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You searched for +publisher:"Vanderbilt University" +contributor:("Professor Mitchell Wilkes"). One record found.

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1. Puvvada, Karthik. Application of particle filtering in predictable dynamic tubular environments.

Degree: MS, Electrical Engineering, 2013, Vanderbilt University

Robust localization is essential for successful navigation of autonomous mobile robots in any environment. Advanced techniques such as simultaneous localization and mapping (SLAM) also consider reliable localization as a critical component. The major existing localization algorithms like Particle Filtering, however, are, based on the assumption that the environment is static which does not hold true in some practical applications of mobile robots. In this thesis, we explore a rather fledgling area of wireless robotic capsule endoscopy where dynamism is an inherent feature of the environment. Since the last decade, intense research has spurred in the field of capsule robots used for inspecting the entire gastrointestinal (GI) tract for various diseases, such as obscure gastrointestinal bleeding (OGIB), tumors, cancer, Crohnâs disease, and celiac disease. It is envisioned that the next generation of these micro-robots will traverse the GI tract with greater autonomy. In such self-propelling tiny robots, the incorporation of mini-surgical tools and artificial intelligence is anticipated. Capsule robot localization and mapping of the environment inside the human body will be a key essential for successful autonomous navigation. Advisors/Committee Members: Professor Mitchell Wilkes (chair), Professor Richard Alan Peters II (chair).

Subjects/Keywords: localization; capsule endoscopy; capsule robots; micro-robots; colonoscopy; SLAM; particle filters

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

APA (6th Edition):

Puvvada, K. (2013). Application of particle filtering in predictable dynamic tubular environments. (Masters Thesis). Vanderbilt University. Retrieved from http://etd.library.vanderbilt.edu//available/etd-12022013-123921/ ;

Chicago Manual of Style (16th Edition):

Puvvada, Karthik. “Application of particle filtering in predictable dynamic tubular environments.” 2013. Masters Thesis, Vanderbilt University. Accessed December 11, 2019. http://etd.library.vanderbilt.edu//available/etd-12022013-123921/ ;.

MLA Handbook (7th Edition):

Puvvada, Karthik. “Application of particle filtering in predictable dynamic tubular environments.” 2013. Web. 11 Dec 2019.

Vancouver:

Puvvada K. Application of particle filtering in predictable dynamic tubular environments. [Internet] [Masters thesis]. Vanderbilt University; 2013. [cited 2019 Dec 11]. Available from: http://etd.library.vanderbilt.edu//available/etd-12022013-123921/ ;.

Council of Science Editors:

Puvvada K. Application of particle filtering in predictable dynamic tubular environments. [Masters Thesis]. Vanderbilt University; 2013. Available from: http://etd.library.vanderbilt.edu//available/etd-12022013-123921/ ;

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