Reduction induced either by the inherent dynamics of a system or control task at hand is often advantageous for analysis and control of the system. In the current work we consider state estimation for flexible, tip-steerable needle insertions. Specifically, we design observers that exploit the symmetry induced by the task of controlling the needle to a desired plane. These needles curve inside ...

The Real-time Control System (RCS) Methodology has evolved over a number of years as a technique to capture task knowledge and organize it into a framework conducive to implementation in computer control systems. The fundamental premise of this methodology is that the present state of the task activities sets the context that identifies the requirements for all of the support processing. In par...

A reference model architecture for real-time hierarchical control systems has been proposed by researchers at the National Institute of Standards and Technology, and has been implemented on a variety of computing platforms for manufacturing and vehicle control applications. A fundamental aspect of this architecture is the notion of nested control loops, which incorporate sensory feedback in a h...

in this study, the effect of cognitive load (cl) training on duration and accuracy of bimanual coordination (bc) task was investigated. for this purpose, athletic male students of shiraz university were randomly divided into 4 groups: g1 with low cl, g2 with intermediate cl, g3 with high cl and g4 control. the subjects practiced for 6 weeks, 3 sessions a week, 6 blocks, 12 trials. the subjects ...

objective: this study compares the center for disease control (cdc) and international obesity task force (iotf) references in assessment of overweight and obesity among iranian adolescents. methods: the data of this study was drawn from a cross sectional study of a representative sample of 1200 adolescents aged 12‑17 years in babol, northern iran. a standard procedure was used to measure height...

With the rapid development of mobile robots, they have begun to be widely used in industrial manufacturing, logistics scheduling, intelligent medical, and other fields. For large-scale task space, communication between multiagents is key affect cooperation productivity, agents can coordinate more effectively with help dynamic communication. However, traditional mechanism uses simple message agg...

With the increasing complexity of humanoid mechanisms and their desired capabilities, there is a pressing need for a generalized framework where a desired whole-body motion behavior can be easily specified and controlled. Our hypothesis is that human motion results from simultaneously performing multiple objectives in a hierarchical manner, and we have analogously developed a prioritized, multi...