Fluid Actuation for Imaging Compatible Devices

dc.contributor.advisorGrigoriadis, Karolos M.
dc.contributor.committeeMemberRao, Jagannatha R.
dc.contributor.committeeMemberGarbey, Marc
dc.creatorRifenburgh, William McKenzie
dc.date.accessioned2016-02-20T23:07:26Z
dc.date.available2016-02-20T23:07:26Z
dc.date.createdDecember 2013
dc.date.issued2013-12
dc.date.submittedDecember 2013
dc.date.updated2016-02-20T23:07:28Z
dc.description.abstractThe use of robots in imaging devices is becoming more prominent with the development of image guided surgery robots and imaging related research requiring mechanical actuation. Many such robotic systems exist today but unfortunately cause imaging distortion and artifacts due to the presence of actuators and control electronics that are incompatible with the imaging devices used. One solution to this problem is the use of fluid actuators. Fluid actuators can be made entirely of polymers that are fully compatible with both MRI and CT scanning. In the course of this work, the modeling, identification and control of hydraulic and pneumatic linear piston-cylinder actuators was investigated and a performance comparison of the two types of actuation in various medical robotics applications was made. The results show that hydraulic systems are better suited for precise positioning tasks and haptic force-feedback teleoperation and pneumatic systems are better suited for applications requiring compliant motion.
dc.description.departmentMechanical Engineering, Department of
dc.format.digitalOriginborn digital
dc.format.mimetypeapplication/pdf
dc.identifier.urihttp://hdl.handle.net/10657/1205
dc.language.isoeng
dc.rightsThe author of this work is the copyright owner. UH Libraries and the Texas Digital Library have their permission to store and provide access to this work. Further transmission, reproduction, or presentation of this work is prohibited except with permission of the author(s).
dc.subjectPneumatics
dc.subjectHydraulics
dc.subjectRobotics
dc.subjectTeleoperation
dc.subjectMedicine
dc.titleFluid Actuation for Imaging Compatible Devices
dc.type.dcmiText
dc.type.genreThesis
thesis.degree.collegeCullen College of Engineering
thesis.degree.departmentMechanical Engineering, Department of
thesis.degree.disciplineAerospace Engineering
thesis.degree.grantorUniversity of Houston
thesis.degree.levelMasters
thesis.degree.nameMaster of Science

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