Tele-Operation and Active Visual Servoing of a Compact Portable Continuum Tubular Robot

Demo Videos

– tele-operation, visual servoing and hybrid control (Summery)

– EIH VS in free space – EIH VS inside a skull model

– Eye-to-hand Visual Servoing

Project goals

Trans-orifice minimally invasive procedures have received more and more attention because of the advantages of lower infection risks, minimal scarring and shorter recovery time. Due to the ability of retaining force transmission and great dexterity, continuum tubular robotic technology has gained ever increasing attention in minimally invasive surgeries. The objective of the project is to design a compact and portable continuum tubular robot for transnasal procedures. Several control modes of the robot, including tele-operation, visual servoing and hybrid control, have been proposed so that the robot is allowed to accomplish different tasks in constrained surgical environments.


Driven by the need for compactness and portability, we have developed a continuum tubular robot which is 35 cm in length, 10 cm in diameter, 2.15 kg in weight, and easy to be integrated with a micro-robotic arm to perform complicated operations as shown in Fig. 1. Comprehensive studies of both the kinematics and workspace of the prototype have been carried out.
Fig. 1. Prototype of the proposed continuum tubular robot.
The workspace varies on different configuration of DOFs as well as the initial parameters of the tube pairs. The outer tubes in the following cases are all assumed to be dominating the inner tubes in stiffness. Calculation of the workspace relies on the forward kinematics of the robot, and considers the motion constraints imposed by the structure. The workspaces of the 4-DOF robot with three different initial configurations are compared in Fig. 2 (Left). Since the spatial workspace has rotational symmetry, only the sectional workspace is displayed.
fig2workspace         fig3-3dof
Fig. 2. Workspace comparison for 4-DOF CTR (Left) & 3-DOF CTR (Right) with three initial configurations. Top: all the outstretched part of the inner tube exposes; Middle: the outstretched part of the inner tube is partially covered by the outer tube; Bottom: the outstretched part of the inner tube is totally covered by the outer tube.
When the outer tube is straight, its rotation does not change either the position or the orientation of the tip. In this case, the robot degenerates to a 3-DOF one. Although decrease of DOF will weaken the dexterity of the robot, this configuration has its own advantages in some surgical applications. Take transnasal surgeries for example, as the nostril passage is generally straight, an unbent outer tube will facilitate the robot to get through at the beginning. Similar analysis of workspace is performed on the 3-DOF CTR with three different initial configurations, as shown in Fig. 2 (right). With different initial configuration, the workspaces also present different shapes.
In addition, tele-operation of the robot is achieved using a haptic input device developed for 3D position control. A novel eye-in-hand active visual servoing system is also proposed for the robot to resist unexpected perturbations automatically and deliver surgical tools actively in constrained environments. Finally, a hybrid control strategy combining teleoperation and visual servoing is investigated. Various experiments are conducted to evaluate the performance of the continuum tubular robot and the feasibility and effectiveness of the proposed tele-operation and visual servoing control modes in transnasal surgeries.

Related Publications

1. Liao Wu, Keyu Wu, Li Ting Lynette Teo, and Hongliang Ren, “Tele-Operation and Active Visual Servoing of a Compact Portable Continuum Tubular Robot in Constrained Environments”, Mechatronics, IEEE/ASME Transactions on (submitted)
2. Keyu Wu, Liao Wu and Hongliang Ren, “An Image Based Targeting Method to Guide a Tentacle-like Curvilinear Concentric Tube Robot”, ROBIO 2014, IEEE International Conference on Robotics and Biomimetics, 2014.

