Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditiona...Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.展开更多
This work aims at developing the actor-to-actor (A2A) relationship concept in service contexts enhancing the contribution of the systems theories. The most recent progresses related to the research on the service, a...This work aims at developing the actor-to-actor (A2A) relationship concept in service contexts enhancing the contribution of the systems theories. The most recent progresses related to the research on the service, as a matter of fact, highlight how the nowadays co-creation processes are key elements in each service context. Both the Service Science (SS) and the Service Dominant (S-D) logic analyse the importance of the role played by the numerousness of actors involved in the service exchange because of the resources held (and released) and the contribution they can offer. System theories, and in particular the Viable System Approach, offer the possibility of an holistic perspective able to re-interpret the same characterizing mechanisms of the value co-creation. In the following parts of the work it will presented a conceptual analysis based on the contribution of the VSA, the SS and the S-D logic, whose scientific proposals will be developed and critically analysed in order to verify the proposition coherence in terms of A2A relationships within the value co-creation process. The relational perspective of the Service Eco-systems shows a view open to network in relation to economic and social actors, where each organization can be considered as an actor because it is actively committed in the value co-creation development, going beyond the difference between the user, the producer, or the exchange facilitator. Therefore, the contribution proposes some progresses compared with the business to business (B2B) approach and literature, through the introduction of the new A2A interaction concept within the service context for the indistinct role that the actors play in the value co-creation process. In this perspective, the contribution introduces the research line focused on the service, giving attention, afterwards, to the service system context, in order to analyse the features of these systems with the specific goal of identifying its peculiarity. The contribution proceed with the presentation of the systems thinking, and in particular the VSA contribution, directed toward the description of the gaps that the authors identify in the present research attempting to offer some orientations for the comprehension and the improvement of the service systems and of their planning and management implications. The contribution finally proposes an integrated interpretation of the several emerging paradigms (VSA, SS and S-D logic) seeking an in-depth-analysis of the A2A relationships in the service contexts.展开更多
Many by-products are generated in the process of oxidizing cyclohexene to produce 1,2-epoxycyclohexane by hydrogen peroxide, including cyclohexanol, cyclohexanone, etc. To obtain high-purity 1,2-epoxycyclohexane, the ...Many by-products are generated in the process of oxidizing cyclohexene to produce 1,2-epoxycyclohexane by hydrogen peroxide, including cyclohexanol, cyclohexanone, etc. To obtain high-purity 1,2-epoxycyclohexane, the by-products must be removed through rectification. Refining 1,2-epoxycyclohexane through rectification requires vapor-liquid equilibrium(VLE) data of the related system. Therefore, the VLE data of 1,2-epoxycyclohexane- cyc-lohexanone system were measured at 101.3 kPa using an improved EC-2 VLE still. The thermodynamic consistency of the data was then tested by Herington's method and the rigorous point-to-point method. The results obtained were exemplary. The VLE data were correlated by the Wilson and non-random two-liquid(NRTL) equations, using the error sum squares of the vapor composition as the objective function to obtain the model parameters. The difference between the calculated values and the experimental data is minor, indicating that the VLE data are suitable for engineering design.展开更多
Correct combination of plastid(cp)and nuclear(nr)DNA data for plant phylogenetic reconstructions is not a new issue,but with an increasing number of nrDNA loci being used,it is of ever greater practical concern.For ac...Correct combination of plastid(cp)and nuclear(nr)DNA data for plant phylogenetic reconstructions is not a new issue,but with an increasing number of nrDNA loci being used,it is of ever greater practical concern.For accurately reconstructing the phylogeny and evolutionary history of plant groups,correct treatment of phylogenetic incongruence is a vital step in the proper analysis of cpDNA and nrDNA data.We first evaluated the current status of analyzing cpDNA and nrDNA data by searching all articles published in the journal Systematic Botany between 2005 and 2011.Many studies combining cpDNA and nrDNA data did not rigorously assess the combinability of the data sets,or did not address in detail possible reasons for incongruence between the two data sets.By reviewing various methods,we outline a procedure to more accurately analyze and/or combine cpDNA and nrDNA data,which includes four steps:identifying significant incongruence,determining conflicting taxa,providing possible interpretations for incongruence,and reconstructing the phylogeny after treating incongruence.Particular attention is given to explanation of the cause of incongruence.We hope that our procedure will help raise awareness of the importance of rigorous analysis and help identify the cause of incongruence before combining cpDNA and nrDNA data.展开更多
