Gary C. T. Chow

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This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake(More)
This paper presents a generic precision optimisation methodology for quadrature computation targeting reconfigurable hardware to maximise performance at a given error tolerance level. The proposed methodology optimises performance by considering integration grid density versus mantissa size of floating-point operators. The optimisation provides the number(More)
—We have demonstrated multi-walled carbon nanotube (MWCNTs) based sensors, which are capable of detecting alcohol vapor with ultra-low power. We fabricated the Si-substrate sensors using an AC electrophoretic technique so as to form bundled MWCNTs sensing elements between Au microelectrodes. The I-V measurement illustrates that we can activate the sensors(More)
This paper presents a novel proximity query (PQ) approach capable to detect the collision and calculate the minimal Euclidean distance between two non-convex objects in 3D, namely the robot and the environment. Such approaches are often considered as computationally demanding problems, but are of importance to many applications such as online simulation of(More)
—Proximity Query (PQ) is a process to calculate the relative placement of objects. It is a critical task for many applications such as robot motion planning, but it is often too computationally demanding for real-time applications, particularly those involving human-robot collaborative control. This paper derives a PQ formulation which can support(More)
This paper introduces a novel mixed precision methodology for mathematical optimisation. It involves the use of reduced precision FPGA optimisers for searching potential regions containing the global optimum, and double precision optimisers on a general purpose processor (GPP) for verifying the results. An empirical method is proposed to determine(More)
The conjugate gradient (CG) is one of the most widely used iterative methods for solving systems of linear equations. However, parallelizing CG for large sparse systems is difficult due to the inherent irregularity in memory access pattern. We propose a novel processor architecture for the sparse conjugate gradient method. The architecture consists of(More)
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