placing actuators directly at the surgical site enables the robot to generate sufficient force to operate effectively. Mounting the multifunctional robot on the distal end of an articulating tube provides freedom from restriction on the robot kinematics and helps solve some of the difficulties otherwise faced during surgery using NOTES or related approaches. The second-generation multifunctional robot is then introduced in which the overall size is reduced and two arms provide 2 additional degrees of freedom, resulting in feasibility of insertion through the esophagus and increased dexterity. Improvements are necessary in future iterations of the multifunctional robot; however, the work presented is a proof of concept for NOTES robots capable of abdominal surgical interventions.

Same-Destination-Intermediate Grouping vs. End-to-End Grouping for Waveband Switching in WDM Mesh Networks

We investigate waveband switching (WBS) with different grouping strategies in wavelength-division multiplexing (WDM) mesh networks. End-to-end waveband switching (ETEWBS) and same-destination-intermediate waveband switching (SD-IT-WBS) are analyzed and compared in terms of blocking probability and cost savings. First, an analytical model for ETEWBS is proposed to determine the network blocking probability in a mesh network. For SD-IT-WBS, a simple waveband switching algorithm is presented. An analytical model to determine the network blocking probability is proposed for SD-IT-WBS based on the algorithm. The analytical results are validated by comparing with simulation results. Both results match well and show that ETE-WBS slightly outperforms SD-IT-WBS in terms of blocking probability. On the other hand, simulation results show that SD-IT-WBS outperforms ETE-WBS in terms of cost savings.

High-Pressure Micellar Solutions of Polystyrene-block-polybutadiene and Polystyrene-block-polyisoprene in Propane Exhibit Cloud-Pressure Reduction and Distinct Micellization End Points

Micellar solutions of polystyrene-block-polybutadiene and polystyrene-block-polyisoprene in propane are found to exhibit significantly lower cloud pressures than the corresponding hypothetical nonmicellar solutions. Such a cloud-pressure reduction indicates the extent to which micelle formation enhances the apparent diblock solubility in near-critical and hence compressible propane. Concentration-dependent pressure-temperature points beyond which no micelles can be formed, referred to as the micellization end points, are found to depend on the block type, size, and ratio. The cloud-pressure reduction and the micellization end point measured for styrene-diene diblocks in propane should be characteristic of all amphiphilic diblock copolymer solutions that form micelles in compressible solvents.

Matrix-Assisted Laser Desorption/Ionization Time-of-Flight Mass Spectrometry Characterization of Primary Amine End-Functionalized Polystyrene and Poly(methyl methacrylate) Synthesized by Living Anionic Polymerization Techniques

The reaction of living anionic polymers with 2,2,5,5-tetramethyl-1-(3-bromopropyl)-1-aza-2,5- disilacyclopentane (1) was investigated using coupled thin layer chromatography and matrix-assisted laser desorption/ionization time-of-flight mass spectrometry. Structures of byproducts as well as the major product were determined. The anionic initiator having a protected primary amine functional group, 2,2,5,5-tetramethyl- 1-(3-lithiopropyl)-1-aza-2,5-disilacyclopentane (2), was synthesized using all-glass high-vacuum techniques, which allows the long-term stability of this initiator to be maintained. The use of 2 in the preparation of well-defined aliphatic primary amine R-end-functionalized polystyrene and poly(methyl methacrylate) was investigated. Primary amino R-end-functionalized poly(methyl methacrylate) can be obtained near-quantitatively by reacting 2 with 1,1-diphenylethylene in tetrahydrofuran at room temperature prior to polymerizing methyl methacrylate at -78 °C. When 2 is used to initiate styrene at room temperature in benzene, an additive such as N,N,N',N'- tetramethylethylenediamine is necessary to activate the polymerization. However, although the resulting polymers have narrow molecular weight distributions and well-controlled molecular weights, our mass spectra data suggest that the yield of primary amine α-end-functionalized polystyrene from these syntheses is very low. The majority of the products are methyl α-end-functionalized polystyrene.

