dc.contributor.author | Umay, Ilknur | |
dc.date.accessioned | 2015-04-22 15:06:23 (GMT) | |
dc.date.available | 2015-04-22 15:06:23 (GMT) | |
dc.date.issued | 2015-04-22 | |
dc.date.submitted | 2015 | |
dc.identifier.uri | http://hdl.handle.net/10012/9251 | |
dc.description.abstract | Wireless capsule endoscopy systems have been shown as a gold step to develop future
wireless biomedical multitask robotic capsules, which will be utilized in micro surgery, drug
delivery, biopsy and multitasks of the endoscopy. In such wireless capsule endoscopy systems,
one of the most challenging problems is accurate localization and tracking of the capsule inside
the human body. In this thesis, we focus on robotic biomedical capsule localization and
tracking using range measurements via electromagetic wave and magnetic strength based
sensors. First, a literature review of existing localization techniques with their merits and
limitations is presented. Then, a novel geometric environmental coefficient estimation technique
is introduced for time of flight (TOF) and received signal strength (RSS) based range
measurement. Utilizing the proposed environmental coefficient estimation technique, a 3D
wireless biomedical capsule localization and tracking scheme is designed based on a discrete
adaptive recursive least square algorithm with forgetting factor. The comparison between
localization with novel coefficient estimation technique and localization with known coefficient
is provided to demonstrate the proposed technique’s efficiency. Later, as an alternative
to TOF and RSS based sensors, use of magnetic strength based sensors is considered. We
analyze and demonstrate the performance of the proposed techniques and designs in various
scenarios simulated in Matlab/Simulink environment. | en |
dc.language.iso | en | en |
dc.publisher | University of Waterloo | en |
dc.subject | Wireless capsule endoscopy | en |
dc.subject | wireless biomedical capsule robots | en |
dc.subject | adaptive electromagnetic wave based localization | en |
dc.subject | adaptive magnetic strength based localization | en |
dc.subject | gastrointestinal tract | en |
dc.subject | tracking control | en |
dc.title | Adaptive Wireless Biomedical Capsule Localization and Tracking | en |
dc.type | Master Thesis | en |
dc.pending | false | |
dc.subject.program | Mechanical Engineering | en |
uws-etd.degree.department | Mechanical and Mechatronics Engineering | en |
uws-etd.degree | Master of Science | en |
uws.typeOfResource | Text | en |
uws.peerReviewStatus | Unreviewed | en |
uws.scholarLevel | Graduate | en |