Group Hybrid Coordination Control of Multi-Agent Systems With Time-Delays and Additive Noises

A new kind of group coordination control problemgroup hybrid coordination control is investigated in this paper.The group hybrid coordination control means that in a whole multi-agent system(MAS)that consists of two subgroups with communications between them,agents in the two subgroups achieve consensus and containment,respectively.For MASs with both time-delays and additive noises,two group control protocols are proposed to solve this problem for the containment-oriented case and consensus-oriented case,respectively.By developing a new analysis idea,some sufficient conditions and necessary conditions related to the communication intensity betw een the two subgroups are obtained for the following two types of group hybrid coordination behavior:1)Agents in one subgroup and in another subgroup achieve weak consensus and containment,respectively;2)Agents in one subgroup and in another subgroup achieve strong consensus and containment,respectively.It is revealed that the decay of the communication impact betw een the two subgroups is necessary for the consensus-oriented case.Finally,the validity of the group control results is verified by several simulation examples.

A New Hybrid Vertical Coordinate Ocean Model and Its Application in the Simulation of the Changjiang Diluted Water

Based on the analysis of the advantages and disadvantages of some vertical coordinates applied in the calculation of the Changjiang diluted water （CDW）, a new hybrid vertical coordinate is designed, which uses σ coordinate for current and σ-z coordinate for salinity. To combine the current and salinity, the Eulerian-Lagrangian method is used for the salinity calculation, and the baroclinic pressure gradient （BPG） is calculated on the salinity sited layers. The new hybrid vertical coordinate is introduced to the widely used model of POM （Princeton Ocean Model） to make a new model of POM-σ-z. The BPG calculations of an ideal case show that POM-σ-z model brings smaller error than POM model does. The simulations of CDW also show that POM-σ-z model is better than POM model on simulating the salinity and its front.

A “Dressed” Ensemble Kalman Filter Using the Hybrid Coordinate Ocean Model in the Pacific

The computational cost required by the Ensemble Kalman Filter （EnKF） is much larger than that of some simpler assimilation schemes, such as Optimal Interpolation （OI） or three-dimension variational as- similation （3DVAR）. Ensemble optimal interpolation （EnOI）, a crudely simplified implementation of EnKF, is sometimes used as a substitute in some oceanic applications and requires much less computational time than EnKF. In this paper, to compromise between computational cost and dynamic covariance, we use the idea of ＂dressing＂ a small size dynamical ensemble with a larger number of static ensembles in order to form an approximate dynamic covariance. The term ＂dressing＂ means that a dynamical ensemble seed from model runs is perturbed by adding the anomalies of some static ensembles. This dressing EnKF （DrEnKF for short） scheme is tested in assimilation of real altimetry data in the Pacific using the HYbrid Coordinate Ocean Model （HYCOM） over a four-year period. Ten dynamical ensemble seeds are each dressed by 10 static ensemble members selected from a 100-member static ensemble. Results are compared to two EnKF assimilation runs that use 10 and 100 dynamical ensemble members. Both temperature and salinity fields from the DrEnKF and the EnKF are compared to observations from Argo floats and an OI SST dataset. The results show that the DrEnKF and the 100-member EnKF yield similar root mean square errors （RMSE） at every model level. Error covariance matrices from the DrEnKF and the 100-member EnKF are also compared and show good agreement.

The numerical simulation of the Kuroshio frontal eddies in the East China Sea using a hybrid coordinate ocean mode

A hybrid coordinate ocean model （ltYCOM） is used to simulate the Kuroshio frontal eddies in the East China Sea （ECS）. The research area is located （20°-32°N, 120°-132°E）. Using tile simulating data, it is figured out that the Kuroshio frontal eddies occur in summer as well as in the other season in this area. The life cycle of the Kuroshio and its frontal eddies is different with the position. The life-cycle of the Kuroshio frontal eddies of the northwest Diaoyu Islands is about 14 d; and the life cycle of the Kuroshio frontal eddies of southwest Yakushima about 20 d. This result extends the in situ researching results greatly. In addition, the vertical impact depth of the Kuroshio frontal eddies is also changing with the position. On the whole, in the ECS, the maximum impact depth of the Kuroshio frontal eddies of the northwest Taiwan Islands is about 75 m; the maximum impact depth of the Kuroshio frontal eddies of the northwest Diaoyu Islands is more than 125 m, but no more than 200 m; and the maximum impact depth of the Kuroshio frontal eddies of southwest Yakushima is up to 100 m.

