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The main goal of this study is to investigate the time-optimal control problem of an omni-directional mobile robot between two configurations. In the proposed method, this problem is formulated and solved as a constrained nonlinear programming (NLP) one. During the optimization process, the count of control steps is fixed initially and the sampling period(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)
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)
A particle swarm optimization method with nonlinear time-varying evolution (PSO-NTVE) is employed in designing an optimal PID controller for asymptotic stabilization of a pendubot system. In the PSO-NTVE method, parameters are determined by using matrix experiments with an orthogonal array, in which a minimal number of experiments would have an effect that(More)
Contrast enhancement plays a crucial role in the field of image processing. Histogram equalization is a simple and automatic method for contrast enhancement. Conventional contrast-enhancement techniques, such as histogram specification and contrast stretching, require manual parameters to achieve satisfactory results. To automatically produce enhanced(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)