Cooperative control of multiple mobile robot using particle swarm optimization for tracking two passive target
This paper proposes a cooperative control method for multiple mobile robots to track two passive targets in unknown environment on the basis of a particle swarm optimization (PSO). By adjusting the left and right wheels speed of the mobile robot using the proposed control method, each mobile robot can move towards the target on the basis of information about the previous best location of each particle and its neighbors. The simulation results demonstrate the validity of the proposed cooperative control method of multiple mobile robots for tracking two passive targets.
Cooperative Control System of Multiple Mobile Robots Using Particle Swarm Optimization with Obstacle Avoidance for Tracking Target
In this paper, we propose a cooperative control system with obstacle avoidance for multiple mobile robots using particle swarm optimization (PSO) in an unknown environment to perform tasks that are difficult for a single robot to accomplish. The problem considered in this paper is the exploration of an unknown environment with the goal of finding and tracking targets using multiple mobile robots. The mobile robots only have basic information about the position of other mobile robots and the relative distances between mobile robots and target. PSO has been demonstrated to be a useful algorithm for tracking target applications for multiple mobile robots in unknown environments. The experimental results demonstrate the validity of the proposed cooperative control system with obstacle avoidance of multiple mobile robots that track targets.
Right coronary artery stenosis associated with tricuspid valve ring annuloplasty
A 70-year-old man with severe symptomatic functional mitral valve regurgitation underwent successful mitral valve repair combined with tricuspid valve ring annuloplasty. Pre-operative coronary angiography (CAG) showed no significant stenosis. One-and-a-half years later, the patient presented with an acute exacerbation of heart failure. Repeat CAG demonstrated tight stenosis in the right coronary artery (RCA) with arterial kinking that corresponded to the same point as the stenosis where the RCA is the closest to the tricuspid valve ring. The new lesion probably occurred as a consequence of the tricuspid valve ring annuloplasty.