in spark ignition (si) engines, the accurate control of air fuel ratio (afr) in the stoichiometric value is required to reduce emission and fuel consumption. the wide operating range, the inherent nonlinearities and the modeling uncertainties of the engine system are the main difficulties arising in the design of afr controller. in this paper, an optimization-based nonlinear control law is anal...

UNLABELLED SweepFinder is a widely used program that implements a powerful likelihood-based method for detecting recent positive selection, or selective sweeps. Here, we present SweepFinder2, an extension of SweepFinder with increased sensitivity and robustness to the confounding effects of mutation rate variation and background selection. Moreover, SweepFinder2 has increased flexibility that e...

Our overall objective is to improve the productivity of Mars rovers by increasing the exibility and robustness of their autonomous behavior. To achieve this objective, we set out to increase the on-board autonomy of rovers and enable commanding at a higher level with a more exible command language. In February, 1999, we demonstrated some of our rover autonomy technologies as part of a Marsokhod...

Self-assembly methods have been developed at the microand nanoscale to create functional structures from subelements stochastically dispersed in a fluid. Self-assembly paradigms have limitations in terms of achievable complexity of the final structure, ability to perform error correction, and scalability. Fluidic self-assembly attempts to overcome these limitations by incorporating a controlled...