Finite-time coordination in multiagent systems using sliding mode control approach

Finite-time stability in dynamical systems theory involves systems whose trajectories converge to an equilibrium state in finite time. In this paper, we use the notion of finite-time stability to apply it to the problem of coordinated motion in multiagent systems. Specifically, we consider a group of agents described by fully actuated Euler–Lagrange dynamics along with a leader agent with an objective to reach and maintain a desired formation characterized by steady-state distances between the neighboring agents in finite time. We use graph theoretic notions to characterize communication topology in the network determined by the information flow directions and captured by the graph Laplacian matrix. Furthermore, using sliding mode control approach, we design decentralized control inputs for individual agents that use only data from the neighboring agents which directly communicate their state information to the current agent in order to drive the current agent to the desired steady state. Sliding mode control is known to drive the system states to the sliding surface in finite time. The key feature of our approach is in the design of non-smooth sliding surfaces such that, while on the sliding surface, the error states converge to the origin in finite time, thus ensuring finite-time coordination among the agents in the network. In addition, we discuss the case of switching communication topologies in multiagent systems. Finally, we show the efficacy of our theoretical results using an example of a multiagent system involving planar double integrator agents.     

Accelerated iterative methods for finding solutions of nonlinear equations and their dynamical behavior

In this paper, we present a family of optimal, in the sense of Kung–Traub’s conjecture, iterative methods for solving nonlinear equations with eighth-order convergence. Our methods are based on Chun’s fourth-order method. We use the Ostrowski’s efficiency index and several numerical tests in order to compare the new methods with other known eighth-order ones. We also extend this comparison to the dynamical study of the different methods.     

Synthesis and characterization of hydrophilic nanocomposite coating on glass substrate

Hydrophilic coatings based on 3‐glicidoxy propyl trimethoxy silane (GPTMS) and polyethylene glycol (PEG) were prepared with the incorporation of tetramethoxysilane (TMOS) and silica nanoparticle colloidal suspension by a sol–gel process. Characterization of the coatings has been performed by Fourier Transform Infrared (FTIR) and Attenuated Total Reflectance Infrared (ATR‐IR) techniques. Morphological properties were characterized by Scanning Electron Microscopy (SEM). The distribution of Si atoms in the hybrid system was obtained by Si mapping. The particle size in sol solution of the coating was measured by light scattering analyzer. Optical properties were characterized by using UV–vis spectrophotometer. The hydrophilicity of the coating was determined by contact angle measurements, and also the results have been confirmed by surface energy and water uptake investigations. The obtained results indicate that the surfactants affected the contact angles remarkably but did not change the transparency. It has been found that applying silica nano particles leads to coatings with different properties than those using TMOS, while siloxane contents were the same in these two set of coatings. © 2006 Wiley Periodicals, Inc. J Appl Polym Sci 102: 5322–5329, 2006     

Homotopy perturbation method for motion of a spherical solid particle in plane couette fluid flow

He’s homotopy perturbation method is applied to obtain exact analytical solutions for the motion of a spherical particle in a plane couette flow. It is demonstrated that the applied analytical method is very straightforward in comparison with existing techniques. Furthermore, it is decidedly effectual in terms of accuracy and rapid convergence. The formulation of the problem is presented in the text as well as the analytical and numerical procedures. The current results can be used in different areas of particulate flows.     

Multi-objective optimization of laminated composite shells for minimum mass/cost and maximum buckling pressure with failure criteria under external hydrostatic pressure

In the present study, Multi-objective optimization of composite cylindrical shell under external hydrostatic pressure was investigated. Parameters of mass, cost and buckling pressure as fitness functions and failure criteria as optimization criterion were considered. The objective function of buckling has been used by performing the analytical energy equations and Tsai-Wu and Hashin failure criteria have been considered. Multi-objective optimization was performed by improving the evolutionary algorithm of NSGA-II. Also the kind of material, quantity of layers and fiber orientations have been considered as design variables. After optimizing, Pareto front and corresponding points to Pareto front are presented. Trade of points which have optimized mass and cost were selected by determining the specified pressure as design criteria. Finally, an optimized model of composite cylindrical shell with the optimum pattern of fiber orientations having appropriate cost and mass is presented which can tolerate the maximum external hydrostatic pressure.

     

Inhibition effect of a synthesized N, N＇-bis（2-hydroxybenzaldehyde）- 1, 3-propandiimine on corrosion of mild steel in HC1

The corrosion inhibition of mild steel in 1 mol/L HCl by N, N′-bis (2-hydroxybenzaldehyde)-1, 3-propandiimine (2-HBP) has been investigated by using potentiodynamic polarization, electrochemical impedance spectroscopy (EIS) and chronoamperometry measurements. The experimental results suggest that this compound is an excellent corrosion inhibitor for mild steel and the inhibition efficiency increases with the increase in inhibitor concentration. Polarization curves reveal that this organic compound is a mixed type inhibitor. The effect of temperature on the corrosion behavior of mild steel with the addition of the Schiff base was studied in the temperature range from 25℃ to 65℃. The experimentally obtained adsorption isotherms follow the Langmuir equation. Activation and thermodynamic adsorption parameters such as E a , ΔH, ΔS, K ads and ΔG ads were calculated by the corrosion currents at different temperatures and using the adsorption isotherm. The morphology of mild steel surface in the absence and presence of 2-HBP was examined by atomic force microscope (AFM) images.     

