1,058 research outputs found

    Automated Distinct Bone Segmentation from Computed Tomography Images using Deep Learning

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    Large-scale CT scans are frequently performed for forensic and diagnostic purposes, to plan and direct surgical procedures, and to track the development of bone-related diseases. This often involves radiologists who have to annotate bones manually or in a semi-automatic way, which is a time consuming task. Their annotation workload can be reduced by automated segmentation and detection of individual bones. This automation of distinct bone segmentation not only has the potential to accelerate current workflows but also opens up new possibilities for processing and presenting medical data for planning, navigation, and education. In this thesis, we explored the use of deep learning for automating the segmentation of all individual bones within an upper-body CT scan. To do so, we had to find a network architec- ture that provides a good trade-off between the problem’s high computational demands and the results’ accuracy. After finding a baseline method and having enlarged the dataset, we set out to eliminate the most prevalent types of error. To do so, we introduced an novel method called binary-prediction-enhanced multi-class (BEM) inference, separating the task into two: Distin- guishing bone from non-bone is conducted separately from identifying the individual bones. Both predictions are then merged, which leads to superior results. Another type of error is tack- led by our developed architecture, the Sneaky-Net, which receives additional inputs with larger fields of view but at a smaller resolution. We can thus sneak more extensive areas of the input into the network while keeping the growth of additional pixels in check. Overall, we present a deep-learning-based method that reliably segments most of the over one hundred distinct bones present in upper-body CT scans in an end-to-end trained matter quickly enough to be used in interactive software. Our algorithm has been included in our groups virtual reality medical image visualisation software SpectoVR with the plan to be used as one of the puzzle piece in surgical planning and navigation, as well as in the education of future doctors

