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This paper presents a novel approach based on Jacobi shape theory and geometric reduction for formation control of autonomous underwater vehicles (AUVs). We consider a three degree-of-freedom (DOF) dynamic model for the horizontal motion of each AUV that has control inputs over surge force and yaw moment. By using the Jacobi transform, the horizontal(More)
This paper presents a novel robust controller design for formation control of autonomous underwater vehicles (AUVs). We consider a nonlinear three-degree-of-freedom dynamic model for the horizontal motion of each AUV. By using the Jacobi transform, the horizontal dynamics of AUVs are explicitly expressed as dynamics for formation shape and formation center,(More)
AIMS Endobronchial ultrasound-guided transbronchial needle aspiration (EBUS-TBNA) has shown excellent diagnostic capabilities for mediastinal and hilar lymphadenopathy. However, its value in thoracic non-lymph node lesions is less clear. This study was designed to assess the value of EBUS-TBNA in distinguishing malignant from benign thoracic non-lymph node(More)
— This paper develops a robust controller for autonomous underwater vehicles with bounded time delays, so that the AUVs form and keep a desired formation shape and track a desired trajectory. We use a six-degree-of-freedom dynamic model for each AUV to describe its motions in the three-dimensional space. We design an orientation controller based on feedback(More)
This study investigated the distribution of cadmium (Cd) and the protein level of metallothionein (MT) and examined the relationship of Cd accumulation and the MT concentration in different tissues of freshwater mussel Anodonta woodiana following Cd treatment. The mussels were exposed to Cd (4.21, 8.43, 16.86, 33.72 and 67.45 mg L-1) for 24, 48, 72 and 96(More)
We generalize the convergence, the stability and the averaged converging rate of stochastic parallel gradient descent algorithm when it is used as control algorithm for adaptive optics system in theory. Analysis results show the adaptive optics system can obtain convergence, stability and a factor of n /square root (n is the number of control parameters)(More)
Powdery mildew, caused by Blumeria graminis f. sp. tritici (Bgt), is a globally serious disease adversely affecting wheat production. The Bgt-resistant wheat breeding line CH09W89 was derived after backcrossing a Bgt resistant wheat-Thinopyrum intermedium partial amphiploid TAI7045 with susceptible wheat cultivars. At the seedling stage, CH09W89 exhibited(More)
In this paper, the problem how to distribute network bandwidth over a set of real-time control loops in order to optimize the total control performance in networked control systems is studied. The problem mentioned above can be divided into two sub-problems: how the control performance depends on the quality of service (QoS) of network such as sampling(More)