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Background Asymptomatic thyroid nodules are an increasingly common clinical problem. Lesions greater than a centimetre require cytological assessment. Indeterminate lesions often need surgical excision to establish a definitive diagnosis and plan further management. If a definitive diagnosis could be accurately predicted pre-operatively, the most appropriate surgical procedure could be performed at...
We present a decentralized, scalable approach to assembling a group of heterogeneous parts into different products using a swarm of robots. While the assembly plans are predetermined, the exact sequence of assembly of parts and the allocation of subassembly tasks to robots are determined by the interactions between robots in a decentralized fashion in real time. Our approach is based on developing...
In this contribution we present a CPG (central pattern generator) controller based on coupled Rossler systems. It is able to generate both limit cycle and chaotic behaviors through bifurcation. We develop an experimental test bench to measure quantitatively the performance of different controllers on unknown terrains of increasing difficulty. First, we show that for flat terrains, open loop limit...
The Zachman Framework offers a classification of the models created in an enterprise architecture project. These models form a holistic representation of the organization. Despite the prominent position of the Framework, there is little information publicly available to help designers create exact models that fit each other. In this paper, we propose a conceptualization based on General Systems Thinking...
We compare two well-known algorithms for locating odor sources in environments with a main wind flow. Their plume tracking performance is tested through systematic experiments with real robots in a wind tunnel under laminar flow condition. We present the system setup and show the wind and odor profiles. The results are then compared in terms of time and distance to reach the source, as well as speed...
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