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You searched for +publisher:"Vanderbilt University" +contributor:("Dr. Bobby Bodenheimer"). Showing records 1 – 2 of 2 total matches.

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Vanderbilt University

1. Kumar, Ankur N. Quantifying in vivo motion in video sequences using image registration.

Degree: PhD, Electrical Engineering, 2014, Vanderbilt University

Image registration is a pivotal part of many medical imaging analysis systems that provide clinically relevant medical information. One fundamental problem addressed by image registration is the accounting of a subject’s motion. This dissertation broadly addresses the problem of quantifying in vivo motion in video sequences for two different applications using image registration. The first problem involves the correction of motion in in vivo time-series microscopy imaging of islets of Langerhans in mice. The second problem focuses on delivering near real-time 3D intraoperative movements of the cortical surface to a computational biomechanical model framework for the compensation of brain shift during brain tumor surgery. For the first application, a fully automatic algorithm is developed for the correction of in vivo time-series microscopy images of islets of Langerhans. The second application focuses on delivering near real-time 3D intraoperative movements of the cortical surface to a computational biomechanical model framework for the compensation of brain shift during brain tumor surgery. This dissertation demonstrates a clinical microscope-based digitization platform capable of reliably providing temporally dense 3D textured point clouds in near real-time of the FOV for the entire duration and under realistic conditions of neurosurgery. A fully automatic technique has been developed for robustly digitizing 3D points intraoperatively using an operating microscope at 1Hz. Another algorithm has been developed for tracking points on the cortical surface intraoperatively, which can potentially deliver intraoperative 3D displacements of the cortical surface at different time points during brain tumor surgery. Advisors/Committee Members: Dr. Michael Miga (committee member), Dr. Reid Thompson (committee member), Dr. Alan Peters (committee member), Dr. Bobby Bodenheimer (committee member), Dr. Dave Piston (committee member), Dr. Benoit Dawant (Committee Chair).

Subjects/Keywords: stereovision; image registration; in vivo; brain tumor surgery; image guided surgery; magnification

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APA (6th Edition):

Kumar, A. N. (2014). Quantifying in vivo motion in video sequences using image registration. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14690

Chicago Manual of Style (16th Edition):

Kumar, Ankur N. “Quantifying in vivo motion in video sequences using image registration.” 2014. Doctoral Dissertation, Vanderbilt University. Accessed December 02, 2020. http://hdl.handle.net/1803/14690.

MLA Handbook (7th Edition):

Kumar, Ankur N. “Quantifying in vivo motion in video sequences using image registration.” 2014. Web. 02 Dec 2020.

Vancouver:

Kumar AN. Quantifying in vivo motion in video sequences using image registration. [Internet] [Doctoral dissertation]. Vanderbilt University; 2014. [cited 2020 Dec 02]. Available from: http://hdl.handle.net/1803/14690.

Council of Science Editors:

Kumar AN. Quantifying in vivo motion in video sequences using image registration. [Doctoral Dissertation]. Vanderbilt University; 2014. Available from: http://hdl.handle.net/1803/14690


Vanderbilt University

2. Gulati, Navneet. Modeling and observer-based robust control design for energy-dense monopropellant powered actuators.

Degree: PhD, Mechanical Engineering, 2005, Vanderbilt University

This dissertation presents the development of a monopropellant-based power supply and actuation system for human scale robots that is energy and power dense with the ability to be controlled accurately at a high bandwidth. This kind of actuation system is known to have an actuation potential an order of magnitude better than conventional battery-DC motor based actuation systems. Though a monopropellant-based actuator has the appeal of being simple in design, it is fairly complex in terms of the physics of its operation. The complex interaction between several energy domains and the nonlinear nature of many of them necessitates a model-based control design to provide adequately accurate, high-bandwidth, efficient, and stable operation as generally required of a mobile robot platform. In order to obtain a model-based controller, a physics-based model of this kind of a system is derived in this work. The control architecture of the centralized configuration is then presented which is shown to provide stable servo tracking of the system. This model-based controller is designed on the basis of Lyapunov stability-based sliding mode control theory to control the inertial mass. A model-based predictive controller is additionally implemented for the control of rate of pressurization and regulation of the supply pressure in the reservoir. Since the model-based control of the actuators necessitates the use of two high-temperature pressure sensors, these sensors add substantial cost to the monopropellant-based servo system. In order to make the chemofluidic system more cost effective and economically viable, a nonlinear pressure observer is developed in this work. This observer utilizes the available knowledge of other measurable states of the system to reconstruct the pressure states. The elimination of pressure sensors reduces the initial cost of the system by more than fifty percent. Additionally, the use of pressure observers along with the design of a robust controller results in lower weight, more compact and lower maintenance system. The development of two Lyapunov-based nonlinear pressure observers for pneumatic systems is also presented in this work. The implementation of pressure observers instead of expensive pressure sensors reduces the cost of the system by nearly thirty percent. These savings are achieved without any compromise on the quality of servo tracking of the system. The results presented demonstrate that the tracking performance using pressure observers versus using pressure sensors is in essence indistinguishable. Advisors/Committee Members: Dr. Bobby Bodenheimer (committee member), Dr. Joseph Wehrmeyer (committee member), Dr. Michael Goldfarb (committee member), Dr. Nilanjan Sarkar (committee member), Dr. Eric J. Barth (Committee Chair).

Subjects/Keywords: Propellants; Pressure Observers; Power-Dense Actuators; Modeling; Robots  – Power supply; Robust Control; Androids  – Design and construction; Actuators  – Design and construction

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6th Edition):

Gulati, N. (2005). Modeling and observer-based robust control design for energy-dense monopropellant powered actuators. (Doctoral Dissertation). Vanderbilt University. Retrieved from http://hdl.handle.net/1803/14720

Chicago Manual of Style (16th Edition):

Gulati, Navneet. “Modeling and observer-based robust control design for energy-dense monopropellant powered actuators.” 2005. Doctoral Dissertation, Vanderbilt University. Accessed December 02, 2020. http://hdl.handle.net/1803/14720.

MLA Handbook (7th Edition):

Gulati, Navneet. “Modeling and observer-based robust control design for energy-dense monopropellant powered actuators.” 2005. Web. 02 Dec 2020.

Vancouver:

Gulati N. Modeling and observer-based robust control design for energy-dense monopropellant powered actuators. [Internet] [Doctoral dissertation]. Vanderbilt University; 2005. [cited 2020 Dec 02]. Available from: http://hdl.handle.net/1803/14720.

Council of Science Editors:

Gulati N. Modeling and observer-based robust control design for energy-dense monopropellant powered actuators. [Doctoral Dissertation]. Vanderbilt University; 2005. Available from: http://hdl.handle.net/1803/14720

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