The fidelity of the trajectories obtained from video-based particle tracking determines the success of a variety of biophysical techniques, including in situ single cell particle tracking and in vitro motility assays. However, the image acquisition process is complicated by system noise, which causes positioning error in the trajectories derived from image analysis. Here, we explore the possibi...

This paper presents a dynamic role assignment and formation positioning system used by the 2011 RoboCup 3D simulation league champion UT Austin Villa. This positioning system was a key component in allowing the team to win all 24 games it played at the competition during which the team scored 136 goals and conceded none. The positioning system was designed to allow for decentralized coordinatio...

The main problems faced by a dynamic model within a Kalman filter occur when the system experiences unexpected dynamic conditions, a change in data acquisition rate, or when the dynamics of the system are non-linear. To minimize the errors produced from dynamic modeling in unusual conditions, an extended dynamic model is developed in this paper. This paper demonstrates the usefulness of the ext...

The paper considers the dynamic positioning problem for a ship having only two independent controls, namely surge force and yaw moment. A time-varying feedback control law including integral action is developed and proved to exponentially stabilize both the North and East positions and the orientation of the ship. Experimental results are presented where the controller is implemented on a model...

This paper considers aspects related to the problem of automatic tuning (autotuning) of dynamic positioning (DP) controllers for marine surface vessels. Autotuning involves automatic adjustment of controller parameters for shifting vessel operational conditions (VOCs), which encompass changing vessel dynamics and different operational tasks. A controller with fixed gains cannot behave equally w...

Laboratory automation has existed and matured at Eli Lilly and Company for well over a decade. The author's section serves as a developer of laboratory automation systems for customers within Lilly and embodies 'robotic friendly' laboratories with highly technical and experienced personnel. With several systems showing signs of age, second generation 'smart systems' have been developed and deli...

FirstAED is a supplement to the existing emergency response systems. The aim is to shorten the community first responder response times at emergency calls to below five minutes in a bridge connected island area. FirstAED defines a way to dispatch the nearby three first responders and organise their roles in a team structure to reduce response times, ensure citizens’ safety and offer equal possi...

DPS have been commercially available since the 1960s, and today a DP system is a natural component in the delivery of many new vessels. The first ship to fulfil the accepted definition of dynamic positioning was the “Eureka” (1961), of about 450 tons displacement and length 130 feet. This ship was fitted with an analogue control system, interfaced with a taut wire reference. Equipped with steer...

In this paper we are proposing an approach for flexible positioning of players in Soccer Simulation in a Multi-Agent environment. We introduce Dynamic Positioning based on Voronoi Cells (DPVC) as a new method for players’ positioning which uses Voronoi Diagram for distributing agents in the field. This method also uses Attraction Vectors that indicate agents’ tendency to specific objects in the...