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Total 63 records
Heart Motion Measurement and Prediction for Robotic Assisted Beating Heart Surgery
, Ph.D. Dissertation Sharif University of Technology ; Farahmand, Farzam (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
Abstract
An essential requirement for performing robotic assisted surgery on a freely beating heart is a prediction algorithm which can estimate the future heart trajectory with a high accuracy in a long horizon. The main objective of this research was measurement and prediction of the heart motion for robotic assisted beating heart surgery. In this study, first the feasibility of a stereo infrared tracking system for measuring the free beating heart motion was investigated by experiments on a heart motion simulator. Simulator experiments revealed a high tracking accuracy when the capturing times were synchronized and the tracker pointed at the target from an appropriate distance.Then, the heart...
Application of the “Design for Control” Approach in order to Facilitate the Design and Adaptive Control of a Delta Parallel Robot
, M.Sc. Thesis Sharif University of Technology ; Vossoughi, Gholamreza (Supervisor)
Abstract
The Delta parallel robot is used extensively in many industries, including packaging, because of its superior speed and precision. In this project a Delta robot was designed and then controlled specifically for use in the production line of a plastic container factory. In order to optimally design the robot, a number of desirable fitness functions were defined thus: minimizing the dimensions of the robot for a specific desired workspace, minimzing the effect of the robot’s weight on its actuators and satisfying the demands of the “Design for Control” approach. Design for control means considering the complexity of controlling a system while designinig it. Therefore the remaining fitness...
A Novel Approach in DNA Sequencing Based on Physical Differences of Nucleotides
, M.Sc. Thesis Sharif University of Technology ; Nejat Pishkenari, Hossein (Supervisor) ; Meghdari, Ali (Supervisor) ; Vossoughi, Gholamreza (Supervisor)
Abstract
With the continued improvement of sequencing technologies, the prospect of genome-based medicine is now at the forefront of scientific research. To realize this potential, however, a revolutionary sequencing method is needed for the cost-effective and rapid interrogation of individual genomes. Generally there are key factors in the definition and evalution of sequencing methods: 1-read length, 2-throughput, 3-read accuracy, 4-read depth, and 5-cost per base. The purpose of developing new sequencing methods is making better at least one of these factors. In order to reach the goal of rapid and low-cost sequencing method, one cannot rely only on current techniques. Improvements of current...