Equiangular navigation and guidance of a wheeled mobile robot based on range-only measurements

We consider the problems of a wheeled mobile robot navigation and guidance towards an unknown stationary or maneuvering target using range-only measurements. We propose and study several methods for navigation and guidance termed Equiangular Navigation Guidance (ENG) laws. We give mathematically rigorous analysis of the proposed guidance laws. The performance is confirmed with computer simulations and experiments with ActivMedia Pioneer 3-DX wheeled robots.     

Development of a new theory of thermal cutting processes 10. Analysis of the basic thermophysical theories of cutting (part 7)

Monographs by Reznikov, Talantov, and Ryzhkin regarding the theory of thermal cutting processes are analyzed.     

Assessing the reliability of thread joints under variable loads

A comparative analysis of the effect of the thread tightening force on the relaxation resistance and fatigue strength of a thread joint is presented. A calculation and experimental method for assessment of the reliability and lifetime of a thread joint on the basis of gap opening in a joint and the lifetime under variable loads is proposed. The method takes into account the mechanism of microplastic deformations and fatigue damageability of material under cyclic loads.     

Nonlinear versus linear control in the robust stabilizability oflinear uncertain systems via fixed-order output feedback

This paper considers the problem of robustly stabilizing an uncertain system via fixed-order output feedback control. This problem is considered by defining a notion of robust stabilizability with a quadratic storage function. This notion is closely related to the notion of quadratic stabilizability. The main result of the paper shows that if an uncertain system is robustly stabilizable with a quadratic storage function via a nonlinear time-varying controller, then it will also be robustly stabilizable with a quadratic storage function via a linear time-invariant controller of the same order     

An experimental study of void fraction and heat transfer under upward and downward flow boiling conditions

Heat transfer coefficient and actual void fraction have been measured during upflow and downflow boiling of water in an annular channel. At the same values of pressure, mass flux, heat flux and flow quality significant difference of void fraction has been established in upflow and downflow. The upflow and downflow heat transfer coefficients did not deviate significantly from each other, if compared at identical values of pressure, mass flux, heat flux and actual void fraction.     

Optimal H infinity insulin injection control for blood glucose regulation in diabetic patients.

The theory of H infinity optimal control has the feature of minimizing the worst-case gain of an unknown disturbance input. When appropriately modified, the theory can be used to design a "switching" controller that can be applied to insulin injection for blood glucose (BG) regulation. The "switching" controller is defined by a collection of basic insulin rates and a rule that switches the insulin rates from one value to another. The rule employed an estimation of BG from noisy measurements, and the subsequent optimization of a performance index that involves the solution of a "jump" Riccati differential equation and a discrete-time dynamic programming equation. With an appropriate patient model, simulation studies have shown that the controller could correct BG deviation using clinically acceptable insulin delivery rates.     

A Method of Measuring the Parameters of the Response Speed of Photodetectors

Measurement Techniques - Problems arising in the measurement of the parameters of the response speed of current broadband photodetectors by the method based on measurement results of the rise time...