    Blending the Material and Digital World for Hybrid Interfaces

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    The development of digital technologies in the 21st century is progressing continuously and new device classes such as tablets, smartphones or smartwatches are finding their way into our everyday lives. However, this development also poses problems, as these prevailing touch and gestural interfaces often lack tangibility, take little account of haptic qualities and therefore require full attention from their users. Compared to traditional tools and analog interfaces, the human skills to experience and manipulate material in its natural environment and context remain unexploited. To combine the best of both, a key question is how it is possible to blend the material world and digital world to design and realize novel hybrid interfaces in a meaningful way. Research on Tangible User Interfaces (TUIs) investigates the coupling between physical objects and virtual data. In contrast, hybrid interfaces, which specifically aim to digitally enrich analog artifacts of everyday work, have not yet been sufficiently researched and systematically discussed. Therefore, this doctoral thesis rethinks how user interfaces can provide useful digital functionality while maintaining their physical properties and familiar patterns of use in the real world. However, the development of such hybrid interfaces raises overarching research questions about the design: Which kind of physical interfaces are worth exploring? What type of digital enhancement will improve existing interfaces? How can hybrid interfaces retain their physical properties while enabling new digital functions? What are suitable methods to explore different design? And how to support technology-enthusiast users in prototyping? For a systematic investigation, the thesis builds on a design-oriented, exploratory and iterative development process using digital fabrication methods and novel materials. As a main contribution, four specific research projects are presented that apply and discuss different visual and interactive augmentation principles along real-world applications. The applications range from digitally-enhanced paper, interactive cords over visual watch strap extensions to novel prototyping tools for smart garments. While almost all of them integrate visual feedback and haptic input, none of them are built on rigid, rectangular pixel screens or use standard input modalities, as they all aim to reveal new design approaches. The dissertation shows how valuable it can be to rethink familiar, analog applications while thoughtfully extending them digitally. Finally, this thesis’ extensive work of engineering versatile research platforms is accompanied by overarching conceptual work, user evaluations and technical experiments, as well as literature reviews.Die Durchdringung digitaler Technologien im 21. Jahrhundert schreitet stetig voran und neue Geräteklassen wie Tablets, Smartphones oder Smartwatches erobern unseren Alltag. Diese Entwicklung birgt aber auch Probleme, denn die vorherrschenden berührungsempfindlichen Oberflächen berücksichtigen kaum haptische Qualitäten und erfordern daher die volle Aufmerksamkeit ihrer Nutzer:innen. Im Vergleich zu traditionellen Werkzeugen und analogen Schnittstellen bleiben die menschlichen Fähigkeiten ungenutzt, die Umwelt mit allen Sinnen zu begreifen und wahrzunehmen. Um das Beste aus beiden Welten zu vereinen, stellt sich daher die Frage, wie neuartige hybride Schnittstellen sinnvoll gestaltet und realisiert werden können, um die materielle und die digitale Welt zu verschmelzen. In der Forschung zu Tangible User Interfaces (TUIs) wird die Verbindung zwischen physischen Objekten und virtuellen Daten untersucht. Noch nicht ausreichend erforscht wurden hingegen hybride Schnittstellen, die speziell darauf abzielen, physische Gegenstände des Alltags digital zu erweitern und anhand geeigneter Designparameter und Entwurfsräume systematisch zu untersuchen. In dieser Dissertation wird daher untersucht, wie Materialität und Digitalität nahtlos ineinander übergehen können. Es soll erforscht werden, wie künftige Benutzungsschnittstellen nützliche digitale Funktionen bereitstellen können, ohne ihre physischen Eigenschaften und vertrauten Nutzungsmuster in der realen Welt zu verlieren. Die Entwicklung solcher hybriden Ansätze wirft jedoch übergreifende Forschungsfragen zum Design auf: Welche Arten von physischen Schnittstellen sind es wert, betrachtet zu werden? Welche Art von digitaler Erweiterung verbessert das Bestehende? Wie können hybride Konzepte ihre physischen Eigenschaften beibehalten und gleichzeitig neue digitale Funktionen ermöglichen? Was sind geeignete Methoden, um verschiedene Designs zu erforschen? Wie kann man Technologiebegeisterte bei der Erstellung von Prototypen unterstützen? Für eine systematische Untersuchung stützt sich die Arbeit auf einen designorientierten, explorativen und iterativen Entwicklungsprozess unter Verwendung digitaler Fabrikationsmethoden und neuartiger Materialien. Im Hauptteil werden vier Forschungsprojekte vorgestellt, die verschiedene visuelle und interaktive Prinzipien entlang realer Anwendungen diskutieren. Die Szenarien reichen von digital angereichertem Papier, interaktiven Kordeln über visuelle Erweiterungen von Uhrarmbändern bis hin zu neuartigen Prototyping-Tools für intelligente Kleidungsstücke. Um neue Designansätze aufzuzeigen, integrieren nahezu alle visuelles Feedback und haptische Eingaben, um Alternativen zu Standard-Eingabemodalitäten auf starren Pixelbildschirmen zu schaffen. Die Dissertation hat gezeigt, wie wertvoll es sein kann, bekannte, analoge Anwendungen zu überdenken und sie dabei gleichzeitig mit Bedacht digital zu erweitern. Dabei umfasst die vorliegende Arbeit sowohl realisierte technische Forschungsplattformen als auch übergreifende konzeptionelle Arbeiten, Nutzerstudien und technische Experimente sowie die Analyse existierender Forschungsarbeiten

    Drones, Signals, and the Techno-Colonisation of Landscape

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    This research project is a cross-disciplinary, creative practice-led investigation that interrogates increasing military interest in the electromagnetic spectrum (EMS). The project’s central argument is that painted visualisations of normally invisible aspects of contemporary EMS-enabled warfare can reveal useful, novel, and speculative but informed perspectives that contribute to debates about war and technology. It pays particular attention to how visualising normally invisible signals reveals an insidious techno-colonisation of our extended environment from Earth to orbiting satellites