People involved

Staff: Liao Wu
Student: Keyu Wu
PI: Hongliang Ren

Deprecated videos FYI only

– tele-operation, visual servoing and hybrid control

– Eye-to-hand Visual Servoing

– Eye-in-hand Visual Servoing in free space

–Tele-operation of the compact tubular robot

– Eye-in-hand Visual Servoing inside a skull model

Simultaneous Hand-Eye, Tool-Flange and Robot-Robot Calibration for Co-manipulators by Solving AXB=YCZ Problem


Multi-robot co-manipulation shows great potential to address the limitations of using single robot in complicated tasks such as robotic surgeries. However, the dynamic setup poses great uncertainties in the circumstances of robotic mobility and unstructured environment. Therefore, the relationships among all the base frames (robot-robot calibration) and the relationships between the end-effectors and the other devices such as cameras (hand-eye calibration) and tools (tool-flange calibration) have to be determined constantly in order to enable robotic cooperation in the constantly changing environment. We formulated the problem of hand-eye, tool-flange and robot-robot calibration to a matrix equation AXB=YCZ. A series of generic geometric properties and lemmas were presented, leading to the derivation of the final simultaneous algorithm. In addition to the accurate iterative solution, a closed-form solution was also introduced based on quaternions to give an initial value. To show the feasibility and superiority of the simultaneous method, two non-simultaneous methods were also proposed for comparison. Furthermore, thorough simulations under different noise levels and various robot movements were carried out for both simultaneous and non-simultaneous methods. Experiments on real robots were also performed to evaluate the proposed simultaneous method. The comparison results from both simulations and experiments demonstrated the superior accuracy and efficiency of the simultaneous method.

Problem Formulation

Measurement Data:
Homogeneous transformations from the robot bases to end-effector (A and C), and from tracker to marker (B).
Homogeneous transformations from one robot base frame to another (Y), and from eye/tool to robot hand/flange (X and Z).
The measurable data A, B and C, and the unknowns X, Y and Z form a transformation loop which can be formulated as, AXB=YCZ (1).

Fig. 1: The relevance and differences among the problem defined in this paper and the other two classical problems in robotics. Our problem formulation can be considered as a superset of the other two.


Non-simultaneous Methods

3-Step Method
In the non-simultaneous 3-Step method, the X and Z in (1) are separately calculated as two hand-eye/tool-flange calibrations which can be represented as an AX = XB problem in the first and second steps. This results in two data acquisition procedures, in which the two manipulators carry out at least two rotations whose rotational axes are not parallel or anti-parallel by turns while the other one being kept immobile. The last unknown robot-robot relationship Y could be solved directly using the previously retrieved data by the method of least squares.
2-Step Method
The non-simultaneous 2-Step method formulates the original calibration problem in successive processes which solve AX = XB firstly, and then the AX = YB. The data acquisition procedures and obtained data are the same with the 3-Step method. In contrast to solving robot-robot relationship independently, the 2-Step method solves tool-flange/hand-eye and robot-robot transforms in an AX = YB manner in the second step. This is possible because equation AXB = YCZ can be expressed as (AXB)inv(Z) = YC, which is in an AX = YB form with the solution of X known.

Simultaneous Method

Non-simultaneous methods face a problem of error accumulation, since in these methods the latter steps use the previous solutions as input. As a result, the inaccuracy produced in the former steps will accumulate to the subsequent steps. In addition to accuracy, it is preferred that the two robots participating the calibration procedure simultaneously, which will significantly save the total time required.
In regards to this, a simultaneous method is proposed to improve the accuracy and efficiency of the calibration by solving the original AXB = YCZ problem directly. During the data acquisition procedure, the manipulators simultaneously move to different configurations and the corresponding data set A, B and C are recorded. Then the unknown X, Y and Z are solved simultaneously.



To illustrate the feasibility of the proposed methods, intensive simulations have been carried out under different noise situations and by using different numbers of data sets.

Fig. 2: A schematic diagram which shows the experiment setup consisting of two Puma 560 manipulators, a tracking sensor and a target marker to solve the hand-eye, tool-flange and robot-robot calibration problem.

Simulations Results

For the rotational part, the three methods perform evenly in the accuracy of Z. However, the simultaneous method slightly outperforms in the accuracy of X and significantly in the accuracy of Y than the other two non-simultaneous methods. The results of the translational part are similar to the rotational ones. For the solution of Z, the accuracy of the simultaneous method is as good as the 3-Step method but slightly worse than the 2-Step method. However, the simultaneous method achieves a significantly improvement in the accuracy of X and Y compared to the other two methods.

