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Copyright of Misr Journal of Agricultural Engineering is the property of Egyptian National Agricultural Library (ENAL) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

The widespread use of Unmanned Underwater Vehicles (UUVs) in seafloor observatory networks highlights the need for docking stations to facilitate rapid recharging and effective data transfer. Floating docks are promising due to their flexibility, ease of deployment, and recoverability. To enhance understanding and optimize UUV docking with floating docks, we employ dynamic fluid body interaction (DFBI) to construct a seabed moored suspended dock (SMSD) model that features a guiding funnel, a suspended body, and a catenary of a mooring chain. This model simulates SMSD equilibrium stabilization in various ocean currents. Then, a UUV docking model with contact coupling is developed from the SMSD model to simulate the dynamic contact response during docking. The accuracy of the docking model was validated using previous experimental data. Through investigation of the UUV docking response results, sensitivity studies relating to volume, moment of inertia, mass, and catenary stiffness were conducted, thereby guiding SMSD optimization. Finally, sea tests demonstrated that the SMSD maintained stability before docking. During docking, the SMSD's rotation facilitated smooth UUV entry. After the UUV docked, the SMSD was restored to its original azimuth, confirming its adaptability, stability, and reliability. [ABSTRACT FROM AUTHOR]

The ballast control of a floating dock mainly relies on manual operations, which can be time-consuming and requires skilled workers. This study proposes an automatic ballast control system for floating docks, which improves operational efficiency and safety during the vessel docking process. A numerical model is developed to simulate the dynamic process of the floating dock's operations, which includes a six degrees-of-freedom (6DOF) model, a hydrostatic force model, a hydrodynamic force model, and a hydraulic model. The hydrostatic force model is developed using the Archimedes law and a strip theory along the longitudinal direction. The hydrodynamic model is made based on the effects of added mass and dynamic damping. The hydraulic model is proposed to deal with the hydraulic calculation of the ballast water system. The present automatic ballast control is designed based on a modified proportional controller (P-controller) to control the valve opening angles when the pitch or roll angles are larger than the corresponding threshold values. Without using controllers, the roll angles of the dock can reach 8.9 deg and 13 deg during the ballasting and de-ballasting operations, respectively. The present modified P-controller with optimized control parameters can stabilize the dock during the de-ballasting operation and keep the maximum pitch and roll angles no larger than 0.016 deg and 0.0783 deg, respectively. During the ballasting operation with the same control parameters, the roll and pitch are below 0.0604 deg and 0.0145 deg, respectively. The present automatic control will be further implemented in the vessel docking cases and can significantly improve the stability of the dock. [ABSTRACT FROM AUTHOR]

In this research, two distinct designs of protective structures were developed to address structural damage caused by ships impacting the internal structures of floating docks during maintenance operations. The designed protective structures consist of support sections and load-bearing sections, with the load-bearing section comprising three frame sections. For ease of description, the front frame section, middle frame section, and rear frame section are referred to as Frame A, Frame B, and Frame C, respectively. A drop-weight test was conducted with a stern-shaped indenter impacting the structures at 3.89 m/s. This study also assessed varying impact speeds and positions. The results showed that Specimen 2 had localized indentations on Frame B, while Specimen 1 exhibited overall deformation of Frame B and additional deformations in Frame A. The simulations agreed with the experimental results, confirming the model's accuracy. At speeds from 2.34 m/s to 5.45 m/s, Specimen 2 consistently showed localized deformations, while Specimen 1 showed comprehensive deformation of Frame B at 3.89 m/s due to lower rigidity. When the indenter impacted the specimens at different locations with a speed of 5.45 m/s, the two specimens exhibited varying degrees of damage. As the impact location shifted from the central area to the end, the maximum indentation depth of Specimen 1 decreased from 52.26 mm to 41.71 mm, while that of Specimen 2 decreased from 43.26 mm to 38.50 mm. The reduction in indentation depth and extent as the impact location approached the support frame can be attributed to the increasing involvement of the web plate beneath the frame in resisting the impact. Additionally, compared to Specimen 1, Specimen 2 exhibited a relatively smaller overall indentation depth, and the impact of location variation on indentation depth was also relatively minor. [ABSTRACT FROM AUTHOR]

