Design of Intestine Inspection Device

Colonoscopy is a widely used endoscopic procedure to diagnose colorectal cancer (CRC) which is considered the fourth most common cancer in the US and the second most common cancer in Europe. Colonoscope, used in colonoscopy, consists of a thin flexible hollow tube that is inserted into the rectum of a person and propagated through the entire...

Controlling grip force by maintaining a constant frictional safety margin to improve robotic grasping

Manipulating soft and fragile objects is a challenging task in robotic grasping. The key challenge for robotic grasping is to exert enough grip force to prevent slipping while being gentle enough to prevent damage to an object. Existing grippers used for processes like automatic harvesting of fruits, either apply excessive grip force leading to...

Inter-ply friction in unidirectional fiber-reinforced thermoplastics: With a focus on the influence of temperature

The accuracy of hot press forming process simulations with unidirectional fiber reinforced thermoplastics is not at the desired level. Fundamental knowledge about the interactions between adjacent plies is needed to enhance predictive quality. Several mechanisms can be distinguished during hot press forming of composites. This thesis focuses on...

Learning to estimate the proximity of slip using high-resolution tactile sensing

Tactile sensing provides crucial information about the stability of a grasped object by a robotic gripper. Tactile feedback can be used to predict slip, allowing for timely response to perturbations and to avoid dropping objects. Tactile sensors, included in robotic grippers, measure vibrations, strain or shearing forces which are produced by...

Understanding the limitations of state-of-the-art nonlinear system identification approaches applied to experimental systems

In recent years, there has been a lot of focus on system identification using vibration data instead of building mathematical models based on domain knowledge. The Sparse Identification of Nonlinear Dynamical System (SINDy) is a method that has been a great tool to identify the nonlinear dynamics. Therefore, in this report, the nonlinear systems...

Impact Drive Mechanism with Nanometer Precision, actuated by a Pulse generating Voice-Coil Motor

From the results it can be concluded that a fixed and a free voice-coil actuated impact drive mechanism can be used as a positioning system in a precision environment, such as the semiconductor industry and extreme large telescopes, to position an object within 1 nanometer and hold the position passively stable within 10nm/hr. The empirically...

The effect of vibrations on the pull-out resistance of a steel wire rope buried in a sand body: A small scale experimental approach

A landfall operation is conducted whenever a pipeline reaches the shore, during this operation the pipeline is pulled onto shore with the help of a steel wire rope. Allseas engineering has experienced several cases of landfalls during which the friction forces along the steel wire rope rose to excessively high levels. These cases occurred at...

The development of a method to predict ship-bank interaction in real-time

Due to increasing marine traffic intensity on inland waterways the interaction between ships and banks is becoming more of a problem. Bank effects make ship manoeuvring more difficult and rivers need to be protected against ship-induced currents and waves. This thesis contributes to the development of a new method that simulates these ship-bank...

Frictional behaviour of pigs in motion

Pigs (pipeline inspection gauges) are free moving piston-like devices, that are used for inspecting or cleaning pipelines in for example the oil and gas industry. Here they are used for onshore and offshore pipelines, where they are propelled by the production fluids. A better control of the velocity of the pig in the pipeline can be achieved by...

Operability Analysis of Wind Farm Maintenance with the Damen FCS2610

The Damen Twin Axe Fast Crew Supplier (FCS)2610 is an offshore wind farm maintenance vessel that can safely and efficiently transfer mechanics between land and a wind farm. The thesis objective is to research the operational capability of the FCS by gaining insight into the push docking procedure of the transfer process. To keep the vessels bow...

Online Interaction-Based Property Estimation of Objects

The goal of this thesis is to develop online model-based parameter estimation techniques for robotics towards extracting geometrical or physical properties of an unknown (or partially unknown) dynamic environment through a tactile interaction with it. The thesis focuses on a one-dimensional case of a rigid movable object, not yet studied in the...

Planar Ferrofluid Bearings: Modelling and Design Principles

A ferrofluid is a fluid with paramagnetic properties while having a colloidal stability. This can be used to obtain a hydrostatic type of bearing that distinguishes itself from other bearings by its compactness, inherent stability, low (viscous) friction, absence of pumps and absence of stick-slip. These properties, together with its low price,...

Effect of insertion and rotational velocity on friction between catheter and tissue

Purpose: An accurate needle or catheter placement is essential for the success of many procedures like regional anesthesia or biopsy taking. The accuracy of the needle or catheter placement could be increased by application of a rotational motion, which reduces the tissue indentation and required insertion force. Materials and methods: A...

Clenchy: The design of a mounting system based on friction and clamping

The thesis concerns the design of a mounting system based on clamping and friction. The working principle consists of a patented lever system and high friction material. By hanging an article like a painting on the product, it clamps itself into a corner of wall and ceiling. The main advantages are that no tools or fastening features are needed,...

Application of mucoadhesive in a colon inspection device

Colonic cancer is the second leading cause of death among cancers in the Western world. Early detection greatly improves the chances of survival. Colonoscopy is a non-invasive detection method through natural access, making it possible to look inside the colon, take biopsies and remove small polyps that can develop into cancer. Colonoscopy is...

Ontwikkeling van een testmethode ter bepaling van het wrijvingsgedrag tussen geokunststoffen en grond

Geokunststoffen worden voor verschillende doeleinden in civieltechnische constructies in de grond toegepast, vooral als wapening, filter, scheiding en scherm. Er bestaan een groot aantal geokunststoffen die de bovenstaande functies vervullen. De belangrijkste vier type geokunststof zijn weefsels, vliezen, geogrids en geomembranen. In veel...