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Digoxin is widely used as a cardiac glycoside drug in the treatment of various heart conditions. Because it is a toxic drug, it should be regularly monitored in the serum of patients under treatment. In this study, colloidal nanogold is synthesized and the preparation of nanogold-labeled monoclonal antibody probe to digoxin is described under optimal(More)
A rapid immunochromatography (ICG) assay based on antibody colloidal gold nanoparticles specific to human serum albumin (HSA) was developed, and its applications for primary screening of HSA in the urine were evaluated. A monoclonal antibody (MAb) specific to HSA was produced from cloned hybridoma cells (EMRC1) and used to develop an ICG strip. The(More)
We present a novel decentralized cooperative localization algorithm for mobile robots. The proposed algorithm is a decentralized implementation of a centralized Extended Kalman Filter for cooperative localization. In this algorithm, instead of propagating cross-covariance terms, each robot propagates new intermediate local variables that can be used in an(More)
— This paper analyzes distributed algorithmic solutions to dynamic average consensus implemented in continuous time and relying on communication at discrete instants of time. Our starting point is a distributed coordination strategy that, under continuous-time communication, achieves practical asymptotic tracking of the dynamic average of the time-varying(More)
For a team of mobile robots with limited onboard resources, we propose a partially decentralized implementation of an extended Kalman filter for cooperative localization. In the proposed algorithm, unlike a fully centralized scheme that requires, at each timestep, information from the entire team to be gathered together and be processed by a single device,(More)
Technological advances in ad-hoc networking and miniaturization of electro-mechanical systems are making possible the use of large numbers of mobile agents (e.g., mobile robots, human agents, unmanned vehicles) to perform surveillance, search and rescue, transport and delivery tasks in aerial, underwater, space, and land environments. However, the(More)
For a group of mobile robots with communication and computation capabilities, we consider a cooperative localization algorithm based on Unscented Kalman filtering. We present a server-client paradigm to distribute the computational cost of this algorithm among team members. The highest computational cost of the Unscented Kalamn filter comes from calculating(More)
— We propose a distributed continuous-time algorithm to solve a network optimization problem where the global cost function is a strictly convex function composed of the sum of the local cost functions of the agents. We establish that our algorithm, when implemented over strongly connected and weight-balanced directed graph topologies, converges(More)
This paper considers the static average consensus problem for a multi-agent system and proposes a distributed algorithm that enables individual agents to set their own rate of convergence. The algorithm has a two-time scale structure and is constructed using a singular perturbation approach. A fast information processing state uses a Laplacian consensus(More)