Experiments Results

Besides the simulation, ample real experiments have been conceived and carried out under different configurations to evaluate the proposed methods. As shown in Fig. 6, the experiments involved a Staubli TX60 robot (6 DOFs, averaged repeatability 0.02mm), a Barrett WAM robot (4 DOFs, averaged repeatability 0.05mm) and a NDI Polaris optical tracker (RMS repeatability 0.10mm). The optical tracker was mounted to the last link of the Staubli robot, referred to as sensor robot. The corresponding reflective marker was mounted to the last link of the WAM robot, referred to as marker robot.

Fig. 6: The experiment is carried out by using a Staubli TX60 robot and a Barrett WAM robot. A NDI Polaris optical tracker is mounted to the Staubli robot to track a reflective marker (invisible from current camera angle) that is mounted to the WAM robot.

To demonstrate the superiority of the simultaneous method in the real experimental scenarios, a 5-fold cross-validation approach is implemented for 200 times for all the calibration methods under all system configurations. For simultaneous method, after data alignment and RANSAC processing, 80% of the remaining data are randomly selected to calculate unknown X, Y, and Z, and 20% are used as test data to evaluate the performance. For 2-Step and 3Step methods, after calculating the unknowns by each method, same test data from the simultaneous method are used to evaluate their performances.

In Fig. 7, the evaluated errors of 200 times 5-fold cross-validation for three proposed methods at three ranges are shown as box plots. Left-tail paired-samples t-tests have been carried out to compare the performances of simultaneous method versus 2-Step and 3-Step methods, respectively. The results indicate that the rotational and translational errors from the simultaneous method are very significantly smaller than the 2-Step and 3-Step methods. Only two non-significant results exist in the rotational performances at medium and far ranges when comparing the simultaneous method with the 3-Step one. Nevertheless, the simultaneous method outperforms the non-simultaneous ones for translation error at all ranges.


Fig. 7: Results of 200 times 5-fold cross-validation and left-tail paired-samples t-test at the near, medium and far ranges. The box plots show the rotational and translational error distributions for three methods at three ranges. **, * and N.S. stands for very significant at 99% confidence level, significant and non-significant at 95% confidence level.

Related Publications

1. Liao Wu, Jiaole Wang, Max Q.-H. Meng, and Hongliang Ren, imultaneous Hand-Eye, Tool-Flange and Robot-Robot Calibration for Multi-robot Co-manipulation by Solving AXB = YCZ Problem, Robotics, IEEE Transactions on (Conditionally accepted)
2. Jiaole Wang, Liao Wu and Hongliang Ren, Towards simultaneous coordinate calibrations for cooperative multiple robots, Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on. IEEE, 2014: 410-415.

Institute & People Involved

The Chinese University of Hong Kong (CUHK): Jiaole Wang, Student Member, IEEE; Max Q.-H. Meng, Fellow, IEEE
National University of Singapore (NUS): Liao Wu; Hongliang Ren, Member, IEEE


-Calibration Experiments

NUS S&T Exhibition Launch at UCC

(9 April 2015) We have been invited to demonstrate our Intelligent Tubular Robotic System (iTubot) at the exhibition showcasing NUS’ contribution to nation-building through groundbreaking research. The event launched at the University Cultural Centre on 9 April to celebrate the 50th birthday of Singapore and the 110th birthday of NUS.

Our Intelligent Tubular Robotic System can potentially assist with minimally invasive procedures and is also endowed with intelligent navigation capabilities, which receives much attention during the event.



