Formation and obstacle avoidance control for multiagent systems

This paper considers the problems of formation and obstacle avoidance for multiagent systems.The objective is to design a term of agents that can reach a desired formation while avoiding collision with obstacles.To reduce the amount of information interaction between agents and target,we adopt the leader-follower formation strategy.By using the receding horizon control (RHC),an optimal problem is formulated in terms of cost minimization under constraints.Information on obstacles is incorporated online as sensed in a limited sensing range.The communication requirements between agents are that the followers should obtain the previous optimal control trajectory of the leader to each update time.The stability is guaranteed by adding a terminal-state penalty to the cost function and a terminal-state region to optimal problem.Finally,simulation studies are provided to verify the effectiveness of the proposed approach.     

Stability analysis for multi-agent systems using the incidence matrix: Quantized communication and formation control

The spectral properties of the incidence matrix of the communication graph are exploited to provide solutions to two multi-agent control problems. In particular, we consider the problem of state agreement with quantized communication and the problem of distance-based formation control. In both cases, stabilizing control laws are provided when the communication graph is a tree. It is shown how the relation between tree graphs and the null space of the corresponding incidence matrix encode fundamental properties for these two multi-agent control problems.     

Global and robust formation-shape stabilization of relative sensing networks

This paper proposes a simple, distributed algorithm that achieves global stabilization of formations for relative sensing networks in arbitrary dimensions with fixed topology. Assuming the network runs an initialization procedure to equally orient all agent reference frames, convergence to the desired formation shape is guaranteed even in partially asynchronous settings. We characterize the algorithm robustness against several sources of errors: link failures, measurement errors, and frame initialization errors. The technical approach combines algebraic graph theory, multidimensional scaling, and distributed linear iterations.     

A distributed control scheme for multiple robotic vehicles to make group formations

This paper presents a novel distributed control scheme of multiple robotic vehicles. Each robotic vehicle in this scheme has its own coordinate system, and it senses its relative position and orientation to others, in order to make group formations. Although there exists no supervisor and each robotic vehicle has only relative position feedback from the others in the local area around itself, all the robotic vehicles are stabilized, which we have succeeded in proving mathematically only in the cases where the attractions between the robots are symmetrical. Each robotic vehicle especially has a two-dimensional control input referred to as a “formation vector” and the formation is controllable by the vectors. The validity of this scheme is supported by computer simulations.     

Rare Earths, Trace Element Characteristics of High-Mg Volcanic Rocks of Yixian Formation in Sihetun West Liaoning Province and Its Apocalypse

The high-Mg volcanic rocks of the Yixian Formation in the Sihetun area have the obvious characteristics of mantle-derived lava in rare earth, trace element characteristics with high Mg# (62～70) and high content of compatible elements. In the meantime, the volcanic rocks also have the obvious characteristics of Crust-source material in rare earth, trace element characteristics with high ∑REE (158.78×10-6～359.66×10-6), high (La/Yb)N (14.61～29.60), high La/Nb(2.37～7.52) and high Ba/Nb(67.58～205.96), obvious positive anomaly of Pb and negative anomaly of Nb, Ta in trace element spider-gram. In Sr-Nd-Pb isotope the (87Sr/86Sr)i ratio is higher than 0.706 and the εNd(t) ratio is from -3.4 to -13, both reflect enriched Mantle characteristics. The characteristics above of the volcanic rocks combined with the content of Sr, Ba, Y, Yb and the ratio of Sr/Y show that the volcanic rocks have the property of the Sanukite rocks in Setouchi Japan beside subduction zone, and illuminate that the Sanukite rocks can be formed not only in island-arc near subduction zone but also in intro-plate. The analysis indicates that the high-Mg volcanic rocks in the Sihetun area result from the collective function of mantle-derived lava and crust-source materials. The result illuminates that the West Liaoning region is very special in tectonic geochemical background in Cretaceous in East China, and is an ideal region for us to further study the characteristics of magmatic activity as well as the process of Crust-Mantle interaction in Eastern China.     

