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Most research so far on hierarchical multi-task control with strict priority requires exact dynamic and kinematic models. However, when a robot picks up tools of unknown lengths, orientations and mass, its kinematics and dynamics are varying and unavailable. There are few controllers that can achieve asymptotic tracking of multi-task in the presence of kinematic and dynamic uncertainties. Thus, in this paper we present a passivity-based adaptive Jacobian hierarchical multi-task controller. New reference velocity and kinematic regressor matrix are defined for the multi-task case with strict priority to guarantee the asymptotic convergence of both tracking error and parameter estimation error. A novel natural adaption law is specially designed for this method to guarantee the correctness of estimated dynamic parameters and increase the rate of convergence. Experiment results are presented to illustrate the performance of the proposed controller. [ABSTRACT FROM AUTHOR]

Although residential substance abuse treatment has been shown to improve substance use and other outcomes, relapse is common. This qualitative study explores factors that hinder and help individuals during the transition from long-term residential substance abuse treatment to the community. Semi-structured interviews were conducted with 32 individuals from residential substance abuse treatment. Based on the socio-ecological model, barriers and facilitators to transition were identified across five levels: individual, interpersonal, organizational, community, and policy. The major results indicate that primary areas of intervention needed to improve outcomes for these high-risk individuals include access to stable housing and employment, aftercare services and positive support networks; expanded discharge planning services and transitional assistance; and funding to address gaps in service delivery and to meet individuals' basic needs. This study contributes to the literature by identifying transition barriers and facilitators from the perspectives of individuals in residential treatment, and by using the socio-ecological model to understand the complexity of this transition at multiple levels. Findings identify potential targets for enhanced support post-discharge from residential treatment. [ABSTRACT FROM AUTHOR]