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Design of Compliance Assisted Gaits for a Quadrupedal Amphibious Robot
The goal of this thesis was to develop an amphibious legged quadrupedal robot and associated gaits. Gaits of interest included walking, swimming, and smoothly transitioning between the two. Compliance was employed in the ...
EXTREME VERTICAL DISPLACEMENT, HIGH FORCE, SILICON MICROSTAGE ZIPPER ACTUATORS
Large vertical deflection, high force microactuators are desired in MEMS for a variety of applications. This thesis details a novel large-displacement electrostatic "zipper" microactuator capable of achieving hundreds of ...
Design, Development, and Evaluation of a Teleoperated Master-Slave Surgical System for Breast Biopsy under Continuous MRI Guidance
The goal of this project is to design and develop a teleoperated master-slave surgical system that can potentially assist the physician in performing breast biopsy with a magnetic resonance imaging (MRI) compatible robotic ...
DESIGN, DEVELOPMENT, AND EVALUATION OF A MRI-GUIDED NEUROSURGICAL INTRACRANIAL ROBOT
Brain tumors are among the most feared complications of cancer. Their treatment is challenging because of the lack of good imaging modality and the inability to remove the complete tumor. To overcome this limitation, we ...
Utility Driven Sampled Data Control Under Imperfect Information
Computer based control systems, which are ubiquitous today, are essentially sampled data control systems. In the traditional time-triggered control systems, the sampling period is conservatively chosen, based on a worst ...