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检索条件"机构=Robotics Engineering Program Worcester Polytechnic Institute"
450 条 记 录,以下是51-60 订阅
Development of Advanced FEM Simulation Technology for Pre-Operative Surgical Planning
arXiv
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arXiv 2024年
作者: Zhao, Zhanyue Jiang, Yiwei Bales, Charles Wang, Yang Fischer, Gregory The Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01605 United States
Intracorporeal needle-based therapeutic ultrasound (NBTU) offers a minimally invasive approach for the thermal ablation of malignant brain tumors, including both primary and metastatic cancers. NBTU utilizes a high-fr... 详细信息
来源: 评论
A Preliminary Add-on Differential Drive System for MRI-Compatible Prostate Robotic System
arXiv
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arXiv 2024年
作者: Zhao, Zhanyue Jiang, Yiwei Bales, Charles Wang, Yang Fischer, Gregory The Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01605 United States
MRI-targeted biopsy has shown significant advantages over conventional random sextant biopsy, detecting more clinically significant cancers and improving risk stratification. However, needle targeting accuracy, especi... 详细信息
来源: 评论
Galileo: A Pseudospectral Collocation Framework for Legged Robots
arXiv
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arXiv 2024年
作者: Chandler, Ethan Jaitly, Akshay Agheli, Mahdi Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01609 United States
Dynamic maneuvers for legged robots present a difficult challenge due to the complex dynamics and contact constraints. This paper introduces a versatile trajectory optimization framework for continuous-time multi-phas... 详细信息
来源: 评论
Finite Element Modeling of Surface Traveling Wave Friction Driven for Rotary Ultrasonic Motor
arXiv
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arXiv 2024年
作者: Zhao, Zhanyue Wang, Yang Bales, Charles Jiang, Yiwei Fischer, Gregory The Department of Robotics Engineering Worcester Polytechnic Institute WorcesterMA01605 United States
Finite element modeling (FEM) is a critical tool in the design and analysis of piezoelectric devices, offering detailed numerical simulations that guide various applications. While traditionally applied to eigenfreque... 详细信息
来源: 评论
MR Thermometry-Guided Robotic System for Precise Applicator Insertion in Interstitial Thermal Therapy
MR Thermometry-Guided Robotic System for Precise Applicator ...
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International Symposium on Medical robotics (ISMR)
作者: Yiwei Jiang Yang Wang Aidan Hatch Zhanyue Zhao Gregory S. Fischer Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Mechanical Engineering Boston University
Precise placement of thermal applicators is crucial for effective tissue ablation in Interstitial Thermal Therapy (ITT). Accurately localizing these applicators, which are often encapsulated within needles, poses a ch... 详细信息
来源: 评论
FDM Printing: A Fabrication Method for Fluidic Soft Circuits?
FDM Printing: A Fabrication Method for Fluidic Soft Circuits...
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IEEE International Conference on Soft robotics (RoboSoft)
作者: Savita V. Kendre Lehong Wang Ethan Wilke Nicholas Pacheco Loris Fichera Markus P. Nemitz Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Worcester Polytechnic Institute Worcester MA USA Department of Biomedical Engineering Worcester Polytechnic Institute Worcester MA USA Department of Mechanical and Materials Engineering Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA
Existing fluidic soft logic gates for controlling soft robots typically depend on labor-intensive manual fabrication or costly printing methods. In our research, we utilize Fused Deposition Modeling to create fully 3D...
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Preliminary Characterization of a Plastic Piezoelectric Motor Stator Using High-Speed Digital Holographic Interferometry  1
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SEM Annual Conference and Exposition on Experimental and Applied Mechanics, 2020
作者: Zhao, Z. Carvalho, P.A. Tang, H. Pooladvand, K. Gandomi, K.Y. Nycz, C.J. Furlong, C. Fischer, G.S. Robotics Engineering Program Worcester Polytechnic Institute WorcesterMA United States Mechanical Engineering Department Worcester Polytechnic Institute WorcesterMA United States
Precise surgical procedures such as deep brain tumor ablation may benefit from intra-operative image guidance using magnetic resonance imaging (MRI). However, the MRI’s strong magnetic fields and constrained space po... 详细信息
来源: 评论
Untethered Underwater Soft Robot with Thrust Vectoring
Untethered Underwater Soft Robot with Thrust Vectoring
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IEEE International Conference on robotics and Automation (ICRA)
作者: Robin Hall Cagdas D. Onal Robotics Engineering Department WPI Soft Robotics Laboratory Worcester Polytechnic Institute MA USA
This paper introduces DRAGON: Deformable Robot for Agile Guided Observation and Navigation, a free-swimming deformable impeller-powered vectored underwater vehicle (VUV). A 3D-printed wave spring structure directs the... 详细信息
来源: 评论
Vision-based FDM Printing for Fabricating Airtight Soft Actuators
Vision-based FDM Printing for Fabricating Airtight Soft Actu...
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IEEE International Conference on Soft robotics (RoboSoft)
作者: Yijia Wu Zilin Dai Haotian Liu Lehong Wang Markus P. Nemitz Department of Robotics Engineering Worcester Polytechnic Institute Worcester MA USA Department of Computer Science Worcester Polytechnic Institute Worcester MA USA Department of Mechanical and Materials Engineering Worcester Polytechnic Institute Worcester MA USA Department of Electrical and Computer Engineering Worcester Polytechnic Institute Worcester MA USA
Pneumatic soft robots are typically fabricated by molding, a manual fabrication process that requires skilled labor. Additive manufacturing has the potential to break this limitation and speed up the fabrication proce...
来源: 评论
Passive Model-based Error Compensation For Beveled-tip Needle Deflection
Passive Model-based Error Compensation For Beveled-tip Needl...
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International Symposium on Medical robotics (ISMR)
作者: Farid Tavakkolmoghaddam Yang Wang Charles Bales Yiwei Jiang Christopher Nycz Zhanyue Zhao Gregory Fischer Robotics Engineering Department Worcester Polytechnic Institute Worcester MA
The interaction between the asymmetric (bevel) tip needle and the surrounding tissue results in the deflection of the needle and causes a significant targeting error in prostate biopsy. Several works have been propose... 详细信息
来源: 评论