This paper presents a novel Representation-Free Model Predictive Control (RF-MPC) framework for controlling various dynamic motions of quadrupedal robot in three dimensional (3D) space. Our formulation directly represents the rotational dynamics using rotation matrix, which liberates us from issues associated with use Euler angles and quaternion as orientation representations. With variation-ba...

In this paper, dynamics, postural stability and control of suspended wheeled mobile manipulators for cooperative heavy object manipulation are elaborated considering the effect of grasping posture. The presented model considers a system equipped with multiple manipulators with flexible suspension, which also contains an accurate nonlinear behavior of the tires. Moreover, it includes the vibrato...

The Neer and Hawkins impingement signs are commonly used to diagnose subacromial pathology, but the anatomy of these maneuvers has not been well elucidated in vivo. This 3-dimensional open magnetic resonance imaging study characterized shoulder anatomy and rotator cuff impingement in 8 normal volunteers placed in the Neer and Hawkins positions. Subacromial and intraarticular contact of the rota...

Recognizing how a vehicle is steered and then alerting drivers in real time is of utmost importance to the vehicle and driver's safety, since fatal accidents are often caused by dangerous vehicle maneuvers, such as rapid turns, fast lane-changes, etc. Existing solutions using video or in-vehicle sensors have been employed to identify dangerous vehicle maneuvers, but these methods are subject to...

OBJECTIVE To apply a mathematical model to determine the relative effectiveness of various tip-plasty maneuvers while the lateral crura are in cephalic position compared with orthotopic position. METHODS A Matlab (MathWorks, Natick, Massachusetts) computer program, called the Tip-Plasty Simulator, was developed to model the medial and lateral crura of the tripod concept in order to estimate t...

Obesity causes major alterations in pulmonary mechanics. Obese patients undergoing bariatric surgery present mechanical ventilation-related challenges that may lead to perioperative complications. Databases were systematically searched for clinical trials of ventilation maneuvers for obese patients and bariatric surgery. Thirteen randomized controlled trials were selected. The quality of the st...