In this paper, the output consensus problem of general heterogeneous nonlinear multi-agent systems subject to different disturbances is considered. A kind of Takagi-Sukeno fuzzy modeling method is used to describe the...In this paper, the output consensus problem of general heterogeneous nonlinear multi-agent systems subject to different disturbances is considered. A kind of Takagi-Sukeno fuzzy modeling method is used to describe the nonlinear agents' dynamics. Based on the model, a distributed fuzzy observer and controller are designed based on parallel distributed compensation scheme and internal reference models such that the heterogeneous nonlinear multi-agent systems can achieve output consensus. Then a necessary and sufficient condition is presented for the output consensus problem. And it is shown that the consensus trajectory of the global fuzzy model is determined by the network topology and the initial states of the internal reference models. Finally, some simulations are given to illustrate and verify the effectiveness of the proposed scheme.展开更多
The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. S...The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.展开更多
This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring...This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.展开更多
基金The National Natural Science Foundation of China(No.61273110)the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002)
文摘Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double- integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non- rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.
文摘This work aims at developing the actor-to-actor (A2A) relationship concept in service contexts enhancing the contribution of the systems theories. The most recent progresses related to the research on the service, as a matter of fact, highlight how the nowadays co-creation processes are key elements in each service context. Both the Service Science (SS) and the Service Dominant (S-D) logic analyse the importance of the role played by the numerousness of actors involved in the service exchange because of the resources held (and released) and the contribution they can offer. System theories, and in particular the Viable System Approach, offer the possibility of an holistic perspective able to re-interpret the same characterizing mechanisms of the value co-creation. In the following parts of the work it will presented a conceptual analysis based on the contribution of the VSA, the SS and the S-D logic, whose scientific proposals will be developed and critically analysed in order to verify the proposition coherence in terms of A2A relationships within the value co-creation process. The relational perspective of the Service Eco-systems shows a view open to network in relation to economic and social actors, where each organization can be considered as an actor because it is actively committed in the value co-creation development, going beyond the difference between the user, the producer, or the exchange facilitator. Therefore, the contribution proposes some progresses compared with the business to business (B2B) approach and literature, through the introduction of the new A2A interaction concept within the service context for the indistinct role that the actors play in the value co-creation process. In this perspective, the contribution introduces the research line focused on the service, giving attention, afterwards, to the service system context, in order to analyse the features of these systems with the specific goal of identifying its peculiarity. The contribution proceed with the presentation of the systems thinking, and in particular the VSA contribution, directed toward the description of the gaps that the authors identify in the present research attempting to offer some orientations for the comprehension and the improvement of the service systems and of their planning and management implications. The contribution finally proposes an integrated interpretation of the several emerging paradigms (VSA, SS and S-D logic) seeking an in-depth-analysis of the A2A relationships in the service contexts.
基金Supported by the Key Scientific and Technology Project of Henan Province(132102210050)
文摘Many by-products are generated in the process of oxidizing cyclohexene to produce 1,2-epoxycyclohexane by hydrogen peroxide, including cyclohexanol, cyclohexanone, etc. To obtain high-purity 1,2-epoxycyclohexane, the by-products must be removed through rectification. Refining 1,2-epoxycyclohexane through rectification requires vapor-liquid equilibrium(VLE) data of the related system. Therefore, the VLE data of 1,2-epoxycyclohexane- cyc-lohexanone system were measured at 101.3 kPa using an improved EC-2 VLE still. The thermodynamic consistency of the data was then tested by Herington's method and the rigorous point-to-point method. The results obtained were exemplary. The VLE data were correlated by the Wilson and non-random two-liquid(NRTL) equations, using the error sum squares of the vapor composition as the objective function to obtain the model parameters. The difference between the calculated values and the experimental data is minor, indicating that the VLE data are suitable for engineering design.
