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.
Force control for path following of a 4WS4WD vehicle by the integration of PSO and SMC
ABSTRACT The aim of this paper is to present a novel control method for a four-wheel steer and four-wheel drive (4WS4WD) vehicle. The novelty is in the integration of sliding mode control (SMC) and particle swarm optimization (PSO) that is proposed to solve the control problem caused by the nonlinear, highly coupled and over-actuated characteristics of the four-wheel steer and four-wheel drive (4WS4WD) vehicle. The validity of the control method is evaluated by two criterions, namely path following performance assessed by the vehicle's position errors with respect to the reference path, and motion quality reflected by the smoothness of vehicle's velocities and accelerations. In vehicle modelling, a kinematic model and a dynamic model considering all slip forces are proposed for the controller design. Simulation results are provided to demonstrate the applicability of the proposed methodology and its robustness.
Complex thoracic vascular injury repair using deep hypothermia and circulatory arrest.
A 61-year-old man with a penetrating injury to the innominate artery, left common carotid artery, and left subclavian artery at their origins from the aortic arch with associated injuries to both innominate veins and an innominate artery to vein fistula after a single stab wound is described. The patient was managed successfully using cardiopulmonary bypass together with deep hypothermia and circulatory arrest. Presentation and management are discussed.