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Organ donor criteria continue to be extended in an attempt to meet growing demands. Patients with continuous-flow left ventricular assist devices are one group of potential donors being considered. One concern with this group is the effect of continuous flow for a prolonged duration, as opposed to normal pulsatile flow, on end-organ function. We report the 1st case of a liver transplantation from...
The unique ability of humanoid robots to step over or upon obstacles is left unexploited if ordinary mobile robot navigation strategies are used for humanoids as well. Recently presented path planning strategies that make use of this capability, however, are very time consuming due to high computational complexity. We have presented a novel approach to humanoid robot footstep planning in obstacle...
Humanoid robots posses the unique ability to cross obstacles by stepping over or upon them. However, conventional 2D methods for robot navigation fail to exploit it and thus design trajectories only by circumventing obstacles. Recently, global algorithms have been presented that take into account this feature of humanoids. However, due to high computational complexity, most of them are very time consuming...
This paper introduces a novel control law that is generic in nature and stabilizes linear and a class of non-linear systems. The parameters of the proposed controller give the same flexibility of tuning the transient response of a system as the standard PID does. The superiority of the output-prediction based proportional switching (OPPS) controller lies in the fact that it addresses the fundamental...
This paper presents inverted pendulum with moving reference for the testing of stabilizing control algorithms. The proposed system extends classical inverted pendulum by incorporating two moving masses. The motion of the two masses, that slide along the horizontal plane, is controllable for the purpose of platform stabilization. The usefulness of the idea presented is demonstrated using computer simulations...
This paper presents a low cost FPGA based solution for a real-time moving object tracking system. A specialized architecture is presented based on a soft RISC processor capable of running kernel based mean shift tracking algorithm. The system includes a frame grabber unit that stores the video frame in DDR RAM using direct memory access, a video display unit to monitor the tracking statistics and...
An algorithm is presented for parameter estimation of a single-link robotic manipulator when there is dead-band between the duty-cycle of applied and actual PWM for the actuator and dead-zone (caused by backlash) in the torque transmission from actuator to the link. The proposed algorithm has two stages, in the first stage dead-band and one of the two system parameters is estimated using steady-state...
Un-manned systems have rapidly increased both in number and versatility. Their missions can now range from surveillance to bomb disposal and Urban Search and Rescue. This has opened up an unprecedented number of venues for research; and now, the research is not only limited to proof of concept, but has advanced to improving the systems. The earlier versions of such robots that were put into the field...
This paper is concerned with the elimination/reduction of Backlash, which is a source of problem in precision of mechanical design of tracking platforms. A lot of work has been done to eliminate/reduce backlash and development of harmonic drives, pressurized gears and pre-loaded gears is of great importance, but these techniques for backlash reduction are very expensive and not readily available....
Unlike wheeled robots, humanoid robots are able to overcome obstacles in the environment by stepping over or upon them. Conventional 2D methods for robot navigation fail to exploit this unique ability of humanoids and thus design trajectories only by circumventing obstacles. Recently, globalized algorithms have been presented that take into account this feature of humanoids. However, due to high computational...
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