Summary An adaptive finite‐time formation tracking control approach is proposed for multiple unmanned aerial vehicle (UAV) system with quantized input signals in this paper. The UAVs are described by nonholonomic kinematic model and autopilot uncertainties. enhanced hysteretic quantizer introduced to avoid chattering, some restrictions released using a new quantization decomposition method. Based on backstepping technique Lyapunov stability theory, the controller designed trajectory of...

Rotator cuff injury is a common clinical disorder of the musculoskeletal system. It one most causes shoulder pain and joint dysfunction. Intra-articular injection therapy conservative treatments for rotator in practice, but scholars have been controversial about different drugs used their effectiveness, there no complete agreement on choice injectables, existing original studies are mostly direct comparisons 1 arm, lacking indirect comparisons, making it difficult to clear comprehensive...

In this paper, we present MBMAS, a system for malware behavior monitor and analysis. MBMAS executes sample in controllable environment, monitors the state of five aspects including process, file system, registry, port network, automatically generates detailed report. provides useful filter mechanism which can only behaviors processes created by malware. case, capture information need without losing any important information. also automatic analysis function to analyze from captured...

UAV route planning in complicated environment is researched. The algorithm based on MO-RRT proposed to ensure the safe execution battlefield with incident threatens. First, threaten avoidance model established by radar identification mechanism which can highly reduce its space. Then target heuristic strategy utilized accelerate convergence of algorithm. Finally, redundant point deletion length and improve smoothness. Simulation results show that avoid threatens promptly generate good...

This paper studies the distributed output feedback control problem for formation tracking of multi-agent systems with both quantized and measurement signals. The signals are processed by hysteretic quantizers to avoid chattering. agent dynamics described a nonlinear uncertain model immeasurable states, unmodeled dynamics, disturbances. To estimate states solve uncertainties, state observers designed utilizing dynamic high-gain technique. With observer, controller is developed using...

Signal quantization can reduce communication burden in multiple unmanned aerial vehicle (multi-UAV) system, whereas it brings control challenge to formation tracking of multi-UAV system. This study presents an adaptive finite-time scheme for system with input quantization. The UAV model contains nonholonomic kinematic and autopilot uncertainties. states the UAVs are transformed by a transverse function method. For quantization, hysteretic quantizers used chattering new decomposition is...

The classical 'Geometric Control (GC)' of the quadrotors is susceptible to 180° turnover singularity, which could result in a crash. To overcome problem, an 'Improved Geometric (IGC)' developed based on proposed attitude extraction method. controller cascaded with position loop and loop. two loops are bridged by It geometrically determines desired from thrust direction. Attitude tilt-prioritizing can also be achieved scarifying yaw control. Unlike GC almost global stability, IGC proved...

How to improve the efficiency and performance of job scheduling in grid computing is one most important challenging techniques. This paper tries give out a novel model based on agent technology. To make full use intelligence adaptability agents, dynamic fuzzy knowledge-base corresponding reinforcement learning algorithm are proposed for agents. The can largely meet needs intelligence, flexibility, scalability optimization scheduling. Simulation experiments show that agents works better...

In hybrid heterogeneous and dynamically changing distributed grid environment, how to assign tasks appropriate resources is one of the most challenging techniques. this paper, we present a novel task assignment model corresponding algorithm based on agents, small-world network theory, power-law. With help agents tasks, proposed can exactly suitable in real time. The are also designed applying with two basic rule complex networks, which makes nodes system more searchable, thus helps find...

In this paper, a novel observer-based adaptive backstepping control scheme is proposed for time-varying formation tracking of multiple unmanned aerial vehicle (multi-UAV) system consisting nonlinear UAVs with unknown parameters and immeasurable states. The communication network among the represented by directed graph part cannot obtain reference information directly. A state observer designed to estimate An developed employing strategy observer. It proved that can guarantee maintain shape...

With the development of many new technologies, data grows much faster than before, and most are stored in database.When amount database is huge, it needed to create appropriate index keep performance applications.This paper proposes a structure, namely MCRC-tree, solve complicated range count query problem efficiently.Multiple experiments show that MCRC-tree similar traditional B-tree, be specific, can any O( ) I/Os, so complexity insert delete operations, here C means disk page size, N total amount.

Abstract Automatic recovery and position tracking is one of the tremendous challenges for airdropped or hand-thrown quadrotors. It surfers from large errors 0-360 degrees attitude errors. Singularity problem occurs classical geometric controller this leads to crash. This letter presents a novel extraction algorithm develop an improved controller. cascaded with loop loop. The two loops are connected by algorithm. geometrically extracts desired thrust direction. Attitude tilt-priority can also...

Grid is the next generation information infrastructure of Internet and software running support platform. At present, there are many resource discovery mechanisms in Grid, which can find probably useful resources, including component. Furthermore, this paper solves problem searching trusty component by providing a trust evaluation selection mechanism. The simulation experiment denotes mechanism rational, valid reliable.

This paper addresses the synchronized control problem of relative position and attitude for unmanned aerial vehicles(UAVs) to achieve task formation keeping transformation. First, using second-order autopilot model aerodynamic coupling model, a three-dimensional(3-D) nonlinear kinematic dynamic tight is established. Second, based on leader-follower structure, double-layer active disturbance rejection scheme proposed, which superstructure whole guiding, while substructure adjust geometry...

A decentralized adaptive control approach is developed for trajectory tracking of multi-agent formation. The system consists multiple agents with nonlinearities and uncertainties. agent can only get information from their neighbors. digraph utilized to describe the communication network among agents. Decentralized strategy designed since some local Dynamic surface technique applied deal nonlinear dynamics, several tuning functions are estimate Stability analysis proves that scheme form keep...