The dynamic window approach is a well known navigation scheme developed by Fox et. al. [1] and extended by Brock and Khatib [2]. It is safe by construction and has been shown to perform very efficiently in experimental setups. However, one can construct examples where the proposed scheme fails to attain the goal configuration. What has been lacking is a theoretical treatment of the algorithm’s ...

MeVisLab is a research and rapid prototyping platform for medical image processing developed by MeVis Medical Solutions AG and Fraunhofer MEVIS. We present an object-oriented approach for developing applications using MeVisLab and Python. Our approach simplifies the development of scripting intensive and complex applications for medical image processing. The program flow becomes clearer and the...

The robust stability and H∞ state-feedback control problems for uncertain discrete-time switched systems with time-varying delays are discussed in this paper. The uncertainty is time-varying but norm-bounded. By the switched Lyapunov-Krasovskii functional approach, delay-dependent linear matrix inequality conditions for the delayvarying discrete-time uncertain switched system are developed to g...

This paper evaluates and compare three stateof-the-art collision avoidance schemes designed to operate in dynamic environments. The first one is an extension of the popular Dynamic Window approach; it is henceforth called TVDW which stands for Time-Varying Dynamic Window. The second one called NLVO builds upon the concept of Non Linear Velocity Obstacle which is a generalization of the Velocity...

In this paper, the fuzzy systems with multiple non-commensurate time delays are considered. First, the observer-based state feedback fuzzy controllers are proposed. Based on the delay-dependent Lyapunov functional approach, the delay-dependent control design method is derived under which the parallel-distributed fuzzy control can stabilize the whole fuzzy time-delay system asymptotically. Final...

The splitting between the charge-longitudinal and spin-transverse responses is explained in a model whose inputs are the effective interactions in the particle-hole channels in the frame of the first order boson loop expansion. It is shown that the interplay between ω-meson exchange and box diagrams (two-meson exchange with simultaneous excitation of one or two nucleons to ∆'s) mainly rules the...

In this study, the general partial differential equation of unsteady groundwater flow through non-homogeneous and anisotropic aquifer was solved by the fully implicit finite difference method with control volume approach. The calibration of permeability and storage coefficients as model parameters was performed by a transformation technique and application of Powell's non-linear optimization me...

a new approach for propulsion system layout that increases power and enhances the efficiency of submarine propulsion system is proposed.using our method,the efficiency and power of the system enhances without increasing volume and weight. this layout improves the performance compared to the usual layout, which employs double-armature motors in cruise speed where efficiency is more critical. thi...