This paper presents a real time implementation of a sliding mode controller (SMC) for the underactuated BERUL fingers. The use of SMC is to deal with the inaccuracies and unmodelled nonlinearities in the dynamic model of the robotic fingers, in particular, to overcome significant friction and stiction. This paper in particular shows a practical implementation of Cartesian space control for the ...

Dynamic magnetic resonance imaging (MRI) refers to the acquisition of a sequence of MRI images to monitor temporal changes in tissue structure. We present a method for the estimation of dynamic MRI sequences based on two complimentary strategies: an adaptive framework for the estimation of the MRI images themselves, and an adaptive method to tailor the MRI system excitations for each data acqui...

PURPOSE To improve myocardial perfusion magnetic resonance imaging (MRI) by reconstructing undersampled radial data with a spatiotemporal constrained reconstruction method (STCR). MATERIALS AND METHODS The STCR method jointly reconstructs all of the time-frames for each slice. In 7 subjects at rest, on a 3-T scanner, the method was compared with a conventional (GRAPPA) Cartesian approach. R...

Dynamic segmentation is a method that facilitates the small areas along a line feature to be referenced without actually breaking the line into pieces. However, the current dynamic segmentation methods are almost developed from 2D roadway centerline network models, and therefore they are unable to support 3D lane-oriented inventory management (e.g. pavement condition, traffic volumes, traffic a...

Seamless integration of land-elevation and water-depth information in coastal environments is required in many geospatial applications and decision-making processes. Vertical datum conversion is the central component of the integration process. This study introduces a methodology of vertical datum conversion in Lake Erie, which utilizes the public published models and toolkits developed by Nati...

A non-resonant microwave method has been proposed for accurate complex permittivity determination of low-loss materials. The method uses two measurement data of the magnitude of transmission properties of the sample. While the first datum must correspond to a frequency point resulting in a maximum magnitude of transmission properties, the other can be any datum at a frequency different than the...

OBJECTIVES The goal of this study was to develop free-breathing high-spatiotemporal resolution dynamic contrast-enhanced liver magnetic resonance imaging using non-Cartesian parallel imaging acceleration, and quantitative liver perfusion mapping. MATERIALS AND METHODS This study was approved by the local institutional review board and written informed consent was obtained from all participant...

Dynamic models play an important role in parallel manipulators simulation and control. Mainly in the later case, the efficiency of the involved computations is of paramount importance, because manipulator real-time control is usually necessary (Zhao & Gao, 2009). The dynamic model of a parallel manipulator operating in free space can be represented in Cartesian coordinates by a system of nonlin...

The dynamic model of a UAV with an attached robotic arm is derived in a symbolic matrix form through the Euler-Lagrangian formalism. A Cartesian impedance control, which provides a dynamic relationship between external generalized forces acting on the structure and the system motion, is then designed. The hovering control of a quadrotor, equipped with a 3-DOF robotic arm and subject to contact ...

In support of the National Oceanic and Atmospheric Administration’s VDatum program, a new version of a tidal datum product for the North Carolina coastal waters has been developed to replace the initial version released in 2004. Compared with the initial version, the new version used a higher resolution grid to cover more areas and incorporated up-to-date tide, bathymetry, and shoreline data. P...