5 accepted papers
We present a parallel robot mechanism and the constitutive laws that govern the deformation of its constituent soft actuators. Our ultimate goal is the real-time motion-correction of a patient's head deviation from a target pose where the soft actuators control the position of the patient's cranial…
Skin surface wounds due to burns, surgeries and chronic illness affect millions of people worldwide. Tissue engineering has become an increasingly popular treatment, but it is a highly manual process. Increasing the automation in tissue engineering could increase the rate of treatment for patients a…
Multistage decision policies provide useful control strategies in high-dimensional state spaces, particularly in complex control tasks. However, they exhibit weak performance guarantees in the presence of disturbance, model mismatch, or model uncertainties. This brittleness limits their use in high-…
Precise patient positioning is fundamental to successful removal of malignant tumors during treatment of head and neck cancers. Errors in patient positioning have been known to damage critical organs and cause complications. To better address issues of patient positioning and motion, we introduce a…
This paper presents a novel, decentralized, control-theoretic approach to address collision avoidance for multi-robot systems. We create a virtual obstacle at the mean position of the robots. A control is be designed such that each robot will avoid the closest obstacle when a collision is possible.…