Carnegie Mellon University is a private research university in Pittsburgh, Pennsylvania.The university began as the Carnegie Technical Schools founded by Andrew Carnegie in 1900. In 1912, the school became the Carnegie Institute of Technology and began granting four-year degrees. In 1967, the Carnegie Institute of Technology merged with the Mellon Institute of Industrial Research to form Carnegie Mellon University. The university's 140-acre main campus is 3 miles from Downtown Pittsburgh and abuts the Carnegie Museums of Pittsburgh, the main branch of the Carnegie Library of Pittsburgh, the Carnegie Music Hall, Schenley Park, Phipps Conservatory and Botanical Gardens, the Pittsburgh Golf Club, and the campus of the University of Pittsburgh in the city's Oakland and Squirrel Hill neighborhoods, partially extending into Shadyside.Carnegie Mellon has seven colleges and independent schools: the Carnegie Institute of Technology , College of Fine Arts, Dietrich College of Humanities and Social science, Mellon College of Science, Tepper School of Business, H. John Heinz III College and the School of Computer Science. Carnegie Mellon fields 17 varsity athletic teams as part of the University Athletic Association conference of the NCAA Division III. Wikipedia.
Carnegie Mellon University | Date: 2017-02-01
An articulated probe (10), comprising: a first mechanism (12, 14) comprised of a plurality of links; a second mechanism (12, 14) comprised of a plurality of links; a first wire extending through either said plurality of links of said first mechanism (12, 14) or said plurality of links of said second mechanism (12, 14) and a plurality of wires running through the other of said plurality of links of said first mechanism (12, 14) or said plurality of links of said second mechanism (12, 14); a device for producing command signals; and an electromechanical feeder (16) responsive to said command signals, said electromechanical feeder (16) capable of alternating each of said first mechanism (12) and second mechanism (14) between a limp mode and a rigid mode and comprising: a first motor for controlling the tension of said first wire or said plurality of wires, one of said first mechanism or said second mechanism being responsive to said first motor; and a second motor for controlling the tension of the other of said first wire or said plurality of wires, the other of said first mechanism or said second mechanism being responsive to said second motor and a method of moving the articulated probe.
Carnegie Mellon University and University of Pittsburgh | Date: 2016-12-14
A highly articulated robotic probe (HARP) is comprised of a first mechanism and a second mechanism, one or both of which can be steered in desired directions. Each mechanism can alternate between being rigid and limp. In limp mode the mechanism is highly flexible. When one mechanism is limp, the other is rigid. The limp mechanism is then pushed or pulled along the rigid mechanism. The limp mechanism is made rigid, thereby assuming the shape of the rigid mechanism. The rigid mechanism is made limp and the process repeats. These innovations allow the device to drive anywhere in three dimensions. The device can remember its previous configurations, and can go anywhere in a body or other structure (e.g. jet engine). When used in medical applications, once the device arrives at a desired location, the inner core mechanism can be removed and another functional device such as a scalpel, clamp or other tool slid through the rigid sleeve to perform. Because of the rules governing abstracts, this abstract should not be used to construe the claims.
Carnegie Mellon University | Date: 2016-12-08
This document describes a conformable substrate that includes a hydrogel having adhesion-promoting moieties, said adhesion-promoting moieties comprising one or more catechol groups. The conformable substrate includes an array of microelectrodes bonded to the hydrogel by the adhesion-promoting moieties via the one or more catechol groups. This document also describes a method for transfer printing of an electronic structure to a hydrogel. The method includes the steps of coating a donor substrate with a film of polyacrylic acid, crosslinking the film of polyacrylic acid in a solution comprising divalent ions, patterning a microelectrode array onto the crosslinked film of polyacrylic acid, laminating an adhesive hydrogel substrate onto the donor substrate coated by the crosslinked film of polyacrylic acid comprising the patterned microelectrode array, and separating the crosslinked film of polyacrylic acid from the donor substrate in a monovalent solution.
Carnegie Mellon University | Date: 2017-03-10
An approach to modeling the nonlinear steady-state behavior of an electrical power grid in terms of equivalent circuits with currents and voltages as state variables is provided. Current and voltage conservation equations are formulated with circuit-theoretic algorithms that offer demonstrably superior robustness relative to traditional approaches. Generalized bus and line models are accommodated by the equivalent circuit-based approach, allowing for simulation of physical models not compatible with traditional methods. Unbalanced three-phase systems are handled without loss of generality. The provided methods allow for robust, efficient power flow simulation for contingency analysis, power system planning, power system design, power system control, component configurations and operating conditions, real-time scheduling, and optimization, among other applications.
Carnegie Mellon University | Date: 2017-02-10
Local swing leg control was developed that takes advantage of segment interactions to achieve robust leg placement under large disturbances while generating trajectories and joint torque patterns similar to those observed in human walking and running. The results suggest the identified control as a powerful alternative to existing swing leg controls in humanoid and rehabilitation robotics. Alternatively, a detailed neuromuscular model of the human swing leg was developed to embody the control with local muscle reflexes. The resulting reflex control robustly places the swing leg into a wide range of landing points observed in human walking and running, and it generates similar patterns of joint torques and muscle activations. The results suggest an alternative to existing swing leg controls in humanoid and rehabilitation robotics which does not require central processing.
Carnegie Mellon University | Date: 2017-04-12
This invention relates to a system and method for detecting the curved surfaces of fruit using a flash and camera system and automated image analysis. Lighting upon fruit is controlled, with a flash or multiple flashes positioned beside the camera illuminate the fruit. The flash causes a strong specular reflectance at the center of curved fruit (such as apples, grapes, or avocados, among others). From this point of specular reflectance, pixel intensity decreases steadily toward the edges of curved fruit. The method searches the images to find points of specular reflectance surrounded by curved shaded regions belonging to the curved fruit and can detect fruit of various sizes and scales within image.
Carnegie Mellon University | Date: 2017-02-22
The present invention is a palm rejection technique utilizing temporal features, iterative classification, and probabilistic voting. Touch events are classified based on features periodically extracted from time windows of increasing size, always centered at the birth of the event. The classification process uses a series of decision trees acting on said features.
Carnegie Mellon University | Date: 2017-04-05
Systems and methods are provided for an electro-mechanical system. A system includes a plurality of connected modules. A first module of the modules includes an actuator for imparting motion on the electro-mechanical system and a data processor configured to sense a state of the first module and to command the actuator to modify the state of the first module.
Carnegie Mellon University | Date: 2017-02-15
The present invention relates generally to a pulmonary assist device comprising a housing having tapered inlets and outlets to distribute blood evenly over a fiber bundle. The fiber bundle has a relatively low packing density to prevent the formation of clots. The invention is adapted to be used with a pump or without a pump, in which the heart supplies the necessary blood flow. Moreover, the device can be used as a single module or as multiple modules arranged in parallel.
Carnegie Mellon University and University of Pittsburgh | Date: 2017-01-24
Artificial heart valve structures and methods of their fabrication are disclosed. The heart valve structures may be fabricated from a biocompatible polymer and include one or more heart valve leaflet structures incorporated within a conduit. The valve structures may incorporate one or more conduit sinuses, as well as a gap between the lower margin of the valve leaflets and the interior of the conduit. In addition, the valve structures may include one or more valve sinuses created in a space between the valve leaflets and the conduit inner surface. Computational fluid dynamics and mechanical modeling may be used to design the valve leaflets with optimal characteristics. A heart valve structure may also incorporate a biodegradable component to which cells may adhere The incorporated cells may arise from patient cells migrating to the biodegradable component, or the component may be pre-seeded with cells prior to implantation in a patient.