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The problem of coordinating construction vehicles in formations is tackled using the particle swarm optimization algorithm. Coordinated multi-vehicles are anticipated to outperform single vehicles in terms of economy and flexibility. A possible approach is to apply control theoretic methods to vehicle coordination but this may require complicated system(More)
This paper addresses the coordination of multiple mobile robots in navigation formations. Difficulties encountered in conventional leader-follower approaches, such as bounds on control commands and formation constraints are revealed. A generic control structure is then proposed, based on the leader-follower strategy and virtual robot tracking framework, to(More)
In this paper, a Discrete Particle Swarm Optimization (DPSO) technique is applied as an optimal motion planning strategy for the initialization of mobile robots to establish some geometrical patterns or formations. Firstly, an optimal assignment of location and orientation for each robot in the formation is performed. For this, a total travelling cost is(More)
This paper presents an effective methodology for the control of a group of mobile robots moving in desired formations. Virtual head robot tracking and three-point l-l controllers incorporated with reactive control schemes are proposed here to overcome the cases when the control law is undefined and subject to potential inter-robot collision. In order for(More)
Glutaminyl cyclase (QC) has been implicated in the formation of toxic amyloid plaques by generating the N-terminal pyroglutamate of β-amyloid peptides (pGlu-Aβ) and thus may participate in the pathogenesis of Alzheimer's disease (AD). We designed a library of glutamyl cyclase (QC) inhibitors based on the proposed binding mode of the preferred substrate,(More)
A series of α-substituted acetamide derivatives of previously reported 2-(3-fluoro-4-methylsulfonamidophenyl)propanamide leads (1, 2) were investigated for antagonism of hTRPV1 activation by capsaicin. Compound 34, which possesses an α-m-tolyl substituent, showed highly potent and selective antagonism of capsaicin with Ki(CAP)=0.1 nM. It thus reflected a(More)
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