Browsing by Subject "Robotic"

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    Technologies For Cortex-Wide Neural Interfacing
    (2020-03) Ghanbari, Leila
    Neural computations occurring simultaneously across cerebral cortical regions are critical for behavior mediation. While, progress has been made to understand how neural activity in specific cortical regions contributes to behavior, there is a lack of tools that allow chronic and simultaneous monitoring and perturbing of neural activity across cortical regions. Exposing the brain requires surgical precision for large craniotomies without damaging underlying tissue. In this thesis, we introduce computer numeric controlled (CNC) robotic surgery platforms developed to automatically perform precise craniotomies in mice based on individualized skull surface profiles, enabling optical access to large brain regions. We also present “See-Shells,” digitally designed and morphologically realistic transparent polymer skulls that allow chronic (>300 days) optical access to 45 mm2 of the dorsal cerebral cortex in the mouse. We demonstrate the ability to perform neural mesoscopic and two-photon imaging across the cortex using See-Shells. “Perforated See-Shells” enable the introduction of neural probes to perturb or record neural activity during whole cortex imaging. All these technologies can be constructed with common desktop fabrication tools and collectively serve as a pipeline for an abundance of investigations into the brain.
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    Vision Guidance System for the Robotic Roadway Message Painter
    (2015-07) Ahmad, Waqas
    Roads are used as a way of transportation and communication in every part of the world. Road markers are painted on the roads for safety, information and caution purposes. Road markers are mainly used to assist drivers with vital information and caution. The process of painting new and existing roadway markings (turn arrows, STOP messages, railroad crossings, etc.) is an important maintenance task. The Minnesota Department of Transportation (MN/DOT) estimates that over 75% of symbol and message painting is the repainting of existing markings [1]. It would be extremely valuable for an automated painting system to have a vision guidance capability whereby an existing marker could be repainted accurately with little operator input. A vision system capable of identifying existing painted pavement markings and determining their coordinates, dimensions, location, and orientation would be a very useful tool. The information regarding the pavement markings could then be passed to a robotic painting device (currently under development) to enable it to accurately repaint the marking. This would significantly improve the capability of the device to repaint existing pavement markings. Eventual users of a device using this technology could be city, county, state, federal government agencies and private companies or contractors. It will allow improved safety, reduced cost and less time to maintain existing road markers as well as draw new ones.