Attractivity of robotic high intensity focused ultrasound (HIFU) is based largely on the non-invasive, extremely precise nature of this high-tech robotic therapy as well as its clean, radiation free, surgical, but nevertheless, bloodless character. Today, in urological oncology, HIFU is used clinically as a therapeutic tool for the treatment of prostate cancer. Experimentally it is investigated...

health care practitioners (i.e., nurses, occupational therapists, physicians), educators, and policy makers as an important activity to enhance the quality of teamwork and patient care. While the focus on developing an evidence basis for IPE has demonstrated the potential value of IPE for improving collaboration and patient outcomes, exploration of key concepts that underpin IPE has been overlo...

We analyze the intertemporal portfolio problem of an investor who has access to both taxable and tax-deferred (retirement) accounts and is subject to borrowing and short-selling constraints. We provide conditions under which the commonly used location rule of preferring higher-taxed assets in the tax-deferred account might not be optimal. We also derive analytical solutions for the optimal port...

Planning how to interact against bounded memory and unbounded memory learning opponents needs different treatment. Thus far, however, work in this area has shown how to design plans against bounded memory learning opponents, but no work has dealt with the unbounded memory case. This paper tackles this gap. In particular, we frame this as a planning problem using the framework of repeated matrix...

This paper is about new iso-parametric tool path planning for machining trimmed freeform surfaces. The trimmed surface has been re-parameterized by two different parameterization techniques, namely, the partial differential equation method and the newly developed boundary interpolation method. The efficiency of the scheme has been measured in terms of path length and computational time needed f...

Path planning problem revolves around finding a path from start node to goal node without any collisions. This paper presents an improved version of Focused Wave Front Algorithm for mobile robot path planning in static 2D environment. Existing wave expansion algorithms either provide speed or optimality. We try to counter this problem by preventing the full expansion of the wave and expanding s...

Traditional approaches to plan representation focused on the generation of a sequence of actions and orderings Knowledge rich models which incorporate plan rationale provide bene ts to the planning process in a number of ways The use of rationale in planning is reviewed in terms of causality dependencies and decisions Each dimension addresses practical issues in the planning process and adds va...

Trajectory planning is of great importance as many chemical processes normally operate under transient conditions. Many of the available techniques for trajectory optimization can yield trajectories that are unrealistic and not implementable. Furthermore, many transient processes are operated manually, which further reduces the classes of trajectories that are implementable. In this paper, inpu...

This paper provides a method for a controllable nonholonomic mechanical system. By use of the nonholonomy of the disk’s rolling constraint in the plane and the condition of chained form conversion, a multi-joint nonholonomic manipulator, which uses only two actuators and can be converted into chained form and achieves control simplicity, is presented. The Frobenius and Chow theorems prove that ...