Applications of CPS technologies used in health care.
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Human motion-capture and computational analysis tools have played a significant role in a variety of product- design and ergonomics settings for over a quarter-century. In moving beyond traditional kinematic (and its dual- static) settings, advances in biomechanics and multibody dynamics have led up to computational analysis tools that can provide significant insights into the functional performance.
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In the process of developing a cyber-physical system capable of displaying the in vivo surgical area directly onto patients' skin, an important research challenge emerged. To generate virtual views from an arbitrary angle, 3D information of internal organ surfaces is crucial. The 3D reconstruction of internal organ surfaces for minimally invasive surgery (MIS) with stereo cameras is usually very difficult due to the challenges in correspondence matching, since there is very limited texture but significant specular reflection on or
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Atomic force microscopes (AFM) can be used to both image and modify samples at molecular or even atomic resolution, in an ambient environment with little to no sample preparation. AFM based nanomanipulation and nanoassembly compares favorably with other techniques such as electron- beam lithography in cost, repeatability, accuracy, and resolution.
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One grand challenge facing the nascent field of cyber-physical systems is the human-machine interface. Complex systems such as teleoperated space robots, telesurgery robots, and wheel-chair mounted assistive robots involve various levels of human intervention and proximity of the human operator to the artificial system.
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Motivation and goal: The whole-system design and modeling of complex medical robotics involves analog sensors and actuators; discrete software controllers; piecewise, non-linear, discontinuous biological tissues/media; and probabilistic human administrators.
In the best case, the failure of such systems risks limb. In the worst, life.
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This project addresses the design of cyber-physical systems that respond to behavioral disturbances introduced by human users. The primary motivating example of this research is the design of "artificial pancreas" algorithms for the control of blood glucose in patients with Type 1 diabetes who require external insulin throughout the day to maintain glucose homeostasis.
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Human users are integral to the operation of safety--critical CPS. The goal of this project is to model and analyze the actions of human users along with possible mistakes that may appear in these interactions. We seek to develop approaches that will help us understand the effect of human operator mistakes on the overall system correctness. Our focus is on medical infusion pumps used to deliver drugs to patients.
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Polymer thin films containing high-density arrays of nanotubes as through channels are very desirable as environmentally friendly and efficient selective transport systems. However, successful design and synthesis of polymer membranes that can be processed in solution and have precise subnanometer diameter pores, vertical channel alignment, and tunable pore interior chemistry similar to biological transmembrane proteins has remained challenging to produce.
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Optical tweezers (OT) have emerged as very useful tools for manipulating cells. Biologists use them routinely for doing scientific experiments and have made many new important discoveries by utilizing them. By integrating perception, planning, and control, we have turned optical tweezers into robots for precise manipulation of microscale objects. This makes them useful tool for conducting sophisticated biology experiments that require concurrent manipulation of multiple cells.