Polyphenol-rich seaweed (Eucheuma cottonii) extract suppresses breast tumour via hormone modulation and apoptosis induction

The edible red seaweed Eucheuma cottonii is abundantly cultivated for carrageenan production. This study investigated the effects of dietary E. cottonii polyphenol-rich extract (ECME) on breast cancer. In vitro assays showed that ECME was antiproliferative against oestrogen-dependent MCF-7 and oestrogen-independent MB-MDA-231 human breast-cancer cells (IC₅₀ values of 20 and 42 μg/ml, respectively) but was non-toxic to normal cell lines. The ECME (150 and 300 mg/kg BW) was fed to female rats and, after 4 weeks, rat mammary tumour was induced using LA7 cells (inoculated subcutaneously). The ECME inhibited tumour development and erythrocyte lipid peroxidation in the cancer-induced rats, dose-dependently. It showed anti-oestrogenic effects on the rat estrous cycle and serum hormone levels. Electron microscopy and histopathology observations confirmed apoptosis in the rat mammary tumours. The polyphenol-rich ECME was tumour-suppressive via apoptosis induction, downregulating the endogenous oestrogen biosynthesis, and improving antioxidative status in the rats.     

Simulation of clinker grinding circuits of cement plant based on process models calibrated using GA search method简

Particle size distributions of obtained samples from several sampling campaigns were determined and raw data were mass balanced before being used in simulation studies.After determination of breakage function,selection function,Bond work index,residence time distribution parameters,and Whiten＇s model parameters for air separators and diaphragms between the two compartments of tube ball mills,performance of the circuits was simulated for given throughputs and feed particle size distribution.Whiten＇s model parameters were determined by GA（genetic algorithm） toolbox of MATLAB software.Based on implemented models for modeling and simulation,optimization of circuits was carried out.It increased nearly 10.5% and 15.8% in fresh feed capacity input to each tube ball mill.In addition,circulating load ratios of circuits are modified to 118% and 127% from low level of 57% and 22%,respectively,and also cut points of air separators are adjusted at 30 and 40 μm from high range of 53 and 97 μm,respectively.All applications helped in well-operation and energy consumption reduction of equipments.     

One-pot synthesis of hematite-alumina hollow sphere composite by ultrasonic spray pyrolysis technique with high adsorption capacity toward PAHs

A hybrid nanocomposite of alumina and hematite was synthesized by ultrasonic spray pyrolysis technique. The study of microscopic images, mapping analysis, and XRD patterns revealed that the Al₂O₃ – Fe₂O₃ nanocomposite was composed of separated spherical particles with a thin layer ball-shaped structure that metal oxides are uniformly distributed in the wall of hollow sphere particles, led to a coherent and monotonous construction. A series of coefficients of equilibrium sorption of polycyclic aromatic hydrocarbons (PAHs) as hazardous materials were measured on the prepared composite material in a batch technique. The free or pure Al₂O₃ or Fe₂O₃ showed negligible removal efficiency for the mentioned analytes. The various significant variables, such as initial analyte concentration, solution pH, adsorbent dose, and contact time to remove analyte, were studied in the aqueous solutions. Adsorption data were modeled to Langmuir, Freundlich, and Temkin isotherms, and a good correlation found in the case of Langmuir isotherm and adsorption capacity for anthracene, phenanthrene, and naphthalene were 370, 333, and 322 mg g^?1, respectively. Investigation of the kinetic models proved a pseudo-second-order, and the prepared adsorbent can be reused more than 7 times without a significant decrease of adsorption performance.     

Lower limits of spin detection efficiency for two-parameter two-qubit (TPTQ) states with non-ideal ferromagnetic detectors

We have investigated a TPTQ state as an input state of a non-ideal ferromagnetic detectors. Minimal spin polarization required to demonstrate spin entanglement according to entanglement witness and CHSH inequality with respect to (w.r.t.) their two free parameters have been found, and we have numerically shown that the entanglement witness is less stringent than the direct tests of Bell’s inequality in the form of CHSH in the entangled limits of its free parameters. In addition, the lower limits of spin detection efficiency fulfilling secure cryptographic key against eavesdropping have been derived. Finally, we have considered TPTQ state as an output of spin decoherence channel and the region of ballistic transmission time w.r.t. spin relaxation time and spin dephasing time has been found.