This paper develops methodologies for an adaptive robust path tracking control of a nonholonomic Wheeled Mobile Robot (WMR) with nonlinear driving characteristics and unknown dynamic parameters. To solve the problem of position/orientation tracking control of WMR, a novel robust kinematics control law is developed to steer the vehicle to asymptotically follow the desired trajectories. To compen...

Although the eyes and head can potentially rotate about any three-dimensional axis during orienting gaze shifts, behavioral recordings have shown that certain lawful strategies--such as Listing's law and Donders' law--determine which axis is used for a particular sensory input. Here, we review recent advances in understanding the neuromuscular mechanisms for these laws, the neural mechanisms th...

(ii) (Lazard’s Theorem) L is the polynomial algebra Z[x1, x2, ...]. We proved Lazard’s theorem last semester. We also proved that MU∗ is isomorphic to Z[x1, x2, ...], so MU∗ and L are both polynomial algebras with generators in even degrees (positive even degrees in MU∗, and negative even degrees in L). The usual complex orientation on MU gives rise to a formal group law, and thus we have a hom...

In this paper a continuous periodic time-varying feedback law is proposed that exponentially stabilizes both the position and orientation of a surface vessel having only two actuators. To this end, a stability result for a class of homogeneous time-periodic systems is presented. The exponential stability provided by the proposed feedback law does not depend on exact knowledge of the model param...

This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of controlling the orientation of the robot in the absence of external dissipative forces is investigated. An exponentially stabilizing joint control law for the actuated shape dyna...

Continuum Mechanics and Thermodynamics (in press) July 22, 2009 A complete theoretical presentation of the CAFFE model (Continuum-mechanical, Anisotropic Flow model, based on an anisotropic Flow Enhancement factor) is given. The CAFFE model is an application of the theory of mixtures with continuous diversity for the case of large polar ice masses in which induced anisotropy occurs. The anisotr...

PURPOSE To investigate the three-dimensional orientation of the eye and its relationship to Listing's Law in monkeys with acute acquired superior oblique palsy (SOP). METHODS The trochlear nerve was severed intracranially in two rhesus monkeys. Three-axis eye movements (horizontal, vertical, and torsion) were measured with binocular, dual search coils during fixation of targets in a 40 degree...

P. K. Saha, F. W. Wehrli University of Pennsylvania, Philadelphia, PA 19104, United States SYNOPSIS: Trabecular bone (TB) is a network of interconnected struts and plates. During remodeling the bone responds to the forces to which it is subjected and the trabeculae thus follow major stress lines (Wolff’s law). Trabecular anisotropy can be expressed in terms of the fabric tensor. Next to volume ...

aim: considering the fundamental role of parents' function and family dynamics including the importance role of family communication pattern on preventing early-onset substance use in children, the present study aimed to determine the correlation between family communication pattern and mothers' preventive behavioral intention regarding preventing early-onset substance use in children...

The formal test application of the Omnibus Law Job Creation through Constitutional Court Decision Number:91/PUU-XVIII/2020, in its statement declared unconstitutional conditional. decision was made because considering need to balance and strategic objectives establishment Law, condition is procedural justice while objective substantive justice. raised question whether verdict oriented or Resear...