Experimental Evaluation of Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulato
Published by (IEEE/ASME Transactions on Mechatronics)
Authors: Venkat N. Krovi, private private, Glenn White, Rajan Bhatt. Published June 01, 2009
Dynamic Redundancy Resolution in a Nonholonomic Wheeled Mobile Manipulator
Published by (Robotica)
Authors: Venkat N. Krovi, Glenn White, Rajan Bhatt. Published March 01, 2007
Analysis of Parallel Manipulator Architectures for Use in Mastication Case Studies
Published by (IGI)
Authors: Venkat N. Krovi, Madusudanan Sathianarayanan, srikanth kannan, xiaobo zhou, frank mendel. Published October 20, 2011
There is considerable scientific and commercial interest in understanding the mechanics of mastication. In this paper, the authors develop quantitative engineering tools to enable this process by: (i) designing a general purpose mastication simulator test-bed based on parallel architecture manipulator, capable of producing the requisite motions and forces; and (ii) validating this simulator with a range of test-foods, undergoing various mastication cycles under controlled and monitored circumstances. Such an implementation provides a test bed to quantitatively characterize the mastication based on “chewability index”. Due to the inherent advantages of locating actuators at the base (ground) in terms of actuator efforts and structural rigidity as well as benefits of using prismatic sliders compared to revolute actuators, the 6-P-U-S system was chosen. A detailed symbolic kinematic analysis was then conducted. For the practical implementation of the test-bed, the analytical Jacobian was examined for singularities and the design was adapted to ensure singularity free operation. A comprehensive parametric study was undertaken to obtain optimal design parameters for desired workspace and end effector forces. Experiments captured jaw motion trajectories using the high speed motion capture system which served as an input to the hardware in-the-loop simulator platform.
Case Studies of Musculoskeletal-Simulation-Based Rehabilitation Program Evaluation
Published by (IEEE Transactions on Robotics)
Authors: Venkat N. Krovi, Madusudanan Sathianarayanan, Leng-Feng Lee, srikanth kannan, Frank Mendel. Published June 25, 2009
Variability in motor rehabilitation program outcomes can be attributed not only to individual components (human patient/rehabilitation equipment) but also to their system-level interactions. Thus, effective deployment of a rehabilitation program depends upon: 1) suitable therapist selection of user–device ergonomics; 2) adjustable device settings; and 3) exercise regimen parameters; to achieve desired system-level motor performance. In this paper, we discuss aspects of creation of a virtual design environment, leveraging tools from musculoskeletal analysis, optimization, and simulation-based design, to permit therapists to rapidly evaluate and systematically customize rehabilitation programs. Specifically, this framework is intended to facilitate 1) parametric study of ergonomic/device/regimen settings on musculoskeletal performance; 2) use of design tools such as optimization for decision support in arriving at the best program; and 3) scaffolded examination of linkage between form and function by iterative what–if type of analyses. We use two case studies (bicep-curling and motor rehabilitative driving) to highlight benefits of such simulation-based rehabilitation program evaluation.
An Augmented Reality SIMulation of Needle BIOPSIES (AR SIMBIOPSIES)
Published by (4th Hamlyn Symposium on Medical Robotics)
Authors: Venkat N. Krovi, Madusudanan Sathianarayanan, Xiaobo Zhou, Sudha Garimella, Wayne Waz, Frank Mendel. Published June 15, 2011
Tissue biopsies, the procurement of small tissue
samples, remain the gold standard for assessing the health of internal organs such as kidney, liver, and bone. Extracted tissues are used to find abnormal cells (e.g. cancers), investigate symptoms (e.g. ulcers, hepatitis, kidney disease or endometriosis), or inflammation. The anatomical location of the tissue dictates the selection of the biopsy instrument (e.g.curette, punch, needle, endoscope), additional visualization modalities (e.g. CT/MR, ultrasound, fluoroscope), and in turn the biopsy setting (e.g. outpatient clinic, operating-room). Our motivation to create and deploy a biopsy simulator arises from several reasons, including: (i) inadequate conventional training due to various economic and logistical issues; (ii) marked differences in learning among trainees using current training techniques; (iii) evidence directly linking trainee improvement to duration, regularity, realism and diversity of training sessions; (iv) a growing need for procedural training that closely couples cognitive with sensorimotor training, and (v) improved understanding and technological progress in kinesthetic human-computer interactions that make feasible low-cost implementation of such a simulator. Thus, in this work we propose to develop and validate an Augmented Reality Training SIMulator for Needle Biopsies (AR-SIMBiopsies) that replicates both the look (graphics) and feel (haptics) of an actual biopsy training.
Cooperating Mobile Cable Robots: Screw Theoretic Analysis
Published by (Springer-Verlag Berlin Heidelberg)
Authors: Venkat N. Krovi, private private, Xiaobo Zhou. Published January 01, 2013
Differential Flatness-based Planning and Control of a Wheeled Mobile Manipulator – Theory and Experi
Published by (IEEE/ASME Transactions on Mechatronics)
Authors: Venkat N. Krovi, private private, Patrick Miller, Ji-Chul Ryu, Sunil K Agrawal. Published August 01, 2011
A Case for Scaffolded Virtual Prototyping Tutorial Case-Studies in Engineering Education
Published by (International Journal of Engineering Education)
Authors: Venkat N. Krovi, Rajan Bhatt, private private, Leng-Feng Lee. Published January 01, 2009
Formation Optimization for a Fleet of Wheeled Mobile Robots - A Geometrical Approach
Published by (Robotics & Autonomous Systems)
Authors: Venkat N. Krovi, Rajan Bhatt, private private. Published January 01, 2009
| Dynamic Systems & Control
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