3D locomotion biomimetic robot fish with haptic feedback

This thesis developed a biomimetic robot fish and built a novel haptic robot fish system based on the kinematic modelling and three-dimentional computational fluid dynamic (CFD) hydrodynamic analysis. The most important contribution is the successful CFD simulation of the robot fish, supporting users in understanding the hydrodynamic properties around it.

Remote centre-of-motion control algorithms of 6-RRCRR parallel robot assisted surgery system (PRAMiSS)

In this paper a 6-RRCRR parallel robot assisted minimally invasive surgery/microsurgery system (PRAMiSS) is introduced. Remote centre-of-motion (RCM) control algorithms of PRAMiSS suitable for minimally invasive surgery and microsurgery are also presented. The programmable RCM approach is implemented in order to achieve manipulation under the constraint of moving through the fixed penetration point. Having minimised the displacements of the mobile platform of the parallel micropositioning robot, the algorithms also apply orientation constraint to the instrument and prevent the tool tip to orient due to the robot movements during the manipulation. Experimental results are provided to verify accuracy and effectiveness of the proposed RCM control algorithms for minimally invasive surgery.

Stair climber smart mobile robot (MSRox)

MSRox is a wheeled mobile robot with two actuated degrees of freedom which enables it to have smooth motion on flat surfaces. It has the capability of climbing stairs and traversing obstacles, and adaptability toward uphill, downhill and slope surfaces. MSRox with 82 cm in length, 54 cm in width and 29 cm in height has been designed to climb stairs of 10 cm in height and 15 cm in width; nevertheless, it has the capability of climbing stairs up to about 17 cm in height and unlimited widt. In this paper, the motion systems and the capabilities of MSRox are described. Furthermore, experimental results of stair climbing and a comparison of the results with others are presented.

Locally sparsified compressive sensing for improved MR image qualtity

The fact that medical images have redundant information is exploited by researchers for faster image acquisition. Sample set or number of measurements were reduced in order to achieve rapid imaging. However, due to inadequate sampling, noise artefacts are inevitable in Compressive Sensing (CS) MRI. CS utilizes the transform sparsity of MR images to regenerate images from under sampled data. Locally sparsified Compressed Sensing is an extension of simple CS. It localises sparsity constraints for sub-regions rather than using a global constraint. This paper, presents a framework to use local CS for improving image quality without increasing sampling rate or without making the acquisition process any slower. This was achieved by exploiting local constraints. Localising image into independent sub-regions allows different sampling rates within image. Energy distribution of MR images is not even and most of noise occurs due to under-sampling in high energy regions. By sampling sub-regions based on energy distribution, noise artefacts can be minimized. Experiments were done using the proposed technique. Results were compared with global CS and summarized in this paper.