Robot behaviors are often designed using a set of states, with transition conditions among them, i.e. a finite state machine. The transition conditions often depend on uncertain inputs. Thus, transitions could fire incorrectly or fail to fire. This necessitates complicating the behavior design with additional transitions to “back out” of states judged to be erroneous. Current robotic systems ma...

Support of this work by the NTUA Senator Committee of Basic Research, Programme “Protagoras”, R.C. No. 10, is acknowledged. Abstract− This paper addresses the combined problem of trajectory planning and tracking control for underactuated AUVs moving on the horizontal plane. A reference feasible trajectory for the position and orientation of the AUV is planned so that it is consistent with vehic...

Agents situated in dynamic and unpredictable environments require several capabilities, including synthesizing and executing plans while continuing to be responsive to the world. The Cypress system is a domain-independent framework for defining persistent agents with this full range of behavior. Cypress has been used for several applications, including military operations and fault diagnosis on...

background: osteoporosis is a common metabolic bone disease that causes bone fracture. this study was performed to determine the effect of health belief model in osteoporosis prevention in volunteers of khorramabad in 2011. methods: this quasi-experimental before and after study was conducted among the hundred volunteers, which were stratified randomly into two fifty-member groups of case and c...

This paper describes a prototype and analytical studies of a spherical rolling robot, a new design of a nonholonomic system. The spherical robot is driven by two remotely controlled, internally mounted rotors that induce the ball to roll and spin on a fiat surface. It is tracked on the plane by an overhead camera. A mathematical model of the robot's motion was developed using the nonholonomic c...

This paper presents a methodology for motion planning in outdoor environments that takes into account specific characteristics of the terrain. Instead of decomposing the robot configuration space into “free” and “occupied”, we consider the existence of several regions with different navigation costs. Costs are determined experimentally by navigating the robot through the regions and measuring t...

We propose a compilation that enhances a given classical planning task to compute plans that contain control flow and procedure calls. Control flow instructions and procedures allow us to generate compact and general solutions able to solve planning tasks for which multiple unit tests are defined. The paper analyzes the relation between classical planning and structured programming with unit te...

Use of compliance in muscle is the inherent skill of a human. By using the potential energy charged in the compliant members, we can skillfully equalize the characteristics of muscles and body. Integrating the skill of compliance will provide robots with higher mobility, dexterity and safety and extends the fields of applications. The main research issues of the skill of compliance are tuning p...

As network traffic monitoring software for cybersecurity, malware detection, and other critical tasks becomes increasingly automated, the rate of alerts and supporting data gathered, as well as the complexity of the underlying model, regularly exceed human processing capabilities. Many of these applications require complex models and constituent rules in order to come up with decisions that inf...