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The framework of Dynamical Movement Primitives (DMPs) has become a popular method for trajectory generation in robotics. Most robotic systems are subject to saturation and/or kinematic constraints on motion variables, but DMPs do not inherently encode constraints and this may lead to poor tracking performance. Temporal coupling (online temporal scaling) of DMPs represents a possible way for handli
In this letter, we propose a task-based role allocation control scheme for the cooperative manipulation of a rigid-body object held jointly by a human and a robot. The task-based allocation scheme allows an assistive robot to take an active role when the task is known. To deal with the translation/rotation problem, we define rotation and translation as distinct parameterized tasks. The task that d
Background and purpose — Older patients with a displaced femoral neck fracture (FNF) are often treated with a cemented primary hemiarthroplasty (HA). The DAICY trial investigates whether high-dose dual-impregnated antibiotic-loaded cement (DIAC) including gentamicin and clindamycin can reduce the risk of periprosthetic joint infection (PJI) in comparison with low-dose single-impregnated gentamicin
Coordinated dual-arm manipulation tasks can be broadly characterized as possessing absolute and relative motion components. Relative motion tasks, in particular, are inherently redundant in the way they can be distributed between end-effectors. In this work, we analyse cooperative manipulation in terms of the asymmetric resolution of relative motion tasks. We discuss how existing approaches enable
In this paper, we present a system for extracting tabular information from loosely structured handwritten documents. The system consists of three parts, (i) a u-net like CNN-based method for text detection and segmentation, (ii) a new attention-based method for simultaneous text recognition and classification of word-parts, and (iii) a method for matching the word parts into a tabular structure fo
The emergence of microbial antibiotic resistance is a central threat to global health, food security, and development. It has been shown that heavy metal pollution can give rise to microbial resistance to antibiotics, but how wide-spread this phenomenon is remains an open question that urgently needs filling to enable appropriate environmental risk assessments. Here, we determined whether long-ter
The human macula is a highly specialized retinal region with pit-like morphology and rich in cones. How Müller cells, the principal glial cell type in the retina, are adapted to this environment is still poorly understood. We compared proteomic data from cone- and rod-rich retinae from human and mice and identified different expression profiles of cone- and rod-associated Müller cells that converg
