Abstract: Distributed control of vehicles with coordinating cars that implement a cooperative control method, and non-coordinating cars that are presumed to follow predictable dynamics. A cooperative control method can combine distributed receding horizon control, for optimization-based path planning and feedback, with higher level logic, to ensure that implemented plans are collision free. The cooperative method can be completely distributed with partially synchronous execution, and can afford dedicated time for communication and computation, features that are prerequisites for implementation on real freeways. The method can test for conflicts and can calculate optimized trajectories by adjusting parameters in terminal state constraints of an optimal control problem.

Abstract: Distributed control of vehicles with coordinating cars that implement a cooperative control method, and non-coordinating cars that are presumed to follow predictable dynamics. A cooperative control method can combine distributed receding horizon control, for optimization-based path planning and feedback, with higher level logic, to ensure that implemented plans are collision free. The cooperative method can be completely distributed with partially synchronous execution, and can afford dedicated time for communication and computation, features that are prerequisites for implementation on real freeways. The method can test for conflicts and can calculate optimized trajectories by adjusting parameters in terminal state constraints of an optimal control problem.

Abstract: Distributed control of vehicles with coordinating cars that implement a cooperative control method, and non-coordinating cars that are presumed to follow predictable dynamics. A cooperative control method can combine distributed receding horizon control, for optimization-based path planning and feedback, with higher level logic, to ensure that implemented plans are collision free. The cooperative method can be completely distributed with partially synchronous execution, and can afford dedicated time for communication and computation, features that are prerequisites for implementation on real freeways. The method can test for conflicts and can calculate optimized trajectories by adjusting parameters in terminal state constraints of an optimal control problem.

Abstract: This disclosure relates to distributed control of a platoon of vehicles with nonlinear dynamics. Distributed receding horizon control algorithms are presented to derive sufficient conditions that guarantee asymptotic stability, leader-follower string stability, and predecessor-follower string stability, following a step speed change in the platoon. Vehicles compute their own control in parallel, and receive communicated position and velocity error trajectories from their immediate predecessor. Leader-follower string stability requires additional communication from the lead car at each update, in the form of a position error trajectory. Communication from the lead car is required only once at initialization. Provided an initially feasible solution can be found, subsequent feasibility of the algorithms are guaranteed at every update. The theory is generalized for nonlinear decoupled dynamics, and is thus applicable to fleets of planes, robots, or boats, in addition to cars.

Abstract: Distributed control of vehicles with coordinating cars that implement a cooperative control method, and non-coordinating cars that are presumed to follow predictable dynamics. A cooperative control method can combine distributed receding horizon control, for optimization-based path planning and feedback, with higher level logic, to ensure that implemented plans are collision free. The cooperative method can be completely distributed with partially synchronous execution, and can afford dedicated time for communication and computation, features that are prerequisites for implementation on real freeways. The method can test for conflicts and can calculate optimized trajectories by adjusting parameters in terminal state constraints of an optimal control problem.

Abstract: This disclosure relates to distributed control of a platoon of vehicles with nonlinear dynamics. Distributed receding horizon control algorithms are presented to derive sufficient conditions that guarantee asymptotic stability, leader-follower string stability, and predecessor-follower string stability, following a step speed change in the platoon. Vehicles compute their own control in parallel, and receive communicated position and velocity error trajectories from their immediate predecessor. Leader-follower string stability requires additional communication from the lead car at each update, in the form of a position error trajectory. Communication from the lead car is required only once at initialization. Provided an initially feasible solution can be found, subsequent feasibility of the algorithms are guaranteed at every update. The theory is generalized for nonlinear decoupled dynamics, and is thus applicable to fleets of planes, robots, or boats, in addition to cars.

Abstract: A system and method of for obtaining a pseudorandom number generator are disclosed. A set of state modules, each with a limit value, may be provided. In an embodiment, each of the limit values may be relatively prime to the other limit values. In response to one or more events, the values of the state modules are incremented. At some frequency that may be statistically independent from the occurrence of the one or more events, the values of the state modules are obtained and combined to form a random number. The values may be combined as desired and, if desired, may be combined modulo 2w, where 2w represents the number of possible random values.

Abstract: Aspects of the invention generate a website for a product with an embedded processor from a product specification, website template, and webpage definitions. The specification may contain all the properties of the product needed to interact over a network. The page definitions information identifies a subset of the parameters contained in the specification and groups the identified parameters into different webpages, menus and sub-menus. The website may have a common look and feel based on a website template that is applied to different products. Code is generated and inserted in corresponding webpages so that embedded data in can be located and formatted and may be displayed when the website is viewed by a web browser. A website generator may generate the website by creating a HyperText Markup Language file and at least one auxiliary Extensible Markup Language file from which the code may be created.

Abstract: A system and method of for obtaining a pseudorandom number generator are disclosed. A set of state modules, each with a limit value, may be provided. In an embodiment, each of the limit values may be relatively prime to the other limit values. In response to one or more events, the values of the state modules are incremented. At some frequency that may be statistically independent from the occurrence of the one or more events, the values of the state modules are obtained and combined to form a random number. The values may be combined as desired and, if desired, may be combined modulo 2w, where 2w represents the number of possible random values.

Abstract: A live tree whose trunk has been cut from its roots is supported on a stand and continuously watered from a vessel associated with the stand. A conical hole is drilled into the cut end of the tree trunk. A tapered peg is inserted into that hole. The external surface of the peg is not circular, but has longitudinally extending ridges which engage and bite into the wall of the hole. The lower end of the peg is supported in a water vessel. The cut end of the tree trunk is immersed in water around its circumferential surface, on the end grain of its cut end, and water also flows upward along the surface of the peg between the longitudinal ridges thereon in contact with the wall of the conical hole.