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Glucose cannot be properly regulated by insulin in type 2 diabetics. In skeletal muscle, glucose is carried into muscle mainly by glucose transporter type 4 (GLUT4), which is stimulated by insulin and exercise. This paper presents a mechanistic model of glucose transport in skeletal muscle. The model parameters are obtained by a deterministic optimization method called DIRECT.
A mobile manipulator is at the present time a widespread term to refer to robot systems built from a robotic manipulator arm mounted on a mobile platform. A mobile manipulation system offers a dual advantage of mobility offered by a mobile platform and dexterity offered by the manipulator. In this work, the tracking and nonlinear disturbance decoupling problems are studied. We show that this system...
This paper presents initial results in the novel integration of nonholonomic and stratified motion planning, fuzzy control and tactile sensing to construct a robotic manipulation system that is designed to be both dexterous and robust. It is dexterous in that it is fully nonlinear, can explicitly incorporate discontinuities in the motion planning i.e., finger gaiting, and allows rolling finger contacts...
Metabolism modeling has the potential to provide guidance on medicine manufacture and medical treatment in an efficient and economic way. A pancreas model developed from a mathematical description of the relevant physiology will demonstrate insulin dynamics and provide a platform for comparing metabolic abilities among different health conditions. As a part of whole body metabolism model, the pancreas...
This paper studies bifurcations and multiple solutions of the optimal control problem for mobile robotic systems. While the existence of multiple local solutions to an optimization problem is not unexpected, the nature of the solutions are such that a relatively rich and interesting structure is present, which potentially could be exploited for controls purposes. In particular, this paper studies...
We obtain an intrinsic vector-valued symmetric bilinear form that can be associate with an underactuated simple mechanical control system. We determine properties of the form which serve as necessary conditions for driving underactuated simple mechanical control systems to rest. We also determine properties of the form that serve as sufficient conditions for driving a simple mechanical systems underactuated...
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