Uri Ben-Hanan

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Caterpillars are soft-bodied animals. They have a relatively simple nervous system, and yet are capable of exhibiting complex movement. This paper presents a 2D caterpillar simulation which mimics caterpillar locomotion using Assur tensegrity structures. Tensegrity structures are structures composed of a set of elements always under compression and a set of(More)
PURPOSE The purpose of this study was to evaluate the different variables involved in tooth cutting to characterize intrapulpal temperature generation, cutting efficiency, and bur durability when using conventional and channeled diamond burs. MATERIALS AND METHODS Forty premolars and 60 molars were selected for the study. Four diamond burs were paired(More)
Jumping is one among successful locomotion gaits for small scale robots to overcome obstacles and traverse rough terrains. Design of a jumping robot features many engineering challenges; some of them may be solved by seeking inspiration and solutions in nature. This paper entails the conceptual and detailed design of TAUB, a miniature jumping robot whose(More)
A new approach for the estimation and control of the quantity of water applied in an irrigation is presented in which irrigation is stopped when the wetting front reaches a critical depth, Z L. An expression for calculating the critical depth Z L was developed. A major parameter in this expression is the velocity of advance of the wetting front, V, which(More)
The focus of this work is the development of a master tactile display unit, that can control a slave gripper and display to the operator the slip/shear developed between the gripper and the held object in the slave unit. Unlike previous slip/shear tactile displays, this unit is designed especially for grasping tasks to deliver large forces that are typical(More)
A b s t r a d A method is proposed for unsupervised classification by a feature that may vary with time, measured by an erring sensor. A classification threshold for the erring sensor is found such that the misclassification is minimized. It is shown that the method is an application of Bayes rule without knowledge of the a priori probabilities, while(More)
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