Andrew Evan Graham

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The interaction forces of a fractured femur among the bone, muscle, and other soft tissues are not well understood. Only a small number of in vivo measurements have been made and with many limitations. Mathematical modeling is a useful alternative, overcoming limitations and allowing investigation of hypothetical simulated reductions. We aimed to develop a(More)
Medical robotics is still a relatively new field with researchers and companies all adopting various styles and techniques to solve the challenges faced. This chapter outlines one unique approach to the development of a medical robot for the reduction of broken femurs. Fractures are common injuries, for example in adults over the age of 65 it is reported(More)
The principals and procedure of long bone surgery are presented and the need for robotic assistance is established. Existing problems include radiation exposure from fluoroscopy, mental strain from reconstructing 3-dimensional images and physical fatigue from overcoming fracture deforming forces. These problems are addressed by a proposed fracture reduction(More)
Force compliant trajectory optimization is a term used here to describe a method of following an optimized path while interacting with an environment having only partial a priori knowledge. This can be used when the start and goal poses are fixed and what knowledge is available allows an initial path to be given. A robot traversing this path then senses the(More)
Purpose – The purpose of this paper is to describe the use of snake-arm robots to conduct inspection and repair operations within nuclear power plants. The systems that have been developed and deployed are described. Operational experience and results are provided. Inspection and repair of aging plant is increasingly important to continue to generate(More)
The cyclization of epoxyalkenes to oxabicycloalkanes is catalyzed by stoichiometric quantities of indium tribromide which exhibits excellent selectivity giving the oxabicyclic product in high yield in preference to other cyclized or rearrangement products.
Automated vehicles operating in warehouse environments are in need of an efficient scheduling and planning solution. This is motived by requirements to have high utilisation of resources and through-put of product. Current approaches used to solve the planning and scheduling problem, particularly with multiple vehicles have often been too limited in scope(More)
Diols are desymmetrized by a tandem oxidation/Wittig olefination to give alpha,beta-unsaturated hydroxy esters without the requirement for protecting group strategies; the alpha,beta-unsaturated hydroxy esters are transformed into dienyl diesters using a second oxidation/Wittig olefination sequence using PCC.
A method for the accurate mass measurement of positive radical ions by matrix-assisted laser desorption/ionisation time-of-flight mass spectrometry (MALDI-TOFMS) is described. Initial use of a conjugated oligomeric calibration material was rejected in favour of a series of meso-tetraalkyl/tetraalkylaryl-functionalised porphyrins, from which the two(More)
Mesoporous aluminosilicates efficiently catalyze the ring-opening of epoxides to produce beta-alkoxyalcohols in high yields under extremely mild reaction conditions. These materials also catalyze the corresponding Meinwald rearrangement in non-nucleophilic solvents to give aldehydes which can be trapped in situ to provide the corresponding acetals in an(More)
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