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A new control algorithm based on potential function and behavior rules to effectively control the formation of a multiple autonomous underwater vehicle (AUV) system under uncertain environment and to make the formation effectively avoid obstacles is presented. Proper potential functions concerning with object, obstacle and the structure of the formation is(More)
BACKGROUND Although the majority of patients with cerebral venous sinus thrombosis (CVST) obtain an optimistic clinical outcome after heparin or warfarin treatment, there remains a subgroup of patients who do not respond to conventional anticoagulation treatment. These patients, especially younger people, as documented by hospital-based studies, have a high(More)
Scutellaria barbata D. Don is widely used as a folk antitumor and anti-inflammatory agent in Asia. However, a simple and global quality control method for S. barbata was lacking. In this study, six phenolic compounds, including P-coumaric acid, scutellarin, apigenin 5-O-β-glucopyranoside, luteolin, apigenin and 4'-hydroxywogonin were obtained from S.(More)
Allocation efficiency is an important performance index to measure the quality of the allocation algorithm. In order to compute the efficiency, the volume of the subset of attainable moments must be solved. The efficiency of the redistributed pseudo inverse (RPI) algorithm depends on the choice of the pseudo-inverse matrix. The subset of attainable moments(More)
Breast cancer is the most common type of malignant tumor in women. Recently, it has been shown that detection of breast cancer tumor cells outside the primitive tumor is an effective early diagnosis with great prognostic and clinical utility. For this purpose, we developed a signal-on fluorescence aptasensor for label-free, facile and sensitive detection of(More)
A formation path tracking controller for multiple robot system by sliding mode control method is introduced. The dynamic equation of robot is transformed into a relative moving equation between the leader robot and the follower robot and the drawback of structural singularity in the robot with nonholonomic constraints is overcome. The sliding mode control(More)
A novel supramolecular gel has been prepared via host-guest interaction between cucurbit[8]uril (Q[8]) and N-(4-diethylaminobenzyl)chitosan (EBCS). The structure of supramolecular gel has been characterized. The spectrum of (1)H NMR demonstrated the benzene ring of EBCS is reside inside the hydrophobic cavity of Q[8] and the host-guest interaction between(More)
In this paper, one improved frame error rate (FER) estimation approach in high Signal Noise Ratio (SNR) region for low-density parity-check (LDPC) codes is reported. Firstly dominant trapping sets (TSs), accounting for most of FER in high SNR region, are picked out as decoding result, with input of decoder consisting of a group of biased bits. And how those(More)
A cooperative control law based on output feedback is present for a multiple nonlinear system. The given cooperative control law is applied to control the formation of a multiple rigid body system, and at the same time to cooperative control the attitude of a multiple rigid body system where quaternion is used to describe the attitude of every rigid body(More)