Abstract

Abstract
This paper proposes a method to develop an omnidirectional kick behavior for a humanoid robot. The objective is to provide a humanoid with the ability to kick in different directions and to make kicks look more like those of a human player. This method uses a Path Planning module to create the trajectory that the foot must follow to propel the ball in the intended direction. Two additional modules are required when performing the movement: the Inverse Kinematics module computes the value of the joints to place the foot at a given position and the Stability module is responsible for the robot's stability. Simulation tests were performed using different ball positions, relative to the robot's orientation, and for various ball directions. The obtained results show the usefulness of the approach since the behavior performs accurately the intended motion and is able to kick the ball in all the desired directions.

Abstract
Target Controlled Infusion (TCI) systems are based in drug pharmacokinetic and pharmacodynamic models implemented in an algorithm to drive an infusion pump. Infusion control algorithms have been designed, implemented and validated for several anesthetic drugs, devices and controllers. The maintenance phase in these algorithms is represented by an equation that compensates the loss of drug from the central compartment and maintains the set target concentration. The goal of the current study was to improve existing TCI software with a new method for the maintenance phase. We compared and analyzed two different methods to find the more efficient method for the maintenance phase in an open-loop control TCI system. ©2009 IEEE.

Abstract
In this paper we propose a method to develop an omnidirectional kick (behavior) for a humanoid robot. This behavior uses a path planning module to create a trajectory that the foot must follow to propel the ball in the intended direction. Two additional modules were required when performing the movement: Inverse kinematics module which computes the value of the joints to position the foot at a given position and the stability module which is responsible for the robot's stability. Simulation tests are performed under different ball positions, relative to the robot's orientation, and for various ball directions. The results obtained showed the usefulness of the approach since the behavior performs accurately the intended motion and is able to kick the ball in all the directions desired.

Abstract
Target Controlled Infusion (TCI) systems are based in drug pharmacokinetic and pharmacodynamic models implemented in an algorithm to drive an infusion pump. Infusion control algorithms have been designed, implemented and validated for several anesthetic drugs, devices and controllers. The maintenance phase in these algorithms is represented by an equation that compensates the loss of drug from the central compartment and maintains the set target concentration. The goal of the current study was to improve existing TCI software with a new method for the maintenance phase. We compared and analyzed two different methods to find the more efficient method for the maintenance phase in an open-loop control TCI system.

Abstract
Many people with disabilities find it difficult or even impossible to use traditional powered wheelchairs independently by manually controlling the devices. Intelligent wheelchairs are a very good solution to assist severely handicapped people who are unable to operate classical electrical wheelchair by themselves in their daily activities. This paper describes a development platform for intelligent wheelchairs called IntellWheels. The intelligent system developed may be added to commercial powered wheelchairs with minimal modifications in a very straightforward manner. The paper describes the concept and design of the platform and also the intelligent wheelchair prototype developed to validate the approach. Preliminary results concerning automatic movement of the IntellWheels prototype are also presented.