Observer-based decentralized approach to robotic formation control

Control of a group of mobile robots in a formation requires not only environmental sensing but also communication among vehicles. Enlarging the size of the platoon of vehicles causes difficulties due to communications bandwidth limitations. Decentralized control may be an appropriate approach in those cases when the states of all vehicles cannot be obtained in a centralized manner. This paper presents a solution to the problem of decentralized implementation of a global state-feedback controller for N mobile robots in a formation. The proposed solution is based on the design of functional observers to estimate asymptotically the global state-feedback control signals by using the corresponding local output information and some exogenous global functions. The proposed technique is tested through simulation and experiments for the control of groups of Pinoneer-based non-holonomic mobile robots.<br /

Overview of the main methods used for estimating catastrophic health expenditure

Out-of-pocket payments are expenditures borne directly by an individual/household for health services that are not reimbursed by any third-party. Households can experience financial hardship when the burden of such out-of-pocket payments is significant. This financial hardship is commonly measured using the “catastrophic health expenditure” (CHE) metric. CHE has been applied as an indicator in several health sectors and health policies. However, despite its importance, the methods used to measure the incidence of CHE vary across different studies and the terminology used can be inconsistent. In this paper, we introduce and raise awareness of the main approaches used to calculate CHE and discuss critical areas of methodological variation in a global health context. We outline the key features, foundation and differences between the two main methods used for estimating CHE: the budget share and the capacity-to-pay approach. We discuss key sources of variation within CHE calculation and using data from Ethiopia as a case study, illustrate how different approaches can lead to notably different CHE estimates. This variation could lead to challenges when decisionmakers and policymakers need to compare different studies' CHE estimates. This overview is intended to better understand how to interpret and compare CHE estimates and the potential variation across different studies

Structural Comparison of Different Galacto-oligosaccharide Mixtures Formed by beta-Galactosidases from Lactic Acid Bacteria and Bifidobacteria

The LacLM-type β-galactosidase from Lactobacillus helveticus DSM 20075 expressed in both Escherichia coli (EcoliBL21Lhβ-gal) and Lactobacillus plantarum (Lp609Lhβ-gal) was tested for their potential to form galacto-oligosaccharides (GOS) from lactose. The Lh-GOS mixture formed by β-galactosidase from L. helveticus, together with three GOS mixtures produced using β-galactosidases of both the LacLM and the LacZ type from other lactic acid bacteria, namely, L. reuteri (Lr-GOS), L. bulgaricus (Lb-GOS), and Streptococcus thermophilus (St-GOS), as well as two GOS mixtures (Br-GOS1 and Br-GOS2) produced using β-galactosidases (β-gal I and β-gal II) from Bifidobacterium breve, was analyzed and structurally compared with commercial GOS mixtures analyzed in previous work (Vivinal GOS, GOS I, GOS III, and GOS V) using high-performance anion-exchange chromatography with pulsed amperometric detection (HPAEC-PAD), high-performance size-exclusion chromatography with a refractive index (RI) detector (HPSEC-RI), and one-dimensional 1H NMR spectroscopy. β-Galactosidases from lactic acid bacteria and B. breve displayed a preference to form β-(1→6)- and β-(1→3)-linked GOS. The GOS mixtures produced by these enzymes consisted of mainly DP2 and DP3 oligosaccharides, accounting for ∼90% of all GOS components. GOS mixtures obtained with β-galactosidases from lactic acid bacteria and B. breve were quite similar to the commercial GOS III mixture in terms of product spectrum and showed a broader product spectrum than the commercial GOS V mixture. These GOS mixtures also contained a number of GOS components that were absent in the commercial Vivinal GOS (V-GOS)

Design and simulation of automotive radar for autonomous vehicles

Modern automobile technology is pushing towards maximizing road safety, connected vehicles, autonomous vehicles, etc. Automotive RADAR is core sensor technology used for ADAS (Advanced Driver Assistance Technology), ACC (Adaptive Cruise Control), AEB (Automatic Emergency Braking System), traffic assistance, parking aid, and obstacle/pedestrian detection. Despite being inexpensive, RADAR technology provides robust results in harsh conditions such as harsh weather, extreme temperature, darkness, etc. However, the performance of these systems depends on the position of the RADAR and its characteristics like frequency, beamwidth, and bandwidths. Moreover, the characterization of varied materials like layers of paint, polish, primer, or layer of rainwater needs to be analyzed. This performance can be predicted through real-time simulation using advanced FEM software like Altair FEKO&amp;WinProp. These simulations can provide valuable insight into the performance of the system, allowing engineers to optimize the system for specific use cases. For example, simulation can be used to determine the optimal parameters of the RADAR system for a given application. This information can then be used to design and build a physical model or prototype that is optimized for the desired performance. These simulations play a prominent role in determining appropriate data collection and sensor fusion, which reduces the cost and time required for the development of a physical model or prototype. The continued growth and demand for advanced safety features in vehicles further highlight the importance of RADAR technology in modern automobile technology. By accurately characterizing the environment and simulating the system's behavior in real time, engineers can optimize RADAR systems for specific use cases, contributing to safer and more efficient driving experience