An Empirical Study of Fault Localization for End-User Programmers

End users develop more software than any other group of programmers, using software authoring devices such as e-mail filtering editors, by-demonstration macro builders, and spreadsheet environments. Despite this, there has been little research on finding ways to help these programmers with the dependability of their software. We have been addressing this problem in several ways, one of which includes supporting end-user debugging activities through fault localization techniques. This paper presents the results of an empirical study conducted in an end-user programming environment to examine the impact of two separate factors in fault localization techniques that affect technique effectiveness. Our results shed new insights into fault localization techniques for end-user programmers and the factors that affect them, with significant implications for the evaluation of those techniques.

Revealing the Copy and Paste Habits of End Users

Transferring data across applications is a common end user task, and copying and pasting via the clipboard lets users do so relatively easily. Using the clipboard, however, can also introduce inefficiencies and errors in user tasks. To help researchers and tool developers understand and address these problems, we studied how end users interact with the clipboard through cut, copy, and paste actions. This study was performed by logging clipboard interactions while end users performed everyday tasks. From the clipboard usage data, we have identified several usage patterns that describe how data is transferred within the desktop environment. Such patterns help us understand end user behavior and indicate areas in which clipboard support tools can be improved.

Helping End-User Programmers “Engineer” Dependable Software

Not long ago, most software was written by professional programmers, who could be presumed to have an interest in software engineering methodologies and in tools and techniques for improving software dependability. Today, however, a great deal of software is written not by professionals but by end-users, who create applications such as multimedia simulations, dynamic web pages, and spreadsheets. Applications such as these are often used to guide important decisions or aid in important tasks, and it is important that they be sufficiently dependable, but evidence shows that they frequently are not. For example, studies have shown that a large percentage of the spreadsheets created by end-users contain faults, and stories abound of spreadsheet faults that have led to multi-million dollar losses. Despite such evidence, until recently, relatively little research had been done to help end-users create more dependable software.

Using Source-Code Analysis to Help End-user Programmers Create Dependable Software

Not long ago, most software was written by professional programmers, who could be presumed to have an interest in software engineering methodologies and in tools and techniques for improving software dependability. Today, however, a great deal of software is written not by professionals but by end-users, who create applications such as multimedia simulations, dynamic web pages, and spreadsheets. Applications such as these are often used to guide important decisions or aid in important tasks, and it is important that they be sufficiently dependable, but evidence shows that they frequently are not. For example, studies have shown that a large percentage of the spreadsheets created by end-users contain faults. Despite such evidence, until recently, relatively little research had been done to help end-users create more dependable software. We have been working to address this problem by finding ways to provide at least some of the benefits of formal software engineering techniques to end-user programmers. In this talk, focusing on the spreadsheet application paradigm, I present several of our approaches, focusing on methodologies that utilize source-code-analysis techniques to help end-users build more dependable spreadsheets. Behind the scenes, our methodologies use static analyses such as dataflow analysis and slicing, together with dynamic analyses such as execution monitoring, to support user tasks such as validation and fault localization. I show how, to accommodate the user base of spreadsheet languages, an interface to these methodologies can be provided in a manner that does not require an understanding of the theory behind the analyses, yet supports the interactive, incremental process by which spreadsheets are created. Finally, I present empirical results gathered in the use of our methodologies that highlight several costs and benefits trade-offs, and many opportunities for future work.

