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In this paper we propose a kinematic approach for tracked mobile robots in order to improve motion control and pose estimation. Complex dynamics due to slippage and track–soil interactions make it difficult to predict the exact motion of the vehicle on the basis of track velocities. Nevertheless, real-time computations for autonomous navigation require an(More)
— This work aims at improving real-time motion control and dead-reckoning of wheeled skid-steer vehicles by considering the effects of slippage, but without introducing the complexity of dynamics computations in the loop. This traction scheme is found both in many off-the-shelf mobile robots due to its mechanical simplicity and in outdoor applications due(More)
Chronic impairment of forelimb and digit movement is a common problem after stroke that is resistant to therapy. Although in the last years some studies have been performed to increase the efficacy of rehabilitative experience and training, the pharmacological approaches in this context remain poorly developed. We decided to study the effect of a chronic(More)
BACKGROUND Studies of gene expression in experimental cerebral ischaemia models can contribute to understanding the pathophysiology of brain ischaemia and to identifying prognostic markers and potential therapeutic targets. The normalization of relative qRT-PCR data using a suitable reference gene is a crucial prerequisite for obtaining reliable(More)
Excessive levels of extracellular glutamate in the nervous system are excitotoxic and lead to neuronal death. Glutamate transport, mainly by glutamate transporter GLT1/EAAT2, is the only mechanism for maintaining extracellular glutamate concentrations below excitotoxic levels in the central nervous system. We recently showed that neuroprotection after(More)
—Motion control of articulated vehicles composed of a nonholonomic tractor and several passive trailers is a difficult underactuated problem. This paper proposes the application of steering limitations to the tractor to avoid interunit collision during forward motion. This method can be used for systems that combine any type of on-axle and off-axle joints.(More)
Power consumption is a key element in outdoor mobile robot autonomy. This issue is very relevant in skid-steer tracked vehicles on account of their large ground contact area. In this paper, the power losses due to dynamic friction have been modeled from two different perspectives: 1) the power drawn by the rigid terrain and 2) the power supplied by the(More)