Formation cross sections of nuclei with (n,2n) reactions

Ｆｏｒｍａｔｉｏｎｃｒｏｓｓｅｃｔｉｏｎｓｏｆｎｕｃｌｅｉｗｉｔｈ（ｎ，２ｎ）ｒｅａｃｔｉｏｎｓＣｈｅｎＸｕｅＳｈｉ，ＸｉｅＫｕａｎＺｈｏｎｇ，ＺｈｏｕＳｈｅｎｇＭｏ，ＹａｎＱｉｎｇＱｕａｎ（ＳｈａｎｇｈａｉＩｎｓｔｉｔｕｔｅｏｆＮｕｃｌｅ...     

Effect of Si/Fe ratio on the boron and phosphorus doping efficiency of β-FeSi2 by magnetron sputtering

Boron-doped or phosphorus-doped β-FeSi₂ thin films have been prepared on silicon substrate by magnetron sputtering. Effects of Si/Fe ratio on the boron and phosphorus doping efficiencies have been studied from the resistivities of doped β-FeSi₂ thin films and current-voltage characteristics of doped β-FeSi₂/Si heterojunctions. The experimental results reveal that the carrier concentration and doping efficiency of boron or phosphorus dopants at the Fe-rich side are higher than that at the Si-rich side. The effect of Si/Fe ratio can be deduced from the comparison of the formation energies under two extreme conditions. At the Fe-rich limit condition, the formation energy of boron or phosphorous doping is lower than that at the Si-rich condition. Therefore, the activation of impurities is more effective at the Fe-rich side. These results demonstrate that the boron-doped and phosphorous-doped β-FeSi₂ thin films should be kept at the Fe-rich side to avoid the unexpected doping sites and low doping efficiency.     

页岩岩相的测井曲线识别方法——以焦石坝地区五峰组—龙马溪组为例

页岩岩相的识别是页岩气勘探开发的基础工作,不同类型页岩具有不同物质组分与组构,进而具有不同的脆性度和物性,目前利用测井曲线来识别页岩岩相的研究较为薄弱.以焦石坝地区五峰组—龙马溪组3口井的测井资料、岩心测试数据为基础,通过多参数优选、多元线性拟合,分别建立了黏土矿物、硅质矿物相对含量的预测方程,探讨利用测井曲线识别页岩...     

冷轧板中夹杂类孔洞缺陷的形成原因

对冷轧板中夹杂类孔洞缺陷的宏观及微观特征进行了分析。认为夹杂类孔洞是由于基板中存在着聚集状夹杂、大型夹杂、分层等缺陷导致基板不能连续变形所致。对夹杂物来源、连铸坯缺陷、冶炼和连铸浇注工艺进行了调查，发现敞浇、供钢节奏紧张时易采取的非常规操作是导致连铸坯中大型夹杂等各类缺陷形成的主要原因。现场验证结果证明，敞浇与非常规操作因素叠加时，使连铸坯冷轧板产生孔洞的几率明显增加。因此，要杜绝冷轧板中夹杂类孔洞缺陷还需从控制连铸浇注环节着手。     

One step synthesis process for fabricating NiFe2O4 nanoparticle loaded porous carbon spheres by ultrasonic spray pyrolysis

In the present work, the porous hollow carbon spheres loaded with NiFe₂O₄ nanoparticles have been successfully prepared via ultrasonic spray pyrolysis technique at 700?°C and the associated formation mechanism has been studied. The as-prepared NiFe₂O₄/carbon microspheres with the diameter of about 3–5?µm and the specific surface area of 236.6889?m²?g^?1 exhibit good monodispersity and an abundance of mesopores of about 40?nm size. Notably, the 20?nm NiFe₂O₄ nanoparticles are encapsulated by carbon microspheres and disperse homogeneously inside the carbon matrix. We could tune the relative content of ferrite and carbon sphere via adjusting the composition of the solution used for synthesis and the carbonization temperature. Consequently, some interesting properties can be obtained by combining the magnetic NiFe₂O₄ nano powder and the electrically conductive porous carbon, which renders the resulting composite suitable for promising applications in electromagnetic wave absorption, treatment of polluted water, catalyst design, energy storage, batteries and so on.