This paper presents an analysis of snake locomotion that explains how non-uniform viscous ground friction conditions enable snake robots to locomote forward on a planar surface. The explanation is based on a simple mapping from link velocities normal to the direction of motion into propulsive forces in the direction of motion. From this analysis, a controller for a snake robot is proposed. A Po...

This paper presents a new technique for rendering caustics on non Lambertian surfaces The method is based on an extension of the photon map which removes previous restrictions limiting the usage to Lambertian surfaces We add information about the incoming direction to the photons and this allows us to combine the photon map with arbitrary re ectance functions Furthermore we introduce ba lancing...

One of the main issues with supporting VoIP service over 802.16 networks is the signalling overhead caused by the downlink MAP messages due to frequent transmissions and small packets. To decrease the MAP overhead, the 802.16 standard proposes some mechanisms, such as the compressed MAP and sub-MAPs. In this paper, we show by means of extensive dynamic simulations that sub-MAPs can reduce drama...

M. Brion proved a convexity result for the moment map image of an irreducible subvariety of a compact integral Kähler manifold preserved by the complexification of the Hamiltonian group action. V. Guillemin and R. Sjamaar generalized this result to irreducible subvarieties preserved only by a Borel subgroup. In another direction, L. O’Shea and R. Sjamaar proved a convexity result for the moment...

This paper presents a method which reduces uncertainty of a position and a direction of an autonomous robot by observing environment with a camera. In the proposed method, the state of the robot is represented by a state vector obeying a probability distribution. The robot creates and renews an environment map by considering the information from the mounted camera. Moreover, the robot revises t...

How wonderful would it be if there were a simple, cheap, safe, non-invasive treatment that could be administered to a patient to protect their organs from ischemia and reperfusion? Such a treatment might be used to protect the organs during temporary loss of blood flow, as occurs for example during a heart attack or stroke. As unlikely as this may sound, such a treatment has indeed been discove...

asopressor agents such as epinephrine, phenylephrine, and norepinephrine are commonly used Vmedications for increasing cardiac output in hypotensive patients. These vasoconstricting medications aid in regulating and maintaining adequate blood pressure (BP) or mean arterial pressure (MAP) in patients who are experiencing shock and are added for temporary BP augmentation when life-threatening hyp...

For centuries, Damask rose has been one of the most popular species of the rose family. Damask rose can be propagated using vegetative methods such as micropropagation. In this research, the use of temporary immersion system was reported for the first time for Damask rose micropropagation. For this reason, a traditional temporary immersion system was designed to facilitate its micropropagation....