Theory and implementation of path planning by negotiation for decentralized agents

This paper presents a cooperative decentralized path-planning algorithm for a group of autonomous agents that provides guaranteed collision-free trajectories in real-time. The algorithm is robust with respect to arbitrary delays in the wireless traffic, possible sources being transmission time and error correction. Agents move on reserved areas which are guaranteed not to intersect, therefore ensuring safety. A handshaking procedure guarantees recent information states for the agents. Conflicts between agents are resolved by a cost-based negotiation process. The basic algorithm is augmented by the introduction of waypoints, which increase performance at the cost of additional wireless traffic. An implementation of the algorithm is tested in simulation and successfully applied to a real system of autonomous robots. The results are presented and discussed.     

Structural Characterization of Doped GaSb Single Crystals by X-ray Topography

We characterized GaSb single crystals containing different dopants (Al, Cd, and Te), grown by the Czochralski method, using x-ray topography and high-angular-resolution x-ray diffraction. Lang topography revealed dislocations parallel and perpendicular to the crystal surface. Double-crystal GaSb 333 x-ray topography showed dislocations and vertical stripes that could be associated with circular growth bands. We compared our high-angular- resolution x-ray diffraction measurements (rocking curves) with findings predicted by the dynamical theory of x-ray diffraction. These measurements show that our GaSb single crystals have a relative variation in the lattice parameter (Δd/d) on the order of 10⁻⁵. This means that they can be used as electronic devices (e.g., detectors) and as x-ray monochromators.     

Linear matrix inequality conditions for robustness and control design

In this paper, well‐known stability conditions for linear, time‐invariant systems subject to structured uncertainty are extended to encompass matrix valued and affine integral constraints on the system inputs and outputs. Necessary and sufficient analysis conditions are derived in terms of linear matrix inequalities. For a large class of these problems, the synthesis question can also be expressed as a linear matrix inequality. Copyright © 2001 John Wiley & Sons, Ltd.     

Electrochemical oxidation of stabilized landfill leachate on DSA electrodes

The electrochemical oxidation of stabilized landfill leachate with 2960 mg L(-1) chemical oxygen demand (COD) over a Ti/IrO(2)-RuO(2) anode was investigated in the presence of HClO(4) as the supporting electrolyte. Emphasis was given on the effect of electrolysis time (up to 240 min) and temperature (30, 60 and 80°C), current density (8, 16 and 32 mA cm(-2)), initial effluent's pH (0.25, 3, 5 and 6), HClO(4) concentration (0.25 and 1M) and the addition of NaCl (20 and 100mM) or Na(2)SO(4) (20mM) as source of extra electrogenerated oxidants on performance; the latter was evaluated regarding COD, total carbon (TC), total phenols (TPh) and color removal. Moreover, the anode was studied by scanning electron microscopy and cyclic voltammetry. The main parameters affecting the process were the effluent's pH and the addition of salts. Treatment for 240 min at 32 mA cm(-2) current density, 80°C and the pH adjusted from its inherent value of 0.25 (i.e. after the addition of HClO(4)) to 3 yielded 90% COD, 65% TC and complete color and TPh removal at an electricity consumption of 35 kWh kg(-1) COD removed. Comparable performance (i.e. 75% COD reduction) could be achieved without pH adjustment but with the addition of 100mM NaCl consuming 20 kWh kg(-1) COD removed.     

Stereochemistry and Circular Dichroism of Chiral Internal Olefin-Platinum(II) Complexes

A series of cis- and trans-dichloro(benzylamine) (chiral olefin) platinum(II) complexes, containing (Z) and (E) isomers of the internal chiral olefins R-CH=CH-R', has been prepared by ethylene displacement from the corresponding ethylene containing complexes. The particular stereochemical features of the complexes allow one to interpret the CD on the basis of the individual contributions coming from the chiral centres already present in the free olefin and from the chiral centres formed in the complexation of the double bond. Evidence is reported showing that the aforementioned contributions are additive and that the chiral centre(s) bound to the metal dominates the CD at about 400 nm, its chirality type being reflected in the sign and its chirality prevalence in the Δϵ value.     

Using Quick‐Start to enhance TCP‐friendly rate control performance in bidirectional satellite networks

In the not so distant future, we envisage an Internet where the biggest share of capacity is used by streaming applications. To avoid congestion collapse from unresponsive flows calls for a robust and ubiquitous end‐to‐end multimedia congestion control mechanism, such as TCP‐friendly rate control (TFRC), which provides fair sharing with the other Internet traffic. This paper therefore analyses the implications of using rate‐adaptive congestion control over satellite links that utilize demand allocation multiple access (DAMA) to maximize satellite transponder utilization. The interaction between TFRC and DAMA is explored using simulations supported by fluidic flow models. The analysis shows that DAMA reduces the start‐up phase of TFRC, causing non‐negligible delays. To mitigate this problem, we propose a new cross‐layer method based on the Quick‐Start mechanism. This can accelerate the start‐up of multimedia flows by a judicious allocation of additional capacity derived from cross‐layer signalling. Copyright © 2009 John Wiley & Sons, Ltd.     

Reduced graphene oxide-ZnO hybrid composites as photocatalysts: The role of nature of the molecular target in catalytic performance

Spurred by controversial literature findings, we enwrapped reduced graphene oxide (rGO) in ZnO hierarchical microstructures (rGO loadings spanning from 0.01 to 2 wt%) using an in situ synthetic procedure. The obtained hybrid composites were carefully characterized, aiming at shining light on the possible role of rGO on the claimed increased performance as photocatalysts. Several characterization tools were exploited to unveil the effect exerted by rGO, including steady state and time resolved photoluminescence, electron microscopies and electrochemical techniques, in order to evaluate the physical, optical and electrical features involved in determining the catalytic degradation of rhodamine B and phenol in water.Several properties of native ZnO structures were found changed upon the rGO enwrapping (including optical absorbance, concentration of native defects in the ZnO matrix and double-layer capacitance), which are all involved in determining the photocatalytic performance of the hybrid composites. The findings discussed in the present work highlight the high complexity of the field of application of graphene-derivatives as supporters of semiconducting metal oxides functionality, which has to be analyzed through a multi-parametric approach.     

An LMI approach to control-oriented identification and model (In) validation of LPV systems

This note proposes a control-oriented identification framework for a class of linear parameter varying systems that takes into account both the dependence of part of the model on time-varying parameters as well as the possible existence of a nonparametric component. The main results of the note show that the problems of obtaining and validating a model for these systems can be recast as linear matrix inequality feasibility problems. Moreover, as the information is completed, the algorithm is shown to converge in the l/sub 2/-induced topology to the actual plant. Additional results include deterministic bounds on the identification error. These results are illustrated with a practical example arising in the context of active vision.