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BACKGROUND Non-fatal outcomes of disease and injury increasingly detract from the ability of the world's population to live in full health, a trend largely attributable to an epidemiological transition in many countries from causes affecting children, to non-communicable diseases (NCDs) more common in adults. For the Global Burden of Diseases, Injuries, and(More)
Robotic manipulators are highly nonlinear and coupled dynamic systems, which may be subject to different types of unknown disturbances such as joint frictions and end-effector external payloads. Such disturbances, when unaccounted for, cause poor tracking performance of the robot and may even destabilize the robot control system. In this paper we propose a(More)
Surgical extent-of-resection has been shown to have an impact on high-grade glioma (HGG) outcomes; however, complete resection is rarely achievable in difficult-to-access (DTA) tumors. Controlled thermal damage to the tumor may have the same impact in DTA-HGGs. We report our multicenter results of laser interstitial thermal therapy (LITT) in DTA-HGGs. We(More)
—Traditionally, the design of extremum seeking algorithm treats the system as essentially a black-box, which for many applications means disregarding known information about the model structure. In contrast to this approach, there have been recent examples where a known plant structure with uncertain parameters has been used in the online optimization of(More)
The PHANToM R devices (SensAble Technologies Inc., MA, USA) provide the users in industry and academia with an opportunity for research and education in virtual reality, haptics, robot motion control and teleoperation. Traditionally, one has to develop C/C++ codes using the OpenHaptics R software development kit (SDK) in order to use these devices. The(More)
BACKGROUND In September, 2015, the UN General Assembly established the Sustainable Development Goals (SDGs). The SDGs specify 17 universal goals, 169 targets, and 230 indicators leading up to 2030. We provide an analysis of 33 health-related SDG indicators based on the Global Burden of Diseases, Injuries, and Risk Factors Study 2015 (GBD 2015). METHODS We(More)
OBJECT The authors evaluated overall survival and factors predicting outcome in patients with ≥ 5 brain metastases who were treated with Gamma Knife surgery (GKS). METHODS Medical records from patients with ≥ 5 brain metastases treated with GKS between 1997 and 2010 at the Cleveland Clinic Gamma Knife Center were retrospectively reviewed. Patient(More)
This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. In particular, we aim to regulate the orientation and the forward velocity of the robot to a constant vector, while guaranteeing the boundedness of the states of the controlled system. To this end, we first(More)
— This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness of the system states. The proposed feedback control strategy enforces virtual constraints encoding a lateral undulatory gait,(More)