1. The coolable ablation assembly damages nerve tissue to temporarily or permanently decrease nervous system input.

2. These are oscillations of fixed amplitude and frequency which can be sustained in the feedback loop even if the system input is zero.

3. Necessary conditions on the controller transfer functions are derived supposing that the absolute values of the system input signals and their rates of change are bounded.

4. Blam! is written in C++ with some Python interface elements, wrapped by Robot Operating System ().Input LiDAR data should be provided to the /velodyne_points topic using message type sensor_msgs::PointCloud2.