Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments

A scalable application server on Beowulf clusters : a thesis presented in partial fulfilment of the requirement for the degree of Master of Information Science at Albany, Auckland, Massey University, New Zealand

Application performance and scalability of a large distributed multi-tiered application is a core requirement for most of today's critical business applications. I have investigated the scalability of a J2EE application server using the standard ECperf benchmark application in the Massey Beowulf Clusters namely the Sisters and the Helix. My testing environment consists of Open Source software: The integrated JBoss-Tomcat as the application server and the web server, along with PostgreSQL as the database. My testing programs were run on the clustered application server, which provide replication of the Enterprise Java Bean (EJB) objects. I have completed various centralized and distributed tests using the JBoss Cluster. I concluded that clustering of the application server and web server will effectively increase the performance of the application running on them given sufficient system resources. The application performance will scale to a point where a bottleneck has occurred in the testing system, the bottleneck could be any resources included in the testing environment: the hardware, software, network and the application that is running. Performance tuning for a large-scale J2EE application is a complicated issue, which is related to the resources available. However, by carefully identifying the performance bottleneck in the system with hardware, software, network, operating system and application configuration. I can improve the performance of the J2EE applications running in a Beowulf Cluster. The software bottleneck can be solved by changing the default settings, on the other hand, hardware bottlenecks are harder unless more investment are made to purchase higher speed and capacity hardware

The mixed strategy equilibrium of the three-firm location game with discrete location choices

In the paper, we derive a symmetric MSE for the three-firm location game on the discrete strategy space. Rather than being uniformly distributed, the MSE for the game has a multimodal distribution. Our theory is more convincing to predict equilibria of three-firm location games in the real world or controlled experiments, where players face finitely many choices.mixed strategy equilibrium, multimodal distribution, discrete strategy space