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The resulting pose estimate is passed to a minimum-snap trajectory planner, tracked by an adaptive controller that fully compensates for the added mass of the grasped object

In order to help determine features of a mole that might be concerning for a melanoma, there is a mnemonic called the ABCDEs of melanoma. Any of the following features should prompt an urgent examination by a dermatologist: Asymmetry: one half is unlike the other half Border: an irregular, scalloped, or poorly defined border Color: variations of tan, brown, black, and sometimes white, red, or blue Diameter: melanomas are usually greater than 6mm (size of a pencil eraser) Evolving: anything that looks like a mole but is changing while others arent Most moles are considered benign (not cancerous), but there are some that are called atypical nevi