This paper presents control method for multiple two-wheeled mobile robots moving in formation. Trajectory tracking algorithm from  is extended by collision avoidance, and is applied to the different type of formation task: each robot in the formation mimics motion of the virtual leader with a certain displacement. Each robot avoids collisions with other robots and circular shaped, static obstacles existing in the environment. Artificial potential functions are used to generate repulsive component of the control. Stability analysis of the closed-loop system is based on Lyapunov-like function. Effectiveness of the proposed algorithm is illustrated by simulation results.
This paper shows results of researches of a structure and mechanical properties of metal sheets of IF steels subjected torecrystallization annealing. The annealing was held in the scope of the temperature of 600-900°C over 25 min time. The impact of heat treatment on changes of properties and structure of the researches steel has been analysed. During annealing typical processes of rebuilding of the structure deformed as a result of cold deformation in the form of forming new recrystallized grains and their growth were observed. As the temperature of annealing increases the hardness of the material gradually decreases.
This research paper shows the influence of a repeated SPD (Severe Plastic Deformation) plastic forming with the DRECE technique (Dual Rolls Equal Channel Extrusion) on hardening of low carbon IF steel. The influence of number of passes through the device on change of mechanical properties, such as tensile strength TS and yield stress YS, of tested steel was tested. The developed method is based on equal channel extrusion with dual rolls and uses a repeated plastic forming to refinement of structure and improve mechanical properties of metal bands [1-2]. For the tested steel the increase of strength properties after the DRECE process was confirmed after the first pass in relation to the initial material. The biggest strain hardening is observed after the fourth pass.
The article presents the results of studies on the efficacy of water desalination (i.e. Elimination of NaCl ions from the solution) using graphene-polyamide composite membranes. The membrane used for filtration consists of a monolayer of polycrystalline graphene on a porous polyamide carrier support (nylon 66). The degree of desalination for an aqueous NaCl solution percolated through the membrane was 18%. In the future this type of membrane may replace the currently used reverse osmosis membranes.
Strained layer InGaAs/GaAs SCH SQW (Separate Confinement Heterostructure Single Quantum Well) lasers were grown by Molecular Beam Epitaxy (MBE). Highly reliable CW (continuous wave) 980-nm, broad contact, pump lasers were fabricated in stripe geometry using Schottky isolation and ridge waveguide construction. Threshold current densities of the order of Jth ≈ 280 A/cm2 (for the resonator length L = 700 um) and differential efficiency η= 0.40 W/A (41%) from one mirror were obtained. The record wall-plug efficiency for AR/HR coated devices was equal to 54%. Theoretical estimations of above parameters, obtained by numerical modelling of devices were Jth ≈ 210 A/cm and η = 0.47 W/A from one mirror, respectively. Degradation studies revealed that uncoated and AR/HR coated devices did not show any appreciable degradation after 1500 hrs of CW operation at 35oC heat sink temperature at the constant optical power (50 mW) conditions.