Wang, C., Savkin, A.V., Clout, R. & Nguyen, H.T. 2015, 'An Intelligent Robotic Hospital Bed for Safe Transportation of Critical Neurosurgery Patients Along Crowded Hospital Corridors.', IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society, vol. 23, no. 5, pp. 744-754.View/Download from: UTS OPUS or Publisher's site
We present a novel design of an intelligent robotic hospital bed, named Flexbed, with autonomous navigation ability. The robotic bed is developed for fast and safe transportation of critical neurosurgery patients without changing beds. Flexbed is more efficient and safe during the transportation process comparing to the conventional hospital beds. Flexbed is able to avoid en-route obstacles with an efficient easy-to-implement collision avoidance strategy when an obstacle is nearby and to move towards its destination at maximum speed when there is no threat of collision. We present extensive simulation results of navigation of Flexbed in the crowded hospital corridor environments with moving obstacles. Moreover, results of experiments with Flexbed in the real world scenarios are also presented and discussed.
Lim, T., Clout, R.B., Barry, M.E., Lu, J., Huang, K. & Thomas, S.P. 2009, 'Percutaneous Microwave Ablation With A Long Side-Firing Antenna Array Can Successfully Treat A Nonsurgical Chronic Ovine Atrial Flutter Model', Journal Of Cardiovascular Electrophysiology, vol. 20, no. 11, pp. 1255-1261.View/Download from: UTS OPUS or Publisher's site
ntroduction: Long side-firing microwave (MW) arrays can deliver energy uniformly over its length without the need for intimate endocardial contact. We hypothesize that a novel 6 Fr 20 mm long percutaneous high-efficiency MW antenna array ablation catheter can rapidly create long, continuous, and transmural linear ablation lesions. Methods and Results: Cavotricuspid isthmus (CTI)-dependent atrial flutter (AFL) was created in 11 sheep by a line of radiofrequency ablation lesions in the posterior right atrium (RA) linking the venae cavae. After 46 weeks recovery, CTI-dependent AFL was still inducible in all 11 sheep (cycle length 178 ± 13 ms). MW ablation of the CTI at 100 W for 30 seconds was then performed with an endpoint of AFL noninducibility. AFL was not inducible in all 11 sheep after 4.3 ± 3.3 MW applications (129 ± 99 seconds). The last 6 animals needed fewer ablations (2.2 ± 1.5) and 3 of these sheep required only a single ablation. Although conduction times from proximal coronary sinus to lateral RA and vice versa increased postablation (51 ± 14 ms to 118 ± 31 ms [P = 0.0002] and 60 ± 13 ms to 119 ± 28 ms [P = 0.0001], respectively), AFL was still inducible in 2 sheep and further ablation was needed to reach the endpoint. Conclusions: High-efficiency side-firing MW array ablation can rapidly create long linear and electrically intact lesions in an ovine AFL model. AFL noninducibility may be a more reliable indicator than CTI conduction times of an intact line of ablation in this animal model.
Thomas, S.P., Clout, R.B., Deery, C., Sanagavarapu, A.M. & Ross, D.L. 1999, 'Microwave Ablation Of Myocardial Tissue The Effect Of Element Design, Tissue Coupling, Blood Flow, Power, And Duration Of Exposure On Lesion Size', Journal Of Cardiovascular Electrophysiology, vol. 10, no. 1, pp. 72-78.View/Download from: Publisher's site
Introduction The biophysical properties of microwave electromagnetic radiation suggest that it may be an alternative to radiofrequency (RF) energy for ablation of arrhythmias resistant to treatment using RF ablation. Methods and Results: The aim of this
Kaynak, A., Sanagavarapu, A.M., Unsworth, J. & Clout, R.B. 1994, 'Plane-wave Shielding Effectiveness Studies On Conducting Polypyrrole', Journal Of Materials Science Letters, vol. 13, no. 15, pp. 1121-1123.View/Download from: Publisher's site
Kaynak, A., Unsworth, J., Clout, R.B., Sanagavarapu, A.M. & Beard, G.E. 1994, 'A Study Of Microwave Transmission, Reflection, Absorption, And Shielding Effectiveness Of Conducting Polypyrrole Films', Journal Of Applied Polymer Science, vol. 54, no. 3, pp. 269-278.View/Download from: Publisher's site
Microwave transmission, reflection, and absorption behavior and the shielding effectiveness of electrochemically synthesized polypyrrole films with dc conductivities ranging from 0.001 to 50 Scm are presented. Results show that the electrical conductivi
Nguyen, H.H., Nguyen, T.N., Clout, R. & Nguyen, H.T. 2015, 'A novel target following solution for the electric powered hospital bed', 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Milano, Italy, pp. 3569-3572.View/Download from: UTS OPUS or Publisher's site
The paper proposes a novel target following solution for an electric powered hospital bed. First, an improved real-time decoupling multivariable control strategy is introduced to stabilize the overall system during its operation. Environment laser-based data are then collected and pre-processed before engaging a neural network classifier for target detection. Finally, a high-level control algorithm is implemented to guarantee safety condition while the hospital bed tracks its target. The proposed solution is successfully validated through real-time experiments.
