Pursuing a target by wheel-legged mobile robot using NMPC while optimizing obstacles passing.

In this paper, trajectory tracking control as the pursuit of a specific target by wheel-legged mobile robots (WLMRs) in an environment with the presence of obstacles is presented. These types of robots are designed to navigate different paths such as slippery trajectories, paths with obstacles, and other challenging paths. In addition, the robot can move its legs in different surface conditions and operate more flexibly with the help of wheels attached to the legs.

In PD, Non-Invasive Trans-Spinal Magnetic Stimulation Enhances the Effect of Transcranial Magnetic Stimulation on Axial Motor Symptoms: A Double-Blind Randomized Clinical Trial.

Background: Axial symptoms in Parkinson's disease (PD) often respond poorly to pharmacological treatment. We evaluated whether combining repetitive transcranial magnetic stimulation (rTMS) and repetitive spinal magnetic stimulation (rSMS) is more effective than rTMS alone in improving axial and other motor disabilities in PD.

Methods: A total of 42 PD patients with axial symptoms were randomly allocated to 2 experimental intervention groups: Group I received active rTMS + active rSMS (2000 pulses; 20 Hz; 80% resting motor threshold for each motor area "M1" + 1500 pulses rSMS 10 Hz, at 50% of maximal stimulator output).

Short-Term Therapeutic Effect of Repetitive Transcranial Magnetic Stimulations of Sleep Disorders in Parkinson's Disease: A Randomized Clinical Trial (Pilot Study).

This study aimed to evaluate the efficacy of rTMS in treating sleep disorders in PD. It included 24 patients with PD who had sleep disorders. Group allocations (active or sham with a ratio of 2:1) were placed in serially numbered closed envelopes.

Adaptive robust control with slipping parameters estimation based on intelligent learning for wheeled mobile robot.

The widespread use of wheeled mobile robots (WMRs) in many fields has created new challenges. A critical issue is wheel slip, which, if not accurately determined and controlled, causes instability and deviation from the robot's path. In this paper, an intelligent approach for estimating the longitudinal and lateral slip of wheels is proposed that can effectively compensate for the negative effects of slippage.