    Application of Particle Transfer by Dipping Using Polymer Binder

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    The demand for particle transfer is increasing in various industries, such as manufacturing, metal joining, microfluidics, roller lubrication process, fuel cells, super-capacitors, hybrid coating, and protective layer applications. As a result, the importance of efficient transfer of solid micron-size particles is becoming more crucial. Submicron-sized particles can easily adhere to solid substrates due to negligible gravitational force, while micron-sized or larger particles require a binder to overcome the gravitational effects. This thesis aims to investigate the interactions between microparticles and polymer thin film on cylindrical substrates using particle transfer methods. The process parameters are optimized and demonstrated two applications of this process: sorting particles based on their size from poly-disperse particle mixtures and controlling the friction force of the rods. To transfer particles into a substrate, a density-mismatching heterogeneous suspension is utilized, where kinetic energy is supplied by a magnetic stirrer’s rotation to keep the particles suspended during transfer. Initially, the effect of magnetic stirrer rotation and binder concentration on the optimal particle transfer was investigated. As a result of optimizing process parameters, a novel technique was developed for filtering poly-disperse particles from density mismatching heterogeneous mixtures at the solid-liquid interface (submerged condition) using entrapment instead of the conventional entrainment approach used in dip-coating processes. The polymer layer thickness formed over the substrate is controlled by controlling the binder concentration in the suspension. The binder concentration is varied from ϕb = 1% to ϕb = 13% at different intervals and the particle concentration is kept fixed ϕp = 10%. The viscosity is measured at room temperature (25 ºC) to observe the behavior of the suspension using a rotational rheometer. The variation in the polymer layer thickness controls the size of the entrapped particles. This work successfully showed the size-based separation of particles from a poly-disperse particle mixture. Another aspect of this thesis involved the systematic control of frictional forces between elastic rods in contact by transferring particles via dip-coating. Non-spherical particles adhere to the rods using a polymeric binder. A custom continuous dip-coating setup was constructed in the laboratory to coat the elastic rods. The particle delivery over the rods is regulated by controlling the concentration of particles in the suspension. Particle concentration in the suspension is varied from ϕp = 1% to ϕp = 13% at different intervals to observe the effect of variation of particle concentration keeping the binder concentration fixed (ϕb = 5%). The coated rods are dried in the oven to overcome the effect of the solvent during the friction force measurement. Table-top experimental setup with a push-pull digital force gauge is used to measure the variation friction force at different pulling lengths of overhand knots with a variety of unknotting numbers. This work successfully demonstrates a novel method of controlling the friction force of elastic rods by controlling the particle concentration in the suspension

    Microfluidic systems based on electroactive polymers technology

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    Dielectric elastomer actuators (DEAs) have been widely investigated for more than 30 years. Lately, several fabrication methods have successfully allowed the creation of very thin elastomer and electrode layers. The development of attractive applications, in which DEAs offer advantages over conventional technologies, is thus necessary for the advance of the technology. In this work, new biocompatible microfluidic devices based on DEAs are developed. In the first part of this thesis, several prototypes of peristaltic pumps of single layer dielectric elastomer actuators are designed, manufactured and characterized. Although these prototypes were not able to produce fluid flow, novel insights into the capabilities of Electroactive Polymer technology were gained. In the second part of this work, a pumping micromixer as a novel application of dielectric elastomer stacked actuators is manufactured. The pumping micromixer is based on peristaltic movements, which gently act as a mixer and a pump for microfluidics. Experimental data show a maximal flow rate of 21.5 µL/min at 10 Hz. Image analysis at the outlet proves a 50/50 mixing when all actuators are functioning at the same pace and voltage. The performance of the pumping micromixer is further studied with the Finite Element Method, using the COMSOL Multiphysics® software. Simulations demonstrate the versatility of the pumping characteristics of such a microdevice, from very few µL/min to mL/min, and from a very low pressure in the range of Pa to hundreds of kPa, by only changing the duty cycle, phase shift and actuation frequency

    Efficient parallelization strategy for real-time FE simulations

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    This paper introduces an efficient and generic framework for finite-element simulations under an implicit time integration scheme. Being compatible with generic constitutive models, a fast matrix assembly method exploits the fact that system matrices are created in a deterministic way as long as the mesh topology remains constant. Using the sparsity pattern of the assembled system brings about significant optimizations on the assembly stage. As a result, developed techniques of GPU-based parallelization can be directly applied with the assembled system. Moreover, an asynchronous Cholesky precondition scheme is used to improve the convergence of the system solver. On this basis, a GPU-based Cholesky preconditioner is developed, significantly reducing the data transfer between the CPU/GPU during the solving stage. We evaluate the performance of our method with different mesh elements and hyperelastic models and compare it with typical approaches on the CPU and the GPU

    Improving Automated Operations of Heavy-Duty Manipulators with Modular Model-Based Control Design

