Calibration

The accuracy of proton dose computation in the treatment planning system relies on the conversion from the Hounsfield units (HU) of each voxel in the patient CT scan to the proton stopping power ratio (SPR). The aim of this study is to investigate the potential improvement in determining proton SPR using single energy computed tomography (SECT) to reduce the uncertainty in predicting the proton range in patients. Factors which may cause CT number variations in the calibration curve have been examined. The HU-SPR calibration curve was determined based on HU of human body tissues using the stoichiometric method. The uncertainties in SPR were divided into two major categories: The inherent uncertainty, and the CT number uncertainty. The root mean square errors of the inherent uncertainties were estimated 0.02%, 0.61% and 0.26% for lung tissues, soft tissues (excluding Thyroid), and bone tissues, respectively. The total uncertainties due to the inherent uncertainty and CT imaging errors were estimated 1.50%. The average calibration curve of two sized phantoms (head and body) were used in the treatment planning system to mitigate beam hardening effect through the attenuating media. A higher accuracy of the SPR prediction using the stoichiometric method is suggested through comparison with the predicted SPRs that derived from the direct calibration approach.

During the manufacture of industrial robots, differences between actual and nominal linkage parameters occur. Thus, when a robot system attempts to perform a desired task using nominal parameter based planning schemes, it usually performs the task quite differently from the desired one. A method for automatically determining the differences between nominal and actual parameter models, namely calibration, is presented in this thesis. The method features a simple and efficient measurement scheme using an instrumented articulated linkage. The basis of parameter identification approach is similar to that of closed-loop mechanism syntheses. Jacobian formulation using a vector cross product method with mixed choices of kinematic model for coordinate system representation is adopted. Effectiveness of this method and factors affecting the calibration are examined using simulation. A complete design of the measurement device, both electrical and mechanical, is also presented.