Mechanical Engineering

Abstract The discussed research trajectory could begin improving the capabilities and robustness of teleoperation immediately. Initial work related to the RRM project described in Section IA is beginning to incorporate explicit task models that can be used to bootstrap more sophisticated approaches like those used in the Language of Surgery project.

Abstract This paper reports the design requirements, practical challenges, and a preliminary design for a magnetic resonance imaging (MRI) guided, three degree-of-freedom (DOF) transrectal prostate intervention robot. We show the operational space constraints imposed by patient anatomy when performing transrectal prostate procedures in a magnetic resonance (MR) scanner bore, as determined by analyzing data from 12 patient procedures with a device.

Home. Willow Garage. About Us; Download; Jobs; Contact; Support. Robots; Software; Research; Blog. Model-based, Hierarchical Control of a Mobile Manipulation Platform. Submitted by Brian Gerkey on Thu, 02/04/2010 - 14:32. Title, Model-based, Hierarchical Control of a Mobile Manipulation Platform. Publication Type, Conference Paper. Year of Publication, 2009.

Personal robotics applications often require the integra-tion of hundreds of components. In robot operating systems (ROSs), such subsystems and primitive capabilities are usually encapsulated in ROS nodes. Even with encapsulation and well-documented messaging interfaces, writing maintainable code to make a large set of ROS nodes to act together to solve a problem is difficult.

This thesis reports on the effects of sensory substitution methods for force feedback during teleoperation of robotic systems used for Explosive Ordnance Disposal (EOD). Existing EOD robotic systems do not feature any type of haptic feedback. It is currently unknown what benefits could by gained by supplying this information to the operator. In order to assess the benefits of additional feedback, a robotic gripper was procured and instrumented in order to display the forces applied by the end effector to an object. In a contact-based event detection task, users were asked to slowly grasp an object as lightly as possible and stop when a grasp was achieved. The users were supplied with video feedback of the gripper and either (1) no haptic feedback, (2) surrogate visual feedback, or (3) surrogate vibrotactile feedback. The force information came exclusively from the current being used to drive the gripper. Peak grasp forces were measured and compared across conditions. The improvement...

Three-dimensional numerical simulations are employed to investigate the hemodynamic effects of abnormal E/A ratios on left ventricular filling. The simulations are performed in a simplified geometric model of the left ventricle (LV) in conjunction with a specified endocardial motion. The model has been carefully designed to match the important geometric and flow parameters under the physiological conditions. A wide range of E/A ratios from 0 to infinity is employed with the aim to cover all the possible stages of left ventricle diastolic dysfunction (DD). The effects of abnormal E/A ratios on vortex dynamics, flow propagation velocity, energy consumption as well as flow transport and mixing are extensively discussed. Our results are able to confirm some common findings reported by the previous studies, and also uncover some interesting new features.

A direct numerical simulation of flow-structure interaction is carried out in a subject-specific larynx model to study human phonation under physiological conditions. The simulation results compare well to the established human data. The resulting glottal flow and waveform are found to be within the normal physiological ranges. The effects of realistic geometry on the vocal fold dynamics and the glottal flow are extensively examined. It is found that the asymmetric anterior-posterior laryngeal configuration produces strong anterior-posterior asymmetries in both vocal fold vibration and glottal flow which has not been captured in the simplified models. It needs to be pointed out that the observations from the current numerical simulation are only valid for the flow conditions investigated. The limitations of the study are also discussed.

A new flow-structure interaction method is presented, which couples a sharp-interface immersed boundary method flow solver with a finite-element method based solid dynamics solver. The coupled method provides robust and high-fidelity solution for complex flow-structure interaction (FSI) problems such as those involving three-dimensional flow and viscoelastic solids. The FSI solver is used to simulate flow-induced vibrations of the vocal folds during phonation. Both two- and three-dimensional models have been examined and qualitative, as well as quantitative comparisons, have been made with established results in order to validate the solver. The solver is used to study the onset of phonation in a two-dimensional laryngeal model and the dynamics of the glottal jet in a three-dimensional model and results from these studies are also presented.

Unilateral laryngeal paralysis leads to tension imbalance and hence to asynchronous movements between the two vocal folds during phonation. In the current study, a computational model of phonation that couples a two-mass model of the vocal folds with a Navier-Stokes model of the glottal airflow, has been used to examine the dynamics of vocal fold configurations with tension imbalance and its implications for phonation. The simulations show that tension imbalance influences phonation onset, intensity as well as the fundamental phonation frequency. Distinct non-linear effects such as period-doubling bifurcation and preferential frequency selection are also observed.

An immersed-boundary method based flow solver coupled with a finite-element solid dynamics solver is employed in order to conduct direct-numerical simulations of phonatory dynamics in a three-dimensional model of the human larynx. The computed features of the glottal flow including mean and peak flow rates, and the open and skewness quotients are found to be within the normal physiological range. The flow-induced vibration pattern shows the classical “convergent-divergent” glottal shape, and the vibration amplitude is also found to be typical for human phonation. The vocal fold motion is analyzed through the method of empirical eigenfunctions and this analysis indicates a 1:1 modal entrainment between the “adduction-abduction” mode and the “mucosal wave” mode. The glottal jet is found to exhibit noticeable cycle-to-cycle asymmetric deflections and the mechanism underlying this phenomenon is examined.

The sensitivity of the eigenmodes and eigenfrequencies of the human vocal fold to its three-layer structure is studied using finite-element modeling. The study covers a variety of three-dimensional vocal fold models ranging from an idealized, longitudinally uniform structure to a physiologically more realistic, longitudinally varying structure. Geometric parameters including the thickness of the ligament and cover layers as well as the ligament length are varied systematically. The results indicate that vocal fold vibratory modes are quite insensitive to the longitudinal variation in the thickness of the three layers as well as the variation in ligament length. However, significant overall changes in thickness of each layer can produce noticeable changes in these modes. The implications of these findings on computational modeling of phonation are discussed.

Simulation of the phonatory flow-structure interaction has been conducted in a three-dimensional, tubular shaped laryngeal model that has been designed with a high level of realism with respect to the human laryngeal anatomy. A non-linear spring-based contact force model is also implemented for the purpose of representing contact in more general conditions, especially those associated with three-dimensional modeling of phonation in the presence of vocal fold pathologies. The model is used to study the effects of a moderate (20%) vocal-fold tension imbalance on the phonatory dynamics. The characteristic features of phonation for normal as well as tension-imbalanced vocal folds, such as glottal waveform, glottal jet evolution, mucosal wave-type vocal-fold motion, modal entrainment, and asymmetric glottal jet deflection have been discussed in detail and compared to established data. It is found that while a moderate level of tension asymmetry does not change the vibratory dynamics sign...