We propose a software architecture that can ease and speed up the development process of controllers for heterogeneous swarm systems. It is inherently modular and allows behaviors to be combined in layers and reused in multiple controllers. This can potentially speedup the development process of controllers since they become much more readable and well structured. We validated the architecture ...

The BMV conjecture for traces, which states that Tr exp(A−λB) is the Laplace transform of a positive measure, is shown to be equivalent to two other statements: (i) The polynomial λ 7→ Tr (A+λB)p has only non-negative coefficients for all A,B ≥ 0, p ∈ N and (ii) λ 7→ Tr (A + λB)−p is the Laplace transform of a positive measure for A,B ≥ 0, p > 0. An intriguing conjecture [1], which is more than...

The climate change requires thrifty use of water resources in agriculture since irrigation is became common also for those crops like olive orchard that were traditionally grown rainfed conditions. requirement imperative semi-arid conditions the Mediterranean basin especially if orchards are cultivated super high density. For a correct scheduling, methods to measure transpiration (Tr) at plant ...

Aim: To compare the transanal suture rectopexy with stapled haemorrhoidopexy in patients of haemorrhoids from clinical perspective. Methods: From January 2014 to January 2016, Eighty patients of haemorrhoids from grade II to IV were randomly assigned to undergo either the transanal suture rectopexy (n= 40) or the stapled haemorrhoidopexy (n=40). Outcome assessment was performed at 12 hours,24 h...

Tecarfarin is a vitamin K antagonist (VKA) with reduced propensity for drug interactions. To evaluate the pharmacokinetic (PK), pharmacodynamic (PD), and safety of tecarfarin, we performed single ascending dose (SAD) (n=66), multiple ascending dose (MAD) (n=43), and tecarfarin versus warfarin (n=28) studies in human volunteers. In the SAD, tecarfarin was administered to 5 of 6 subjects (1 recei...

Four complex intermetallic compounds BaAu(6±x)Ga(6±y) (x = 1, y = 0.9) (I), BaAu(6±x)Al(6±y) (x = 0.9, y = 0.6) (II), EuAu6.2Ga5.8 (III), and EuAu6.1Al5.9 (IV) have been synthesized, and their structures and homogeneity ranges have been determined by single crystal and powder X-ray diffraction. Whereas I and II originate from the NaZn13-type structure (cF104-112, Fm3̅c), III (tP52, P4/nbm) is de...