Development and Control of a Real Spherical Robot.

This paper presents the design and implementation of a spherical robot with an internal mechanism based on a pendulum. The design is based on significant improvements made, including an electronics upgrade, to a previous robot prototype developed in our laboratory. Such modifications do not significantly impact its corresponding simulation model previously developed in CoppeliaSim, so it can be used with minor modifications. The robot is incorporated into a real test platform designed and built for this purpose. As part of the incorporation of the robot into the platform, software codes are made to detect its position and orientation, using the system SwisTrack, to control its position and speed. This implementation allows successful testing of control algorithms previously developed by the authors for other robots such as Villela, the Integral Proportional Controller, and Reinforcement Learning.

Modeling and Control of a Spherical Robot in the CoppeliaSim Simulator.

This article presents the development of a model of a spherical robot that rolls to move and has a single point of support with the surface. The model was developed in the CoppeliaSim simulator, which is a versatile tool for implementing this kind of experience. The model was tested under several scenarios and control goals (i.e., position control, path-following and formation control) with control strategies such as reinforcement learning, and Villela and IPC algorithms. The results of these approaches were compared using performance indexes to analyze the performance of the model under different scenarios. The model and examples with different control scenarios are available online.

Survey of regional health care providers on selection of treatment for bulimia nervosa.

OBJECTIVE: To determine which treatments clinicians currently recommend for patients with bulimia nervosa (BN), to find out if they recommended evidence-based treatments, and to assess availability and clinician satisfaction with treatment options. METHODS: Surveys were sent to 1,263 health care providers in Minnesota, Iowa, and Wisconsin who were likely to encounter patients with BN. These health care providers comprised all primary care clinicians, physician assistants, advanced practice nurses, and all mental health/chemical dependency clinicians (MDs, Clinical Nurse Specialist (CNS), social workers, doctoral and masters-level therapists, and chemical dependency (CD) counselors) affiliated with the Mayo Clinic in Rochester, Minnesota. RESULTS: Evidence-based treatments for BN are recommended consistently and are generally perceived to be available, at least to practitioners affiliated with a large medical center in the Midwest. Clinician satisfaction with treatment options is modest. DISCUSSION: Clinicians are recommending evidence-based treatments for BN patients and find them to be generally available. Modest satisfaction with available treatments may reflect a realistic understanding of treatment options, which need further development.