Distributed resource distribution and offloading for resource-agnostic microservices in industrial IoT

Due to increase in real-time mobile applications and Industrial Internet-of-Things (IIoT) devices, the edge computing paradigm provides a systematic and eccentric platform for real-time Internet-of-Things applications. Though the paradigm provides an effective infrastructure, however the resource requirements of IIoT devices change radically with time, which is described as a resource-agnostic property. Therefore, the estimation of resource requirements of IIoT devices is a critical and resilient assignment. In addition, it requires an extensive amount of resources to process the data traffic flows and microservice offloading. Hence, we present RAISE, a novel resource-agnostic microservice offloading scheme for mobile IIoT devices. RAISE efficiently estimates the resource-agnostic nature of IIoT devices to maximize their resource utilization in the network. Based on the estimated resource requirement, we propose a resource-agnostic microservice offloading scheme to maximize the success rate. Extensive experiments show that RAISE provides better performance in terms of network throughput and Quality-of-Service (QoS) than the other existing methods, SDTO and DTOS, in terms of cost and reliability

Accurate Phase Calibration for Digital Beam-Forming in Multi-Transceiver HF Radar System

The TIGER-3 radar is being developed as an “all digital” radar with 20 integrated digital transceivers, each connected to a separate antenna. Using phased array antenna techniques, radiated power is steered towards a desired direction based on the relative phases within the array elements. This paper proposes an accurate phase measurement method to calibrate the phases of the radio output signals using Field Programmable Gate Array (FPGA) technology. The method sequentially measures the phase offset between the RF signal generated by each transceiver and a reference signal operated at the same frequency. Accordingly, the transceiver adjusts its phase in order to align to the reference phase. This results in accurately aligned phases of the RF output signals and with the further addition of appropriate phase offsets, digital beamforming (DBF) can be performed steering the beam in a desired direction. The proposed method is implemented on a Virtex-5 VFX70T device. Experimental results show that the calibration accuracy is of 0.153 degrees with 14 MHz operating frequency

Teknik Proteksi Silang Untuk Pengendalian CMV Pada Krisan

. Rahardjo, I.B., E. Diningsih, and Y. Sulyo. 2008. Cross Protection Technique for Controlling CMV on Chrysanthemum. One of viru s attack chry santhemum is CMV. The alternative to control CMV is the use of vacc ine CARNA 5. The objective of the experiment was to test the cr oss protection tech nique for controlling of CMV on several chry santhemum varieties. The experiment was conduc ted in Virology Laboratory of Indonesian Ornamental Plant Research Institute (IOPRI) in Segu nung, Pacet, Cianjur , West Java, from Augu st to December 2004, using a RC BD split-plot design with 3 replications. The main plot was 5 chry santhemum varieties of White Reagent, Town Talk, Dark Fiji, Stroika, and Revert. The subplot was treatments of vacc ine and CMV, i.e. without vacc ine and CMV, CMV only, vacc ine only, and both vacc ine and CMV. The results of the experiment showed that CARNA 5 vacc ine was able to protect chry santhemum varieties of White Reagent, Town Talk, Dark Fiji, Stroika, and Revert from CMV with normal plant growth and produced good flower quality

Conformational Instability of Rodlike Polyelectrolytes due to Counterion Fluctuations

The effective elasticity of highly charged stiff polyelectrolytes is studied in the presence of counterions, with and without added salt. The rigid polymer conformations may become unstable due to an effective attraction induced by counterion density fluctuations. Instabilities at the longest, or intermediate length scales may signal collapse to globule, or necklace states, respectively. In the presence of added-salt, a generalized electrostatic persistence length is obtained, which has a nontrivial dependence on the Debye screening length. It is also found that the onset of conformational instability is a re-entrant phenomenon as a function of polyelectrolyte length for the unscreened case, and the Debye length or salt concentration for the screened case. This may be relevant in understanding the experimentally observed re-entrant condensation of DNA.Comment: 8 pages, 4 figure

Counterion Condensation and Fluctuation-Induced Attraction

We consider an overall neutral system consisting of two similarly charged plates and their oppositely charged counterions and analyze the electrostatic interaction between the two surfaces beyond the mean-field Poisson-Boltzmann approximation. Our physical picture is based on the fluctuation-driven counterion condensation model, in which a fraction of the counterions is allowed to ``condense'' onto the charged plates. In addition, an expression for the pressure is derived, which includes fluctuation contributions of the whole system. We find that for sufficiently high surface charges, the distance at which the attraction, arising from charge fluctuations, starts to dominate can be large compared to the Gouy-Chapmann length. We also demonstrate that depending on the valency, the system may exhibit a novel first-order binding transition at short distances.Comment: 15 pages, 8 figures, to appear in PR