OBJECTIVE Recent studies have shown that dorsal premotor cortex (PMd), a cortical area in the dorsomedial grasp pathway, is involved in grasp movements. However, the neural ensemble firing property of PMd during grasp movements and the extent to which it can be used for grasp decoding are still unclear. APPROACH To address these issues, we used multielectrode arrays to record both spike and l...

A report of the General Robotics and Active Sensory Perception (GRASP) Laboratory. Comments University of Pennsylvania Institute for Research in Cognitive Science Technical Report No. IRCS-93-31. This other is available at ScholarlyCommons: http://repository.upenn.edu/ircs_reports/186

Tissue grasping is a crucial component of surgical procedures that involves simultaneously satisfying two competing criteria – maintaining grasp stability while avoiding damage due to excessive grip force. Automation of grasp force control thus requires a controller to apply grasping forces just sufficient to maintain grasp stability. This task is complicated by the serially connected dynamics ...

Power grasp is a grasp that can hold objects stably without changing the joint torques of ngers. Almost all studies on power grasp deal with one object. But it is more eÆcient to hold multiple objects at the same time. This paper derives a condition for power grasp for multiple objects, and de nes an optimal power grasp from the viewpoint of decreasing the work of joint torques. Lastly, we show...

GRASP (greedy randomized adaptive search procedure) is a metaheuristic for combinatorial optimization. GRASP usually is implemented as a multistart procedure, where each iteration is made up of a construction phase, where a randomized greedy solution is constructed, and a local search phase which starts at the constructed solution and applies iterative improvement until a locally optimal soluti...

This paper is a survey of greedy randomized adaptive search procedures (GRASP). GRASP is a multi-start or iterative procedure where each GRASP iteration consists of a construction phase, where a feasible solution is constructed, followed by a local search procedure that finds a locally optimal solution. The construction phase of GRASP is essentially a randomized greedy algorithm. Repeated appli...

in this paper, we consider scheduling of project networks under minimization of total weighted resource tardiness penalty costs. in this problem, we assume constrained resources are renewable and limited to very costly machines and tools which are also used in other projects and are not accessible in all periods of time of a project. in other words, there is a dictated ready date as well as a d...

We consider the queueing maximal covering location-allocation problem (QM-CLAP) with an M/M/1 queueing system. We propose a new solution procedure based on decomposition of the problem into smaller sub-problems. We solve the resulting sub-problems both with a branch and bound algorithm and with the meta-heuristic GRASP. We also solve the entire model with GRASP. Computational results for these ...