Distributed adaptive neural networks leader-following formation control for quadrotors with directed switching topologies

The leader-following formation problem is discussed for a team of quadrotors under directed switching topologies. To obtain a more general dynamic model, we describe the quadrotor system in a non-affine pure-feedback form with mismatched unknown nonlinearities. By employing an adaptive neural networks state observer to approximate the unknown nonlinear functions and to reconstruct the immeasurable inner states, we propose a novel distributed output feedback formation control protocol with the backstepping method combining with the dynamic surface control technique. From the Lyapunov stability theorem, all signals in the closed-loop formation system are proven to be cooperatively semiglobally uniformly ultimately bounded for any given bounded initial conditions. Finally, we proved that we verify the performance of the proposed formation control approach by a simulation study.     

Controllability and observability of multi-agent systems with heterogeneous and switching topologies

ABSTRACT

This paper focuses on controllability and observability of multi-agent systems with heterogeneous and switching topologies, where the first- and the second-order information interaction topologies are different and switching. First, based on the controllable state set, a controllability criterion is obtained in terms of the controllability matrix corresponding to the switching sequence. Next, by virtue of the subspace sequence, two necessary and sufficient algebraic conditions are established for controllability in terms of the system matrices corresponding to all the possible topologies. Furthermore, controllability is considered from the graphic perspective. It is proved that the system is controllable if the union graph of all the possible topologies is controllable. With respect to observability, two sufficient and necessary conditions are derived by taking advantage of the system matrices and the corresponding invariant subspace, respectively. Finally, some simulation examples are worked out to illustrate the theoretical results.     

生物检测机器人操作臂工作空间分析与尺度优化

研究一种具有正交关节轴的6R操作臂工作空间分析与尺度优化方法,用于指导危险环境下生物检测机器人上装机械臂的工作范围和结构尺度优化。分析6R操作臂拓扑结构并建立其位移逆解模型,通过考察各关节尺度参数与转角变化范围的组合,揭示出可达工作空间随操作臂主要构件尺度参数与关节转角范围的变化规律,从而得到一种最佳的关节转角范围组合,进而建立一种操作臂任务空间的快速计算方法。在此基础上,以特征长度法和计权Frobenius范数构造的归一化速度雅可比矩阵条件数的倒数为性能评价指标,综合出一组最优操作臂结构尺度参数,并得到该条件下操作臂末端的可达工作空间和任务空间。该方法具有工作空间分析直观,结构参数优化快速等优点,可使这类操作臂获得良好的运动学性能。     

Process variability-induced NoC link failure: A probabilistic model

As technology scales down, the amount of process variations increases causing Networks-on-Chip (NoC) links, designed to be identical, to have current and delay variations. Thus, some links may fail to meet design timing or power constraints. Using current and delay variations with design constraints, we estimate link failure probability across NoC links. Modeling results show that the average NoC link failure probability across a 4×4 mesh reaches 3.3% for voltage mode (VM) links and 3.7% for current mode (CM) links at 32 nm. The average NoC link failure probability also increases as the supply voltage decreases or the operating frequency increases. As NoC mesh size scales from 4×4 to 8×8, the link failure probability doubles to 8% for VM links at 22 nm. Topology evaluation shows that for small NoC size, the grid topology outperforms the tree one with lower amount of variation. On the other hand, for relatively large NoC sizes, the hierarchical tree and ring topologies outperform the grid topology with lower amount of variations across the links.     

Fluctuation control for many-to-one routing in wireless sensor networks

This paper presents a distributed and adaptive fluctuation control scheme for many-to-one routing(FCM) in wireless sensor networks.Unlike well-known topology control schemes,the primary design objective is to reduce the fluctuation which happens due to overload of sensors in a data collection tree.More specifically,an estimation model of a sensor available capacity based on the number of its neighbors is proposed.In addition,this paper proposes a parent selection mechanism by three-way handshake.With such model and the selection mechanism,it is ensured that the load of a sensor does not exceed its available capacity.Finally,an adaptive maintenance mechanism is proposed to adjust the estimation of a sensor available capacity as the network environment changes.Simulation results demonstrate the effectiveness of the scheme.     

