Thesis (M.S.)--University of Delaware, 2008. / Principal faculty advisor: Thomas W. Kaminski, Dept. of Health, Nutrition, & Exercise Sciences. Includes bibliographical references.

Thesis (Ph. D.)--Ohio State University, 2003. / Title from first page of PDF file. Document formatted into pages; contains xv, 307 p.; also includes graphics (some col.) Includes bibliographical references (p. 222-228). Available online via OhioLINK's ETD Center

München, Techn. Univ., Diss., 2002.

Control of mechatronic systems remain an open problem in control theory despite the research work worldwide in the last decade. Uncertainties in mechatronic systems, which includes faults, and disturbance, will often cause undesired behaviours, affecting the systems performances, may lead to the system failure, or even causing safety issues. Control reconfiguration is an active approach in control systems field. However, controller reconfiguration involves changes in its parameters and structure. System stability might not be able to be guaranteed during the parameters tuning, which might cause more damage to system stability, sometimes may cause safety issues. Due the on-line reconfiguration has a scope, during which the system stability can not be guaranteed. This leads that the systems must be turned off during reconfiguration process. In many industrial areas, such as metallurgy, forging, and manufacturing, shutting down the streamline leads to significant levels of lost productivity and unacceptable economic losses. As alternative to control reconfiguration approach, in this thesis two methods are proposed to deal with faults and disturbances. The first method is the fault matrix observer and the second one is the set-point re-planning. The idea of both methods is to compensate the faults and disturbances which affect the system performances without changing the controller structure or controller parameters.

O estudo das forças que envolvem a articulação do joelho depende da determinação de alguns parâmetros biomecânicos. Muitas vezes alguns dos parâmetros utilizados são obtidos por meio da literatura. A distância perpendicular é um parâmetro freqüentemente utilizado de dados provenientes da literatura, pois sua determinação está associada a uma grande dificuldade metodológica. Muitos autores utilizam medidas em cadáveres ou medidas em imagens radiográficas estáticas, geralmente apresentam seus resultados na forma de gráficos e/ou tabelas. Entretanto, ambas fogem da situação onde são utilizadas, in vivo e dinâmica. Sendo assim, o objetivo deste estudo foi estimar a linha de ação e a distância perpendicular das estruturas que cruzam a articulação do joelho. Especificamente, desenvolver equações de regressão para estimar a linha de ação e a distância perpendicular destas estruturas, utilizando variáveis antropométricas tais como: massa, estatura e tamanho da tíbia, como variáveis explicativas nos modelos de regressão. Foram determinadas as linhas de ação e a distância perpendicular das seguintes estruturas: o ligamento patelar, o tendão do quadríceps femoral, o tendão do semimembranoso, o tendão do semitendinoso, o tendão do bíceps femoral, o tendão proximal do gastrocnêmio, o ligamento cruzado anterior e o ligamento cruzado posterior. Além das estruturas mensuradas foi calculada a distância perpendicular efetiva do mecanismo extensor do joelho. As medidas foram realizadas em imagens radiográficas dinâmicas, por meio de videofluoroscopia, em vinte e um (21) indivíduos saudáveis executando três repetições do exercício de extensão de joelho em cadeia cinética aberta, sem carga aplicada à tíbia. Foi utilizado o método automático "stepwise" para seleção das melhores variáveis explicativas para cada equação de regressão. Por meio de modelos de regressão linear foi possível estimar as linhas de ação e as distâncias perpendiculares das estruturas que cruzam a articulação do joelho, assim como estimar a distância perpendicular efetiva do mecanismo extensor do joelho. Além do ângulo de flexão, foi possível utilizar variáveis antropométricas como variáveis explicativas do modelo de regressão. / The study of forces involving the knee joint depends on the determination of some biomechanical parameters. Often some of the parameters used are obtained through literature. The moment arm is a parameter frequently used data in the literature, it is difficult to determine. Many authors use measures in cadavers or measures in radiographic images from static to determine its values and its results as graphs and / or as the regression equations. Meanwhile, both fleeing the situation where they are used, in vivo and dynamic. Therefore, the purpose of this study was to estimate the line of action and moment arm structures that cross the knee joint. Specifically, the regression equations developed to estimate the line of action and moment arm of these structures. Using anthropometric variables, such as weight, height and length of the tibia as explanatory variables in the regression models. There were certain lines of action and moment arm of the following structures, the patellar ligament, the femoral quadriceps tendon, the tendon semimembranoso, the semitendinosus tendon, the femoral biceps tendon, the tendon proximal the gastrocnemius, the anterior cruciate ligament and posterior cruciate ligament. In addition to the structures was estimated measured the effective moment arm mechanism of the knee extensor. To define the centre of rotation was the method used snapshot, to measure the moment arm geometric method was used. The measures were taken in radiographic images dynamic, through videofluoroscopic, and one in twenty (21) healthy individuals running three repetitions of the exercise of the extension of knee in open kinetic chain, no load applied to the tibia. It was the method used automatic "stepwise" to select the best explanatory variables for each regression equation. Through linear regression models were unable to estimate the lines of action and the moment arm structures that cross the knee joint, and estimate the moment arm effective mechanism of the knee extensor. Besides the angle of bending, it was possible to use anthropometric variables as explanatory variables in the regression model.

