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— This paper demonstrates the testbed implementation of a simple algorithm for cooperatively locating and following environmental boundary in two-dimensional space. The algorithm alternates between clockwise and counterclockwise motion along circular paths. By switching the orientation of rotation upon crossing the boundary, a vehicle is able to continue(More)
— We consider a motion planning method based on cooperative biological swarming models with virtual attractive and repulsive potentials (VARP). We derive a map between the model and fan speeds for the Kelly, a second order vehicle on the Caltech Multi Vehicle Wireless Testbed. The motion planning map results leads to the development and implementation of a(More)
We have examined nucleosome positioning on two DNA segments containing sharp sequence-directed curvatures. A 223 bp DNA from Crithidia fasciculata was cloned into two sites in pBR325 separated by 28%. These sites were found to selectively reconstitute nucleosomes 5- to 7-fold more effectively than the adjoining straight DNA. The terminus of replication and(More)
A 32-base-pair (bp) DNA duplex with deletions in one strand, and thus extra bases in the opposing strand, was ligated head-to-tail to produce linear and circular multimers. The electrophoretic mobility of the linear multimers was analyzed in polyacrylamide gels and the size of the circular DNA was determined by electron microscopy. A 1-base deletion(More)
— This paper describes the design of an economical cooperative control testbed using 1/64 size micro-car vehicles. The vehicles have similar motion constraints to those found in common kinematic models for UAVs. We demonstrate the practical use of this testbed for algorithm validation by implementing a recently proposed UAV-routing algorithm [J. J. The(More)
— This paper describes the second generation of an economical cooperative control testbed described in [C. The original car-based vehicle is improved with on-board range sensing, limited on board computing, and wireless communication, while maintaining economic feasibility and scale. A second, tank-based platform, uses a flexible caterpillar-belt drive and(More)
This paper describes the third generation of an economical cooperative control testbed, last described in (Le-ung et al., 2007). The new testbed vehicles are improved with powerful on-board computing, upgraded and expanded on-board sensing, and enhanced wireless communication, while maintaining economic feasibility and scale. The new hardware allows for(More)
— This paper discusses a greedy decentralized cooperative search algorithm and its implementation and results on the Caltech Multi-Vehicle Wireless Testbed (MVWT). The algorithm uses inter-vehicle communication as a performance accelerator and is robust against vehicle loss. Testbed vehicles search a list of spatial targets. Two different types of vehicles(More)
Reaction, coordination and speed ability are essential for success in a variety of sports. Nerve conduction velocity (NCV) is related to all of these abilities. Previous studies had investigated power and endurance type athletes, but there is less research in athletes who are skilled in coordinated lower extremity movements requiring more neural adaptation(More)