Helping End-Users “Engineer” Dependable Web Applications

End-user programmers are increasingly relying on web authoring environments to create web applications. Although often consisting primarily of web pages, such applications are increasingly going further, harnessing the content available on the web through “programs” that query other web applications for information to drive other tasks. Unfortunately, errors can be pervasive in web applications, impacting their dependability. This paper reports the results of an exploratory study of end-user web application developers, performed with the aim of exposing prevalent classes of errors. The results suggest that end-users struggle the most with the identification and manipulation of variables when structuring requests to obtain data from other web sites. To address this problem, we present a family of techniques that help end user programmers perform this task, reducing possible sources of error. The techniques focus on simplification and characterization of the data that end-users must analyze while developing their web applications. We report the results of an empirical study in which these techniques are applied to several popular web sites. Our results reveal several potential benefits for end-users who wish to “engineer” dependable web applications.

QUANTITATIVE TRAIT LOCI FOR AGRONOMIC AND END-USE QUALITY PERFORMANCE AND THE EFFECT OF SOILBORNE WHEAT MOSAIC VIRUS IN A HARD WINTER WHEAT POPULATION IN NEBRASKA

To better understand agronomic and end-use quality in wheat (Triticum aestivum L.) we developed a population containing 154 F6:8 recombinant inbred lines (RILs) from the cross TAM107-R7/Arlin. The parental lines and RILs were phenotyped at six environments in Nebraska and differed for resistance to Wheat soilborne mosaic virus (WSBMV), morphological, agronomic, and end-use quality traits. Additionally, a 2300 cM genome-wide linkage map was created for quantitative trait loci (QTL) analysis. Based on our results across multiple environments, the best RILs could be used for cultivar improvement. The population and marker data are publicly available for interested researchers for future research. The population was used to determine the effect of WSBMV on agronomic and end-use quality and for the mapping of a resistance locus. Results from two infected environments showed that all but two agronomic traits were significantly affected by the disease. Specifically, the disease reduced grain yield by 30% of susceptible RILs and they flowered 5 d later and were 11 cm shorter. End-use quality traits were not negatively affected but flour protein content was increased in susceptible RILs. The resistance locus SbmTmr1 mapped to 27.1 cM near marker wPt-5870 on chromosome 5DL using ELISA data. Finally, we investigated how WSBMV affected QTL detection in the population. QTLs were mapped at two WSBMV infected environments, four uninfected environments, and in the resistant and susceptible RIL subpopulations in the infected environments. Fifty-two significant (LOD≥3) QTLs were mapped in RILs at uninfected environments. Many of the QTLs were pleiotropic or closely linked at 6 chromosomal regions. Forty-seven QTLs were mapped in RILs at WSBMV infected environments. Comparisons between uninfected and infected environments identified 20 common QTLs and 21 environmentally specific QTLs. Finally, 24 QTLs were determined to be affected by WSBMV by comparing the subpopulations in QTL analyses within the same environment. The comparisons were statistically validated using marker by disease interactions. These results showed that QTLs can be affected by WSBMV and careful interpretation of QTL results is needed where biotic stresses are present. Finally, beneficial QTLs not affected by WSBMV or the environment are candidates for marker-assisted selection.

Analysis and Transformation of Pipe-like Web Mashups for End User Programmers

Mashups are becoming increasingly popular as end users are able to easily access, manipulate, and compose data from several web sources. To support end users, communities are forming around mashup development environments that facilitate sharing code and knowledge. We have observed, however, that end user mashups tend to suffer from several deficiencies, such as inoperable components or references to invalid data sources, and that those deficiencies are often propagated through the rampant reuse in these end user communities. In this work, we identify and specify ten code smells indicative of deficiencies we observed in a sample of 8,051 pipe-like web mashups developed by thousands of end users in the popular Yahoo! Pipes environment. We show through an empirical study that end users generally prefer pipes that lack those smells, and then present eleven specialized refactorings that we designed to target and remove the smells. Our refactorings reduce the complexity of pipes, increase their abstraction, update broken sources of data and dated components, and standardize pipes to fit the community development patterns. Our assessment on the sample of mashups shows that smells are present in 81% of the pipes, and that the proposed refactorings can reduce that number to 16%, illustrating the potential of refactoring to support thousands of end users developing pipe-like mashups.