J-domain proteins are critical Hsp70 co-chaperones. A and B types have a poorly understood glycine-rich region (Grich) adjacent to their N-terminal J-domain (Jdom). We analyzed the ability of Jdom/Grich segments of yeast Class B Sis1 and a suppressor variant of Class A, Ydj1, to rescue the inviability of sis1-Δ. In each, we identified a cluster of Grich residues required for rescue. Both contain conserved hydrophobic and acidic residues and are predicted to form helices. While, as expected, the Sis1 segment docks on its J-domain, that of Ydj1 does not. However, data suggest both interact with Hsp70. We speculate that the Grich--Hsp70 interaction of Classes A and B J-domain proteins can fine tune the activity of Hsp70, thus being particularly important for the function of Class B. [ABSTRACT FROM AUTHOR]

The accurate prediction of the collision force magnitude resulting from ship berthing on docks is crucial for the rationality and safety of dock structural design. This paper presents a novel framework for the calculation of berthing collision force for ships (CBCF), which integrates field data, finite element models, and surrogate models. Based on field data and finite element analysis, the framework constructs and compares four surrogate models with low sample requirements, ultimately selecting the optimal surrogate model for predicting collision force. Furthermore, a sensitivity analysis of the parameters is conducted based on the selected model, followed by a comparison with the various methods used for collision force prediction. The results illustrate the effectiveness of the proposed framework in replacing finite element models for the rapid and accurate prediction of collision force. Comparison with existing methods also underscores the advantages of the proposed framework, including low sample requirements, high calculation accuracy, and exceptional efficiency. In summary, this study not only introduces a novel and precise surrogate model framework for the swift prediction of berthing collision force, but it also offers valuable insights into the prevention of ship collision with wharf accidents and facilitates the rational and safe design of wharf structures. [ABSTRACT FROM AUTHOR]

This paper studies a cooperative modeling framework to reduce the complexity in deriving the governing dynamical equations of complex systems composed of multiple bodies such as biped robots and unmanned aerial and ground vehicles. The approach also allows for an optimization-based trajectory generation for the complex system. This work also studies a fast–slow model predictive control strategy with task prioritization to perform docking maneuvers on cooperative systems. The method allows agents and a single agent to perform a docking maneuver. In addition, agents give different priorities to a specific subset of shared states. In this way, overall degrees of freedom to achieve the docking task are distributed among various subsets of the task space. The fast–slow model predictive control strategy uses non-linear and linear model predictive control formulations such that docking is handled as a non-linear problem until agents are close enough, where direct transcription is calculated using the Euler discretization method. During this phase, the trajectory generated is tracked with a linear model predictive controller and addresses the close proximity motion to complete docking. The trajectory generation and modeling is demonstrated on a biped robot, and the proposed MPC framework is illustrated in a case study, where a quadcopter docks on a non-holonomic rover using a leader–follower topology. [ABSTRACT FROM AUTHOR]

This paper introduces a multiple container loading problem with practical constraints and loading situations at several docks. In the real world, items may be stored on several loading docks in the depot. So, to pack items stored on a dock, it may be necessary to move or reload the items loaded into the container at the previous docks. We present a realistic definition of reloading conditions and design a temporary loading pattern for each dock to reduce the reloading effort. We propose a column generation‐based heuristic algorithm that uses a tree search to solve the subproblem. The proposed algorithm can solve benchmark instances with one loading dock with only a 1.3% deviation from the literature's best results. It can also solve real‐world instances with several loading docks in reasonable running times and reduce the total cost by 21.6%, compared to the case where only one loading dock is considered. [ABSTRACT FROM AUTHOR]

As E-Commerce develop, customers' tight delivery requirements are driving warehouses to operate more efficiently. This paper studies two types of class-based storage policies for a multi-dock unit-load warehouse: the within-aisle policy and the across-aisle policy. The aim is to determine the optimal class boundary and explore the dominance situation (i.e. which policy performs better in which situation). We first develop an expected response distance model for each policy based on a general layout of multiple docks. Then, closed-form optimal first zone boundary and warehouse dimension are given for the across-aisle policy. For within-aisle policy, an efficient algorithm is developed (based on the proved unimodality property) for obtaining its optimal first zone boundary. Besides, each policy's dominance situation is analysed for two typical situations. Numerical results show that both policies can bring up to 60% performance improvement compared with the random storage policy. Impacts of docks layout and warehouse dimensions on each policy's dominance situations are illustrated. It shows that the across-aisle policy performs better in the situation where the docks' and wall's centrelines are adjacent, and in the situation where the warehouse is narrow and deep. Managerial insights on policy selection and dock layout design are presented for warehouse managers. [ABSTRACT FROM AUTHOR]

