In this paper, here a nonlinear adaptive heading controller is developed for an underactuated surface vessel with constrained input and sideslip angle compensation.The controller design is accomplished in a framework of backstepping technique.First, to amend the irrationality of the traditional definition of the desired heading, the desired heading
Pain due to red degeneration of fibroid during pregnancy is usually associated with large myomas.Necrobiosis / red degeneration typically manifests itself about midpregnancy when Lhe leiomyoma suddenly becomes acutely painful, enlarged and tender.The common differential diagnosis of this condition are torsion of the pedicle of an ovarian cyst/a lei
Dari penelitian atas bangunan-bangunan tanah dapat diketahui bahwa pemukiman masa megalitik di DAS Sekampung adalah pemukiman yang dibangun dengan membuat parit serta gundukan tanah.Pemukiman ini dapat dibuat dengan membangun gundukan tanah dan parit ataupun parit saja bentuk permukaan tanah pemukiman ini berbeda-beda.Ada yang mengikuti apac1/60/1/
Coal spontaneous combustion seriously affect the safety of coal production enterprises, and using flame retardants is an important means to prevent coal spontaneous combustion.Based on the heating spontaneous combustion test, the effects of retardants, tenga flip orb including MgCl2 flame retardant and secondary aromatic amines, on the long flame c
Background: In the context of humanitarian logistics, efficiently evacuating people from disaster-stricken areas is a complex challenge.This study focuses on the Tula River region in Hidalgo, Mexico, exploring the evacuation and support of individuals in temporary shelters.Despite the fact that the topic has been addressed in the literature, it is