Styringsprinsipper for slangerobot ved hindringsbasert fremdrift
نویسندگان
چکیده
This study investigates the optimality of the shape of a snake robot in relation to the obstacles in the environment around it. A certain focus is given to the challenge of finding an optimal set of contact forces based on some optimality criteria. A controller scheme for realizing these contact forces on a dynamic snake model with obstacle compliance was presented, but further development and testing is required to have a definite conclusion as to the success of this particular approach.
منابع مشابه
Penile rehabilitation with a vacuum erectile device in an animal model is related to an antihypoxic mechanism: blood gas evidence.
Our previous study showed that vacuum erectile device (VED) therapy has improved erectile function in rats with bilateral cavernous nerve crush (BCNC) injuries. This study was designed to explore the mechanism of VED in penile rehabilitation by analyzing cavernous oxygen saturation (SO2) and to examine the effect of VED therapy on preventing penile shrinkage after BCNC. Thirty adult Sprague-Daw...
متن کاملThe science of vacuum erectile device in penile rehabilitation after radical prostatectomy
INTRODUCTION Radical prostatectomy (RP) is a standard surgical treatment for clinically localized prostate cancer. Erectile dysfunction (ED) and penile shrinkage are common complications. Vacuum Erectile Device (VED) therapy uses negative pressure to distend the corporal sinusoids and to increase blood inflow into the penis. It is the second most commonly used method for penile rehabilitation a...
متن کاملABC and VED Analysis of the Pharmacy Store of a Tertiary Care Teaching, Research and Referral Healthcare Institute of India
The ABC and VED (vital, essential, desirable) analysis of the pharmacy store of Post Graduate Institute of Medical Education and Research (PGIMER), Chandigarh, India, was conducted to identify the categories of items needing stringent management control. The annual consumption and expenditure incurred on each item of pharmacy for the year 2007-08 was analyzed and inventory control techniques, i...
متن کاملABC and VED Analysis of the Pharmacy Store of a Tertiary Care, Academic Institute of the Northern India to Identify the Categories of Drugs Needing Strict Management Control
Aim: To conduct ABC, VED and ABC-VED matrix analysis of the pharmacy store of the tertiary care, teaching, research and referral institute of the Northern India to identify the categories of drugs needing strict management control. Method: The ABC and VED (vital, essential, desirable) analysis of the pharmacy/drug store of Post Graduate Institute of Medical Education and Research (PGIMER), Chan...
متن کاملComparison of measures of left ventricular contractile performance derived from pressure-volume loops in conscious dogs.
Three measures of left ventricular (LV) performance derived from pressure (P)-volume (V) loops have been proposed: the end-systolic P-V (PES-VES) relation, the stroke work-end-diastolic V (SW-VED) relation, and maximum dP/dt-VED (dP/dtmax-VED) relation. We evaluated the variability of repeated determinations, and inotropic and load sensitivity of these relations in conscious dogs. LVV was deter...
متن کامل