In this paper we study the topology of the configuration space of a device with d legs (alias ’roach’) such that at most k of them are allowed to be off the ground. We suggest control strategies providing that this roach moves stably forward starting from a ’maximal’ subset of admissible initial positions of legs. The meaning of the term ’maximal’ will be explained below. Advantages of the sugg...

Aims: The chronic renal failure and the subsequent hemodialysis and its consequent problems such as restless legs syndrome affect the individual’s quality of life through the changes they cause in his life style and health status. The present study was conducted to investigate the association between the quality of life and restless legs syndrome in hemodialysis patients. Materials and Methods:...