Differences in abdominal force between conventional and single port laparoscopy

In laparoendoscopic single-site surgery (LESS), only one single incision is used to introduce all instruments into the abdominal cavity. The introduction of multi-channel single-port devices enabled insertion of laparoscopic instruments and laparoscope through one single entry point instead of multiple entry points in conventional laparoscopic...

Fast Loss of Effectiveness Detection on a Quadrotor using Onboard Sensors and a Kalman Estimation Approach

This paper presents a novel method for fast and robust detection of actuator failures on quadrotors. The proposed algorithm has very little model dependency. A Kalman estimator estimates a stochastic effectiveness factor for every actuator, using only onboard RPM, gyro and accelerometer measurements. Then, a hypothesis test identifies the...

Through-wall imaging by TE and TM hybrid polarization inversion based on FDFD and frequency hopping scheme

3-D Linear Reconstruction of the Experimental Fresnel Data by the GMMV Inversion Method

In this paper, the generalized multiple measurement vectors (GMMV) linear inversion method is applied to the reconstruction of the 3-D Fresnel data, provided by the Institue Fresnel (Marseille, France). The results show that the GMMV-based method can obtain good resolution along the x- and y- axes, while poor resolution along the z-axis,...

Qualitative and Quantitative Imaging in Electromagnetic Inverse Scattering Theory

The inverse scattering problem is inherently nonlinear and improperly posed. Relevant study, such as the existence and uniqueness of the solution, the completeness of the far field pattern, etc., involves an abstruse mathematical theory. In our daily life, the inversion techniques play a significant role in areas such as radar, sonar,...

Quadrotor Fault Tolerant Flight Control and Aerodynamic Model Identification

As Multi-rotor Unmanned Aerial Vehicles, or drones, are gradually becoming more popular in civilian applications, the safety of these flying machines becomes a significant concern. Such drones are powered by multiple rotors to generate lift and control torques. Hence, the failure of rotors can severely threaten their flying safety. Direct...

Plasma nitriding induced growth of Pt-nanowire arrays as high performance electrocatalysts for fuel cells

In this work, we demonstrate an innovative approach, combing a novel active screen plasma (ASP) technique with green chemical synthesis, for a direct fabrication of uniform Pt nanowire arrays on large-area supports. The ASP treatment enables in-situ N-doping and surface modification to the support surface, significantly promoting the uniform...

Ultraviolet-vacuum ultraviolet photoluminescence and x ray radioluminescence of Ce3+-doped Ba3MgSi2O8

Ce3+-doped Ba3MgSi2O8 phosphors were prepared by a solid-state reaction route. The photoluminescence properties in the vacuum ultraviolet-vis spectral range and the x ray excited radioluminescence were investigated. Ce3+ ions were found to enter three different sites in the host lattice. Five excitation bands and two emission bands of Ce(1)3+...

Tunable bandpass filter with two adjustable transmission poles and compensable coupling

Cross-Correlated Contrast Source Inversion

In this paper, we improved the performance of the contrast source inversion (CSI) method by incorporating a so-called cross-correlated cost functional, which interrelates the state error and the data error in the measurement domain. The proposed method is referred to as the cross-correlated CSI. It enables better robustness and higher inversion...

A Linear Method for Shape Reconstruction based on the Generalized Multiple Measurement Vectors Model

In this paper, a novel linear method for shape reconstruction is proposed based on the generalized multiple measurement vectors (GMMV) model. Finite difference frequency domain (FDFD) is applied to discretized Maxwell’s equations, and the contrast sources are solved iteratively by exploiting the joint sparsity as a regularized...

Extension of the GMMV-based Linear Method to Quantitative Inverse Scattering

The linear shape reconstruction method based on the generalized multiple measurement vectors model is a newly proposed approach which is able to effectively retrieve the morphological information of dielectric/metallic scatterers with competitive imaging resolution. In this letter, we have extended this approach to quantitative inversion, and...

A Linear Model for Microwave Imaging of Highly Conductive Scatterers

In this paper, a linear model based on multiple measurement vectors' model is proposed to formulate the inverse scattering problem of highly conductive objects at one single frequency. Considering the induced currents that are mostly distributed on the boundaries of the scatterers, joint sparse structure is enforced by a sum-of-norm...

Inversion of Multifrequency Data With the Cross-Correlated Contrast Source Inversion Method

Cross-correlated contrast source inversion (CC-CSI) is a nonlinear iterative inversion method that is proposed recently for solving the inverse scattering problems. In CC-CSI, a cross-correlated error is constructed and introduced to the cost functional, which improves the inversion ability when compared to the classical design of the cost...

Quadrotor Fault Tolerant Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers

This paper proposes an Incremental Sliding Mode Control driven by Sliding Mode Disturbance Observers (INDI-SMC/SMDO), with application to a quadrotor fault tolerant control problem. By designing the SMC/SMDO based on the control structure of the sensor-based Incremental Nonlinear Dynamic Inversion (INDI), instead of the model-based Nonlinear...

A Hybrid Box Trainer for Training of Technical Skills in Laparoendoscopic Single Site Surgery (LESS)

The goal of this thesis is to design a hybrid trainer that can quantitatively measure the LESS performance while investigating the difference between LESS and CLS, finally propose a novel objective assessment tools for future research. A force platform is developed, which measures tissue manipulation force in the range of 0-20N with an accuracy...