This paper introduces a new estimation approach for determining the sequence of internal manipulator configurations which are required to perform a task on an arbitrarily positioned and oriented workpiece, in the context of the method of camera-space manipulation— a robust and precise means of controlling three-dimensional robot maneuvers using vision. Despite a nonlinear estimation model, a re...

Scoliosis is a three-dimensional deformation of the spine that can be treated by vertebral fusion using surgical instrumentation. However, the optimal configuration of instrumentation remains controversial. Simulating the surgical maneuvers with personalized biomechanical models may provide an analytical tool to determine instrumentation configuration during the pre-operative planning. Finite e...

BACKGROUND The sigh is a normal homeostatic reflex that maintains lung compliance and decreases atelectasis. General anesthesia abolishes the sigh reflex with rapid onset of atelectasis in 100% of patients. Studies show a strong correlation between atelectasis and postoperative pulmonary complications, raising health-care costs. Alveolar recruitment maneuvers recruit collapsed alveoli, increase...

Treatment strategies for patients with acute lung injury (ALI) and ARDS have improved markedly in the past 2 decades.1,2 Despite these improvements, mortality and morbidity remain high in affected patients, and the optimal ventilation strategy for these patients remains controversial.3 There is general consensus, based primarily on adult studies, that low-tidal-volume strategies are associated ...

Maneuvers of a nonholonomic vehicle in a structured dynamic environment are considered. The paper focuses on motion generation and control methods to autonomously perform lane following/changing, parallel parking and returning to traac maneuvers. Lane fol-lowing/changing involves the tracking of a nominal trajectory in the traac lane, and the generation and tracking of local lane-changing traje...

Autonomous helicopter flight is widely regarded to be a highly challenging control problem. Despite this fact, human experts can reliably fly helicopters through a wide range of maneuvers, including aerobatic maneuvers at the edge of the helicopter’s capabilities. We present apprenticeship learning algorithms, which leverage expert demonstrations to efficiently learn good controllers for tasks ...

Aircraft collision avoidance maneuvers are important and complex applications. Curved flight exhibits nontrivial continuous behavior. In combination with the control choices during air traffic maneuvers, this yields hybrid systems with challenging interactions of discrete and continuous dynamics. As a case study illustrating the use of a new proof assistant for a logic for nonlinear hybrid syst...