Star graph automorphisms and disjoint Hamilton cycles

The search for edge-disjoint Hamilton cycles in star graphs is important for the design of interconnection network topologies. We define automorphisms for star graphs St _n of degree n?1, for every positive odd integer n, which yield permutations of labels for the edges of St _n taken from the set of integers between 1 and ? n/2 ?. By decomposing these permutations into permutation cycles, we are able to identify edge-disjoint Hamilton cycles that are automorphic images of a known Hamilton cycle in St _n . Our method produces a better than two-fold improvement from ? ? (n)/10 ? to ? 2? (n)/9 ?, where ? is the Euler function, for the known number of edge-disjoint Hamilton cycles in St _n for all odd integers n. For prime n, the improvement is from ? n/8 ? to ? n/5 ?, and we can extend this result to the case when n is the power of a prime greater than 7.     

A reconfigurable,regular-topology cluster/datacenter network using commodity optical switches

Hybrid optical/electrical interconnects using commercial optical circuit switches have been previously proposed as an attractive alternative to fully-connected electronically-switched networks. Among other advantages, such a design offers increased port density, bandwidth/port, cabling and energy efficiency, compared to conventional packet-switched counterparts. Recent proposals for such system designs have looked at small and/or medium scale networks employing hybrid interconnects. In our previous work, we presented a hybrid optical/electrical interconnect architecture targeting large-scale deployments in high-performance computing and datacenter environments. To reduce complexity, our architecture employs a regular shuffle network topology that allows for simple management and cabling. Thanks to using a single-stage core interconnect and multiple optical planes, our design can be both incrementally scaled up (in capacity) and scaled out (in the number of racks) without requiring major re-cabling and network re-configuration. In this paper, we extend the fundamentals of our existing work towards quantifying and understanding the performance of these type of systems against more diverse workload communication patterns and system design parameters. In this context, we evaluate–among other characteristics–the overhead of the reconfiguration (decomposition and routing) scheme proposed and extend our simulations to highly adversarial flow generation rate/duration values that challenge the reconfiguration latency of the system.     

An approach to design interface topologies across interdependent urban infrastructure systems

This paper proposes an approach to design or retrofit interface topologies to minimize cascading failures across urban infrastructure systems. Four types of interface design strategies are formulated based on maximum network component degree, maximum component betweenness, minimum Euclidean distance across components and component reliability rankings. To compute and compare strategy effectiveness under multiple hazard types, this paper introduces a global annual cascading failure effect (GACFE) metric as well as a GACFE-based cost improvement (GACI) metric. The GACI metric quantifies the improvement of the strategy effectiveness per kilometer increment of interdependent link length (ILL) relative to a reference strategy with minimum ILL. Taking as examples the power and gas transmission systems in Harris County, Texas, USA, optimum interface designs under random and hurricane hazards are discussed. Findings include that the strategy based on reliability rankings minimizes the GACFE metric, and decreases the GACI value relative to a reference practical strategy by 10-15% under different power grid safety margins. Such metrics will contribute to coupled utility system design or retrofit given that current guidelines or recommended practices in the utility industry mostly rely on minimum Euclidean distances and are yet to include interdependent effects in their provisions.     

分群协议中冲突与拓扑信息误差研究

分析了实际应用中无线网络典型多址接入方式CSMA和TDMA的常见冲突,以及在网络分群结构中可能引起的拓扑信息误差,提出了度量这种拓扑信息误差的指标,并给出了几种改进措施。结合802.15.4协议实现了分群算法,并用NS2网络仿真工具分析了通信距离、移动速度对该指标的影响。     

基于定制遗传算法考虑配电网多种拓扑可观性的PMU优化配置

同步相量测量单元(PMU)可以为配电网提供相量数据以提高可观性。考虑因配电网节点数目多但投资成本少造成的PMU供需不平衡,提出了以固定PMU数目为约束条件的优化配置模型。目标函数在最大化可观性节点数目的前提下,最大化网络量测冗余度。模型中考虑了多种拓扑结构的影响,并通过引入零注入节点、节点注入功率和支路功率等量测数据提高可观性。提出了一种定制遗传算法来求解模型,通过定制交叉和变异操作,保证所有个体为可行解。最后,给出了基于最优方案的PMU配置顺序。通过对IEEE标准节点系统进行仿真计算,验证了所提方法的可行性和有效性。