Rigid-Flexible Coupling Dynamic Analysis of Sub-Launched Vehicle During the Vertical Tube-Exit Stage

During the launching stage,hydrodynamic pressure and adapters' reaction loads can influence the vehicle's rigid motion as well as cause its structural vibration,which is a typical rigid-flexible coupling dynamic problem. This paper presents a 2-D rigid-flexible coupling model to calculate the vehicle's dynamic responses in that period.The vehicle was equivalent to a flexure beam with axial deformation. Hybrid coordinate and modal superposition methods were used to describe its large rigid displacement and small deformation. By the second Lagrange equation,the vehicle centroid's displacements,rotational angle and modal coordinates were chosen as generalized coordinates and then the vehicle 's rigid-flexible coupling dynamic equations were obtained. By numerical simulation,the results of vehicle's motion parameters and transverse internal loads were acquired.The calculation results showed that differences of the vehicle's motion parameters between the rigid-flexible coupling model and the rigid body assumption are noticeable and the peak magnitude of the vehicle's transverse internal loads in the rigid-flexible coupling model is higher remarkably than that in the rigid body assumption.

Morphological and phylogenetic diversity of magnetotactic bacteria and multicellular magnetotactic prokaryotes from a mangrove ecosystem in the Sanya River,South China

Magnetotactic bacteria(MTB)are morphologically and phylogenetically diverse prokaryotes commonly able to produce magnetic nanocrystals within intracellular membrane-bound organelles(i.e.,magnetosomes)and to swim along geomagnetic field lines.We studied the diversity of MTB in the samples collected from a mangrove area in the Sanya River,Hainan,South China,using microscopic and microbial phylogenetic methods.Results of microanalysis and observation in microscopy and energy dispersive X-ray spectroscopy(EDXS)reveal a highly morphological diversity of MTB including unicellular cocci,vibrios,rod-shaped bacteria,and three morphotypes of multicellular magnetotactic prokaryotes(MMPs).In addition,analysis of the 16S rRNA gene showed that these MTB were clustered into 16 operational taxonomic units affi liated to the Alpha-,Delta-,and Gamma-proteobacteria classes within the Proteobacteria phylum.Meanwhile,by using the coupled fluorescence and transmission electron microscopy analysis,rodshaped bacteria,vibrio,and cocci were phylogenetically and structurally identified at the single-cell level.This study demonstrated highly diverse MTB communities in the mangrove ecosystem and provide a new insight into the overall diversity of MTB.

Optimized Vertical Layers for the Hybrid Terrain-Following Coordinate Minimizing Numerical Errors in a 2D Rising Bubble Experiment near Steep Terrain

The basic terrain-following(BTF)coordinate simplifies the lower boundary conditions of a numerical model but leads to numerical error and instability on steep terrain.Hybrid terrain-following(HTF)coordinates with smooth slopes of vertical layers(slopeVL)generally overcome this difficulty.Therefore,the HTF coordinate becomes very desirable for atmospheric and oceanic numerical models.However,improper vertical layering in HTF coordinates may also increase the incidence of error.Except for the slopeVL of an HTF coordinate,this study further optimizes the HTF coordinate focusing on the thickness of vertical layers(thickVL).Four HTF coordinates(HTF1–HTF4)with similar slopeVL but different vertical transition methods of thickVL are designed,and the relationship between thickVL and numerical errors in each coordinate is compared in the classic idealized thermal convection[two-dimensional(2D)rising bubble]experiment over steep terrain.The errors of potential temperatureθand vertical velocity w are reduced most,by approximately 70%and 40%,respectively,in the HTF1 coordinate,with a monotonic increase in thickVL according to the increasing height;however,the errors ofθincreased in all the other HTF coordinates,with nonmonotonic thickVLs.Furthermore,analyses of the errors of vertical pressure gradient force(VPGF)show that due to the interpolation errors of thickVL,the inflection points in the vertical transition of thickVL induce the initial VPGF errors;therefore,the HTF1 coordinate with a monotonic increase in thickVL has the smallest errors among all the coordinates.More importantly,the temporal evolution of VPGF errors manifests top-type VPGF errors that propagate upward gradually during the time integration.Only the HTF1 and HTF4 coordinates with a monotonic increase in thickVL near the top of the terrain can suppress this propagation.This optimized HTF coordinate(i.e.,HTF1)can be a reference for designing a vertical thickVL in a numerical model.

Hybridized valence electrons of 4f^(0-14)5d^(0-1)6s^2:the chemical bonding nature of rare earth elements

The chemical bonding nature of rare earth（RE） elements can be studied by a quantitative analysis of electron domain of an atom. The outer electrons of RE elements are within the valence shell 4f^（0-14）5d^（0-1）6s^2, which are involved in all chemical bonding features. We in this work found that the chemical bonding characteristics of 4f electrons are a kind of hybridizations, and classified them into three types of chemical bonding of 4f^（0-14）5d^（0-1）6s^2, furthermore, the coordination number ranging from 2 to 16 could thus be determined. We selected Y（NO_3）_3, La（NO_3）_3, Ce（NO_3）_3, YCl_3, LaCl_3, and CeCl_3 as examples to in-situ observe their IR spectra of chemical bonding behaviors of Y^（3＋）, La^（3＋） and Ce^（3＋） cations, which could show different chemical bonding modes of 4f and 5d electrons. In the present study, we obtained the direct criterion to confirm whether 4f electrons can participate in chemical bonding, that is, only when the coordination number of RE cations is larger than 9.