We present ez-Segway, a decentralized mechanism to consistently and quickly update the network state while preventing forwarding anomalies (loops and black-holes) and avoiding link congestion. In our design, the centralized SDN controller only pre-computes information needed by the switches during the update execution. This information is distributed to the switches, which use partial knowledge...

1. Abstract The Building-Wide Intelligence Project’s Segway Robot lacked emotions and personality critical in human-robot interaction. In order to make interactions with the robot more human-like and enjoyable, we attempt to give the robot a sense of emotions and personality. The robot is given the ability to keep track of its mood level and to present its current emotion state. By giving the r...

Tracking in essence consists of using sensory information combined with a motion model to estimate the position of a moving object. Tracking efficiency completely depends on the accuracy of the motion model and of the sensory information. For a vision sensor like a camera, the estimation is translated into a command to guide the camera where to look. In this paper, we contribute a method to ach...

Spasticity is a common consequence after spinal cord injury (SCI) that affects 53-78 % of individuals with SCI (Maynard, Karunas, & Waring, 1990). Spasticity is defined as increased tonic stretch reflexes and exaggerated tendon jerks (Lance, 1980). Rehabilitation modalities, pharmacologic intervention and surgery are three main therapeutic techniques for spasticity management (Adams & Hicks, 20...

The Segway, which is a popular vehicle nowadays, is an uncertain nonlinear system and has an unknown time-varying control coefficient. Thus, we should consider the unknown time-varying control coefficient and model uncertainties to design the controller. Motivated by this observation, we propose a robust control for the Segway with unknown control coefficient and model uncertainties. To deal wi...