Equipping a fixed wing unmanned air vehicle (UAV) with low-level autopilots, we derive high-level velocity and roll angle control laws for the UAV. Backstepping techniques are applied to design the velocity and roll angle control laws from known velocity and heading angle control laws that explicitly account for velocity and heading rate constraints of the UAV. Regarding unknown autopilot const...

We propose a novel topology to improve the routing performance of Content-Addressable Network overlays while minimizing the maintenance overhead during nodes churn. The key idea of our approach is to establish a P2P tree structure (CAN tree) by means of equipping each node with a few long links towards some distant nodes. The long links enhance routing flexibility and robustness against failure...

Security and privacy in mobile ad-hoc peer-to-peer environments are hard to attain, especially when working with passive objects without own processing power. We introduce a method for integrating such objects into a peer-to-peer environment without infrastructure components while providing a high level of privacy and security for peers interacting with objects. The integration is done by equip...

The effective localization of the right resources is a challenging issue at the current stage of development of P2P systems in presence of a high number of peers providing heterogeneous resource descriptions. In this paper, we present a novel approach based on lightweight communities to support routing-by-content in P2P systems. In particular, original contribution of the proposed approach rega...

The aryne [3 + 2] cycloaddition process with pyridinium imides breaks the aromaticity of the pyridine ring. By equipping the imide nitrogen with a sulfonyl group, the intermediate readily eliminates a sulfinate anion to restore the aromaticity, leading to the formation of pyrido[1,2-b]indazoles. The scope and limitation of this reaction are discussed. As an extension of this chemistry, N-tosyli...

Implementing personalisation in Web Directories depends not only on developing appropriate architectures and equipping Web Directories with adaptation techniques, but also on incorporating human factors considerations at an early design stage. Among a range of human factors this paper explores cognitive styles and their influence on users’ preferences. Preferences with respect to the organisati...

What constitutes a good example in the context of teaching design patterns? How can instructors judge whether one example is better than another one for teaching a design pattern to students? How might an example be presented to best connect with students, equipping them with the necessary know-how? In this paper, I address these questions by offering a means to judge the quality of examples fo...

This technical report describes a working prototype of gigapixel 3D camera that can record the scene surface normal and diffuse albedo at the resolution of 1.6 giga pixels. The system is built upon Microsoft Apsara camera by equipping an LED frame for measuring the target scene under varying lighting conditions. From a set of ultra-high resolution images with shading variations, our method reco...

The paper addresses the design of agile cells for manufacturing low volume aircraft sub-assemblies and focuses on the problem of robust grasping and handling carbon fiber fabric. The difficulty of the manufacturing task is faced equipping the cell with two cooperative robots. Both robots use purposely developed. The paper presents in detail the adaptive end-effectors purposely developed like ro...