Cross-docking is a logistics process in which products are unloaded through receiving docks and then transferred to shipping docks with almost no storage in between. In this paper, a mixed integer linear programming model (MILP) is proposed to optimise the scheduling, storage, assignment and sequencing of trucks at receiving and shipping docks for a problem inspired from a multiple-door cross-dock facility of an industrial partner with multiple temporary storage zones. The multiple storage zones are separated and located in the centre of the cross-dock handling different types of products. The objective is to minimise the total tardiness of inbound and outbound trucks. A heuristic (H) is proposed to find an initial solution. Then, three meta-heuristics are developed, namely Random Search (RS), Tabu Search (TS) and Simulated Annealing (SA) to improve the scheduling of trucks in order to minimise the tardiness of inbound and outbound trucks. Experimental results indicate that the three meta-heuristics (RS, TS and SA) are able to find good quality results within reasonable computational times. Finally, since SA showed the best performance compared to RS and TS, it was chosen to be compared to the current manual method using discrete event simulation. [ABSTRACT FROM AUTHOR]

Despite decades of intense study, the molecular basis of asynchronous neurotransmitter release remains enigmatic. Synaptotagmin (syt) 7 and Doc2 have both been proposed as Ca2+ sensors that trigger this mode of exocytosis, but conflicting findings have led to controversy. Here, we demonstrate that at excitatory mouse hippocampal synapses, Doc2a is the major Ca2+ sensor for asynchronous release, while syt7 supports this process through activity-dependent docking of synaptic vesicles. In synapses lacking Doc2a, asynchronous release after single action potentials is strongly reduced, while deleting syt7 has no effect. However, in the absence of syt7, docked vesicles cannot be replenished on millisecond timescales. Consequently, both synchronous and asynchronous release depress from the second pulse onward during repetitive activity. By contrast, synapses lacking Doc2a have normal activity-dependent docking, but continue to exhibit decreased asynchronous release after multiple stimuli. Moreover, disruption of both Ca2+ sensors is non-additive. These findings result in a new model whereby syt7 drives activity-dependent docking, thus providing synaptic vesicles for synchronous (syt1) and asynchronous (Doc2 and other unidentified sensors) release during ongoing transmission. [ABSTRACT FROM AUTHOR]

Building on recent musicological research that emphasizes the mobility of songs, this article investigates Marseille as a site of cultural encounter and highlights the musical presence of enslaved galley rowers and translators in the city. It focuses on several descriptions of music-making in southern France by the French antiquarian Nicolas-Claude Fabri de Peiresc and his efforts to find materials on Ottoman and Persian music for the music theorist Marin Mersenne. Utilizing the constant influx of goods and people into the city, Peiresc relied on mercantile networks to obtain transcriptions of songs and music theoretical texts, engaging various informers and translators from the eastern Mediterranean. Focusing on a transcription of a single song that has been lost, the article traces the song's connections to cultures of collection, cultural translation, and transcription, with singing constituting a central site in which to negotiate and perform otherness. [ABSTRACT FROM AUTHOR]

Background: Robotic surgery was designed to overcome some of the major limitations of laparoscopy in terms of visibility, dexterity and precision. However, its potential limitations include high costs and low tactile feedback. at a tertiary care teaching hospital. Methods: In this retrospective study, we assessed the safety and feasibility of robotic-assisted cholecystectomy using the Versius Surgical Robot System® at our tertiary care teaching hospital between 2 September 2021 and 22 August 2022. Results: Of the 30 patients studied, 11 were males. The mean body mass index of the patients was 25.7. Intraoperative complications were noted in one case (haemorrhage from the liver bed) and conversion to laparoscopic surgery was noted in the same case. The median docking time was 16 min and the median console time was 72 min. No post-operative complications were noted. Both docking time and console time significantly decreased throughout this study. Conclusions: This study shows that the robotic-assisted cholecystectomy is a promising, safe and feasible alternative to traditional laparoscopic cholecystectomy. [ABSTRACT FROM AUTHOR]

