This paper suggests and employs a method for reducing vibrations at the tip of a robot. The vibrations, caused by structural flexibility, are detected using accelerometers. The robot control system consists of two complementary sub-systems: a nominal motion controller and a vibration compensator. The former one realizes joint motions in accordance with a prescribed tip trajectory. The latter on...

The workspace of a Robot is determined by an analytical method. The method is applicable to kinematic chains that can be modeled using the Denavit-Hartenberg representation for serial kinematic chains. This method is based upon analytical criteria for determining singular behavior of the mechanism. By manipulating the Jacobian of the robot by the row rank deficiency condition, the singularities...

This extended abstract presents findings from a live HRI study carried out in the UH robot house. The participants (33 in total) were approached by a robot for 3 different interaction types and the amount of control the participant had over the robot's approach was varied. This study focuses on the participant post-experimental evaluation of their comfort with the robots approaches in these dif...

UNLABELLED We studied lung function in children with and without asthma receiving anesthesia with sevoflurane. Fifty-two children had anesthesia induced with sevoflurane (up to 8%) in a mixture of 50% nitrous oxide in oxygen and then maintained at 3% with children breathing spontaneously via face mask and Jackson-Rees modification of the T-piece. Airway opening pressure and flow were then measu...

We present a three-step inverse model (3SAA) for estimating the inherent optical properties (IOPs) of surface waters from remote sensing reflectance spectra, Rrs(?). The derived IOPs include total (a(?)), phytoplankton (aphy(?)), and colored detrital matter (acdm(?)), absorption coefficients, (bb(?)) particulate (bbp(?)) backscattering coefficients. first step uses an improved neural network ap...

With the widespread use of Roundup Ready soya (event 40-3-2) (RRS), the traceability of transgenic components, especially protein residues, in different soya-related foodstuffs has become an important issue. In this report, transgenic components in commercial soya (including RRS) protein concentrates were firstly detected by using polymerase chain reaction (PCR) and western blot. The results il...

Robots that are able to provide services to human users in personal context are known as personal service robots. They are attracting more and more attention, as enriching and easing people’s lives are their general missions. Acquisition of spatial representations is crucial for such a robot to move around in a human-shared environment, provide services and interact with the user about the envi...

conclusions trained emrs like their fellow rrs have the ability to perform fast scan with high diagnostic value in patients with blunt abdominal trauma. objectives this study was conducted to compare the diagnostic accuracy of fast performed by emergency medicine residents (emr) and radiology residents (rrs) in detecting peritoneal free fluids. patients and methods patients triaged in the emerg...

This paper proposes a novel application of the Stewart–Gough parallel platform as a climbing robot and its kinematics control to climb through long structures describing unknown spatial trajectories, such as palm trunks, tubes, etc. First, the description and design of the climbing parallel robot is presented. Second, the inverse and forward kinematics analysis of a mobile six-degrees-of-freedo...