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The discrete-time fractional Gaussian noise (DFGN) has been proven to be a regular process. According to Wold and Kolmogorov theorems, this process can be described as an autoregressive (AR) model of an infinite order. An estimator for the Hurst exponent based on autoregressive power spectrum estimation has been proposed, but without considering order(More)
The innate immune system elicits the first wave of immune responses against pathogen infection. Its operational modes are complex and have yet to be defined. Here, we report the identification of an innate immune regulator termed TAPE (TBK1-associated protein in endolysosomes), previously known as CC2D1A/Freud-1/Aki-1, which modulates the TLR3 and TLR4(More)
Implementation of an outdoor navigation system for a mobile robot is described in this paper. In this system, two optical encoders are used to perform dead-reckoning for the mobile robot. Meanwhile, an electronic compass and a GPS receiver are used for self-localization of the robot. Fusing the sensory data from dead-reckoning and self-localization,(More)
The time-optimal control problem of a three-wheeled omni-directional mobile robot is addressed in this paper. Different from usual cases, in which the Pontryagin's minimum principle (PMP) is used, an iterative procedure is proposed to transform the time-optimal problem into a nonlinear programming (NLP) one. In the NLP problem, the count of control steps is(More)
A CCD camera, a stepping motor and three artificial landmarks are used for localization of a mobile robot. The CCD camera is mounted on the robot and its rotation is controlled by the stepping motor. Then from the images captured by the CCD camera, image-processing techniques are used to determine the distances between the CCD camera and the three(More)