Useful Checklists/Guides to Improve Research Skills

Useful Checklists/Guides (Selected)

  • How to undertake a literature search and review: for dissertations and final year projects [PDF]
  • Writing the Literature Review / Using the Literature [PDF]
  • Referencing: Why, when and how [PDF]
  • Minor thesis & research report structure [PDF]
  • Features of good reports [PDF]
    • A checklist for effective reports [PDF]
  • Undergraduate research report [PDF]
  • Oral presentations [PDF]

Useful Checklists/Guides (General ones):

  • 1. Research Proposal and Formulation:
    • Generating ideas & forming a question (University of Reading) [PDF]
  • 2. Reading Skills:
  • 3. Literature Review:
    • Getting Started on Your Literature Review (UNSW) [PDF]
    • How to undertake a literature search and review: for dissertations and final year projects (DMU) [PDF]
    • Literature Review: Academic Tip Sheet (Edith Cowan University) [PDF]
    • Literature review (tutorial) [RMIT]
    • Writing a Literature Review (UNSW) [PDF]
    • Writing the Literature Review / Using the Literature (RMIT) [PDF]
  • 4. Referencing:
    • Chicago Author-Date Referencing (Curtin University) [PDF]
    • Havard System (Bournemouth University) [PDF]
    • The Harvard system of referencing (DMU) [PDF]
    • Referencing: Why, when and how (Lincoln University) [PDF]
  • 5. Report/Thesis Organisation & Planning:
    • A Report Checklist (Lincoln University) [PDF]
    • Features of good reports (University of Reading) [PDF]
    • Minor thesis & research report structure (RMIT) [PDF]
    • Structuring your report (University of Reading) [PDF]
    • Undergraduate research report [PDF]
  • 6. Report/Thesis Writing:
    • Abstract Preparation Guidance (HKU Graduate School) [website]
    • Paraphrasing, Summarising & Quoting (UNSW) [PDF]
    • Writing a research report (RMIT) [PDF]
    • Writing critically?(Lincoln University) [PDF]
  • 7. Oral presentations:

Communication Skills:

  • Guidelines for Effective Oral and Written Communications [PDF]
  • Making a Presentation [PDF]
  • Engineering an Effective PowerPoint Presentation [PDF]
  • Mastering Technical Writing [PDF]
  • Scholarship and Intellectual Property [PDF]

Literature Search and Review Skills:

Presentation Skills:

Project Management:

Research Skills:

Writing Skills:


Two projects won awards from Asia Pac AR&TTs challenge 2015

(Mar, 2015) In the recent Asia Pac AR&TTs challenge 2015, our project on a soft robotic system for oral intervention (team members: Neera, Yi, Hongliang) won the Commercial Potential Award and the project on magnetic actuated robotic intervention (team members: Shen Shen, Zhu Jingling, Song Shuang, Li Jun, Loh Kai Ting, Ren Hongliang) won the Pitching Award.



BN5209 Neurosensors and Signal Processing AY14/15

BN5209 Neurosensors and Signal Processing Semester 2, 2014/2015


Time period: 14-Jan-14 To 9-May-14
Lecture Time:

  • Tuesday: 5 pm – 7 pm (E3-06-04)
  • Friday: 5 pm – 7 pm (EA-06-03)


  • Week 1: Jan 13,16
    Intro to the Course (NT,HR)
    Intro to Neurosciences (NT)
  • Week 2: Jan 20,23
    Neural recording methods: Microelectrodes, MEMS, optical neuro sensors (NT)
  • Week 3: Jan 27,30
    Neural recording methods: Neural circuits, amplifiers, telemetry, stimulation (NT)
  • Week 4: Feb 3,6
    Introduction of BioSignal Processing (HR)
  • Week 5: Feb 10,13
    Prepare Student Seminars – paper selection
    Time-Frequency-Spatial Analysis STFT (HR)
  • Week 6: Feb 17, 20(holiday)
    Neural signals (clinical applications)- EEG, evoked potentials (HR)
    Lab tutorial for Project I: Neural Signals and Analysis
  • Recess Week Sat, 22 Feb 2014 ~ Sun, 2 Mar 2014
  • Week 7: Mar 3,6
    Multiple Dimensional Signal Processing (HR)
    Lab Project II: Application in neural systems
  • Week 8: Mar 10,13 (eLearning)
    Student Reading Seminars 5209 (HR)
    Student Reading Seminars 6209 (NT,HR)
  • Week 9: Mar 17,20
    Brain machine interfaces (NT)
  • Week 10: Mar 24,27
    BMI- Neural Spikes (NT)
    Optical imaging: Cellular (microscopy), In Vivo (Speckle, Photoacoustic, OCT) (NT)
  • Week 11: Mar 31, Apr 3
    Neuroimaging and Image Processing (HR)
    Neuroimaging fMRI (HR)
  • Week 12: Apr 7,10
    Advanced Neurosignal Processing / Neurosurgical systems (HR)
    Applications of neural signal processing (HR)
  • Week 13: Apr 14,17
    Project Reports (due before final)/presentations (HR, NT)

