Computed Torque Control of a 3R Robot Arm Playing Ping Pong

Computed Torque Control of a 3R Robot Arm Playing Ping Pong

In this post, you will find the MATLAB and Simulink codes for equations of motions of a 3R (3 revolute joints) robot, Computed Torque Control of the 3R robot arm in joint and task spaces, and the 3R robot arm playing Ping Pong. Suppose we have a 3R robot arm with 3 revolute joints pictured in the figure below: Fig. 1. A 3R (3 revolute joints) Serial Manipulator Robot The following problems are going to deal with the simulations of the equations of motion of this robot using the Lagrange-Euler method, Computed Torque Control (CTC) of the 3R robot in…
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Mahdieh Babaiasl Received Prestigious SWE Scholarship

Mahdieh Babaiasl Received Prestigious SWE Scholarship

We are delighted to announce that Madi has received the prestigious Wanda Munn (SWE Eastern Washington Section) Scholarship for her outstanding academic achievement as well as strong engineering potential. Theย SWE Scholarshipย Selection Committee reviewed over 1,500 applications that year in making its choices. See the other Mecharithm News in the link below: https://www.mecharithm.com/category/mecharithm-news/ If you enjoyed this post, please consider contributing to help us with our mission to make robotics and mechatronics available for everyone. We deeply thank you for your generous contribution! Do not forget to contact us: Be sure to let us know your thoughts and questions about this…
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How to Make a Great Jaw-dropping Presentation

How to Make a Great Jaw-dropping Presentation

Have you ever felt so nervous before a presentation and felt you could have presented better? Are you one of the people who'd rather die than present in front of other people? Public presentation is always nerve-racking for everyone. Believe it or not presenting in front of the people is the most difficult thing for everyone and this post is going to show you some tips and tricks that if you follow you can make a great jaw-dropping presentation that makes a lasting impact on your audience. Write a Logical Flow of Your Presentation Imagine a movie with smooth and…
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Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Fracture-directed Waterjet Needle Steering: Design, Modeling, and Path Planning

Our paper on fracture-directed waterjet needle steering is accepted to be presented at BioRob 2020 and also to be published in IEEE. The contributors of this paper are Mahdieh Babaiasl, Stefano Bocelli, and Fan Yang under the supervision of Dr. John Swensen. The abstract of this paper is: Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving a small radius of curvature and being able to control both radius of curvature and tip travel is of paramount importance in…
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Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles

Duty Cycling of Waterjet Can Improve Steerability and Radius-of-Curvature (ROC) for Waterjet Steerable Needles

Our paper on curvature control of waterjet steerable needles is accepted to be presented at ISMR 2020 and also to be published in IEEE. The contributors of this paper are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John Swensen. The abstract of this paper is: Steerable needles are a type of medical devices that can steer around obstacles to reach a target location and thus can improve the accuracy of medical procedures. Radius-of-Curvature (ROC) is of paramount importance while designing steerable needles and achieving smaller radius and being able to control it is very important in evaluating…
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Towards Waterjet Steerable Needles

Towards Waterjet Steerable Needles

This paper measured the waterjet needle's insertion forces and compared them with a traditional needle with no waterjet running through. It is shown that incorporating a waterjet reduces the insertion force and thus buckling of the needle. The contributors for this project are Mahdieh Babaiasl, and Fan Yang under the supervision of Dr. John P. Swensen. Abstract of the Paper Towards Waterjet Steerable Needles Water-jet technology has been used extensively for decades industrially for many applications including mining, plastic, metal, stone, wood, and produce cutting. The use of water-jet in medical applications has been developed more recently and it is…
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Fracture-Directed Steerable Needles

Fracture-Directed Steerable Needles

Our paper entitled "Fracture-Directed Steerable Needles" is published in the Journal of Medical Robotics Research. The authors of this manuscript are Fan Yang, Mahdieh Babaiasl, and John Swensen. Abstract of the "Fracture-Directed Steerable Needles" Steerable needles hold the promise of improving the accuracy of both therapies and biopsies as they are able to steer to a target location around obstructions, correct for disturbances, and account for movement of internal organs. However, their ability to make late-insertion corrections has always been limited by the lower bound on the attainable radius of curvature. This project involves a new class of steerable needle…
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How to Perform an Effective Peer Review

How to Perform an Effective Peer Review

Are you invited to do a peer review for a journal or conference? Are you wondering how to write the review or where to start it? If you have any of these questions you are at the right place. Doing a peer review is a great responsibility. You are responsible to give your unbiased opinion on an article to keep scientific community from false findings and inaccurate research while at the same time promoting legitimate good research that are fruits of years of countless hours at lab, discouragements, tears, and perseverance. How Does Peer Review Work The author submits the…
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Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications

Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications

Our new paper entitled "Predictive mechanics-based model for depth-of-cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications" is recently accepted to be published in Medical & Biological Engineering & Computing journal and is now online at the following address: Click HERE! This paper solves the fundamental physics problem of the interaction of the waterjet with the surrounding soft tissue for waterjet-assisted cutting in medical and surgical applications. Mahdieh Babaiasl, Stefano Bocelli, Yao Chen, and Fan Yang conducted this research under the supervision of Dr. John P. Swensen, and Dr. Jow-Lian Ding.  Watch a short video of the experiments below:…
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Mahdieh Babaiasl Was an Invited Speaker to WSU’s Seminar Series

Mahdieh Babaiasl Was an Invited Speaker to WSU’s Seminar Series

In Nov. 2019, Mahdieh Babaiasl was invited to give a talk on Waterjet Steerable Needles at WSU's Seminar Series at Tri-Cities Campus. The topic of the talk was "Waterjet-assisted Needle Steering to be Used for Medical Applications". The abstract of the talk Steerable needle technology has the promise of improving outcomes by enhancing the accuracy of different therapies and biopsies, as they can be steered to a target location around obstacles. Achieving a small radius of curvature and being able to control both radius of curvature and tip travel is of paramount importance in steerable needles to accomplish the increase…
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