Nephrolithiasis can be a painful problem due to presence of kidney stones. Kidney stone is among the common painful disorders of the urinary system. Various imaging modalities are used to diagnose patients with symptoms of renal or urinary tract disease such as plain kidney, ureter, bladder x-ray (KUB), intravenous pyelography (IVP), and computed tomography (CT). As a traditional three-dimensional (3D) nephrolithiasis and kidney stones detection technique, computed tomography (CT) provides detailed cross-sectional images as well as 3D structure of kidney from moving the x-ray beam in a circle around the body. However, the risk of CT scans of the kidney is relatively higher exposure to radiation which is more than regular x-rays. C-arm technique is a new x-ray imaging modality that uses 2D array detector and cone shaped x-ray beam to create 3D information about the scanned object. Both x-ray source and 2D array detector cells mounted on C-shaped wheeled structure (C-arm). A series of projection images are acquired by rotating the C-arm around the patient in along circular path with a single rotation. The characteristic structure of C-arm allows to provide wide variety of movements around the patient that helps to remain the patient stationary during scanning time. In this work, we investigated a C-arm technique to generate a series of tomographic images for nephrolithiasis and detection of kidney stones. C-arm tomographic technique (C-arm tomosynthesis) as a new three dimensional (3D) kidney imaging method that provides a series of two dimensional (2D) images along partial circular orbit over limited view angle. Our experiments were done with kidney phantom which formed from a pig kidney with two embedded kidney stones inside it and low radiation dosage. Radiation dose and scanning time needed for kidney imaging are all dramatically reduced due to the cone beam geometry and also to limitation of angular rotation. To demonstrate the capability of our C-arm tomosynthesis to generate 3D kidney information for kidney stone detection, two groups of tomographic image reconstruction algorithms were developed for C-arm tomosynthesis: direct algorithms such as filtered back projection (FBP) and iterative algorithms such as simultaneous algebraic reconstruction technique (SART), maximum likelihood expectation maximization (MLEM), ordered- subset maximum likelihood expectation maximization (OS-MLEM) and Pre-computed penalized likelihood reconstruction (PPL). Three reconstruction methods were investigated including: pixel-driven method (PDM), ray-driven method (RDM) and distance driven method (DDM). Each method differs in their efficiency of calculation accuracy per computing time. Preliminary results demonstrated the capability of proposed technique to generate volumetric data about the kidney for nephrolithiasis and kidney stone detection by using all investigated reconstruction algorithms. In spite of each algorithms differs in their strategies, embedded kidney stone can be clearly visualized in all reconstruction results. Computer simulation studies were also done on simulated phantom to evaluate the results for each reconstruction algorithm. To mimic kidney phantom, simulated phantom was simulated with two different size kidney stones. Dataset of projection images was collated by using a virtual C-arm tomosynthesis with geometric configuration similar to real technique. All investigated algorithms were used to reconstruct 3D information. Different of image quality functions were applied to evaluate the imaging system and the reconstruction algorithms. The results show the capability of C-arm tomosynthesis to generate 3D information of kidney structures and to identify the size and location of kidney stones with limited amount of radiation dose.