Course Projects

1. EEG for brain state monitoring
2. EEG/EMG Feature Identification during Elbow Flexion/Extension


This module teaches students the advanced neuroengineering principles ranging from basic neuroscience introduction to neurosensing technology as well as advanced signal processing techniques. Major topics include: introduction to neurosciences, neural recording methods, neural circuits, amplifiers, telemetry, stimulation, sensors for measuring the electric field and magnetic field of the brain in relation to brain activities, digitization of brain activities, neural signal processing, brain machine interfaces, neurosurgical systems and applications of neural interfaces. The module is designed for students at Master and PhD levels in Engineering, Science and Medicine.


Basic probability
Basic circuits
Linear algebra (matrix/vector)
Matlab or other programming
Recommended Textbooks: Neural Engineering, Edited by Bin He
Seminar papers


The majority of the course will be in lecture-tutorial format. Some advanced topics will be in the formats of seminar and research presentations.


Take Home Tests (5 for 50%)
Labs/Projects Reports + Presentations (2 for 20%)
Seminars (1 for 10%)
Take Home Final Exam(20% )

IVLE Registration and Information


Lectures and Guest Lectures



This is a local copy of the website:

Home-Based Self-Administered Nasopharynscopy

Nasopharynscope is a valuable tool in diagnosing Nasopharyngeal carcinoma in patients since 84% of patients display ulcerations.

Aim: To provide a home-based, affordable and easy-to-use diagnosing kit for detecting Nasopharyngeal Carcinoma

Key features of 5th Generation

  • Clear viewing with a specially designed camera lens
  • Secure extension and contraction lock
  • Tight fit between nylon strings to ensure good power transmission 
  • Diamond cuts to enhance bending capabilities
  • Optical zoom of up to 5 mm due to shooting mechanism

Bending Capability: >90 degrees

Extension and contraction to evade obstacles

Overall Demonstration of Bending and Zooming capability


  • Outer Diameter: 7 mm
  • Length of extension portion:25 mm
  • Length of bending segment: 25mm
  • Minimum inserted length: 11-15 cm
  • Gear box: 30 by 20 by 30mm
  • Bending angle: 90 degrees bend per side
  • Distal tip mechanism: Optical zoom
  • Material: Polyurethane (Biocompatible)
  • Stent design: Flexibility
  • Flexible guiding tube

Technical Advantages

  • Large bending angle
  • Extending the camera using the spring mechanism to obtain better optical viewing up to 5mm
  • Endoscope is very flexible with the stent design
  • Able to control the bending of the body segments using cable driven mechanism
  • The bending of the endoscope at the entrance can be controlled flexibly by the guiding shaft


From Left: Mr Teo Jing Chun, Dr Ren Hongliang, Mr Un Weiyang, Miss Soh Yan Bing, Mr Ong Jun Hao Edmund
Foreground: Mr Yeow Bok Seng

BN 3101 IVLE Announcements

BN 3101 IVLE Announcements

Note: For your convenience, the following announcements are exactly extracted from IVLE and a PDF version is also attached here: IVLEAllAnnouncements.pdf

by: Aneel Kumar Maheshwari, 31-Oct-2014 11:19 AM.

