Nikhil Deshpande

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OBJECTIVES/HYPOTHESIS To introduce a novel computerized surgical system for improved usability, intuitiveness, accuracy, and controllability in robot-assisted laser phonomicrosurgery. STUDY DESIGN Pilot technology assessment. METHODS The novel system was developed involving a newly designed motorized laser micromanipulator, a touch-screen display, and a(More)
—Autonomous mobile robots (AMRs) operating in unknown environments face twin challenges: 1) localization and 2) efficient directed navigation. This paper describes a two-tiered approach to solving these challenges: 1) by developing novel wireless-sensor-network (WSN)-based localization methods and 2) by using WSN–AMR interaction for navigation. The goal is(More)
Reinforcement learning, in general, has not been totally successful at solving complex real-world problems which can be described by nonlinear functions. However, temporal difference learning is a type of reinforcement learning algorithm that has been researched and applied to various prediction problems with promising results. This paper discusses the(More)
We propose that robot perception is enabled by means of a common sensorimotor semantics arising from a set of symmetry theories (expressed as symmetry detectors and parsers) embedded a priori in each robot. These theories inform the production of structural representations of sensorimotor processes, and these representations, in turn, permit perceptual(More)
Given a set of unknown sensors and actuators, sensorimotor reconstruction is achieved by exploiting relations between the sensor data and the actuator control data to determine sets of similar sensors, sets of similar actuators, necessary relations between them, as well as sensorimotor relations to the environment. Several authors have addressed this(More)
Robot manipulator designs are increasingly focused on low cost approaches, especially those envisioned for use in unstructured environments such as households, office spaces and hazardous environments. The cost of angular sensors varies based on the precision offered. For tasks in these environments, millimeter order manipulation errors are unlikely to(More)
With proper calibration of its color and depth cameras, the Kinect can capture detailed color point clouds at up to 30 frames per second. This capability positions the Kinect for use in robotics as a low-cost navigation sensor. Thus, techniques for efficiently calibrating the Kinect depth camera and altering its optical system to improve suitability for(More)
State-of-the-art laser phonomicrosurgery (LP) used for the treatment of laryngeal abnormalities involves complex otolaryngological surgical techniques. It relies heavily on surgeon dexterity, requiring significant psychomotor skills. Equipment scale and size, laser operative distance, and the anatomically small nature of the vocal folds all combine to(More)