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We report on the design and development of X-RHex, a hexapedal robot with a single actuator per leg, intended for real-world mobile applications. X-RHex is an updated version of the RHex platform, designed to offer substantial improvements in power, run-time, payload size, durability, and terrain negotiation, with a smaller physical volume and a comparable(More)
It has been previously demonstrated by our group that a visual stimulus made of dynamically changing luminance evokes an echo or reverberation at ~10 Hz, lasting up to a second. In this study we aimed to reveal whether similar echoes also exist in the auditory modality. A dynamically changing auditory stimulus equivalent to the visual stimulus was designed(More)
We propose a dynamical reference generator equipped with an augmented transient " replanning " subsystem that modulates a feedback controller's efforts to force a mechanical plant to track the reference signal. The replanner alters the reference generator's output in the face of unanticipated disturbances that drive up the tracking error. We demonstrate(More)
This paper presents a mathematical model for saccadic motion and fixations. We relate this issue to the problem of motion planning and show that a family of artificial potential functions can be used for creating saccadic motion. The advantage of this approach is that finding the next fixation point does not require an explicit visual search - which is(More)
AIM To compare the radiopacity of five root filling materials as measured on digitized E-speed films, storage phosphor plate and CCD sensor images. METHODOLOGY Radiopacity of Resilon cones and Epiphany, MM-Seal, EndoREZ and AH Plus sealers were investigated. Ten acrylic plates were prepared and filled with the materials. Samples were radiographed together(More)
We develop a stochastic framework for modeling and analysis of robot navigation in the presence of obstacles. We show that, with appropriate assumptions, the probability of a robot avoiding a given obstacle can be reduced to a function of a single dimensionless parameter which captures all relevant quantities of the problem. This parameter is analogous to(More)
The modulatory role of spontaneous brain oscillations on perception of threshold-level stimuli is well established. Here, we provide evidence that alpha-band (∼10 Hz) oscillations not only modulate perception of threshold-level sensory inputs but also can drive perception and generate percepts without a physical stimulus being present. We used the(More)
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