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Steerable needles can potentially increase the accuracy of needle-based diagnosis and therapy delivery, provided they can be adequately controlled based on medical image information. We propose a novel sliding mode control law that can be used to deliver the tip of a flexible asymmetric-tipped needle to a desired point, or to track a desired trajectory within tissue. The proposed control strategy...
Multi-robot formation control has been studied in the literature assuming ideal surface that can provide sufficiently large friction as needed. However, in reality the friction is constrained by terrain characteristic and slip occurs due to insufficient friction. In this paper we investigate the effect of slip on the formation control problem of wheeled mobile robots (WMR). We explicitly model the...
With Centers for Disease Control and Prevention prevalence estimates for children with autism spectrum disorder (ASD) at 9.1 per 1,000 (1 in 110), identification and effective treatment of ASD is often characterized as a public health emergency. Emerging technology, especially robotic technology, has been shown to be appealing to these children and such interest can be harnessed to address the limitations...
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