The development of autonomous robots for agricultural applications includes motion planning, fruit picking, and collision avoidance with surrounding environments, these become challenging tasks. For harvesting applications, robust control the manipulator is needed effective robot. Several combinations Proportional(P)- Integrative(I)- Derivative(D) controllers are modelled a simulation study was...

The mobility of people who have had a lower limb amputated is slower, less stable, and needs more metabolic energy than the movement physically fit, also, often difficulty moving on uneven terrain stairs. In most cases, these problems may be traced back to usage controllers for an above-knee prosthesis, which enhances quality life millions individuals lost limbs. this work addresses dynamic mod...

infratemporal space infection is a rare but serious sequel of odontogenic infection. the diagnosis is difficult due to non specific signs and symptoms. diabetes mellitus as a definitive risk factor for odontogenic infections needs more consideration during clinical procedures. we report a case of an undiagnosed diabetic patient with isolated infratemporal space infection after tooth extraction ...

We present a bounded policy iteration algorithm for infinite-horizon decentralized POMDPs. Policies are represented as joint stochastic finite-state controllers, which consist of a local controller for each agent. We also let a joint controller include a correlation device that allows the agents to correlate their behavior without exchanging information during execution, and show that this lead...

The control of centroidal momentum has recently emerged as an important component of whole-body humanoid control, resulting in emergent upper-body motions and increased robustness to pushes when included in whole-body frameworks. Previous work has developed specialized computational algorithms for the Centroidal Momentum Matrix (CMM) and its derivative, which relate rates of change in centroida...

introduction anterior talofibular ligament (atfl) rupture is the most commonly injured anatomic structure in lateral ankle sprain. in some cases, atfl avulsion fracture from the lateral malleolus may occur instead of purely ligamentous injuries. the atfl avulsion fracture is detected as a small ossicle at the tip of lateral malleolus on direct radiographs, which is called os subfibulare in chro...

In quadratic program based inverse dynamics control of underactuated, free-floating robots, the desired Cartesian reference motion is typically computed from a planned Cartesian reference motion using a feed-forward term, originating from a model, and a PD controller. The PD controller is there to account for the discrepancy between the real robot and the model. In this paper we show how we can...

Minimizingvibrationsof amaneuvered exiblemanipulatorisa challengingtask.Results are presented ofa series of experimental tests carried out on the Space Robot Simulator assembly, which has been set up at the Spacecraft Research and Design Center of the Naval Postgraduate School. The manipulator is planar with two rotational degrees of freedom and two links, of which either one or both can be  ...

Adaptive motion, internal force, and external contact force control of multiple manipulators handling a constrained object is solved in this paper. Parametric uncertainties may exist in the manipulators and in the object as well as in the friction coeficients of contact surfaces. A set of transformed dynamic equations are obtained in the joint space, in which internal force and external contact...

This paper deals with control of parallel manipulators for very high acceleration tasks including two case studies. The first one is the case of non-redundant parallel manipulators, where we are interested in control of PAR2 robot for 2D pick-andplace trajectories following. The proposed control scheme in this case is a nonlinear dual mode adaptive controller complied with a high gain state obs...