This paper addresses the problem of time-optimal motions for a mobile platform in a planar environment. The platform has two non-steerable independently driven wheels. The overall mission of the robot is expressed in terms of a sequence of via points at which the platform must be at rest in a given configuration (position and orientation). The objective is to plan time-optimal trajectories betw...

This report presents an algorithm for the generation of a time-optimal control law for a speciic class of hybrid systems, namely integrator processes. The control law is generated directly from the hybrid model using the continuous and discrete speciication for the closed loop behavior. In general there is no unique time-optimal control. However, the vectors that give the time-optimal solution ...

Background and Aim: Mycobacterium tuberculosis is a health problem in countries. Despite the global prevalence of tuberculosis and the lack of appropriate drugs, further progress is still needed with the help of modern methods of preparing epitope-based vaccines for tuberculosis. Materials and Methods: In this study, specific T and B cell epitopes required for producing chimeric vaccines with ...

In this paper, we develop a unified theory in analyzing optimal switch box design problems, particularly for the unsolved irregular cases, where different pin counts are allowed on different sides. The results drawn from our system of linear Diophantine equations based formulation turn out to be general. We prove that the divideand-conquer (reduction) design methodology can also be applied to t...

The pose of a polyhedral object can be determined with range data obtained from a set of simple light-stripe range sensors. However, localization results are highly dependent on sensor placement. This paper presents a method for designing an optimal sensor placement of three light-stripe sensors with which to determine the pose of an arbitrarily positioned object. We evaluate a sensor placement...

In this paper, the Vector Based Swarm Optimization method is used for designing an optimal controller for the maximum power point tracker of a stand-alone PV System. The proposed algorithm is executed on vectors in a multi-dimension vector space. These vectors by appropriated orientation converge to a global optimum while the algorithm runs. The Remarkable point of the VBSO algorithm is how us...

This investigation deals with M/M/R/N machine repair problem with R non-reliable service stations which are subjected to unpredictable breakdown. 1here is provision of an additional server to reduce backlog in the case of heavy load of failed machines. 1he permanent service stations repair the failed machines at an identical rate m and switch to faster repair rate when all service stations are ...

We develop new optimal partitioning and placement codes for end-case processing in top-down standard-cell placement. Such codes are based on either enumeration or branch-and-bound, and are invoked for instances below prescribed size thresholds (e.g., < 30 cells for partitioning, or < 10 cells for placement). Our optimal partitioners handle tight balance constraints and uneven cell sizes transpa...

the product rate variation problem minimizes the variation in the rate at which different models of a common base product are produced on the assembly lines with the assumption of negligible switch-over cost and unit processing time for each copy of each model. the assumption of significant setup and arbitrary processing times forces the problem to be a two phase problem. the first phase determ...