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Hurwitz Memorial Lecture Series

Hurwitz Lectures 1999 at ETH Zurich

Prof. Shankar Sastry



HURWITZ LECTURE : Robotik Surgery

Abstract:

There is a revolution taking place in surgery: after two millenia, surgeons are operating without cutting the body open. Minimally invasive techniques such as laparoscopy, bronchioscopy,endoscopy and artheroscopy are being used to reduce significantly the post-operative trauma associated with open surgery. In these procedures laser light sources and tools are introduced through cannulas in small apertures in the body to enable the surgeon to see and operate through small port holes and avoid trauma to muscles. The technological challenge here is provide surgeons with the feel and dexterity of open surgery in this environment. Since the surgeon is remote from the site of the operation even in the operating theater,it is immediate to conceive of remote surgery for battlefield, and space environments as well as rural health care. We are in the 4th year of a joint project with the surgical department of the University of California, San Francisco and a start up Endorobotics Corporation to build {em millimeter scale} devices to use as dexterous robots (multi-degree of freedom ``hands'') inside laparoscopic, endoscopic and perhaps thoracoscopic cannulas. Together with this, we are also working on tactile sensing and teletactile display devices as well as the master input devices (used by the surgeon) for surgical teleoperation. In this short talk, we will give a status report of the work in progress and some video tape of the results thus far. In addition to the work on millirobotics I will also talk about work of our surgical partners at UCSF (Tendick, Way)on virtual environments for training surgeons for minimally invasive surgery and telesurgery and work in training and credentialling spatial skills. This is joint work with MichaelCohn (Endorobotics),Cenk Cavusoglu, Joe Yan, Michael Downes, Lara Crawford, Jeff Wendlandt and Profs. Ronald Fearing (Berkeley), and Profs. Frank Tendick and Larry Way (UCSF). A preview of the research is available on the WWW at http://robotics.eecs.berkeley.edu/~mcenk/

http://robotics.eecs.berkeley.edu/~mcenk/
Type of Seminar:

Public Seminar
Speaker:

Prof. Shankar Sastry
Department of Electrical Engineering and Computer Sciences University of California. Berkeley. CA 94720-1770 USA
Date/Time:

1999-11-16  / 17:15
Location:

ETH Zentrum, ETF E1 Gloriastrasse 35, 8006 Zurich
Contact Person:

Prof. Manfred Morari
File Download:

No files available.

HURWITZ LECTURE : Hybrid Systems with accent on Unmanned Aerial Vehicles

Abstract:

At Berkeley we have been interested in design schemes for network of complex networks of semi-autonomous agents. These networks are characterized by interaction between discrete control. The control of such systems is often frequently organized in hierarchical fashion to obtain a logarithmic decrease in complexity associated with the design, We have used as examples three classes of systems to motivate the design approach: egin{enumerate} item Intelligent Vehicle Highway Systems (IVHS) item Air Traffic Management Systems (ATMS) item Unmanned Aerial Vehicles end{enumerate} Over the last five years or so, a group of us have developed a set of design approaches which are aimed at designing control schemes which are live, deadlock free, and ``safe''. Our design methodology is to be considered an alternative to the verification based approaches to hybrid control systems design, and is an interesting blend of game theoretic ideas, fault handling in a probabilistic framework,mathematical and temporal logic and planning ideas from robotics. In these talks, we will focus on design problems involved in coordinating groups of Unmanned Aerial Vehicles (UAVs). Problems to be addressed include: egin{enumerate} item Rapid prototyping of real time control laws: a hybrid systems design and simulation environment. item Mode Switching and envelope protection. item Vision based control for navigation. item Mission planning for multi-UAV missions. end{enumerate} The work is joint with (in alphabetical order) Datta Godbole, Joao Hespanha, Hyoun Jin Kim, John Koo, John Lygeros, Omid Shakernia, David Shim, and Claire Tomlin. A preview of the research is available on the WWW at http://robotics.eecs.berkeley.edu/~mcenk/

http://robotics.eecs.berkeley.edu/~mcenk/
Type of Seminar:

Public Seminar
Speaker:

Prof. Shankar Sastry
Department of Electrical Engineering and Computer Sciences University of California. Berkeley. CA 94720-1770 USA
Date/Time:

1999-11-18  / 17:15
Location:

ETH Zentrum, ETZ E6, Gloriastrasse 35, 8006 Zurich
Contact Person:

Prof. Manfred Morari
File Download:

No files available.
Biographical Sketch:
Shankar Sastry received his Ph.D. degree in 1981 from the University of California, Berkeley. He was on the faculty of MIT from 1980-82 and Harvard University as a Gordon Mc Kay professor in 1994. He is currently a Professor of Electrical Engineering and Computer Sciences and a Professor of Bioengineering, and the Director of the Electronics Research Laboratory at Berkeley. He has held visiting appointments at the Australian National University, Canberra the University of Rome, Scuola Normale and University of Pisa, the CNRS laboratory LAAS in Toulouse (poste rouge), Professor Invite at Institut National Polytechnique de Grenoble (CNRS laboratory VERIMAG), and as a Vinton Hayes Visiting fellow at the Center for Intelligent Control Systems at MIT. His areas of research are nonlinear and adaptive control, robotic telesurgery, control of hybrid systems, embedded systems, sensor networks and biological motor control. He is a coauthor of three books in the areas of adaptive control, robotic manipulation and nonlinear control and co-edited several other books on hybrid systems. Prof. Sastry received the President of India Gold Medal in 1977, the IBM Faculty Development award for 1983-1985, the NSF Presidential Young Investigator Award in 1985 and the Eckman Award of the of the American Automatic Control Council in 1990, an M. A. (honoris causa) from Harvard in 1994, the distinguished Alumnus Award of the Indian Institute of Technology in 1999, and the David Marr prize for the best paper at the International Conference in Computer Vision in 1999.



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