Copyright of Historia y Sociedad (01218417) is the property of Universidad Nacional de Colombia, Facultad de Ciencias Humanas y Economicas and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Docks are a widespread problem in grassland, necessitating novel management solutions as pesticides become increasingly regulated. The objective was to investigate the role of soil test Potassium (K) concentrations (Morgan's solution; Na acetate + acetic acid, pH 4.8; STK) on competitiveness of docks in grassland. The experimental site (52°21 N, 7°18 W) was reseeded with perennial ryegrass in October 2009. A plot experiment was laid down in a randomised complete block design with seven rates of fertiliser K (0, 50, 100, 150, 200, 250 and 300 kg ha−1) and eight replicates. Dock numbers were measured over 6 years (2010–2015) and herbage production over 5 years (2012–2016). There was poor alignment between fertiliser K and STK in the early years of the study, however this alignment improved over time. While fertiliser K had no effect on dock numbers, there were positive correlations between STK early in the study and dock numbers m−2 throughout the study. Dock numbers m−2 were relatively static between 2010 and 2012 and increased substantially between 2013 and 2015. Between 2013 and 2016 there were strong inverse relationships (r > −.765; p <.001) between dock and grass herbage production. Towards the end of the study the lower annual fertiliser K inputs (0 and 50 kg ha−1) resulted in lower (p <.01) dock root and herbage production with an associated increase (p <.05) in grass herbage production. It is evident there is a threshold STK for permanent grassland infested with docks at which grass is more competitive for plant‐available soil K than the docks to the detriment of the dock component of the sward. [ABSTRACT FROM AUTHOR]

Due to global ecological restrictions, cities, particularly urban transportation, must choose ecological solutions. Sustainable bike-sharing systems (BSS) have become an important element in the worldwide transportation infrastructure as an alternative to fossil-fuel-powered cars in metropolitan areas. Nevertheless, the placement of docks, which are the parking areas for bikes, depends on accessibility to bike paths, population density, difficulty in bike mobility, commuting cost, the spread of docks, and route imbalance. The purpose of this study is to compare the performance of various time series and machine learning algorithms for predicting bike demand using a two-year historical log from the Capital Bikeshare system in Washington, DC, USA. Specifically, the algorithms tested are LSTM, GRU, RF, ARIMA, and SARIMA, and their performance is then measured using the MSE, MAE, and RMSE metrics. The study found GRU performed the best, with RF also producing reasonably accurate predictions. ARIMA and SARIMA models produced less accurate predictions, likely due to their assumptions of linearity and stationarity in the data. In summary, this research offers significant insights into the efficacy of diverse algorithms in forecasting bike demand, thereby contributing to future research in the field. [ABSTRACT FROM AUTHOR]

This article introduces a line‐of‐sight (LOS)‐Euler rendezvous and docking (RVD) framework to dock with a tumbling target under several RVD constraints. By a double‐loop control scheme, the chaser's position is controlled to track the target's docking port which is coupled with its rotation. The chaser's attitude is driven to track the target's rotation, while satisfying the field of view constraintwhich is coupled with the LOS range. These complex couplings are linearly described in the proposed framework. To this end, the 6 DoF information interactions among the sensor measurements, states, and RVD constraints need no transformation and linearization. Consider the online piecewise affine (PWA) model predictive controller (MPC) may be unsolvable under complex constraints, which is caused by the accumulated prediction error, a sampling‐based method is proposed. The linear predictions are driven to the closer neighborhoods of the actual nonlinear states by constructing directional sampling intervals. Besides, a singularity free strategy is provided to realize continuous tracking with crossing the singularities of angle states. Detailed numerical simulations illustrate the validity of the proposed methods. [ABSTRACT FROM AUTHOR]

