Doctor Thesis (1996) “Ultrasonic Transmission Tomography Using Ray Interval Correction

Based on Echo Profiles” Precision Machinery Engineering Dept., Dohi Laboratory

Ultrasonic Limited-Angle Partial Projections

Agar phantom

Porcine kidney

Complete projections Limited and partial

Ray Interval Correction on Echo Profile

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Reconstruction without sensor fusion Reconstruction with sensor fusion

Actual trajectory

Sensors: strap-down inertial unit (accelerometers & gyros), electronic compass & odometry

(No GPS...)

Corrosion assessment on pipeline internal walls

Problems: noise multiple echo overlap lateral reflections Dispersion and lateral reflections of ultrasonic signals on

corroded pipeline wall

Phase-shift encoded pulse signal Received echo signal Processed Echo signal

Arduino MEGA 256 RepRap 3D printer

E-puck Robot Lasersaur cutter Elphel Camera

Computer Systems, Cameras, Amateur Radio, Audio and Music, Telephony, Machine and Tools, Robotics, ... http://en.wikipedia.org/wiki/List_of_open-source_hardware_projects

Arduino and shield boards for 3D printer

3D printer

Joint work with Faculty of Dentistry, USP

Use of 3D printer on dental filling training