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This paper is concerned with the tele-operation of autonomous vehicles over analog Additive White Gaussian Noise (AWGN) channel, which is subject to transmission noise and power constraint. The nonlinear dynamic of autonomous vehicle is described by the unicycle model and is cascaded with a bandpass filter acting as encoder. Using the describing function method, the nonlinear dynamic of autonomous vehicle is represented by an approximate linear system. Then, the available results for linear control over analog AWGN channel are extended to account for linear continuous time systems with non - real valued and multiple real valued eigenvalues and for tracking a non-zero reference signal. Subsequently, by applying the extended results on the describing function of autonomous vehicles, a mean square control technique including an encoder, decoder and a controller is presented for reference tracking of the tele-operation of autonomous vehicles over AWGN channel. The satisfactory performance of the proposed control technique is illustrated by computer simulations.

Chalcalburnus mossulensis from the Cyprinidae family is one of the indigenous fish in many water sources. Ligula intestinalis is one of the infective parasites of this fish. In this study, The effect of this parasite in some biological parameters of this fish like: Weight, Total length, Condition Index (I.C.) and Gonadosomatic Ratio (G.S.R.) was investigated. After random sampling, collected 300 samples from Gheshlagh Lake of Kordestan, Species and age of samples was detected. In 25% of samples the infection was seen. The result of this infection was the negative effect in all biological parameters (p<0.05). In other words, There is a significant difference between the means of biometrical parameters in infected and non infected samples. By considering the negative effects of this parasite on Cyprinidae family, It is necessary to control the spread of this parasite in different water sources.