In this paper we develop a technique to achieve robust high performance real-time wallfollowing behavior of a mobile robot in an indoor office environment, more specifically, in a corridor environment. The mobile robot achieves increasingly better performance by learning the environment’s (most important) features in successive runs through it. This allows the robot to perform the task repeated...

In this paper we examine how simple agents similar to Braitenberg vehicles can exhibit chaotic movement patterns. The agents are wall following robots as described by Steve Mesburger and Alfred Hubler in their paper “Chaos in Wall Following Robots”. These agents uses a simple forward facing distance sensor, with a limited field of view (Φ) for navigation. An agent drives forward at a constant v...

Chest wall tumour following iodized talc pleurodesis. A man of 37 had an iodized talc pleurodesis carried out for recurrent spontaneous pneumothorax. There was no history of industrial exposure to asbestos. Two years latei he presented with pain in the right chest and radiographs at that time showed some localized pleural thickening at the site of the thoracoscopy cannulation for introduction o...