Force control and manipulation involving contacts are essentially hybrid control problems because of the inherent switching present in the dynamic behavior when the manipulator comes in contact with and leaves a surface. In this study, the game theoretic approach of hybrid control design is used to synthesize the least restrictive control law for a robotic manipulator to establish and maintain ...

Given an arbitrary Petri net structure which may have uncontrollable and unobservable transitions and may be unbounded, the procedure described in this paper generates a supervisor for liveness enforcement. The supervisor is specified as a conjunction of linear marking inequalities. For all initial markings satisfying the linear marking inequalities, the supervised Petri net is live. Moreover, ...

background: to determine the prevalence and patterns of complementary and alternative medicine (cam) use in urban population in isfahan. methods: in a cross–sectional study through two-stage sampling methods, 870 individuals were selected from isfahan province, center of iran. we selected 20 clusters randomly and chose one household from each cluster by chance then 24 households were included...

background : using complementary and alternative medicine (cam) has been increased worldwide during last years and women are the greatest users of these methods especially in the pregnancy period. due to lack of adequate information, this study aimed to assess the status of using complementary and alternative medicine by women in the pregnancy period methods: in this cross-sectional study, 599 ...

Abstract Date Presented 04/01/2022 The case study research sought to determine whether a virtual reality (VR) ‘calm room’ intervention improved observable student behaviors, reengagement times, use and regulation state compared with previously prescribed interventions used for reduction of negative behaviors after an adult-directed request. two-phase comparative analysis preliminarily supported...

We study the supervisory control problem for closed languages when the specifications are given in terms of control objectives i.e. a pairing of predicates associated with blocking events. We show that under some conditions the supervisory control problem is decidable for non-regular languages and results in obtaining the least restrictive behavior. The result appears to give an extension of th...