John Sweeney

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This paper presents techniques for exploiting redundancy in teams of mobile robots. In particular, we address tasks involving the kinematic coordination of several communicating robots. Teams are modeled as highly redundant spatial mechanisms for which multi-objective, concurrent controllers are constructed using a generalization of nullspace control. The(More)
In this paper we propose a new approach for multi-objective control using a cascade of filters that progressively removes candidate commands which do not satisfy task constraints. The approach is motivated by other control methods that prevent destructive control interactions through null space projections. We apply this approach to a practical(More)
This study was designed to determine the extent to which sensations elicited by discrete electrotactile stimulation can be spatially localized, with a qualitative comparison to mechanical stimulation, in a 2 x 2 electrode array on the fingertip. Electrotactile stimulation was delivered in two modes: (1) same current to all locations (constant) or (2)(More)
Provisions for citizen involvement in the assessment of potential environmental effects of certain plans, programmes and projects are present in current legislation. An international survey revealed that public participation is common practice in European and some other countries worldwide. However, a number of issues are observed to affect public(More)
Multiple, independent robot platforms promise significant advantage with respect to robustness and flexibility. However, coordination between otherwise independent robots requires the exchange of information; either implicitly (as in gestural communication), or explicitly (as in message passing in a communication network.) In either case, control processes(More)
The feasibility of an electrical stimulation method selectively for activating skeletal muscles innervated by a common peripheral nerve trunk has been investigated. The method utilises ‘snugly’ fitting nerve cuffs that incorporate an array of 12 electrodes. These electrodes have been tested as four longitudinally aligned tripoles (located 90° apart on the(More)
Future application areas for humanoid robots range from the household, to agriculture, to the military, and to the exploration of space. Service applications such as these must address a changing, unstructured environment, a collaboration with human clients, and the integration of manual dexterity and mobility. Control frameworks for service-oriented(More)