Archive for the ‘Research’ Category

Design and Implementation of Robotic Devices for Rehabilitation

Design and Implementation of Robotic Devices for Rehabilitation

Stroke, experienced by over 500,000 patients in the U.S. each year, is the leading cause of long-term disability in adults.

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Modeling of Human Motor Control and Learning

Modeling of Human Motor Control and Learning

The neural mechanisms for acquisition of sophisticated motor behavior in humans are very complex.

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Haptic Rendering of Parametric Surfaces

Haptic Rendering of Parametric Surfaces

Existing collision detection algorithms lack stability guarantees and have limited extensibility.

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Modeling, Simulation, Control and Estimation of Switching (Hybrid) Dynamical Systems

Modeling, Simulation, Control and Estimation of Switching (Hybrid) Dynamical Systems

An important set of open problems in the field of hybrid dynamical systems is the development of stable state and parameter estimation algorithms.

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Merging Symbolic and Numerical Methods to Enable Interactive Multibody Dynamics

Merging Symbolic and Numerical Methods to Enable Interactive Multibody Dynamics

Even though a whole spectrum of techniques has been proposed to handle multibody systems with changing constraints, none of the simulators based on these techniques are extensible for use in real-time interactive simulations.

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Applying Controls Theory to a Class of Computational Geometry Problems

Applying Controls Theory to a Class of Computational Geometry Problems

Existing algorithms to solve many practical problems in computational geometry, such as calculating Voronoi diagrams, tracing the intersection curves of interpenetrated geometries, and locating the visible regions of non-convex objects are computationally demanding since they are derived from extensive iterative searches.

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Addressing Current Challanges in Bilateral Control

Addressing Current Challanges in Bilateral Control

Arguably the destabilizing effect of time delays remains the most important difficulty facing teleoperation technology.

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Bilateral Control in Tele-Nanomanipulation Systems

Bilateral Control in Tele-Nanomanipulation Systems

Nanoscale manipulation promises to be the enabling technology for bottom-up nanoassembly, the ability to operate at the molecular level to build larger structures with fundamentally new molecular organization.

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