objective: the cows that don’t have access to sufficient energy in their ration can get sickness. milk production has a high priority in metabolism of dairy cows so lactating cows are more prone to get sick this can ruin all the benefits of higher milk yield because of the higher prevalence of the disorders. methods: data for this research had gathered from a herd with 1600 holstein cattle in e...

We analyse the geometry of locomotion of 3-link mechanism inspired from the Purcell’s swimmer at low Reynolds number, the simplest possible swimmer conceptualized in [1]. The literature has extensively analyzed the problem of plananr locomotion of the Purcell’s swimmer [2], [3], [4], [5]. [6] analyzes its locomotion problem in geometric framework, again for the planar case. The condition of bei...

Humans have an extremely redundant system for locomotion. To handle the redundancy problem, humans use coordinative structures using conditions of constraint in their joint movements to reduce the number of degrees of freedom, which is called kinematic synergy. This chapter shows some characteristics in the kinematic synergy in human locomotion and shows a locomotion control system for a biped ...

introduction: depression is one of the most frequent psychiatric disorders in the world with occurs with higher incidence in women. in the present study, the effect of water-alcoholic extract of papaver rhoeas l. on forced swimming test (fst) in swiss-webster mice were examined. methods: we used swiss-webster mice (20-25 g) to execute fst on them. the plant extract (1, 10, 30, and 100 mg/kg) wa...

This paper addresses the optimal control and selection of gaits in a class of nonholonomic locomotion systems that exhibit group symmetries. We study optimal gaits for the snakeboard, a representative example of this class of systems. We employ Lagrangian reduction techniques to simplify the optimal control problem and describe a general framework and an algorithm to obtain numerical solutions ...

This paper addresses the optimal control and selection of gaits in a class of nonholonomic locomotion systems that exhibit group symmetries. We study optimal gaits for the snakeboard, a representative example of this class of systems. We employ Lagrangian reduction techniques to simplify the optimal control problem and describe a general framework and an algorithm to obtain numerical solutions ...

In this paper we address a reconfiguration planning method for locomotion of a homogeneous modular robotic system and we conduct an experiment to verify that the planned locomotion can be realized by hardware. Our recently developed module is self-reconfigurable. A group of the modules can thus generate various three-dimensional robotic structures and motions. Although the module itself is a si...

The problem of safe locomotion of legged and wheeled robots, when trying to avoid falling, tipping over or hitting obstacles, appears to be a problem of viability and not of Lyapunov stability. Theoretically speaking, viability and Model Predictive Control are unquestionably related, but both can quickly lead to untractable numerical problems. We present here a promising approach for the proble...

In this study we focus on bio-inspired legged locomotion concepts. A primary goal of comparative biomechanics is to understand the fundamental physics of locomotion within an evolutionary context. Such an understanding of legged locmotion results in a transition from copying nature to borrowing strategies for interacting with the physical world in design and control of bio-inspired legged robot...