A Scalable, High-Performance, Real-Time Control Architecture with Application to Semi-Autonomous Teleoperation

A scalable and real-time capable infrastructure is required to enable high-performance control and haptic rendering of systems with many degrees-of-freedom. The specific platform that motivates this thesis work is the open research platform da Vinci ReResearch Kit (dVRK). For the system architecture, we propose a specialized IEEE-1394 (FireWire) broadcast protocol that takes advantage of broadcast and peer-to-peer transfers to minimize the number of transactions, and thus the software overhead, on the control PC, thereby enabling fast real-time control. It has also been extended to Ethernet via a novel Ethernet-to-FireWire bridge protocol. The software architecture consists of a distributed hardware interface layer, a real-time component-based software framework, and integration with the Robot Operating System (ROS). The architecture is scalable to support multiple active manipulators, reconfigurable to enable researchers to partition a full system into multiple independent subsystems, and extensible at all levels of control. This architecture has been applied to two semi-autonomous teleoperation applications. The first application is a suturing task in Robotic Minimally Invasive Surgery (RMIS), that includes the development of virtual fixtures for the needle passing and knot tying sub-tasks, with a multi-user study to verify their effectiveness. The second application concerns time-delayed teleoperation of a robotic arm for satellite servicing. The research contribution includes the development of a line virtual fixture with augmented reality, a test for different time delay configurations and a multi-user study that evaluates the effectiveness of the system

A Novel Approach to Pci Simulation Using ScriptSim

In recent years, the Peripheral Component Interconnect (PCI) has become one of the most widely used bus architectures in modern computers. Simulation of the PCI bus, however, has been limited in both research and development. Current commercial PCI simulation software is designed towards compliance and verification testing rather than accurately mimicking PCI bus systems. In addition, most PCI simulation software is inflexible and offers no graphical user interface, instead relying on text files for configuration. This paper presents a novel approach to PCI simulation using ScriptSim, an open-source PCI simulation tool that supports all the features offered by the PCI Local Specification Version 2.2. In addition to extending ScriptSim to include PCI-X functionality and a web-based graphical interface, we introduce techniques that allow us to accurately simulate real-world systems

An investigation into the application of the IEEE 1394 high performance serial bus to sound installation contro

This thesis investigates the feasibility of using existing IP-based control and monitoring protocols within professional audio installations utilising IEEE 1394 technology. Current control and monitoring technologies are examined, and the characteristics common to all are extracted and compiled into an object model. This model forms the foundation for a set of evaluation criteria against which current and future control and monitoring protocols may be measured. Protocols considered include AV/C, MIDI, QSC-24, and those utilised within the UPnP architecture. As QSC-24 and the UPnP architecture are IP-based, the facilities required to transport IP datagrams over the IEEE 1394 bus are investigated and implemented. Example QSC-24 and UPnP architecture implementations are described, which permit the control and monitoring of audio devices over the IEEE 1394 network using these IP-based technologies. The way forward for the control and monitoring of professional audio devices within installations is considered, and recommendations are provided.KMBT_363Adobe Acrobat 9.54 Paper Capture Plug-i

A minimally invasive surgical system for 3D ultrasound guided robotic retrieval of foreign bodies from a beating heart

The result of various medical conditions and trauma, foreign bodies in the heart pose a serious health risk as they may interfere with cardiovascular function. Particles such as thrombi, bullet fragments, and shrapnel can become trapped in a person's heart after migrating through the venous system, or by direct penetration. The severity of disruption can range from benign to fatal, with associated symptoms including anxiety, fever, cardiac tamponade, hemorrhage, infection, embolism, arrhythmia, and valve dysfunction. Injuries of this nature are common in both civilian and military populations. For symptomatic cases, conventional treatment is removal of the foreign body through open surgery via a median sternotomy, the use of cardiopulmonary bypass, and a wide incision in the heart muscle; these methods incur pronounced perioperative risks and long recovery periods. In order to improve upon the standard of care, we propose an image guided robotic system and a corresponding minimally invasive surgical approach. The system employs a dexterous robotic capture device that can maneuver inside the heart through a small incision. Visualization and guidance within the otherwise occluded internal regions are provided by 3D transesophageal echocardiography (TEE), an emerging form of intraoperative medical imaging used in interventions such as mitral valve repair and device implantation. A robotic approach, as opposed to a manual procedure using rigid instruments, is motivated by the various challenges inherent in minimally invasive surgery, which arise from attempts to perform skilled surgical tasks through small incisions without direct vision. Challenges include reduced dexterity, constrained workspace, limited visualization, and difficult hand-eye coordination, which ultimately lead to poor manipulability. A dexterous robotic end effector with real-time image guidance can help overcome these challenges and potentially improve surgical performance. However promising, such a system and approach require that several technical hurdles be resolved. The foreign body must be automatically tracked as it travels about the dynamic environment of the heart. The erratically moving particle must then be captured using a dexterous robot that moves much more slowly in comparison. Furthermore, retrieval must be performed under 3D ultrasound guidance, amidst the uncertainties presented by both the turbulent flow and by the imaging modality itself. In addressing such barriers, this thesis explores the development of a prototype system capable of retrieving a foreign body from a beating heart, culminating in a set of demonstrative in vitro experiments