The No.1 and No.2 liquid bulk cargo berths in Jida Port Area of Maoming Port are independent pier type cylinder caisson gravity docks. This paper focuses on the precision control of the prefabricated cover plate on the upper part of the circular caisson and the splitting installation of the berthing components. In the absence of effective cover in the open sea, BIM technology was used to simulate component collision detection, precise alignment of the steel bars of the separate components, and temporary installation stability analysis, in order to optimize the structural type of the separate components and select the optimal lifting plan, refine the positioning and reinforcement construction process, improve the accuracy and efficiency of prefabricated cover plates and berthing components installation through visualization, informatization, and standardization, reduce project costs and maritime lifting safety risks, and provide experience and reference for the installation of large prefabricated components similar to LPG terminals in the future. [ABSTRACT FROM AUTHOR]

An increase in population along the Indian River Lagoon has led to eutrophication, a decline in water quality, and overall degradation. The Living Docks program is a citizen–science initiative started at the Florida Institute of Technology for lagoon restoration. Public and private docks are volunteered to become Living Docks, where oyster mats are attached to dock pilings to provide a natural substrate for benthic organism growth. The community development on the oyster mats boosts water filtration to improve overall water quality and combat anthropogenic effects on the lagoon. The purpose of this project was to model benthic settlement and recruitment of prominent organisms on the Living Dock oyster mats at four research sites with specific environmental factors (e.g., temperature, salinity, turbidity, and pH). Beta regression models for recruitment and settlement were created for five of the more dominant organisms observed: oyster, barnacle, sponge, tubeworm, and encrusting bryozoan. The results of the modeling indicated that the settlement was influenced by pH, salinity, dock location, and turbidity, while recruitment was influenced by pH, salinity, dock location, and immersion time. This project provides insight into how lagoon conditions surrounding the Living Docks impact benthic growth and can aid in IRL restoration. [ABSTRACT FROM AUTHOR]

The Living Docks restoration program was implemented in the Indian River Lagoon (IRL), Florida, with the goal of affixing oyster restoration mats to dock pilings to promote the growth of filter feeding benthic organisms which can help improve local water quality. However, the relationship between IRL water quality parameters and the presence of filter feeders on the mats is not entirely clear. This study investigates the presence of benthic organisms on eight Living Docks which were deployed throughout the central part of the IRL. Environmental factors (e.g., water salinity, turbidity, pH, and temperature) were collected from the closest available water station to each dock. The main goal was to identify the presence and overall change in percent cover of specific benthic organism(s), those which are known filter feeders, in relationship to environmental parameters. Among functional groups which were identified, barnacles, biofilms, encrusting bryozoans (EBs), oysters, and sponges demonstrated significantly higher cover than the others. Barnacles were higher in abundance at specific dock locations and an increased water pH (up to 8.1), turbidity, and temperature. EB presence was positively impacted by salinity but did not respond to changes in turbidity or temperature within the measured ranges. Oysters were not observed to be impacted by any of the factors within measured ranges. Sponges had sustained abundance in half of the docks in this study. However, they did not respond to any of the environmental factors within measured ranges in different seasons. Results from this study can help target future Living Dock locations which will provide the best environment for the recruitment of filter feeding organisms. [ABSTRACT FROM AUTHOR]

The opportunities for leveraging technology to enhance the efficiency of vessel port activities are vast. Applying video analytics to model and optimize certain processes offers a remarkable way to improve overall operations. Within the realm of vessel port activities, two crucial processes are vessel approximation and the docking process. This work specifically focuses on developing a vessel velocity estimation model and a docking mooring analytical system using a computer vision approach. The study introduces algorithms for speed estimation and mooring bitt detection, leveraging techniques such as the Structural Similarity Index (SSIM) for precise image comparison. The obtained results highlight the effectiveness of the proposed algorithms, demonstrating satisfactory speed estimation capabilities and successful identification of tied cables on the mooring bitts. These advancements pave the way for enhanced safety and efficiency in vessel docking procedures. However, further research and improvements are necessary to address challenges related to occlusions and illumination variations and explore additional techniques to enhance the models' performance and applicability in real-world scenarios. [ABSTRACT FROM AUTHOR]

Focusing on the construction of London's West India Docks in 1802, I argue that this project established a feedback loop with conditions of production in the Caribbean. Through an analysis of committee minutes, letters, parliamentary papers and visual art, I move beyond economic accounts of slavery's impact to demonstrate how geographies of security and surveillance—first developed on the sugar plantation—were imported into the design and function of London's port. As such, I argue that London's docks produced a geography of segregation which offers a unique insight into the workings of racial capitalism and its exploitation of group‐differentiated vulnerabilities. Positioning my discussion alongside London's contemporary landscape, I excavate Britain's repressed memories of slavery to illustrate how they still scar the urban environment. [ABSTRACT FROM AUTHOR]