Training locomotor pattern generating networks (CPGs) with body weight supported treadmill training or through arm and leg cycling improves walking in chronic stroke. These outcomes are presumed to result from enhanced interlimb connectivity and CPG function. The extent to which rhythmic arm training activates interlimb CPG networks for locomotion remains unclear and was assessed by studying chronic stroke participants before and after 5-weeks of arm cycling training. Strength was assessed bilaterally via maximal voluntary isometric contractions in the legs and hands. Muscle activation during arm cycling and transfer to treadmill walking were assessed in the more affected (MA) and less affected (LA) sides via surface electromyography. Changes to interlimb coupling during rhythmic movement were evaluated using modulation of cutaneous reflexes elicited by electrical stimulation of the superficial radial nerve at the wrist. Bilateral soleus stretch reflexes were elicited at rest and during 1Hz arm cycling. Clinical function tests assessed walking, balance and motor function. Results show significant changes in function and neurophysiological integrity. Training increased bilateral grip strength, force during MA plantarflexion and muscle activation. ‘Normalization’ of cutaneous reflex modulation was found during arm cycling. There was enhanced activity in the dorsiflexor muscles on the MA side during swing phase of walking. Enhanced interlimb coupling was shown by increased modulation of MA soleus stretch reflexes amplitudes during arm cycling after training. Clinical evaluations showed enhanced walking ability and balance. These results are consistent with training-induced changes in CPG function and interlimb connectivity and underscore the need for arm training in the functional rehabilitation of walking after neurotrauma. / Graduate

O estudo das forças que envolvem a articulação do joelho depende da determinação de alguns parâmetros biomecânicos. Muitas vezes alguns dos parâmetros utilizados são obtidos por meio da literatura. A distância perpendicular é um parâmetro freqüentemente utilizado de dados provenientes da literatura, pois sua determinação está associada a uma grande dificuldade metodológica. Muitos autores utilizam medidas em cadáveres ou medidas em imagens radiográficas estáticas, geralmente apresentam seus resultados na forma de gráficos e/ou tabelas. Entretanto, ambas fogem da situação onde são utilizadas, in vivo e dinâmica. Sendo assim, o objetivo deste estudo foi estimar a linha de ação e a distância perpendicular das estruturas que cruzam a articulação do joelho. Especificamente, desenvolver equações de regressão para estimar a linha de ação e a distância perpendicular destas estruturas, utilizando variáveis antropométricas tais como: massa, estatura e tamanho da tíbia, como variáveis explicativas nos modelos de regressão. Foram determinadas as linhas de ação e a distância perpendicular das seguintes estruturas: o ligamento patelar, o tendão do quadríceps femoral, o tendão do semimembranoso, o tendão do semitendinoso, o tendão do bíceps femoral, o tendão proximal do gastrocnêmio, o ligamento cruzado anterior e o ligamento cruzado posterior. Além das estruturas mensuradas foi calculada a distância perpendicular efetiva do mecanismo extensor do joelho. As medidas foram realizadas em imagens radiográficas dinâmicas, por meio de videofluoroscopia, em vinte e um (21) indivíduos saudáveis executando três repetições do exercício de extensão de joelho em cadeia cinética aberta, sem carga aplicada à tíbia. Foi utilizado o método automático "stepwise" para seleção das melhores variáveis explicativas para cada equação de regressão. Por meio de modelos de regressão linear foi possível estimar as linhas de ação e as distâncias perpendiculares das estruturas que cruzam a articulação do joelho, assim como estimar a distância perpendicular efetiva do mecanismo extensor do joelho. Além do ângulo de flexão, foi possível utilizar variáveis antropométricas como variáveis explicativas do modelo de regressão. / The study of forces involving the knee joint depends on the determination of some biomechanical parameters. Often some of the parameters used are obtained through literature. The moment arm is a parameter frequently used data in the literature, it is difficult to determine. Many authors use measures in cadavers or measures in radiographic images from static to determine its values and its results as graphs and / or as the regression equations. Meanwhile, both fleeing the situation where they are used, in vivo and dynamic. Therefore, the purpose of this study was to estimate the line of action and moment arm structures that cross the knee joint. Specifically, the regression equations developed to estimate the line of action and moment arm of these structures. Using anthropometric variables, such as weight, height and length of the tibia as explanatory variables in the regression models. There were certain lines of action and moment arm of the following structures, the patellar ligament, the femoral quadriceps tendon, the tendon semimembranoso, the semitendinosus tendon, the femoral biceps tendon, the tendon proximal the gastrocnemius, the anterior cruciate ligament and posterior cruciate ligament. In addition to the structures was estimated measured the effective moment arm mechanism of the knee extensor. To define the centre of rotation was the method used snapshot, to measure the moment arm geometric method was used. The measures were taken in radiographic images dynamic, through videofluoroscopic, and one in twenty (21) healthy individuals running three repetitions of the exercise of the extension of knee in open kinetic chain, no load applied to the tibia. It was the method used automatic "stepwise" to select the best explanatory variables for each regression equation. Through linear regression models were unable to estimate the lines of action and the moment arm structures that cross the knee joint, and estimate the moment arm effective mechanism of the knee extensor. Besides the angle of bending, it was possible to use anthropometric variables as explanatory variables in the regression model.

