conclusions rtesd in the prone position is safe and presents a feasible alternative for management of large rectal tumors. we also anticipate the technique to further improve with the advancement of robotic technology. introduction endoscopic submucosal dissection (esd) of large tumors of the rectum is particularly challenging using colonoscopy or with laparoscopic instruments. more recently ro...

We consider the control of programmable selfassembling systems whose dynamics are governed by stochastic reaction-diffusion dynamics. In our system, particles may decide the outcomes of reactions initiated by the environment, thereby steering the global system to produce a desired assembly type. We describe a method that automatically generates a program maximizing yield based on tuning the rat...

This paper presents an integrated task planning and control approach for manipulating a nonholonomic cart by mobile manipulators. The task considered in this study is to manipulate a nonholonomic cart to perform certain tasks such as pushing the cart along a straight line, making a turn at a corner, or tracking a sine wave. The cart manipulation task fully integrates the motion and force planni...

high-level robotic assembly planning. An assembly is a collection of bodies that are spatially related. When two bodies in an assembly are related, they do not make contact over their whole surface; rather, features of each body are in contact. For the moment, let us think of a feature as some part of the surface of a body. Thus, for example, a journal on a shaft fits a bearing, the teeth of ge...