IVLE: BN3101: BN3101 Director’s Award 

Dear students,This award is given to the group that shows that this module has a significant impact in the working relationship of the group and the learning process of the individual team members.How is this Award being judged?
Each group is to submit a one page write-up of less than 500 words on how this module has benefited the group in general and how it has changed individual members’ views on design of medical device. A general description of your experience would be most appropriate.You will be judged by: 
Your mentors’ perception of the positive impact this course has on your education and your relationship with your peers.Submit by: 
10:00am Monday the 03 Oct 2014.
Please send to Dr. LEO Hwa Liang ( with the following subject title:
BN3101 – Director’s Award Group X
where X is your group number.
Will we be graded on the write-up?
No, you will not be graded on this write-up.  This is an optional submission by the group.
Will any of the awards affect my grade?
None of the awards will affect your grades.
Aneel Kumar
by: Aneel Kumar Maheshwari, 31-Oct-2014 09:44 AM.

IVLE: BN3101: Reminder: submit team Presentation (20min and 5min) onto IVLE Final oral Presentation 

Dear BN3101 Studens:Reminder to submit your team presententation ( 20 mins + 5 mins ) onto IVLE Final oral Presentation folder  by 23:59 Sunday, 2nd Nov 2014.Regards,
Aneel Kumar
by: Aneel Kumar Maheshwari, 28-Oct-2014 03:32 PM.

IVLE: BN3101: BN3101 Oral Presentation Room Booking (Morning and After session)

Presentation to the individual supervisor in individual classroom (morning):EA-02-11 (9am to 12pm): Dr. Leo Groups (12-13)
EA-02-14 (9am to 12pm): Prof. Casey Chan Groups (1-3)
E1-06-04 (9am to 12pm): Dr. Ren Hong Liang Groups (4-6)
E1-06-06(9am to 12pm): Dr. James Kah Groups (7-9)
E1-06-14 (9am to 12pm): Dr. Michael Girard Groups (10-11)Schedule for the Final Afternoon Presentation for top teams
Announce the top team ONLY then. Start at 1:30pm – 2:15pm EA-02-11Refreshment:
2:15pm to 2:30pmPresentation of awards:
by: Aneel Kumar Maheshwari, 28-Oct-2014 02:58 PM.

IVLE: BN3101: BN3101 Final Oral Presentation (03 Nov 2014 on Monday)

Presentation to the individual supervisor in individual classroom (morning):1. Each team present 20 mins + 5-10 mins Q&A. Each presentation may divide the presentation in two or three sections.  Please submit onto IVLE Final oral Presentation folder by 23:59 Sunday 2ndNov the following list:The students are allowed to decide how many sections are there in their presentation and which section they want to present in.
For two sections:
First Section – 1st Member, 2nd Member, 3rd Member
Second Section – 4th Member, 5th Member, 6th Member
For three sections:
First Section – 1st Member, 2nd Member
Second Section – 3rd Member, 4th Member
Third Section – 5th Member, 6th Member
For teams having less than 6 members, any of the sections may have one member less.  The presenter will be announced at the time of presentation.
Guidelines for presentation:
Your presentation must conform to the following:
a. Each group is strictly given 30 min inclusive of Presentation (20 min), Q & A (5-10 min), and Change over (1 min).
b. When your .ppt file is ready, you may upload it onto the IVLE Final Oral Presentation folder
c. Your .ppt file must be submitted by 23:59 Sunday 2nd Nov.
d. You are to submit a 20 minutes presentation power point and 5 minutes abbreviated presentation (in case you are the finalist for the afternoon session).
e. All .ppt file must conform to the following format:
Group X 30 mins Presentation.ppt (X is the Group Number)
Group X 5 mins Presentation.ppt
The 5 minutes presentation in the afternoon should not include video.  For presentation to the individual supervisors, please check with your individual supervisor whether video can be included in the presentation.
Schedule for the Final Morning Presentation
The sequence of presentation will be up to the supervisor to decide.
Suggested start time 9:00 am and end around 12:00pm in individual classroom
Schedule for the Final Afternoon Presentation for top teams
Student can decide who to present.
Announce the top team ONLY then. Start at 1:30pm – 2:15pm EA-02-11
2:30pm pm Presentation of awards (15 minutes)
The following prizes will be given out:
1. Most Innovative Design
2. Most Elegant Instrumentation (Aesthetic and Ergonomic)
3. Most Fundable Design
4. Best Presentation
5. The Prestigious Director’s Award (voted by lecturers and mentors)
The winners of ‘Most Innovative Design’, ‘Most Elegant Instrumentation (Aesthetic and Ergonomic)’ and ‘Most Fundable Design’ will be chosen by means of votes casted by the students, lecturers and mentors. These awards are not graded
3pm Refreshments and Interaction session
All team members must be present throughout their afternoon session Final Presentation (Top 5 finalist).  Attendance will be taken and 0.5 points will be deducted for each team member absent during their respective sessions.  You are welcome to attend part or all of the other sessions.
Reports Submission
All teams have to submit the hard copy reports after the final presentation itself (Friday, 14th November 2014 before 5pm) to Aneel Kumar (Bio-design Lab E3-05-05). A penalty of 1 point will be imposed for each day of late submission of individual report. Please submit soft copy of your report and actual prototype to your respective supervisor.
Aneel Kumar
by: Aneel Kumar Maheshwari, 27-Oct-2014 03:18 PM.