The archaeological site of Portus (Ostia Antica), is a most important ports of the ancient world. Since 2017, the University of Huelva, in collaboration with the Archaeological Park of Ostia Antica, has been developing a research project on one of its interior piers, the so-called lantern. Said east–west structure or pier is the best example of its category in the port complex. With a length of about 150 m. the latest research has provided numerous and interesting data on its architecture and diachrony, highlighting significant phases in its evolution from its construction to its final abandonment in the beginnings of the Middle Ages. Therefore, the results presented here represent a significant novelty in the general knowledge of Portus and in that of its docks in particular. [ABSTRACT FROM AUTHOR]

By focusing on love and humour, this article examines the role of positive emotions in the making and remaking of solidarity on the docks in Liverpool to demonstrate that solidarity was, and still is, embedded within power dynamics that shaped daily life. After outlining the persistent insecurities dock workers and their families faced due to the casual system of employment in place until 1967, the dangerous nature of work and the impact of containerisation, I assess how experiences during this period were remembered. A combination of oral history interviews and archival records of the National Dock Labour Board and the Mersey Docks and Harbour Company are used to highlight the significance of family support, the dockers' bucket and nicknames to understanding the emotional dimensions of class. Ultimately, I outline that solidarity action should not be understood as overt moments of political struggle alone as it was sustained by creating moments of happiness and joy. [ABSTRACT FROM AUTHOR]

Understanding key flooding processes such as wave overtopping and overflow (i.e., water flows over a structure when the crest level of the structure is lower than the water level in front) is crucial for coastal management and coastal safety assessment. In port and harbour environments, waves are not only perpendicular to the coastal structure but also very oblique, with wavefronts almost perpendicular to the main infrastructures in the harbour docks. Propagation and wave–structure interaction of such perpendicular and (very) oblique waves need to be appropriately modelled to estimate wave overtopping properly. Overflow can also be critical for estimating flooding behind any coastal defence. In this study, such oblique and parallel waves (i.e., main wave direction is parallel to the structures) are modelled in a non-hydrostatic wave model and validated with physical model tests in the literature. On top, overflow is also modelled and validated using an existing empirical formula. The model gives convincing behaviours on the wave overtopping and overflow. [ABSTRACT FROM AUTHOR]

This paper presents a novel algorithm to dock a non-holonomic Autonomous Underwater Vehicle (AUV) into a funnel-shaped Docking Station (DS), in the presence of ocean currents. In a previous work, the authors have compared several docking algorithms through Monte Carlo simulations. In this paper, a new control algorithm is presented with a goal to improve over the previous ones to fulfil the specific needs of the ATLANTIS project. Performance of the new proposed algorithm has been compared with the results of the previous study, using the same environemnt on the Stonefish hardware-in-the-loop simulator. [ABSTRACT FROM AUTHOR]

This study investigated model predictive control (MPC) for close-proximity maneuvering of spacecraft. It is essential for a designed MPC to effectively handle collision avoidance between the servicer spacecraft and the client spacecraft, especially while the client is rotating. The rotating motion of the client leads to dynamic changes in the collision avoidance constraints, which increases the difficulty of optimizing the control input in the MPC framework. Therefore, this study presents a method to improve the performance and computational efficiency of MPC for rendezvous and docking with a nonrotating or rotating client. An ellipsoid is adopted to model the client's keep-out zone (KOZ). Given the spherical KOZ of the servicer, an expanded ellipsoid is introduced to describe the KOZ for the center of mass of the servicer and modeled as a nonlinear constraint. The linearization method for reference points located at the expanded ellipsoid is adopted to convexify the nonlinear constraints. The reference points are adaptively determined according to the positions of the servicer, client, and expanded ellipsoidal KOZ. The resulting hyperplanes are then used to describe the collision avoidance constraints. By utilizing the aforementioned strategies, combined with the calculated reference points, an adaptive convex programming algorithm suitable for real-time implementation of MPC is derived. The performance of the proposed method is demonstrated through numerical simulations. [ABSTRACT FROM AUTHOR]