Leader-following coordination of multi-agent systems with information feedback

Based on the strategy of information feedback from followers to the leader, flocking control of a group of agents with a leader is studied. The leader tracks a pre-defined trajectory and at the same time the leader uses the feedback information from followers to the leader to modify its motion. The advantage of this control scheme is that it reduces the tracking errors and improves the robustness of the team cohesion to followers＇ faults. The results of simulation are provided to illustrate that information feedback can improve the performance of the system.

Improved spectrum sharing algorithm based on feedback control information in cognitive radio networks

In order to avoid the system performance deterioration caused by the wireless fading channel and imperfect channel estimation in cognitive radio networks, the spectrum sharing problem with the consideration of feedback control information from the primary user is analyzed. An improved spectrum sharing algorithm based on the combination of the feedback control information and the optimization algorithm is proposed. The relaxation method is used to achieve the approximate spectrum sharing model, and the spectrum sharing strategy that satisfies the individual outage probability constraints can be obtained iteratively with the observed outage probability. Simulation results show that the proposed spectrum sharing algorithm can achieve the spectrum sharing strategy that satisfies the outage probability constraints and reduce the average outage probability without causing maximum transmission rate reduction of the secondary user.

Information perception and feedback mechanism and key techniques of multi-modality human-robot interaction for service robots

With the increasing of the elderly population and the growing hearth care cost, the role of service robots in aiding the disabled and the elderly is becoming important. Many researchers in the world have paid much attention to heaRthcare robots and rehabilitation robots. To get natural and harmonious communication between the user and a service robot, the information perception/feedback ability, and interaction ability for service robots become more important in many key issues.

Position Optimization for Mobile Relay Communications with Constrained Energy over a Whole Horizontal Plane

This paper concerns the position optimization problem of a mobile relay over a whole horizontal plane.This problem is important because the position of a mobile relay directly affects the end-to-end performance,e.g.,reliability,connectivity,and data rate.In this paper,we propose a new position optimization scheme of a mobile relay over a whole horizontal plane based on the one-bit feedback information from the destination node,which improves the performance over the prior scheme whose position of the mobile relay is optimized over a fixed orbit.In the proposed scheme,the mobile relay is equipped with merely one single onboard antenna.Moreover,no prior information about the positions of both the source node and the destination node is required.Thus,the proposed scheme can work at low network resources scenario,which is particularly suitable for mobile relay communication with constrained energy,e.g.,the communications in a disaster area where the infrastructure is heavily damaged,volcano monitoring,and wireless powered communication networking.According to the characteristics of the proposed scheme,we further design two heuristic implementations to calculate the optimal position of a mobile relay over a whole horizontal plane.The first implementation has better steady performance whereas the second implementation has better convergence speed.We implement the proposed scheme and conduct an extensive performance comparison between the proposed scheme and prior schemes to verify the advantages of the proposed scheme.

Feedback Stackelberg Solution for Mean-Field Type Stochastic Systems with Multiple Followers

This paper discusses feedback Stackelberg strategies for the continuous-time mean-field type stochastic systems with multiple followers in infinite horizon.First,optimal control problems of the followers are studied in the sense of Nash equilibrium.With the help of a set of generalized algebraic Riccati equations(GAREs),sufficient conditions for the solvability are put forward.Then,the leader faces a constrained optimal control problem by transforming the cost functional into a trace criterion.Employing the Karush-Kuhn-Tucker(KKT)conditions,necessary conditions are presented in term of the solvability of the cross-coupled stochastic algebraic equations(CSAEs).Moreover,feedback Stackelberg strategies are obtained based on the solutions of the CSAEs.In addition,an iterative scheme is introduced to obtain efficiently the solutions of the CSAEs.Finally,an example is given to shed light on the effectiveness of the proposed results.

Deformation mechanism and collapse treatment of the rock surrounding a shallow tunnel based on on-site monitoring

When tunnels are constructed at shallow depths in areas with poor geological conditions,such as portal sections,valleys and hillsides in regions with granitic bedrock,considerable excavation-induced deformation of the surrounding rock may occur,potentially resulting in tunnel collapses.The main reason for these problems is the lack of understanding of the deformation mechanism and evolution of the soft granitic rock surrounding the tunnel and the adoption of inappropriate construction technology and methods.This article analyzes the deformation mechanism of the rock surrounding a shallow tunnel based on in situ monitoring data as a case study and suggests that certain measures should be taken to effectively control the deformation of the surrounding rock and to minimize the potential for tunnel collapse.The results show that the deformation of the granitic soil surrounding the tunnel can be divided into three stages:the rapid deformation stage,the slow deformation stage and the stabilization stage.Appropriate construction methods should be carefully selected to ensure safety during tunnel excavation in the first stage.To avoid secondary disasters caused by tunnel collapses,three treatment measures may be implemented as part of safety management:enhancing the monitoring of the surrounding rock deformation,adjusting the construction methods and optimizing the support systems.In particular,accurate monitoring data and timely information feedback play a vital role in tunnel construction.Therefore,engineers with considerable engineering experience and professional knowledge are needed to analyze the monitoring data and make accurate predictions of tunnel deformation to ensure that reasonable measures are taken in the process of shallow tunnel excavation.

隧道围岩监控信息化应用

隧道围岩量测采用全站仪对隧道围岩净空变化、拱顶沉降进行测量,通过蓝牙将数据上传至手簿或移动终端设备,手簿或移动终端设备通过网络上传至服务器,后台服务器自动分析数据,推送到相关管理者移动客户端,相关管理者及时了解监测信息,危险情况下管理者能第一时间得到信息并采取措施,避免安全事故发生[1]。

基于改进的IFM-NSGAⅢ模型的武汉市土地利用优化配置

提出改进的信息反馈模型-第三代非支配排序遗传算法(information feedback model-non-dominated sorting genetic algorithmⅢ,IFM-NSGAⅢ),并将其用于土地利用优化:在NSGAⅢ基础上耦合IFM以实现多个目标的平衡。以武汉市为研究区,制定经济效益、生态效益、转换成本、不相容性、紧凑性共5个优化目标,检验模型的适用性。结果表明,模型能够生成多样化的土地利用模式满足不同发展需求,在生态效益优先的模式1中,与现状相比,其生态效益和经济效益分别提升了0.10%和6.24%。