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  • 1
    Electronic Resource
    Electronic Resource
    Decentralized Fuzzy Control of Multiple Nonholonomic Vehicles (1999)
    Springer
    Journal of intelligent and robotic systems 26 (1999), S. 65-70 
    Details
    ISSN: 1573-0409
    Keywords: fuzzy logic ; mobile robots ; decentralized ; linear quadratic ; group behavior ; cooperative robotics ; Kalman estimation
    Source: Springer Online Journal Archives 1860-2000
    Topics: Computer Science , Mechanical Engineering, Materials Science, Production Engineering, Mining and Metallurgy, Traffic Engineering, Precision Mechanics
    Notes: Abstract This work considers the problem of controlling multiple nonholonomic vehicles so that they converge to a scent source without colliding with each other. Since the control is to be implemented on a simple 8-bit microcontroller, fuzzy control rules are used to simplify a linear quadratic regulator control design. The inputs to the fuzzy controllers for each vehicle are the noisy direction to the source, the distance to the closest neighbor vehicle, and the direction to the closest vehicle. These directions are discretized into four values: forward, behind, left, and right; and the distance into three values: near, far, and gone. The values of the control at these discrete values are obtained based on the collision-avoidance repulsive forces and an attractive force towards the goal. A fuzzy inference system is used to obtain control values from a small number of discrete input values. Simulation results are provided which demonstrate that the fuzzy control law performs well compared to the exact controller. In fact, the fuzzy controller demonstrates improved robustness to noise.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1023/A:1008178504755
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  • 2
    Electronic Resource
    Electronic Resource
    Seizure outcome after corpus callosotomy: the Taiwan experience (2000)
    Springer
    Child's nervous system 16 (2000), S. 87-92 
    Details
    ISSN: 1433-0350
    Keywords: Key words Callosotomy ; Corpus callosum ; Lennox-Gastaut syndrome
    Source: Springer Online Journal Archives 1860-2000
    Topics: Medicine
    Notes: Abstract  From September 1989 to August 1996, we performed anterior corpus callosotomy in 83 patients. Unfortunately, 9 patients were lost to follow-up. Among the remaining 74 patients, 59 had Lennox-Gastaut syndrome (evolved from infantile spasms in 22), 9 had complex partial seizures with or without secondary generalized seizures, 1 had multifocal independent epileptogenic foci (MISF) syndrome, 3 had hemiconvulsion-hemiplegia-epilepsy (HHE), and 2 had infantile spasms. All cases were followed up for at least 2 years after surgery. The highest rate of significant improvement (more than 50% reduction in seizure frequency) was noted in the patients with generalized tonic-clonic seizures, 82.1% of whom experienced significant improvement, followed by those with generalized tonic seizures (76.7%), atonic seizures (72.7%), myoclonic seizures (64.9%), atypical absences (58.6%), and complex partial seizure with or without secondary generalization (61.5%). Complete freedom from seizures was noted in 14 cases (18.9%). One patient had the anterior half of his right palm amputated following radial artery thrombosis complicated by insertion of an arterial line during anesthesia. Otherwise, there were no major postoperative complications except for brief mutism and multifocal jerks in some patients during the 1st postoperative week. Thus, we conclude that corpus callosotomy is a safe alternative treatment for all kinds of medically intractable seizures, especially generalized epilepsy.
    Type of Medium: Electronic Resource
    URL: http://dx.doi.org/10.1007/s003810050018
    Library Location Call Number Volume/Issue/Year Availability
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    Paper (German National Licenses)
    Fulltext
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