Advanced Path Planning for a Neurosurgical Flexible Catheter: Improving the performance of sampling-based motion planning

At Mechatronics in Medicine (MiM) Laboratory of Imperial College London, a neurosurgical steerable flexible probe ( STING) that is used to access deep brain lesions through curved trajectories is currently being developed. The focus of my research project is mainly on trajectory planning of the flexible probe i.e. investigation on how to...

Improving RGBD Indoor Mapping with IMU data

With the release of RGBD-cameras (cameras that provide both RGB as well as depth information) researchers have started evaluating how these devices can be used in fields of localization, mapping and ubiquitous computing. Intel Seattle Research proposed an indoor mapping algorithm making use of such a camera. The algorithm itself is vulnerable to...

SSA Back-Translation: Faster Results with Edge Splitting and Post Optimization

A compiler translates one representation of a software program into another. Beside translation compilers often have other tasks such as optimizating the result and warning the programmer for mistakes. Internally a compiler uses an Intermediate Representation (IR) for analysis and manipulation of the program at hand. Data dependencies in most...

BirdTracking: A Wireless Sensor Network to Observe Bird Life

Field biologists and ecologists have started to open a new avenue of inquiry at greater spatial and temporal resolution, allowing them to “observe the unobservable” through the use of wireless sensor networks. Study of birds has helped to develop fundamental knowledge of bird behavior, foraging pattern and migration. The acquired knowledge of...

Reliable Transport for Wireless Sensor Networks

Wireless sensor networks (WSNs) are ad-hoc wireless networks of small form-factor embedded nodes with limited memory, processing, and energy resources. Certain applications, like security and art monitoring,require reliable data transport. Current work for WSNs only provides stochastic reliability or guaranteed reliability for bulk transfer....

Indoor Localization for Wireless Sensor Networks; Applying multiple frequencies to mitigate multipath effects

Localization has an import role in wireless sensor networks, as it adds context to gathered data. The goal of this thesis is to create an application that determines the location of a mobile sensor node in an indoor environment. A secondary goal is to get practical experience with indoor localization. Previously, in a literature review, we...

Evaluating model-based diagnosis for wireless sensor networks

Model-based diagnosis is a technique where a model of a system is combined with observations from that system, to generate diagnoses for failures of the system. This thesis looks at how model-based diagnosis can be applied to wireless sensor networks (WSNs). WSNs are ad-hoc wireless networks of small form-factor, embedded nodes with limited...

Radio Wave Propagation in Metal Train Compartments

Wireless sensor networks are being deployed extensively to collect sensory data in various environments under different conditions. A wireless sensor network consists of multiple nodes, each with the ability to communicate using radio waves. The characteristics of the radio link between nodes are largely influenced by their environment. For...

Distributed G-MAC: A flexible MAC protocol for servicing Gossip Algorithms

A wireless sensor network is an embedded computer network formed by small cheap devices, prone to errors. Communication in such a network in a single-hop range is provided by a Medium Access Control (MAC) Protocol. Chess has developed one such a MAC protocol, Gossip-MAC (G-MAC), specifically designed to service gossiping-based traffic. G-MAC was...