Magnetic Surgical Instruments for Robotic Abdominal Surgery.

This review looks at the implementation of magnetic-based approaches in surgical instruments for abdominal surgeries. As abdominal surgical techniques advance toward minimizing surgical trauma, surgical instruments are enhanced to support such an objective through the exploration of magnetic-based systems. With this design approach, surgical devices are given the capabilities to be fully inserted intraabdominally to achieve access to all abdominal quadrants, without the conventional rigid link connection with the external unit. The variety of intraabdominal surgical devices are anchored, guided, and actuated by external units, with power and torque transmitted across the abdominal wall through magnetic linkage. This addresses many constraints encountered by conventional laparoscopic tools, such as loss of triangulation, fulcrum effect, and loss/lack of dexterity for surgical tasks. Design requirements of clinical considerations to aid the successful development of magnetic surgical instruments, are also discussed

USV charging based on WPT system

With the increasing demand of water and underwater exploration, more and more electric unmanned surface vehicles (USV) are put into use in recent years. However, because of the present battery technology limits, these devices require to be recharged frequently that is a challenging problem taking into account the complex water environment where these equipments are acting. To improve safety and convenience of USV charging a wireless power transfer (WPT) system is proposed in this dissertation. In this case, the boat can be controlled to go to the charging facilities. During charging by the implemented WPT system, the state of charging can be remotely monitored by host computer. The moving control is based on embedded system. The relative position between transmitting coil and receiving coil is supposed to be sensed by magnetic sensor, since the relative position has great impact on transmission efficiency. The remote monitoring software was implemented in the host computer and was developed in LABVIEW. A graphical user interface was developed to control the boat moving and collect the data from the WPT and the boat sensors. The effectiveness of the proposed system was tested for instance in the laboratory environment and in-field tests are also planned in the near future.Com a crescente procura da exploração em ambientes aquáticos e subaquáticos , os veículos elétricos de superfície não tripulados ("electric unmanned surface vehicle" -USV) têm sido cada vez mais utilizados nestes últimos anos. No entanto, devido aos limites atuais relacionados com a tecnologia utilizada nas baterias, os dispositivos precisam de ser recarregados com frequência para poderem operar num ambiente aquático complexo. Para melhorar a segurança e a conveniência do carregamento da bateria de um USV, um sistema para recarregamento da bateria de um barco não tripulado através de transferência de energia sem fios("wireless power transfer" - WPT) é proposto nesta dissertação. Neste caso de estudo, o barco tem a capacidade de ser controlado para chegar a um ponto de recarregamento da bateria, que se encontra fixado por uma doca mecânica. Enquanto o sistema WPT érecarregado, os dados associados ao processo de recarregamento da bateria podem ser monitorizados por um computador host. O controlo da movimentação do barco é baseado num sistema embebido. A posição relativa entre a bobina transmissora e a bobina receptora deve ser detectada pelo sensor magnético, uma vez que a posição relativa tem um grande impacto na eficiência da transmissão. Em termos do computador host, foi utilizado o software LABVIEW para programar a interface que permite controlar o movimento do barco e recolher os dados. Finalmente, a eficácia do sistema proposto foi experimentada e testada num ambiente de laboratório

USV charging based on WPT system

With the increasing demand of water and underwater exploration, more and more electric unmanned surface vehicles (USV) are put into use in recent years. However, because of the present battery technology limits, these devices require to be recharged frequently that is a challenging problem taking into account the complex water environment where these equipments are acting. To improve safety and convenience of USV charging a wireless power transfer (WPT) system is proposed in this dissertation. In this case, the boat can be controlled to go to the charging facilities. During charging by the implemented WPT system, the state of charging can be remotely monitored by host computer. The moving control is based on embedded system. The relative position between transmitting coil and receiving coil is supposed to be sensed by magnetic sensor, since the relative position has great impact on transmission efficiency. The remote monitoring software was implemented in the host computer and was developed in LABVIEW. A graphical user interface was developed to control the boat moving and collect the data from the WPT and the boat sensors. The effectiveness of the proposed system was tested for instance in the laboratory environment and in-field tests are also planned in the near future.Com a crescente procura da exploração em ambientes aquáticos e subaquáticos , os veículos elétricos de superfície não tripulados ("electric unmanned surface vehicle" -USV) têm sido cada vez mais utilizados nestes últimos anos. No entanto, devido aos limites atuais relacionados com a tecnologia utilizada nas baterias, os dispositivos precisam de ser recarregados com frequência para poderem operar num ambiente aquático complexo. Para melhorar a segurança e a conveniência do carregamento da bateria de um USV, um sistema para recarregamento da bateria de um barco não tripulado através de transferência de energia sem fios("wireless power transfer" - WPT) é proposto nesta dissertação. Neste caso de estudo, o barco tem a capacidade de ser controlado para chegar a um ponto de recarregamento da bateria, que se encontra fixado por uma doca mecânica. Enquanto o sistema WPT érecarregado, os dados associados ao processo de recarregamento da bateria podem ser monitorizados por um computador host. O controlo da movimentação do barco é baseado num sistema embebido. A posição relativa entre a bobina transmissora e a bobina receptora deve ser detectada pelo sensor magnético, uma vez que a posição relativa tem um grande impacto na eficiência da transmissão. Em termos do computador host, foi utilizado o software LABVIEW para programar a interface que permite controlar o movimento do barco e recolher os dados. Finalmente, a eficácia do sistema proposto foi experimentada e testada num ambiente de laboratório

A review on wireless power transfer: Concepts, implementations, challenges, and mitigation scheme

