The control design for unmanned underwater vehicles (UUVs) is challenging due to the uncertainties in the complex dynamic modeling of the vehicle as well as its unstructured operational environment. To cope with these difficulties, a practical robust control is therefore desirable. The paper deals with the application of coefficient diagram method (CDM) for a robust control design of an autonom...

A Voronoi diagram of image elements provides an intuitive and appealing definition of proximity, which has been suggested as an effective tool for the description of relations among the neighboring objects in a digital image. In this paper, an implementation algorithm based on direct calculation of the Freeman code of expanded contours is proposed for generating area Voronoi diagram of connecte...

We are given m pursuers and one evader. Each pursuer and the evader has an associated starting point in the plane, a maximum speed, and a start time. We also have a set of line segment obstacles with a total of n endpoints. Our task is to find those points in the plane, called the evader’s region, that the evader can reach via evasive paths. A path is evasive if the evader can traverse the path...

We are given m pursuers and one evader. Each pursuer and the evader has an associated starting point in the plane, a maximum speed, and a start time. We also have a set of line segment obstacles with a total of n endpoints. Our task is to find those points in the plane, called the evader’s region, that the evader can reach via evasive paths. A path is evasive if the evader can traverse the path...

Greenshields [13] captures the empirical relation between speed, flow and density for uninterrupted traffic in the fundamental diagram, see Figure 1. Mathematical models for uninterrupted traffic have been developed and the fundamental diagram in its basic form is now well-understood, see e.g. Newell [29, 30, 31] for a concise exposition. Traffic jams are a major concern for highway operation a...

We propose an efficient control protocol for charge transfer in a double quantum dot. We consider numerically a two-dimensional model system, where the quantum dots are subjected to time-dependent electric fields corresponding to experimental gate voltages. Our protocol enables navigation in the charge stability diagram from a state to another through controllable variation of the fields. We sh...

This application note describes a driver solution for single winding single-phase BLDC, based on the PIC16F1613 microcontroller. The driver exploits two feedback loops: the inner loop, which is responsible for the commutation control, and the outer loop which is responsible for the speed control. The speed of the motor is referenced to an external analog voltage. Fault detection can be sensed d...

In three experiments, college students provided judgments about a marble's speed along a nonlinear incline. Each experiment revealed widespread support for the slope-speed belief, a mistaken belief holding that an object's speed at any point depends on the slope at that point. In truth, an object's incline speed varies with its elevation. In Experiment 1, participants relied solely on a diagram...

Circles are frequently used for modelling the growth of particle aggregates through the Voronoi diagram of circles, that is a special instance of the Johnson-Mehl tessellation. The Voronoi diagram of a set of sites is a decomposition of space into proximal regions. The proximal region of a site is the locus of points closer to that site than to any other one. Voronoi diagrams allow one to answe...