This paper presents a framework for the safety-critical control of robotic systems, when safety is defined on safe regions in configuration space. To maintain safety, we synthesize velocity based barrier function theory without relying -- potentially complicated high-fidelity dynamical model robot. Then, track with tracking controller. culminates model-free critical control. We prove theoretica...

This paper presents an obstacle avoidance system for the Segway Robotic Mobility Platform (RMP). The system consists of four main modules: terrain mapping, terrain traversability analysis, path planning, and motion control. The main sensor in our system is a forward/downward-looking 2-D Sick laser rangefinder. The terrain mapping module registers realtime laser range data into a grid-type eleva...

in order to study and compare the phosphate transporter gene codon usage and it's respond to the traits like salt tolerance, day length, pollination and temperature in different plants, 100 isoform from 10 plants are extracted from ncbi website and then analyzed with gene infinity and minitab 16 software. the result shows that the highest codon usage similarity (81.95%) was for wheat and oryza ...

background: anxiety-related traits have been attributed to sequence variability in the genes coding for serotonin transmission in the brain. two alleles, termed long (l) and short (s) differing by 44 base pairs, are found in a polymorphism identified in the promoter region of serotonin transporter gene. the presence of the short allele and ss and ls genotypes is found to be associated with the ...

Yatima is a mobile robot on a Segway RMP base. This paper describes a method for autonomous navigation of a known map. The laboratory space Yatima is stored in is used as the navigation environment. A map is created, and the ROS navigation stack is used to implement autonomous navigation. Yatima can effectively navigate open areas, but struggles with obstacle avoidance. Simultaneous Localizatio...

This letter offers a novel approach to Test and Evaluation of pre-existing controllers from control barrier function dynamics perspective. More aptly, prior techniques tend require apriori knowledge space allowable disturbances. Our work, however, determines two-norm disturbance-bound rejectable by system's controller without requiring specific these disturbances beforehand. The authors posit t...

Tractable safety-ensuring algorithms for cyber-physical systems are important in critical applications. Approaches based on Control Barrier Functions assume continuous enforcement, which is not possible an online fashion. This letter presents two tractable to ensure forward invariance of discrete-time controlled systems. Both approaches provide strict mathematical safety guarantees. The first a...