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— The Atomic Force Microscope (AFM) is one of the most versatile tools in nanotechnology. For control engineers this instrument is particularly interesting, since its ability to image the surface of a sample is entirely dependent upon the use of a feedback loop. This paper will present a tutorial on the control of AFMs. We take the reader on a walk around(More)
— We consider the problem of controlling a continuous-time linear stochastic system from a specification given as a Linear Temporal Logic (LTL) formula over a set of linear predicates in the state of the system. We propose a three-step solution. First, we define a polyhedral partition of the state space and a finite collection of controllers, represented as(More)
—We discuss the generation of symbolic feedback control sequences for navigating a sparsely-described and uncertain environment, together with the problem of sensing landmarks sufficiently well to make feedback meaningful. We explore the use of a symbolic control approach for mitigating the lack of a detailed map of the environment and for reducing the(More)
Mobile robotic systems move in environments that are constantly changing due to the presence of dynamic obstacles. In this work we consider one such environment in which the dynamic nature comes from doors that can open or close during the robot's mission. We derive a solution to the automatic deployment of a robot from a temporal logic specification(More)
We present a computational framework and experimental setup for deployment of autonomous cars in a miniature Robotic Urban-Like Environment (RULE). The specifications are given in rich, human-like language as temporal logic statements about roads, intersections, and parking spaces. We use transition systems to model the motion and sensing capabilities of(More)
Plasma samples from patients with prostatic cancer under oral treatment with estramustine phosphate (Estracyt®) were quantitatively analyzed for the presence of the parent drug and some of its possible metabolites. Specific methods based on radioimmunoassay and gas chromatography-mass fragmentography were used. Dephosphorylation and oxidation at the(More)