This paper presents a practical solution to the guidance of a unicycle type robot, including path following, obstacle avoidance and the respect of wheeled actuation saturation constraint, without planning procedure. These results are based on an extension of previous results on path following control including actuation saturation constraints. New solution for obstacle avoidance, with guarantee...

P r ~ i o u s LUC of arr$cial pountiab has dononraolcd the need for an oinmcle moidwue p o r e d that closely mo&L he obstacle. ye1 docr not pnworr lord minim0 in the wontrpocc of rhr manipuhror. Recentty we proposed a new ellipticd porcrdolfwvrion which &fis hesc rcquirenunu for rectongrhu objects in spherically synuncrric amocdvc wells. In rhir paper we present a ntw obstacle avoidwue porenri...

The Chehel Kaman Formation of the upper Paleocene age formed from carbonate and siliciclastic sediments is located, in the Kapeh Dagh Sedimentary Basin. Two sections where considered for the purpose of research into the effective diagenetic processes of this formation. The Cheshmeh Qorban section with a thickness of 270.8m located 140km down the Mashhad – Sarakhs Highway while the Shourlog Sect...

The Permian Phosphoria Formation is a reservoir for oil and gas in the western United States, as well as a major source of phosphate. This study examined the relationship between phosphate richness and porosity exhibited in the formation. Petrographic analysis was carried out on rock samples collected from the Phosphoria (Park City) Formation located north of Vernal, Utah, on the southern flank...

We investigate how the use of haptic feedback through electrical muscle stimulation (EMS) can improve collision-avoidance in a robot teleoperation scenario. Background: Collision-free requires extensive situation awareness by operator. This is difficult to achieve purely visually when obstacles exist outside robot’s field view. Therefore, from other sensory channels be beneficial. Method: compa...