Wang, C., Savkin, A.V., Clout, R. & Nguyen, H.T. 2014, 'A method for collision free navigation of a robotic hospital bed among steady and moving obstacles', 2014 IEEE Conference on Control Applications (CCA), IEEE Conference on Control Applications, IEEE, Juan Les Antibes, pp. 1058-1063.View/Download from: UTS OPUS or Publisher's site
We present a reactive navigation algorithm which ensures the safety of the hospital beds in the dynamic environments. The proposed navigation algorithm allows the hospital beds to avoid en-route obstacles with an efficient easy-to-compute sliding mode obstacle avoidance strategy when an obstacle is nearby, and move towards the target location at maximum speed when there is no threat of collision. We provide extensive computer simulation of the proposed navigation algorithm. More importantly, the experiment results with the designed mobile hospital bed in real world scenarios are also presented.
Nguyen, H.H., Nguyen, T.N., Clout, R. & Nguyen, H.T. 2014, 'An advanced control strategy of an electrical-powered hospital bed', 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2014, International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Chicago, USA, pp. 1190-1193.View/Download from: UTS OPUS or Publisher's site
This paper develops a multivariable control technique for low-level control of an intelligent hospital bed. First, multivariable hospital bed models, nominal, upper bounded and lower bounded models, are obtained via an experimental identification procedure. Based on the obtained nominal model, the triangular diagonal dominance (TDD) decoupling technique is applied to reduce a complex multivariable system into a series of scalar systems. For each scalar system, an online adaptive control strategy is then developed to cope with system uncertainties. Compared to the conventional control method, real-time experimental results showed that our proposed multivariable control technique achieved better performance. Experimental results also confirmed that desirable system performance was guaranteed under system uncertainty conditions.
Nguyen, H., Nguyen, N., Clout, R.B., Gibson, A.J. & Nguyen, H.T. 2013, 'Development of an assistive patient mobile system for hospital environments', Proceedings of the 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, International Conference of the IEEE Engineering in Medicine and Biology Society, IEEE, Osaka, Japan, pp. 2491-2494.View/Download from: UTS OPUS or Publisher's site
This paper presents an assistive patient mobile system for hospital environments, which focuses on transferring the patient without nursing help. The system is a combination of an advanced hospital bed and an autonomous navigating robot. This intelligent bed can track the robot and routinely navigates and communicates with the bed. The work centralizes in building a structure, hardware design and robot detection and tracking algorithms by using laser range finder. The assistive patient mobile system has been tested and the real experiments are shown with a high performance of reliability and practicality. The accuracy of the method proposed in this paper is 91% for the targeted testing object with the error rate of classification by 6%. Additionally, a comparison between our method and a related one is also described including the comparison of results.
Rozyn, M.K., Wilson, N.J., Andrews, M., Eager, D.M. & Clout, R.B. 2003, 'HOMER - A High Speed Robot For Indoor Exploration', Australian Robotics & Automation Association, Australasian Conference on Robotics and Automation, Australian Robotics & Automation Association, Brisbane, Australia, pp. 1-9.View/Download from: UTS OPUS
Reisenfeld, S., Aboutanios, E., Willey, K., Eckert, M.P., Clout, R.B. & Thoms, A. 1999, 'The Design of the FedSat Ka Band Fast Tracking Earth Station', Proceedings 8th International Aerospace Congress, 8th International Aerospace Congress, Adelaide, South Australia.