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Fault detection and fault tolerance methods for robotics
Fault tolerance is increasingly important in modern autonomous or industrial robots. The ability to detect and tolerate failures allows robots to effectively cope with internal failures and continue performing designated ...
Growth of ferroelectric thin films through metallo-organic decomposition
The objective of this investigation is to grow films with good electrical and optical properties through the process of metallo-organic decomposition (MOD) and compare them with those made with other processes such as ...
A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand
Despite the advances in dextrous hand mechanics over the past decade, fingertip force remains predominantly controlled by flexor cable tension and joint position. A modular fingertip normal force sensor is developed here ...
Mathematical modeling of the sinoatrial node cell in the rabbit heart
A mathematical model has been developed for the rabbit sinoatrial node (SAN) cardiac pacemaker cell, that is based on experimental results from whole-cell voltage clamp and action potential studies on single enzymatically-isolated ...
A practical application of a force feedback control system for a mechanical, 3-fingered, dextrous hand
The trajectory planning and control system for a mechanical, 3-fingered, dextrous hand are analyzed and implemented. The forward and inverse kinematics of the fingers are derived and used to analyze the capabilities of the ...