abstract: The increasing usage of smart-phones and mobile devices in work environment and IT industry has brought about unique set of challenges and opportunities. ARM architecture in particular has evolved to a point where it supports implementations across wide spectrum of performance points and ARM based tablets and smart-phones are in demand. The enhancements to basic ARM RISC architecture allow ARM to have high performance, small code size, low power consumption and small silicon area. Users want their devices to perform many tasks such as read email, play games, and run other online applications and organizations no longer desire to provision and maintain individual’s IT equipment. The term BYOD (Bring Your Own Device) has come into being from demand of such a work setup and is one of the motivation of this research work. It brings many opportunities such as increased productivity and reduced costs and challenges such as secured data access, data leakage and amount of control by the organization. To provision such a framework we need to bridge the gap from both organizations side and individuals point of view. Mobile device users face issue of application delivery on multiple platforms. For instance having purchased many applications from one proprietary application store, individuals may want to move them to a different platform/device but currently this is not possible. Organizations face security issues in providing such a solution as there are many potential threats from allowing BYOD work-style such as unauthorized access to data, attacks from the devices within and outside the network. ARM based Secure Mobile SDN framework will resolve these issues and enable employees to consolidate both personal and business calls and mobile data access on a single device. To address application delivery issue we are introducing KVM based virtualization that will allow host OS to run multiple guest OS. To address the security problem we introduce SDN environment where host would be running bridged network of guest OS using Open vSwitch . This would allow a remote controller to monitor the state of guest OS for making important control and traffic flow decisions based on the situation. / Dissertation/Thesis / Masters Thesis Computer Science 2015

abstract: Our ability to estimate the position of our body parts in space, a fundamentally proprioceptive process, is crucial for interacting with the environment and movement control. For proprioception to support these actions, the Central Nervous System has to rely on a stored internal representation of the body parts in space. However, relatively little is known about this internal representation of arm position. To this end, I developed a method to map proprioceptive estimates of hand location across a 2-d workspace. In this task, I moved each subject's hand to a target location while the subject's eyes were closed. After returning the hand, subjects opened their eyes to verbally report the location of where their fingertip had been. Then, I reconstructed and analyzed the spatial structure of the pattern of estimation errors. In the first couple of experiments I probed the structure and stability of the pattern of errors by manipulating the hand used and tactile feedback provided when the hand was at each target location. I found that the resulting pattern of errors was systematically stable across conditions for each subject, subject-specific, and not uniform across the workspace. These findings suggest that the observed structure of pattern of errors has been constructed through experience, which has resulted in a systematically stable internal representation of arm location. Moreover, this representation is continuously being calibrated across the workspace. In the next two experiments, I aimed to probe the calibration of this structure. To this end, I used two different perturbation paradigms: 1) a virtual reality visuomotor adaptation to induce a local perturbation, 2) and a standard prism adaptation paradigm to induce a global perturbation. I found that the magnitude of the errors significantly increased to a similar extent after each perturbation. This small effect indicates that proprioception is recalibrated to a similar extent regardless of how the perturbation is introduced, suggesting that sensory and motor changes may be two independent processes arising from the perturbation. Moreover, I propose that the internal representation of arm location might be constructed with a global solution and not capable of local changes. / Dissertation/Thesis / Ph.D. Bioengineering 2012