Decentralized control of multi-agent systems for swarming with a given geometric pattern

This paper addresses a problem of cooperative formation control of a network of self-deployed autonomous agents. We propose a decentralized motion coordination control for the agents so that they collectively move in a desired geometric pattern from any initial position. There are no predefined leaders in the group and only local information is required for the control. The control algorithm is developed using the ideas of information consensus, and its effectiveness is illustrated via numerical simulations.     

Simultaneous H control of a finite collection of linear plants with a single nonlinear digital controller

This paper considers the problem of simultaneous H^∞ control of a finite collection of linear time-invariant systems via a nonlinear digital output feedback controller. The main result is given in terms of the existence of suitable solutions to Riccati algebraic equations and a dynamic programming equation. Our main result shows that if the simultaneous H^∞ control problem for k linear time-invariant plants of orders n₁,n₂,…,n_k can be solved, then this problem can be solved via a nonlinear time-invariant controller of order nn₁+n₂++n_k.     

Upgraded vacuum arc ion source for metal ion implantation

Vacuum arc ion sources have been made and used by a large number of research groups around the world over the past twenty years. The first generation of vacuum arc ion sources (dubbed "Mevva," for metal vapor vacuum arc) was developed at Lawrence Berkeley National Laboratory in the 1980s. This paper considers the design, performance parameters, and some applications of a new modified version of this kind of source which we have called Mevva-V.Ru. The source produces broad beams of metal ions at an extraction voltage of up to 60 kV and a time-averaged ion beam current in the milliampere range. Here, we describe the Mevva-V.Ru vacuum arc ion source that we have developed at Tomsk and summarize its beam characteristics along with some of the applications to which we have put it. We also describe the source performance using compound cathodes.     

Electrospark Dispersion of Metal Nanopowder

The production of electrically conducting metal nanopowder by electrospark dispersion in liquid dielectric is considered, in the case with a significant overvoltage in the discharge gap between the electrodes. An experimental apparatus with an air gap that creates an overvoltage at the working spark gap is developed. The two gaps split the voltage on capacitor discharge.     

Explosive coating with hard alloys

Attention focuses on the application of powder coatings and the shaping of hard alloys from powder mixtures (chromium carbide + metals) in explosive machining. The loading conditions are investigated as a function of the properties of the metal binder, as well as its structure, hardness, and antifrictional behavior.     

Development of a new theory of thermal cutting processes 12. General mathematical apparatus of the thermophysics of cutting (Part 1)

The problem is formulated, and the basic mathematical equations required to construct a theory of thermal cutting processes are outlined.     

A study of transfer in frictional interaction of polymers

The process of material transfer in the frictional interaction of polymer bodies was studied. The mechanism of friction transfer is discussed, and the effect of polymer polarity and friction conditions on the nature of the process is shown.