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This article addresses the control problem of quadrotors in environments where absolute-localization data (GPS, positioning from external cameras) is inadequate. Based on an attached IMU and an optical flow sensor the quadrotor's translational velocity is estimated using an Extended Kalman Filter. Subject to the velocity measurements, the roll, pitch and(More)
In this article, a novel on-line path planning algorithm for an articulated vehicle, moving in a partially known and sensory based reconstructed environment, and relying on Model Predictive Control will be presented. The proposed algorithm belongs to the family of bug like path planning algorithms and has the capability to take under consideration the real(More)
In this article a switching model predictive control scheme for an articulated vehicle under varying slip angles is being presented. For the non-holonomic articulated vehicle, the non-linear kinematic model that is able to take under consideration the effect of the slip angles is extracted. This model is transformed into an error dynamics model, which in(More)
In this paper the development and experimental verification of mobile client-centric networked controlled system is presented. The feedback control loop is closed over a General Purpose Radio Service (GPRS) communication channel, between the plant and the controller. The inserted delays from the communication network, are time-varying, degrade the system(More)
This study addresses the control problem of an unmanned quadrotor in an indoor environment where there is lack of absolute localisation data. Based on an attached inertia measurement unit, a sonar and an optic-flow sensor, the state vector is estimated using sensor fusion algorithms. A novel switching model predictive controller is designed in order to(More)
Epigenetic aberrations are increasingly regarded as key factors in cancer progression. Recently, deregulation of histone acetyltransferases (HATs) has been linked to several types of cancer. Monocytic leukemia zinc finger protein (MOZ) is a member of the MYST family of HATs, which regulate gene expression in cell proliferation and differentiation.(More)
The power awareness issue is the primary concern within the domain of Wireless Sensor Networks (WSNs). Most power dissipation ocurrs during communication, thus routing protocols in WSNs mainly aim at power conservation. Moreover, a routing protocol should be scalable, so that its effectiveness does not degrade as the network size increases. In response to(More)
Developing potent molecules that inhibit Bcl-2 family mediated apoptosis affords opportunities to treat cancers via reactivation of the cell death machinery. We describe the hit-to-lead development of selective Bcl-XL inhibitors originating from a high-throughput screening campaign. Small structural changes to the hit compound increased binding affinity(More)
A small-molecule natural product, euodenine A (1), was identified as an agonist of the human TLR4 receptor. Euodenine A was isolated from the leaves of Euodia asteridula (Rutaceae) found in Papua New Guinea and has an unusual U-shaped structure. It was synthesized along with a series of analogues that exhibit potent and selective agonism of the TLR4(More)