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Traditional APF-based mobile robot path planning approaches posses an inherent problem which is the formation of local minimum that probably prevent robot from arriving at the target. In view of those considerations, an improved potential field function is proposed to settle this problem. The new method includes an improved attractive potential function and(More)
When the autonomous mobile robot (AMR) is popular in unknown environment, accurate estimation of SOC (state of charge) is becoming one of the primary challenges in autonomous mobile robots research. However, as defects of the extended Kalman filter (EKF) in nonlinear estimation, there exists estimated error, which affects the estimation accuracy, when it is(More)
The formation control of multiple vehicles using a perceptive frame is studied in this paper. The method is applied to multiple mobile robots. The controller design and lab experiments are shown in the paper. Some useful strategies of coordination are implemented in a perceptive frame by reference projections. The feature of the coordination is illustrated(More)
STUDY DESIGN A prospective study to access the significance of preoperative planning simulator for junior surgeons' training of pedicle screw insertion. SUMMARY OF BACKGROUND DATA Pedicle screw insertion is particularly challenging to carry out on patients with abnormal spine morphology, especially for the doctors who lack experience. Currently,(More)
Lithium-ion battery is a kind of advanced sources and is a quite complex and nonlinear system comprised of interacting physical and chemical processes. Its state-of-charge (SOC)/ battery residual capacity (BRC), which is parameters to describe how much energy battery has, is key factors in applications; its estimations is an important and challenging task.(More)
A multifunctional myoelectric prosthetic hand is a perfect gift for an upper-limb amputee, however, the myoelectric control for a prosthetic hand is not so good now. Here, the paper presents a comparative study on electromyography (EMG) pattern recognition based on PCA and LDA for an anthropomorphic robotic hand. Four channels of surface EMG (sEMG) signals(More)
BACKGROUND To define the sites where the lateral femoral cutaneous nerve (LFCN) is more easily visualized and to describe the anatomical variations of the LFCN. METHODS A total of 240 LFCNs in 120 volunteers were evaluated with 18 MHz ultrasound; the intermuscular space between the tensor fasciae latae muscle and the sartorius was used as an initial(More)
Quantitative analysis of pain is extremely difficult, because it is a subjective and individual sensation caused by the potential or existing observable tissue injury. For individuals with major cognitive or communicative impairments, it is necessary to carry out an effective method to quantify pain without self-report. Focusing on using physiological(More)
Brain-computer interface (BCI) is currently developed as an alternative technology with a potential to restore lost motor function in patients with neurological injuries. In this paper, we describe an integrated system of a non-invasive electroencephalogram (EEG)-based BCI with a non-invasive functional electrical stimulation (FES). This system enables the(More)