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.     

A review on some classes of algebraic systems

ABSTRACT

In this paper, we review some algebraic control system. Precisely, linear and bilinear systems on Euclidean spaces and invariant and linear systems on Lie groups. The fourth classes of systems have a common issue: to any class, there exists an associated subgroup. From this object, we survey the controllability property. Especially, from those coming from our contribution to the theory.     

倾斜摄影测量技术在古建筑测绘中的运用研究——以郴州市汝城县朱氏宗祠建筑测绘为例

为测试倾斜摄影测量技术路线,并通过实际项目的应用,解决传统古建筑建模过程中存在的时间成本高、难以还原复杂场景等问题。按照倾斜摄影技术的技术路线,进行朱氏宗祠建筑测绘试验,并通过基于altizure软件建立三维模型来展现倾斜摄影测量技术流程。验证无人机倾斜摄影应用于古建筑三维建模的可行性和可操作性。     

An adaptive local search algorithm for vehicle routing problem with simultaneous and mixed pickups and deliveries

The Vehicle Routing Problem with Simultaneous Pickup and Delivery (VRPSPD) is an extension to the classical Vehicle Routing Problem (VRP), where customers may both receive and send goods simultaneously. The Vehicle Routing Problem with Mixed Pickup and Delivery (VRPMPD) differs from the VRPSPD in that the customers may have either pickup or delivery demand. However, the solution approaches proposed for the VRPSPD can be directly applied to the VRPMPD. In this study, an adaptive local search solution approach is developed for both the VRPSPD and the VRPMPD, which hybridizes a Simulated Annealing inspired algorithm with Variable Neighborhood Descent. The algorithm uses an adaptive threshold function that makes the algorithm self-tuning. The proposed approach is tested on well-known VRPSPD and VRPMPD benchmark instances derived from the literature. The computational results indicate that the proposed algorithm is effective in solving the problems in reasonable computation time.     

Synthesis and characterization of MCM-41-supported nano zirconia catalysts

Series of MCM-41 supported sulfated Zirconia (SZ) catalysts with different loadings (2.5–7.5% wt.) were prepared using direct impregnation method. The acquired solid catalysts were characterized structurally and chemically using X-RD, HRTEM, BET, FT-IR, Raman spectroscopy and TPD analysis. The acidity of the solid catalysts was investigated through cumene cracking and isopropanol dehydration at different temperatures. As the SZ loading increases, the surface acidity of the mesoporous catalysts was enhanced, this was reflected by the higher catalytic activity toward cumene cracking and isopropanol dehydration.     

Design of novel urogenital pharmabiotic formulations containing lactobacilli,salivaricin CRL 1328 and non-microbial compounds with different functionalities

Context: The administration of pharmabiotics is a promising alternative to antimicrobial drugs for the treatment and/or prevention of female urogenital infections.

Objective: To design pharmabiotic formulations including bioactive ingredients of microbial origin combined with non-microbial substances and then to evaluate the stability of the combinations during freeze-drying and storage.

Materials and methods: Different formulations including Lactobacillus gasseri CRL 1263, Lactobacillus salivarius CRL 1328, salivaricin CRL 1328 (a bacteriocin) and non-microbial compounds (lactose, inulin and ascorbic acid) were assayed, and the ingredients were freeze-dried together or separately. The formulations were stored in gelatin capsules at 4?°C for 360?d.

Results: The viability of lactobacilli was affected to different extents depending on the strains and on the formulations assayed. L. salivarius and ascorbic acid were successfully combined only after the freeze-drying process. Salivaricin activity was not detected in formulations containing L. gasseri. However, when combined with ascorbic acid, lactose, inulin or L. salivarius, the bacteriocin maintained its activity for 360?d. The selected microorganisms proved to be compatible for their inclusion in multi-strain formulations together with lactose, inulin and ascorbic acid. Salivaricin could be included only in a L. salivarius CRL 1328 single-strain formulation together with non-microbial substances.

Conclusions: This study provides new insights into the design of urogenital pharmabiotics combining beneficial lactobacilli, salivaricin CRL 1328 and compounds with different functionalities.     

Potential bio-activity of whey fermented extract as sanitizer of organic grown lettuce

Consumption of vegetables is increasing due to demand for healthy products in peoples' diets. To reduce microbial contamination and maintain freshness, industrial processes in Portugal rely on minimally processing of vegetables with hypochlorite as sanitizer. Formation of toxic chlorine derivatives has raised concern restrictions to its use and alternatives with whey permeate as a disinfection agent has been attempted. The aim of this work was to evaluate the bio potential of fermented cheese whey, for use on disinfection of minimally processed lettuce organically grown.Assays were made with whey obtained from inoculated milk during cheese processing, fermented for 120 h at 37 °C, after which, among other carbohydrates, lactic acid was measured by HPLC, giving average yields of 18 g L⁻¹.The sanitizing effect of whey, undiluted, 75 and 50% solutions, was compared with 110 ppm sodium hypochlorite, after rinsing. Aerobic Microorganisms (AM), Psychrotrophic Microorganisms (PM) and Enterobacteriaceae (ENT), were used as indicators for hygiene quality. For a level of significance of P < 0.05, the hygiene quality standards of lettuce samples, were better using 75% whey solution (AM 6.62, PM 7.48 cfu g⁻¹), than using sodium hypochlorite (AM 7.48, PM 8.15 cfu g⁻¹), for the 7 days of shelf life studied. Evaluation of Enterobacteriaceae showed significant differences after 3 days, between water (ENT 4.98 cfu g⁻¹) sodium hypochlorite (ENT 4.81 cfu g⁻¹) and 75% solution of whey (ENT 4.63 cfu g⁻¹).Considering the actual limitations imposed to chlorine sanitation, these results point a good alternative to the food industry, especially for organic fresh vegetables, which are chemical free brands.