Energy Consumption Minimization for Autonomous Mobile Robot: A Convex Approximation Approach

In this paper, we consider a trajectory design problem of an autonomous mobile robot working in industrial environments. In particular, we formulate an optimization problem that jointly determines the trajectory of the robot and the time step duration to minimize the energy consumption without obstacle collisions. We consider both static and moving obstacles scenarios. The optimization problems are nonconvex, and the main contribution of this work proposing successive convex approximation (SCA) algorithms to solve the nonconvex problems with the presence of both static and moving obstacles. In particular, we first consider the optimization problem in the scenario with static obstacles and then consider the optimization problem in the scenario with static and moving obstacles. Then, we propose two SCA algorithms to solve the nonconvex optimization problems in both the scenarios. Simulation results clearly show that the proposed algorithms outperform the A* algorithm, in terms of energy consumption. This shows the effectiveness of the proposed algorithms

TRACKING CONTROL FOR ELECTRO-OPTICAL SYSTEM IN VIBRATION ENVIROMENT BASED ON SELF-TUNING FUZZY SLIDING MODE CONTROL

The paper presents a new method for tracking control of EOTS (Electro-Optical Tracking System) operating in mobile environment such as ship, air plane, tank and so on. This makes the base body of the EOTS has angular motion. The control alogorithm used in this paper is adaptive fuzzy sliding mode. The overall control is built and simulated in Matlab and compared with a sliding mode controller and a conventional PID controller. The simulation result illustrated the effectiveness of the proposed controlle

Camellia sinensis extract delays microbiological and oxidative changes in striped catfish fillets during frozen storage

peer reviewedThis study investigated the effects of tea leaf (Camellia sinensis) extract on the quality of striped catfish (Pangasianodon hypophthalmus) fillets during 18-months of frozen storage (-20 ± 2 °C). Fillet samples were submitted to the treatments Control (cold tap water), CS 7.63 (C. sinensis extract solution 7.63 µg/mL) and CS 625 (C. sinensis extract 625 µg/mL) and stored for 18 months, with collections performed at 0, 1, 3, 6, 9, 12 and 18 months. Total viable count, physicochemical parameters (water holding capacity, total volatile basic nitrogen, peroxide value, thiobarbituric acid reactive substances, moisture and pH), sensory properties and color measurement were evaluated. Results showed that fillets treated with C.a sinensis extracts slightly reduced lipid oxidation, inhibited bacterial growth and improved sensory properties compared to untreated samples, without causing significant changes in the other quality indicators. The findings indicated that the green tea leaf extract immersion treatments, contributed to the improved quality preservation of striped catfish fillets during frozen storage