In this paper, recurrent neural network is used for path planning in the joint space of the robot with obstacle in the workspace of the robot. To design the neural network, first a performance index has been defined as sum of square of error tracking of final executor. Then, obstacle avoidance scheme is presented based on its space coordinate and its minimum distance between the obstacle and ea...

This paper considers the design of an H∞ controller for tool point control of a hydraulically actuated knuckle boom crane. The paper describes the modelling of the crane’s mechanical and hydraulic systems and a disturbance model. These are linearised and combined in a state-space model used for the controller design. The controller synthesis problem is to design (if possible) an admissible cont...

Based on the 6D constraints of momentum change rate (CMCR), this paper puts forward a real-time and full balance maintenance method for the humanoid robot during high-speed movement of its 7-DOF arm. First, the total momentum formula for the robot's two arms is given and the momentum change rate is defined by the time derivative of the total momentum. The author also illustrates the idea of ful...

This paper shows how performance gain in a mobile radio environment can be achieved by using joint space-time equalization and decoding. We apply different joint procedures with two types of space-time equalization techniques. As a matter of fact, the joint techniques are able to provide a considerable gain with none to small additional computational cost.

The present study was designed to examine the expression of Sox 9 and type II and X collagens in regenerated condyle resulting from the use of a functional appliance. Ninety, 3-week-old, mice were divided equally into the following groups: two experimental groups (condylectomy group and condylectomy with functional appliance group) and the corresponding control group. In the condylectomy group,...

In the presence of joint space narrowing, it is important to differentiate inflammatory from degenerative conditions. Joint inflammation is characterized by bone erosions, osteopenia, soft-tissue swelling, and uniform joint space loss. Inflammation of a single joint should raise concern for infection. Multiple joint inflammation in a proximal distribution in the hands or feet without bone proli...

OBJECTIVE To investigate the relationship between baseline radiographic severity of knee osteoarthritis (OA) and the importance of long-term joint space narrowing. DESIGN Sub-analysis from a three-year randomized, placebo-controlled, prospective study, of 212 patients with knee OA, recruited in an osteoarthritic outpatient clinic and having been part of a study evaluating the effect of glucos...

Between November 1983 and December 1992, 136 hips (119 patients) with coxarthritis were operated on using joint-preserving techniques based on the rationale of Pauwels' osteotomy. The criterion for selection was a patient in whom the height of the joint space in the weight-bearing area of the hip was less than 1 mm. The mean age at operation was 48 years and the mean follow-up 109 months (60 to...

BACKGROUND To be certain that the joint space width is abnormal in the case of hip joint pain when compared with the contralateral hip requires knowledge of physiological dissymmetry. AIM OF THE STUDY To assess interindividual variability and dissymmetry in pelvic radiological joint space width. METHODS Pelvic radiographs of subjects without hip joint disease. Measurement with a 0.1 mm grad...

OBJECTIVE To determine whether fractal signature analysis (FSA) of digitised macroradiographs of knees quantifies alterations in trabecular structure in the tibial cancellous bone of osteoarthritic patients with either early or definite joint space narrowing compared with non-arthritic subjects. METHODS 90 osteoarthritic knees had macroradiographs at x5 magnification. Joint space width and FS...