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    The rapid development of robotization and automation in mobile working machines aims to increase productivity and safety in many industrial sectors. In heavy-duty applications, hydraulically actuated manipulators are the common solution due to their large power-to-weight ratio. As hydraulic systems can exhibit nonlinear dynamic behavior, automated operations with closed-loop control become challenging. In industrial applications, the dexterity of operations for manipulators is ensured by providing interfaces to equip product variants with different tool attachments. By considering these domain-specific tool attachments for heavy-duty hydraulic manipulators (HHMs), the autonomous robotic operating development for all product variants might be a time-consuming process. This thesis aims to develop a modular nonlinear model-based (NMB) control method for HHMs to enable systematic NMB model reuse and control system modularity across different HHM product variants with actuators and tool attachments. Equally importantly, the properties of NMB control are used to improve the high-performance control for multi degrees-of-freedom robotic HHMs, as rigorously stability-guaranteed control systems have been shown to provide superior performance. To achieve these objectives, four research problems (RPs) on HHM controls are addressed. The RPs are focused on damping control methods in underactuated tool attachments, compensating for static actuator nonlinearities, and, equally significantly, improving overall control performance. The fourth RP is introduced for hydraulic series elastic actuators (HSEAs) in HHM applications, which can be regarded as supplementing NMB control with the aim of improving force controllability. Six publications are presented to investigate the RPs in this thesis. The control development focus was on modular NMB control design for HHMs equipped with different actuators and tool attachments consisting of passive and actuated joints. The designed control methods were demonstrated on a full-size HHM and a novel HSEA concept in a heavy-duty experimental setup. The results verified that modular control design for HHM systems can be used to decrease the modifications required to use the manipulator with different tool attachments and floating-base environments

    Vat photopolymerisation 3D printing of controlled drug delivery devices

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    Pharmaceutical three-dimensional (3D) printing has led to a paradigm shift in the way medicines are designed and manufactured, moving away from the traditional ‘one-size-fits-all’ approaches and advancing towards personalised medicines. Among different 3D printing techniques, vat photopolymerisation 3D printing affords superior printing resolution, which in turn enables fabrication of micro-structures and smooth finishes. This thesis aims to investigate different vat photopolymerisation 3D printing techniques for the fabrication of personalised drug delivery devices for different routes of administration. Stereolithography (SLA) and digital light processing (DLP) 3D printing was used to manufacture devices with flexible materials for localised delivery of a single drug in the bladder and at the anterior segment of the eye. In vitro release studies demonstrated drug releases from these devices were sustained over weeks. Subsequently, to investigate the feasibility of loading more than one drug in a single dosage form, clinically relevant multi-layer antihypertensive polypills were fabricated using SLA 3D printing. A drug-photopolymer interaction was observed from these polypills, and Michael’s addition reaction was confirmed to have occurred. Despite these studies demonstrating the viable use of vat photopolymerization 3D printing for fabricating drug delivery devices, the bulky nature of current printers could be a barrier to clinical integration. As such, a smartphone-enabled DLP 3D printing system was developed to fabricate personalised oral dosage forms and patient-specific drug delivery devices. The portability of this printer could secure exciting opportunities for manufacturing personalised medicines at point-of-care settings. Overall, this thesis showed the potential of vat photopolymerisation 3D printing in preparing different patient-centric drug delivery devices with tuneable and sustained release profiles as well as advancing traditional treatments towards digital healthcare

    Advanced medical micro-robotics for early diagnosis and therapeutic interventions

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    Recent technological advances in micro-robotics have demonstrated their immense potential for biomedical applications. Emerging micro-robots have versatile sensing systems, flexible locomotion and dexterous manipulation capabilities that can significantly contribute to the healthcare system. Despite the appreciated and tangible benefits of medical micro-robotics, many challenges still remain. Here, we review the major challenges, current trends and significant achievements for developing versatile and intelligent micro-robotics with a focus on applications in early diagnosis and therapeutic interventions. We also consider some recent emerging micro-robotic technologies that employ synthetic biology to support a new generation of living micro-robots. We expect to inspire future development of micro-robots toward clinical translation by identifying the roadblocks that need to be overcome
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