In this paper, the collision-avoidance formation control problem for underactuated surface vessels (USVs) subject to input constraints is investigated. The input constraints include both input amplitude saturation and input rate saturation. A controller based on barrier Lyapunov functions (BLFs) is developed for the considered system. First, a disturbance observer is designed to compensate for environmental disturbances and mo...

Faecal bile acids (BAs) are increasingly used in archaeological studies to detect domesticated species and reconstruct herding practices. However, it is unclear how environmental factors influence BA profiles and how much these profiles vary across regions. This uncertainty raises questions about their reliability for species-specific identifications across diverse settings. To address this, we analysed faecal BA profiles from...