This paper reviews the current strides in the wireless power transfer (WPT) system. The paper discusses the classification of wireless power transfer, its application, trend and impact on society, advantages as well as disadvantages. It also presents a comparative analysis of existing work done by researchers in the field of wireless power transfer showing the shortcomings in various topologies, communication, and optimization methods used to increase the overall performance efficiency and proffer direction for further studies. Keywords: wireless power transfer, application, advantages, disadvantages topologies, communication, optimization, efficienc

Design, construction, and operation of an unmanned underwater vehicle

Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.Includes bibliographical references (leaf [62]).The practical usage of unmanned underwater vehicles (UUVs) is limited by vehicle and operation cost, difficulty in accurate navigation, and communication between the vehicle and operator. The "Rex 2" UUV employs a system design where a submersible is connected to a float at the water's surface by means of a tether. By maintaining a surface expression, high-bandwidth radio communication to the operator becomes possible, and GPS may be used for accurate navigation. This arrangement allows the freedom of movement characteristic of untethered autonomous underwater vehicles (AUVs), while maintaining the live operator control and communication found with tethered remotely operated vehicles (ROVs). Expanding on the design and field experiences with the MIT AUV Lab's first Reef Explorer UUV, Rex 2 was designed to be inexpensive, easy to deploy, adaptable to various payloads, and simple to use. Rex 2 was designed, built, and operated in a number of ocean field tests, validating the utility of the vehicle and system concept.by Dylan Owens.S.M

Protein crystallisation in space.

Industrial biotechnology is a multi-disciplinary area employing biotechnology knowledge for industrial and commercialisation purposes. One of the focal practices includes the production of industrial products through the use of cells or component of cells namely enzymes. Industrial enzymes of microbial origin are highly demanded due to their applications in a wide variety of processes. Enzyme-mediated reactions are attractive alternatives to the more tedious and expensive chemical methods. Being high in specific activity, efficiency and biodegradability coupled with the low level by-product formations and the capability to work under mild conditions, enzymes are widely used in a range of applications such as in detergent, food and feed industries, human and animal health, waste treatment and the production of fine chemicals

Design of Beam Steering Electronic Circuits for Medical Applications

This thesis deals with the theory and design of a hemispherical antenna array circuit that is capable to operate in the intermediate zones. By doing that, this array can be used in Hyperthermia Treatment for Brain Cancer in which the aim is to noninvasively focus the fields at microwave frequencies to the location of the tumor cells in the brain. Another possible application of the array is to offer an alternative means of sustaining Deep Brain Stimulation other than using the traditional (surgical) approach. The new noninvasive technique is accomplished by the use of a hemispherical antenna array placed on the human's head. The array uses a new beamforming technique that achieves 3 dimensional beamforming or focusing of the magnetic field of antennas to desired points in the brain to achieve either cell death by temperature rise (Hyperthermia Application) or to cause brain stimulation and hopefully alleviate the affects of Parkinson's Disease (Deep Brain Stimulation). The main obstacle in this design was that the far field approximation that is usually used when designing antenna arrays does not apply in this case since the hemispherical array is in close proximity to where the magnetic field is desired to be focused. The antenna array problem is approached as a boundary-valued problem with the human head being modeled as a three layered hemisphere. The exact expressions for electromagnetic fields are derived. Health issues such as electric field exposure and specific absorption rate (SAR) are considered. After developing the main antenna and beamforming theory, a neural network is designed to accomplish the beamforming technique used. The radio-frequency (RF) transmitter was designed to transmit the fields at a frequency of 1.8 GHz. The antenna array can also be used as a receiver. The antenna and beamforming theory is presented. A new reception technique is shown which enables the array to receive multiple magnetic field sources from within the hemispherical surface. The receiver is designed to operate at 500 kHz with the RF receiver circuit designed to receive any signal from within the hemispherical surface at a frequency of 500 kHz

Doctor of Philosophy

dissertationThis thesis presents the design, fabrication and characterization of a microelectromechanical system (MEMS) based complete wireless microsystem for brain interfacing, with very high quality factor and low power consumption. Components of the neuron sensing system include TiW fixed-fixed bridge resonator, MEMS oscillator based action-potential-to-RF module, and high-efficiency RF coil link for power and data transmissions. First, TiW fixed-fixed bridge resonator on glass substrate was fabricated and characterized, with resonance frequency of 100 - 500 kHz, and a quality factor up to 2,000 inside 10 mT vacuum. The effect of surface conditions on resonator's quality factor was studied with 10s of nm Al2O3 layer deposition with ALD (atomic layer deposition). It was found that MEMS resonator's quality factor decreased with increasing surface roughness. Second, action-potential-to-RF module was realized with MEMS oscillator based on TiW bridge resonator. Oscillation signal with frequency of 442 kHz and phase noise of -84.75 dBc/Hz at 1 kHz offset was obtained. DC biasing of the MEMS oscillator was modulated with neural signal so that the output RF waveform carries the neural signal information. Third, high-efficiency RF coil link for power and data communications was designed and realized. Based on the coupled mode theory (CMT), intermediate resonance coil was introduced and increased voltage transfer efficiency by up to 5 times. Finally, a complete neural interfacing system was demonstrated with board-level integration. The system consists of both internal and external systems, with wireless powering, wireless data transfer, artificial neuron signal generation, neural signal modulation and demodulation, and computer interface displaying restored neuron signal

Small business innovation research. Abstracts of completed 1987 phase 1 projects

Non-proprietary summaries of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA in the 1987 program year are given. Work in the areas of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robotics, computer sciences, information systems, spacecraft systems, spacecraft power supplies, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered