In this paper, we propose a new design of spatial-based repetitive control for rotational motion systems required to operate at varying speeds and subject to spatially periodic disturbances. The system has known model structure with uncertain parameters. To synthesize a repetitive controller in spatial domain, a linear time-invariant system is reformulated with respect to a spatial coordinate (...

This paper presents repetitive and adaptive motion control schemes for rigid-link robot manipulators, when the manipulator’s joint velocities cannot be measured by the control system. The control objective consists in tracking a prescribed desired trajectory. In the case of repetitive control, the desired trajectory is periodic and it is required that the robot achieve the control objective thr...

Several features of human-human conversation have to be accounted for in order to recreate conversational behavior on a synthetic model, as natural as possible.. Spontaneous conversations are a combination of multiple modalities (e.g. gestures, postures, gazes, expressions) in order to effectively convey information between participants. This paper presents a novel process for capturing the for...

Overhead throwing motion imparts enormous forces on the elbow. Repetitive near-failure loads lead to chronic adaptive changes and occasionally acute injury to bone, ligaments, and the elbow's muscle-tendon complexes. Physicians treating the thrower must thoroughly understand the complex anatomy and function of the elbow joint and throwing biomechanics to diagnose and treat elbow pathology. Eval...

We present a system that provides real-time audio feedback to athletes performing repetitive, periodic movements. The system synchronizes the temporal signal from a sensor placed on the athletes body with a model signal. The audio feedback tells the athlete how well they are synchronized with the model, and whether or not they are deviating from the model at critical points in the periodic moti...

Post-traumatic Raynaud's phenomenon following non-penetrating or non-repetitive injury is rare. We report a case of Raynaud's phenomenon occurring in a single digit 3 months following volar plate avulsion injury. Daily episodes of painless pallor of the digit occurred for 1 month upon any exposure to cold, resolving with warm water therapy. Symptoms resolved after the initiation of hand therapy...

This paper presents a method for motion planning in dynamic environments, subject to robot dynamics and ac-tuator constraints. The time optimal trajectory is computed by rst generating an initial guess using the concept of velocity obstacle. The initial guess, computed by a global search over a tree of avoidance maneuvers, is then optimized using a dynamic optimization. This method is applicabl...

We investigate the motion of electrically charged metallic nano- and microparticles produced by laser ablation in He gas and injected into superfluid helium. In the presence of a vertical static electric field, the particles either perform a repetitive shuttle-like motion transporting the charge across the liquid-gas interface or become trapped under the free surface of liquid He and coalesce i...