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Gabor filter-based localization of straight and curved needles in 2D ultrasound images
(TÜBİTAK, 2020)
2D ultrasound (US) is one of the most commonly used medical imaging devices for needle localization in biopsies. However, the produced images are low-resolution and contain an excessive number of artifacts, which makes the ...
A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
(IEEE, 2021)
Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ...
Fast and efficient terrain-aware motion planning for exploration rovers
(IEEE, 2021)
This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost ...
Learning medical suturing primitives for autonomous suturing
(IEEE, 2021)
This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ...
A comparative evaluation of sepiolite and nano-montmorillonite on the rheology of cementitious materials for 3D printing
(Elsevier, 2022-10-03)
Through the last decade, methods of digital manufacturing of concrete gained a significant interest compared to conventional concrete. The main challenge in additive manufacturing (3D printing) is to design a highly ...
Adaptive shared control with human intention estimation for human agent collaboration
(IEEE, 2022)
In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ...
Simulation-based design and locomotion control implementation for a lower body exoskeleton
(IEEE, 2022)
This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ...
Sensorless position control of solenoid actuators for soft landing using super-twisting sliding mode control
(SAGE, 2022-07-24)
This article presents an open-loop control methodology to achieve lower seating velocities (i.e. soft-landing) for solenoid-based injector systems which are widely used in automotive as fuel injection valves or gas exchange ...
Topology optimization-based design and development of a compact actuator with a high torque-to-weight ratio for quadrupeds
(IEEE, 2022)
This paper presents the design, development, and testing procedures for a compact actuator with a high torque-to-weight ratio, generally aimed to actuate legged robots, e.g., quadrupeds. The main goal of designing the ...
Design and development of a torsion-based series elastic actuator with nested encoders for a wearable exoskeleton robot
(IEEE, 2022)
This paper presents the design of a high torque-to-mass ratio series elastic actuator (SEA) for wearable powered exoskeletons. Nonbackdrivable actuators are ideal for applications that require high torque. Commonly, active ...
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