主从Cucker-Smale系统的有限时间蜂拥行为

基于有限时间稳定性理论,研究主从Cucker-Smale系统的有限时间蜂拥行为。通过李雅普诺夫函数方法,得到蜂拥在有限时间发生所需的条件。研究结果表明:收敛时间和种群规模以及智能体与领导者之间的耦合强度有关。收敛时间随种群规模和耦合强度的增大而减小。在数值模拟中,速度和速度差的演化曲线证实了理论结果的可靠性。     

Preparation and application of low-temperature-curable,alkylphenol ethoxylate-free,and flame-retardant flocking adhesive

In this study, a low temperature-curable and alkylphenol ethoxylate-free acrylic emulsion was synthesized with diacetone acrylamide (DAAM) and adipic dihydrazide (ADH) as a crosslinking system; butyl acrylate (BA), ethyl acrylate (EA), methyl methacrylate (MMA), and acrylic acid (AA) as monomers; vinyl siloxane as a modifier; sodium-dodecyl sulphate (SDS) and AEO-9 as a compound emulsifier by means of semicontinuous emulsion polymerization. The optimal polymerization conditions by weight proportion determined by the orthogonal experiments were emulsifier amount, 4%, initiator amount, 0.5%, DAAM amount, 2.5%, and core–shell ratio, 3/2. Three flame-retardant additives, namely, ammonium polyphosphate (APP), FR-5, and organic montmorillonite, were mixed with the acrylic emulsion to synthesize the flocking adhesive SA. The char length, afterglow time, and afterflame time of the flocking fabrics were characterized to evaluate the fire-retardant properties of the adhesives. The results clearly evidence an outstanding improvement in fire-retardant properties using adhesive SA based on good flocking fastness and fabric handle.     

纸模制品用植绒胶的制备应用及流变性研究

根据纸模包装制品的特点,制备适于纸模的植绒胶黏剂,并研究其流变特性和植绒牢度。通过提高硬单体的含量,利用松香分子量调节和增粘作用,制备出适于纸模植绒的植绒胶黏剂,用旋转流变仪测定胶黏剂的流变性,采用Ostwald-Deael幂律方程分析其流变特性,并测试其植绒牢度。在低速剪切速率下该植绒胶的粘度即可降到1Pa·s左右,适于喷涂上胶;松香用量由0wt%提高到7.5wt%时,植绒胶黏剂假塑性流体的特性越来越明显;松香用量由7.5wt%提高到10wt%时,植绒胶有向牛顿流体转变的趋势。松香可以降低丙烯酸酯的聚合度,使得胶黏剂粘度和表面张力降低,并保证较高的粘结性,有利于上胶和绒毛的植入。     

A connectivity-preserving flocking algorithm for multi-agent systems based only on position measurements

Most existing flocking algorithms rely on information about both relative position and relative velocity among neighbouring agents. In this article, we investigate the flocking problem with only position measurements. We propose a provably-stable flocking algorithm, in which an output vector is produced by distributed filters based on position information alone but not velocity information. Under the assumption that the initial interactive network is connected, the flocking algorithm not only can steer a group of agents to a stable flocking motion, but also can preserve the connectivity of the interactive network during the dynamical evolution. Moreover, we investigate the flocking algorithm with a virtual leader and show that all agents can asymptotically attain a desired velocity even if only one agent in the team has access to the information of the virtual leader. We finally show some numerical simulations to illustrate the theoretical results.     

Flocking under hierarchical leadership with a free‐will leader

Recently, a model for flocking was introduced by Cucker and Smale together with a proof of convergence. This proof established unconditional convergence to flocking (i.e., to a common velocity), provided the interaction between agents was strong enough and conditional convergence otherwise. The strength of the interaction is measured by a parameter β, and the critical value at which unconditional convergence stops holding is β = 1 ∕ 2. This model was extended by Shen to allow for a hierarchical leadership structure among the agents, and similar convergence results were proved. But, for discrete time, convergence result was only for the flock with an overall leader moving with a constant velocity. In this note, we establish convergence result for the flock with a free‐will leader. Copyright © 2012 John Wiley & Sons, Ltd.     

人工生命仿真在计算机动画中的应用

探讨了人工生命在计算机动画中的应用,分析了一个飞鸟模型的人工生命系统的实现,这个系统中的个体具有基本的行为特征,可以实现较复杂的动画。     

基于位置信息的混合多智能体蜂拥控制方法

目前,很多蜂拥控制算法都是基于智能体通信半径为一个固定的值且既考虑多智能体之间的相对位置,又考虑它们的相对速度来设计的,然而,实际的情况往往不会有那么理想。文中试图在基于通信半径不同的混合多智能体控制策略的设计过程中减少考虑的控制因素的个数（只考虑位置信息）,提出一种分布式的控制算法。此控制算法能实现多智能体跟随一个速度固定的虚拟领航者,形成聚合、无碰撞的队列。给出了算法的可行性理论分析,并针对20个智能体跟踪一个速度固定的虚拟领导者的情形给出了计算机仿真,用以验证算法的可行性。     

一类有序化多移动机器人群集运动控制系统

群集运动控制(flocking control)是一种新型的多移动机器人运动协调控制, 目前的研究多集中于无leader模式下群集运动控制器的设计. 为此, 本文阐述了一类多移动机器人有序化群集运动系统控制方案及其性能评价方法. 首先, 在前人的研究基础上, 本文介绍了基于Agent的有序化编队控制机制; 然后, 运用非完整约束下移动机器人的动力学原理, 设计了由Agent到移动机器人的控制转化方法; 并进一步提出了基于“最小稳定时间”的群集运动分析法, 可对有序化群集运动系统进行分析; 最后, 运用仿真实例, 描述了多移动机器人有序化群集运动的控制及分析过程. 实验结果验证了此控制方案的有效性.     

移动无线传感网络节点协同避障的改进方法

传统蜂拥控制模型在协同避障跟踪方面,目前有Reynolds和Tanner的蜂拥模型。笔者曾对其做出了改进,提出了与Steer to Avoid法则相结合的避障模型,该模型在跟踪过程中对凸形障碍有较高的避障效率。由于在Steer to Avoid的方向判断中,目标对节点具有引力,使节点群陷入凹形区域无法绕出。将协同避障模型引入凹形障碍环境中,对模型进一步改进,在Steer to Avoid转向判断时暂时取消目标对节点群的引力,让节点群在进入凹形后自行做出环境的判断并沿着障碍边缘不断搜索路径,最终绕出障碍到达目标。仿真实验结果表明：与传统两个模型相比,该模型在避障的平均速率和时间效率上有显著提高,适用于避开未知的凹形障碍。     

具有时变通信延迟的多智能体系统改进蜂拥控制

针对不确定非线性二阶多智能体系统中存在的时变通信时延和未知干扰问题,提出了一种鲁棒自适应蜂拥控制规律。为了使二阶多智能体系统能够具有更好的抗干扰能力,设计了基于智能体位置状态信息和速度状态信息的鲁棒自适应算子,实现了系统在时变通信时延扰动下的分布控制。通过使用Lyapunov-Krasovskii方法构造能量函数,证明了多智能体系统的网络连通性,智能体的速度收敛于虚拟领导者的速度,并给出了具有时变通信时延的多智能体系统收敛条件。仿真实验结果表明,在不同干扰强度和不同通信时延下系统均能实现快速收敛,形成稳定的拓扑结构,证明所提方法正确有效。