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To address the challenges with real-time accurate modeling of multisegment continuum manipulators in the presence of significant external and body loads, we introduce a novel series solution for variable-curvature Cosserat rod static and Lagrangian dynamic methods. By combining a modified Lagrange polynomial series solution, based on experimental observations, with Ritz and Ritz–Galerkin methods,...
Patient motion during PET scans introduces errors in the attenuation correction and image blurring leading to false changes in regional radioactivity concentrations. However, the potential effect that motion has on simulation-based scatter correction is not fully appreciated. Specifically for tracers with high uptake close to the edge of head (e.g. scalp and nose) as observed with [11C]Verapamil,...
This paper presents new results in the cooperative manipulation of objects by two or more manipulators. The case of contact due to additional manipulators grasping, or regrasping, a common object held by one or more manipulators is discussed. A model of instantaneous contact is derived, and the impulse force generated by contact found, based on the dynamic models of the manipulators and object. Applications...
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