There were no recurrences among mastectomy patients who scored 4-9 using the USC/VNPI. Patients scoring 10-12 were significantly more likely to develop recurrence after mastectomy. At risk were young patients with large, high-grade, and multifocal or multicentric tumors. For every 100 patients with USC/VNPI scores of 10-12, 10 patients will recur by 12 years and 2-3 will develop metastatic disease.
Skid-steered, tracked, tele-operated robots are used to perform high-risk critical missions such as bomb disposal under conditions deemed too risky to send a human. Often the robots carry heavy payloads that raise their centers of mass, increasing the risk of tip-over. Since it is often not feasible to send a human to right a toppled robot, tipover is equivalent to mission failure. Hence, an autonomous behavior to prevent robot tip-over is desired. In this research, a simplified model of mobile robot dynamics permits separation of pitch and roll stabilization. Adaptive control is used to stabilize the appropriate angle based on the normalized tip-over measure. Experimental validation of this control is successfully demonstrated on an iRobot Packbot and a Segway RMP 440.
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