基金supported by the National Natural Science Foundation of China (31270269,30800059,30990241)the Knowledge Innovation Program of the Chinese Academy of Sciences (KSCX2-EW-Z-2)
文摘Correct combination of plastid(cp)and nuclear(nr)DNA data for plant phylogenetic reconstructions is not a new issue,but with an increasing number of nrDNA loci being used,it is of ever greater practical concern.For accurately reconstructing the phylogeny and evolutionary history of plant groups,correct treatment of phylogenetic incongruence is a vital step in the proper analysis of cpDNA and nrDNA data.We first evaluated the current status of analyzing cpDNA and nrDNA data by searching all articles published in the journal Systematic Botany between 2005 and 2011.Many studies combining cpDNA and nrDNA data did not rigorously assess the combinability of the data sets,or did not address in detail possible reasons for incongruence between the two data sets.By reviewing various methods,we outline a procedure to more accurately analyze and/or combine cpDNA and nrDNA data,which includes four steps:identifying significant incongruence,determining conflicting taxa,providing possible interpretations for incongruence,and reconstructing the phylogeny after treating incongruence.Particular attention is given to explanation of the cause of incongruence.We hope that our procedure will help raise awareness of the importance of rigorous analysis and help identify the cause of incongruence before combining cpDNA and nrDNA data.
基金supported in part by the National Natural Science Foundation of China under Grant Nos.61375105 and 61403334Chinese Postdoctoral Science Fundation under Grant No.2015M581318
文摘In this paper, the output consensus problem of general heterogeneous nonlinear multi-agent systems subject to different disturbances is considered. A kind of Takagi-Sukeno fuzzy modeling method is used to describe the nonlinear agents' dynamics. Based on the model, a distributed fuzzy observer and controller are designed based on parallel distributed compensation scheme and internal reference models such that the heterogeneous nonlinear multi-agent systems can achieve output consensus. Then a necessary and sufficient condition is presented for the output consensus problem. And it is shown that the consensus trajectory of the global fuzzy model is determined by the network topology and the initial states of the internal reference models. Finally, some simulations are given to illustrate and verify the effectiveness of the proposed scheme.
基金Project supported by the National Natural Science Foundation of China (No. 50875132)
文摘The consensus problem for general linear multi-agent systems (MASs) under directed topology is investigated. First, a novel consensus protocol based on proportional-integral-derivative (PID) control is proposed. Second, the consensus problem is converted into an asymptotic stability problem through transformations. Third, through a state projection method the consensus condition is proved and the explicit expression of the consensus function is given. Then, a Lyapunov function is constructed and the gain matrices of the protocol are given based on the linear matrix inequality. Finally, two experiments are conducted to explain the advantages of the method. Simulation results show the effectiveness of the proposed algorithm.
基金supported by the Swedish Research Council(VR)the Swedish Foundation for Strategic Research(SSF)+3 种基金the NNSF of China under Grant Nos.61203142 and 61273221the Excellent Young Technology Innovation Foundation of Hebei University of Technology under Grant No.2012005the Ministry of Education Innovation Team Development Plan under Grant No.IRT1232the Natural Science Foundation of Tianjin under Grant No.13JCQNJC03500
文摘This paper studies the consensus problem of multi-agent systems in which all agents are modeled by a general linear system. The authors consider the case where only the relative output feedback between the neighboring agents can be measured. To solve the consensus problem, the authors first construct a static relative output feedback control under some mild constraints on the system model. Then the authors use an observer based approach to design a dynamic relative output feedback control. If the adjacent graph of the system is undirected and connected or directed with a spanning tree, with the proposed control laws, the consensus can be achieved. The authors note that with the observer based approach, some information exchange between the agents is needed unless the associated adjacent graph is completely connected.