This article described a complete design of parallel interface based on ARM & FPGA, using the on-chip DPRAM in FPGA to improve the metastability problem which was generated during data transmission between the asynchronous clock-domains ；And it achieved the design of ARM & FPGA hardware interface module , data-sending module , data-receiving module and FPGA driver module , also gave the feasible method that using a flag to solve the dislocation of data-reading ；Test results indicate that the system works steadily.

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In this paper, a distributed predictive control with the model uncertainty which uses the data-driven strategy and robust theory (data-driven RDMPC) is proposed for the formation control of multiple mobile robots. The robust performance objective minimization is applied to replace the quadratic performance objective minimization to establish the optimization problem, where the model uncertainty is considered in the distributed system. The control policy is derived by applying the data-driven strategy, and the future predictive value is obtained by employing the linear law in the historical data. Lyapunov theory is referred to analyze the stability of the mobile robot formation system. The effectiveness of the proposed method is proved by a set of simulation experiments.

The main goal of this work is to develop an effective technique for solving nonlinear systems of Volterra integral equations. The main tools are the cardinal spline functions on small compact supports. We solve a system of algebra equations to approximate the solution of the system of integral equations. Since the matrix for the algebraic system is nearly triangular, It is relatively painless to solve for the unknowns and an approximation of the original solution with high precision is accomplished. In order to enhance the accuracy, several cardinal splines are employed in the paper. Our schemes were compared with other techniques proposed in recent papers and the advantage of our method was exhibited with several numerical examples.

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