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dc.contributor.authorUmay, Ilknur
dc.date.accessioned2015-04-22 15:06:23 (GMT)
dc.date.available2015-04-22 15:06:23 (GMT)
dc.date.issued2015-04-22
dc.date.submitted2015
dc.identifier.urihttp://hdl.handle.net/10012/9251
dc.description.abstractWireless 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.isoenen
dc.publisherUniversity of Waterlooen
dc.subjectWireless capsule endoscopyen
dc.subjectwireless biomedical capsule robotsen
dc.subjectadaptive electromagnetic wave based localizationen
dc.subjectadaptive magnetic strength based localizationen
dc.subjectgastrointestinal tracten
dc.subjecttracking controlen
dc.titleAdaptive Wireless Biomedical Capsule Localization and Trackingen
dc.typeMaster Thesisen
dc.pendingfalse
dc.subject.programMechanical Engineeringen
uws-etd.degree.departmentMechanical and Mechatronics Engineeringen
uws-etd.degreeMaster of Scienceen
uws.typeOfResourceTexten
uws.peerReviewStatusUnrevieweden
uws.scholarLevelGraduateen


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