In this paper, formation tracking control based on potential field is studied. The objective to a group of agents track desired trajectory while maintaining given in nonomniscient constrained space. Aiming at purpose, the average all agents' positions viewed as virtual leader, and task translated into that controlling leader center formation. situation where may not have global environmental information will lead they avoid collisions with unexpected spatial constraints. By introducing...

In this paper, the formation tracking control is studied for a multiagent system (MAS) with communication limitations. The objective to group of agents track desired trajectory while maintaining given in nonomniscient constrained space. role switching triggered by detection unexpected spatial constraints facilitates efficiency event-triggered bandwidth, energy consumption, and processor usage. A coordination mechanism proposed based on novel "coordinator" indirectly spread environmental...

In this brief, a vision-based tracking scheme is studied for the leader-follower formation control of multiagent system under visibility constraints without communication among agents. A kinect sole sensor installed on each agent to estimate pose, including relative orientations and positions local leader. dipolar vector field established generate maintain desired given displacement The are converted into input constrains pose leader, an auxiliary designed analyze effect constraints....

In the rapidly evolving landscape of Industry 4.0, achieving seamless interoperability among diverse systems and technologies is paramount for organizations seeking to enhance operational efficiency maintain competitiveness. This paper presents a ground-breaking solution, reactive microservices-based connector, designed address intricate challenges data exchange communication within 4.0 environments. By leveraging principles microservices architecture programming, connector offers scalable,...

In this paper, a novel Formation Potential Field method is proposed for the multi-agent formation control. The objective to control group of agents automatically generate and maintain specific while avoiding internal collisions with spatial constraints. A designed combining multiple local attractive potential fields repulsive fields. To further relax requirements agents' initial positions enhance robustness, global field added outside influence range Field. optimality scheme in time analysed...

The Context Interchange strategy presents a novel approach for mediated data access in which semantic conflicts among heterogeneous systems are not identified priori, but detected and reconciled by context mediator through comparison of contexts. This paper reports on the implementation Prototype provides concrete demonstration features benefits this integration strategy.

This article presents a wearable lower extremity exoskeleton (LEE) designed to augment the ability of human walk while carrying payloads. The ultimate goal current research is design and control power-assisted system that integrates human’s intellect as command. in this work consists an inner outer exoskeleton. measures movements controls system, which follows supports payload. A special foot-unit was measure zero moment points (ZMPs) simultaneously. Using measured ZMP reference,...

In this paper, we present a novel approach for tracking control with switching formation in nonomniscient constrained space multiagent system (MAS). The introduction of results from the situation where MAS is maneuvering restricted path which often case real world application. preplanned trajectory may be inaccurate due to lack sufficient environmental information. case, agents have rapidly avoid collisions unexpected obstacles or even switch guarantee passability. A concept avoidless...

The aim of this study was to investigate the antimicrobial activities calcium ions and other cross-linking agents alginate dressings, as well their compatibility with commonly used topical antimicrobials. antimicrobials (five antibiotics four antiseptics) were evaluated by broth dilution method. interactions between individual using chequerboard test against common skin pathogens, Staphylococcus aureus Pseudomonas aeruginosa. From MIC determined, most active, followed antiseptics agents....

In this paper we present a low-cost framework for radiation analysis and mitigation Low Earth Orbit (LEO) small satellites. Radiation effects of interest are the Total Ionizing Dose (TID), Single Event Effects (SEE) solar cell degradation. A comprehensive, step-by-step study on these presented using Galassia nanosatellite Kent Ridge-1 microsatellite from National University Singapore, launched December 16, 2015 to Near-Equatorial LEO at 550 km altitude 15° inclination. Based framework, have...

Accurately extracting subjective contents of speech signals and applying it on controlling robots remain to this day a challenging task as well an insistent demand in human-robot interaction (HRI). A simple classification human's intentions may limit the development robots' natural reactions users. Additionally, there should be control system that can understand translate into inputs. This paper proposes intelligent for HRI. The objective is human' s commands via recognizing, quantifying...

The biomechanical interaction between the median nerve and flexor tendons is an important consideration in Carpal tunnel syndrome (CTS). We aim to quantify displacement compressive deformation pattern of various stages finger flexion normal population at inlet carpal tunnel.Transverse ultrasounds images were taken during full-extension, mid-flexion full flexion. displacement, distance, Feret's diameter, perimeter calculated compared each position.Biphasic motion was observed, with a 2.84 ±...

This article presents the design and real-time implementation of a control system for an Automated Ground Vehicle (AGV) use in port application. The consists Navigation System (NS) communication (CS) that link NS to host computer. development took about 4 years complete which 1.5 were spent on site trial testing design. final provides AGV with accuracy /spl plusmn/1 cm. In this paper, we describes overall approach highlights H/sub infin// loop-shaping method controller extended Kalman filter...

The Context Interchange strategy presents a novel approach for mediated data access in which semantic conflicts among heterogeneous systems are not identified priori, but detected and reconciled by context mediator through comparison of contexts . This paper reports on the implementation Prototype provides concrete demonstration features benefits this integration strategy.

On 16 December 2015, the National University of Singapore (NUS) launched two its first small satellites - 80kg class micro-satellite Kent Ridge-1, and 2U CubeSat Galassia, into space. The event marked a milestone in history Singapores nascent space industry. Regulatory requirements country mandate that pre-launch post-launch casualty risk assessments be performed aspects collision re-entry spacecraft, specifically on 1) determining orbit lifetime satellites; 2) calculating casuality...

X-Sat, the first microsatellite indigenously developed in Singapore, was launched April 2011. Following a series of checkouts, satellite declared operational mid Jun From then on, X-Sat expected to go on operating for up three years, totally unattended vacuum and temperature extremes space environment. Its isolation imposed high reliability requirement X-Sat. Redundancy deal with single-point-failure implemented throughout system, whether it hot, cold or k/n redundancies. If redundancy not...

The design of robust low-order controllers based on a high-order model generic flexible test structure with collocated sensors/actuators is considered. A synthesis technique which combines the projective and positive real control concepts developed used for design. method not only alleviates known difficulty approach, where residual (nonretained) closed-loop modes can become unstable, but also guarantees strictly realness controller. Two approaches selecting free parameters are provided....

The concept of robust stabilization via normalized left coprime factor description the plant uncertainty has been successfully applied to DLR genetic flexible test structure. method for design H/sub infinity / controllers involves shaping open-loop singular values with a precompensator and/or postcompensator and then designing factorization this weighted model. Its main features are that weighting can be performed directly on rate position outputs structure there is no undesirable...

This paper presents a class of nonmodel-based position controllers for kind flexible spacecraft. A very basic system energy relationship the spacecraft is involved in controller design and stability analysis instead dynamics themselves. With controllers, one can achieve not only closed-loop original distributed-parameter system, but also asymptotic truncated which obtained through representing deflection appendage by an arbitrary finite number modes. Simulation results carried out on with...