Augmented reality device for first response scenarios

A prototype of a wearable computer system is proposed and implemented using commercial off-shelf components. The system is designed to allow the user to access location-specific information about an environment, and to provide capability for user tracking. Areas of applicability include primarily first response scenarios, with possible applications in maintenance or construction of buildings and other structures. Necessary preparation of the target environment prior to system\u27s deployment is limited to noninvasive labeling using optical fiducial markers. The system relies on computational vision methods for registration of labels and user position. With the system the user has access to on-demand information relevant to a particular real-world location. Team collaboration is assisted by user tracking and real-time visualizations of team member positions within the environment. The user interface and display methods are inspired by Augmented Reality1 (AR) techniques, incorporating a video-see-through Head Mounted Display (HMD) and fingerbending sensor glove.*. 1Augmented reality (AR) is a field of computer research which deals with the combination of real world and computer generated data. At present, most AR research is concerned with the use of live video imagery which is digitally processed and augmented by the addition of computer generated graphics. Advanced research includes the use of motion tracking data, fiducial marker recognition using machine vision, and the construction of controlled environments containing any number of sensors and actuators. (Source: Wikipedia) *This dissertation is a compound document (contains both a paper copy and a CD as part of the dissertation). The CD requires the following system requirements: Adobe Acrobat; Microsoft Office; Windows MediaPlayer or RealPlayer

Development of PCI Embedded Card Useful for Microcontroller Trainer

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A multiple in-camera processing system for machine vision.

In a typical machine vision application, a line-scan camera positioned on the production line captures images of the parts to be inspected and sends them to the machine vision computer. The computer then uses high-speed data acquisition devices and sophisticated analysis software to extract information from these cameras and generates decisions about the product and manufacturing system. As the manufacturing systems increasingly generate more fine featured and advanced products, the need for higher resolution and faster processing of these camera images is necessary to maintain quality control. To reduce the overwhelming amount of data from multiple camera systems to the analysis computer, an in-camera processing system is introduced. This system involves placing a computing system inside the camera which can perform similar operations to the analysis system, but without all of the additional overhead components. The work presented in this thesis describes an enhanced embedded system which is mounted into a DALSA line-scan camera. This system provides support for real-time one dimensional signal processing with the aid of integrated hardware and software resources.Dept. of Electrical and Computer Engineering. Paper copy at Leddy Library: Theses & Major Papers - Basement, West Bldg. / Call Number: Thesis1999 .M89. Source: Masters Abstracts International, Volume: 40-03, page: 0757. Adviser: Graham A. Jullien. Thesis (M.Sc.)--University of Windsor (Canada), 1999

Towards a circular economy: fabrication and characterization of biodegradable plates from sugarcane waste

Bagasse pulp is a promising material to produce biodegradable plates. Bagasse is the fibrous residue that remains after sugarcane stalks are crushed to extract their juice. It is a renewable resource and is widely available in many countries, making it an attractive alternative to traditional plastic plates. Recent research has shown that biodegradable plates made from Bagasse pulp have several advantages over traditional plastic plates. For example, they are more environmentally friendly because they are made from renewable resources and can be composted after use. Additionally, they are safer for human health because they do not contain harmful chemicals that can leach into food. The production process for Bagasse pulp plates is also relatively simple and cost-effective. Bagasse is first collected and then processed to remove impurities and extract the pulp. The pulp is then molded into the desired shape and dried to form a sturdy plate. Overall, biodegradable plates made from Bagasse pulp are a promising alternative to traditional plastic plates. They are environmentally friendly, safe for human health, and cost-effective to produce. As such, they have the potential to play an important role in reducing plastic waste and promoting sustainable practices. Over the years, the world was not paying strict attention to the impact of rapid growth in plastic use. As a result, uncontrollable volumes of plastic garbage have been released into the environment. Half of all plastic garbage generated worldwide is made up of packaging materials. The purpose of this article is to offer an alternative by creating bioplastic goods that can be produced in various shapes and sizes across various sectors, including food packaging, single-use tableware, and crafts. Products made from bagasse help address the issue of plastic pollution. To find the optimum option for creating bagasse-based biodegradable dinnerware in Egypt and throughout the world, researchers tested various scenarios. The findings show that bagasse pulp may replace plastics in biodegradable packaging. As a result of this value-added utilization of natural fibers, less waste and less of it ends up in landfills. The practical significance of this study is to help advance low-carbon economic solutions and to produce secure bioplastic materials that can replace Styrofoam in tableware and food packaging production