IVLE: BN3101: Peer Assessment 2014

Dear BN3101 Students,The peer assessment exercise is conducted for students to assess their group members’ individual contribution to the project. For each review item you can grade your fellow group members from 0 to 10 by following a general marking standard of:0 = extremely poor;
6 = average;
8 = good;
10 = excellent.To do the peer assessment, please follow the steps of: go to the BN3101 IVLE webpage –> click Project –> click View –> click Project Evaluation (on the left) –> Select Peer Assessment 2014 –> click  Evaluate –> Evaluate your other group members one by one.Please do not routinely assign a high score as this will result in an average score for everyone. For this to work you have to give an honest assessment of your peers. The purpose of the peer assessment is to make minor adjustment within the group.
Your peer assessment rating will not affect other groups. And the rating by individual students is confidential and will not be made known to other group members.
Please complete the Peer Assessment 2014 by 14th Nov 2014 (Friday), 11:59pm; failure to do so, your group members’ project marks based on “team effort” will be affected.
Aneel Kumar
by: Leo Hwa Liang, 09-Oct-2014 04:15 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Bioethics and Medical Device.pdf
Description: BN3101 – Bioethics and Medical DevicesClick on the filename to download the file.
by: Leo Hwa Liang, 03-Oct-2014 09:32 AM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Sterility 2014.pdf
Description: BN3101 – SterilityFilename: GMP-GLP 2014.pdf
Description: BN3101 – GMP – GLPClick on the filename to download the file.
by: Leo Hwa Liang, 22-Sep-2014 09:02 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Quality_System_Template_2014.pdf
Description: BN3101 – Quality templateClick on the filename to download the file.
by: Leo Hwa Liang, 12-Sep-2014 11:53 AM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Review of Regulatory Issues 2014.pdf
Description: BN3101 – Regulatory Affairs lectureClick on the filename to download the file.
by: Leo Hwa Liang, 08-Sep-2014 12:21 PM.

IVLE: BN3101: BN3101 – Accessing ASTM standards in NUS central library

Dear ASTM students,NUS central library hold the ASTM standards, in hardbound (1998 and before) and DVD formats. You will need to sign in for the access of these standards. Remember to bring your thumbdrive to copy the relevant standards.You will not be able to access and download the ASTM standards from the internet as we need to pay to do so.Regards,
by: Leo Hwa Liang, 08-Sep-2014 10:56 AM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : AssignmentsFilename: ASTM Assignments 2014.pdf
Description: BN3101 – For ASTM students only, ASTM assignmentsClick on the filename to download the file.
by: Leo Hwa Liang, 04-Sep-2014 09:22 AM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Introduction to the ASTM 2014.pdf
Description: BN3101 – ASTMClick on the filename to download the file.
by: Casey Chan (Ortho), 01-Sep-2014 09:53 PM.

