The structure of OmniKity-I (OK-I), the miniature omni-directional mobile robot, and its kinematics and dynamics models are presented. OK-I has three DOFs in the plane. A conventional two wheeled mobile robot (2-WMR) serves as the base of OK-I for translational motion. The robot body is on top of the base. The third motor controls angular motion of the body as the base turns according to the tr...

This paper presents the velocity kinematic modeling of wheeled mobile robots (WMRs) by applying the matrix coordinate transformation to every pairs of WMRs including wheeled pairs which were dealt with ad-hoc manners in the previous methodologies. A wheeled pair is not replaced with a planar pair and its kinematics is formulated together with those of lower pairs, even though there exists 2 DOF...

This paper presents parameter identification and discrete-time adaptive slidingmode controller applied to control the mobile platform Pioneer 3-DX wheeled mobile robot (WMR) with 5-DOF manipulator. The dynamic model for mobile robot with two driving wheels, time–varying mass and moment of inertia have been used in sliding-mode control. Two closed-loop, on-line parameter estimators have been use...

BACKGROUND There are no previous longitudinal studies on genotype-specific natural history of human papillomavirus (HPV) infections in oral mucosa of women. METHODS In the Finnish Family HPV Study, 329 pregnant women were enrolled and followed up. HPV-genotyping of oral scrapings was performed with nested PCR and Multimetrix® test (Progen, Heidelberg, Germany). Incidence and clearance times a...

This paper addresses the nonlinear model predictive control (MPC) for wheeled mobile robots (WMRs) under external disturbance. The decoupling technique is utilized based on non-holonomic constraint description separating WMR model. method able to achieve under-actuated kinematic sub-system without disturbance and fully-actuated dynamic in presence of Thanks technique, lumped into sub-system. no...

This paper aims to describe modeling and control in what concerns advanced manufacturing technology running on a flexible assembly, disassembly repair mechatronic line (A/D/RML) assisted by an Autonomous Robotic System (ARS), two robotic manipulators (RM) visual servoing system (VSS). The A/D/RML consists of six workstations (WS) mechatronics (ML) connected cell (FC) equipped with 6-DOF ABB ind...