IP Lecture II

There is a live lecture on Monday 8 Sept from 10am to 12 noon at EA 02-11.Please see
by: Leo Hwa Liang, 29-Aug-2014 04:04 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Risk Management 2014.pdf
Description: BN3101 – Risk managementFilename: Design Rationale and Design Verification 2014.pdf
Description: BN3101 – Design Rationale and Design VerificationClick on the filename to download the file.
by: Leo Hwa Liang, 29-Aug-2014 03:59 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Risk Analysis Table.docx
Description: BN3101 – Risk analysis tableClick on the filename to download the file.
by: Leo Hwa Liang, 25-Aug-2014 04:44 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Lecture NotesFilename: Design Analysis Tutorial.pdf
Description: BN3101 – Design Analysis slidesClick on the filename to download the file.
by: Aneel Kumar Maheshwari, 21-Aug-2014 12:00 AM.

Design Analysis Exercise ( Divided in Two time Slots)

Dear BN3101 Students,Design Analysis Exercise will be divided into two time Slots.Slot 1: (Group 1 – Group 7) and time :  1pm to 2pm on 25 August 2014 at EA-02-11
Slot 2: (Group 8 – Group 13) and time: 2pm to 3pm on 25 August 2014 at EA-02-11Reagrds,
Aneel Kumar
by: Aneel Kumar Maheshwari, 20-Aug-2014 12:00 AM.

BN3101 booking of machines in the design studio

Dear BN3101 supervisors,This semester both BN3101 and BN2103 will be using the Design Studio.To avoid problems, we set up an online booking system accessible (within NUS or VPN) at:
This applies to all the “workshop” machines in the lab like mill, lathe, saw, etc (not the Instron).
Please let your students know that if they want guaranteed time on the machine they will need to book. Students who booked the machine will have top priority in using the machine during the booked time slot.
The following restrictions on bookings apply (the system automatically detects violations of the rules ):
– Each single booking can last no more than 2 hours
– Each student can book a maximum of 4 hours per week per machine
Each BN3101 group will have an account with username BN3101_X (where X is the group number). Password is the same as the user name. Students may change it from the system later if they want to.
Kindly contact with Aneel, so he can creates the account for your groups.
Dr. Leo
by: Michael Girard, 12-Aug-2014 04:31 PM.

New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Groups 10-11Filename: BN3101 Iris Expander – Groups 10-11.pdf
Description: For Groups 10&11: Iris Expander – Project Description and General InfosClick on the filename to download the file.
by: James Kah, 11-Aug-2014 03:36 PM.
New Files in Workbin – BN3101 : BIOMEDICAL ENGINEERING DESIGN – 2014

New Files :
Folder Name : Group 7 to 9Filename: 140809 Consumer Diagnostics – Project Introduction.pptx
Description:Filename: BN3101-Timetable_2014.xls
Description:Filename: Quality_System_Template_2012.pdf
Description:Click on the filename to download the file.
by: Casey Chan (Ortho), 11-Aug-2014 12:00 AM.
IP Lecture I
This is the first of two lectures on Intellectual Properties.  The link for the lecture and the accompanying notes is here. The 2nd lecture is scheduled for early Sept.
by: Leo Hwa Liang, 08-Aug-2014 03:44 PM.
IVLE: BN3101: Uploading of Introduction to BN3101 slides
Dear students, I have just uploaded the introduction slides for the Monday BN3101 orientation. This is the first of a series of online lectures throughout this semester.Regards,
by: Aneel Kumar Maheshwari, 07-Aug-2014 02:15 PM.
BN3101 Groups
Dear Students,Welcome to BN3101 students.A Gentle reminder for BN3101 orientation lecture on Monday at 10am (EA-02-11) and also you can see the project supervisors and groups on IVLE.See you all soon.
Dr. Leo