In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturban...In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents＇ states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control （DOBC） are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned.展开更多
The authors synthesized very pure dimer phase of coroneae by simple heat-treatment and subsequent sublimation purification. It was confirmed by laser desorption/ionization mass spectroscopy measurements that pure dime...The authors synthesized very pure dimer phase of coroneae by simple heat-treatment and subsequent sublimation purification. It was confirmed by laser desorption/ionization mass spectroscopy measurements that pure dimer phase of coronenes can be obtained by controlling the fusing and sublimation temperatures. The crystal structure of the dimer phase was analyzed by synchrotron XRD （X-ray diffraction） experiments. It was also found that very bright red light is emitted by irradiating ultra violet light （λ = 350 nm） to the dimer phase. The external and internal quantum yields were determined to be 5.56% and 6.95%, respectively.展开更多
Photothermal therapy （PTT） using near-infrared （NIR） laser light and gold nanorods （GNRs） shows promise as a novel cancer treatment modality. However, the laser intensity required to destroy tumor cells located ...Photothermal therapy （PTT） using near-infrared （NIR） laser light and gold nanorods （GNRs） shows promise as a novel cancer treatment modality. However, the laser intensity required to destroy tumor cells located beneath the skin is greater than the threshold intensity that causes skin damage; thus, irradiation with laser light damages the skin as well as the tumor. Here, we show that a temperature control system allows metastatic lymph nodes （LNs） to be treated by PTT using NIR laser light and GNRs, without skin damage. A mouse model of LN metastasis was developed by injection of tumor cells, and the tumor-bearing proper axillary LN was treated with NIR laser light after injection of GNRs. The skin temperature was maintained at 45 ~C during irradiation by using a temperature control system. Bioluminescence imaging revealed that tumor progression was less in LNs exposed to NIR laser light and GNRs than in LNs exposed to NIR laser light alone or controls （no irradiation or GNRs）. Furthermore, the skin and LN capsule were macroscopically intact on day 9 after irradiation with NIR laser light, whereas tumor cells within the LN showed apoptosis. A numerical analysis demonstrated that the high-temperature zone and the LN region showing damage were localized to an area up to 3 mm in depth. The proposed novel PTT technique, using NIR laser light and GNRs with controlled surface cooling, could be applied clinically to treat metastatic LNs located within or outside the area accessible for surgical dissection.展开更多
基金Supported by the National Natural Science Foundation of China under Grant Nos.60774016,60875039,60904022the Science Foundation of Education Office of Shandong Province of China under Grant No.J08LJ01Internal Visiting Scholar Object for Excellence Youth Teacher of the College of Shandong Province of China
文摘In this paper, the trajectory control of multi-agent dynamical systems with exogenous disturbances is studied. Suppose multiple agents composing of a scale-free network topology, the performance of rejecting disturbances for the low degree node and high degree node is analyzed. Firstly, the consensus of multi-agent systems without disturbances is studied by designing a pinning control strategy on a part of agents, where this pinning control can bring multiple agents＇ states to an expected consensus track. Then, the influence of the disturbances is considered by developing disturbance observers, and disturbance observers based control （DOBC） are developed for disturbances generated by an exogenous system to estimate the disturbances. Asymptotical consensus of the multi-agent systems with disturbances under the composite controller can be achieved for scale-free network topology. Finally, by analyzing examples of multi-agent systems with scale-free network topology and exogenous disturbances, the verities of the results are proved. Under the DOBC with the designed parameters, the trajectory convergence of multi-agent systems is researched by pinning two class of the nodes. We have found that it has more stronger robustness to exogenous disturbances for the high degree node pinned than that of the low degree node pinned.
文摘The authors synthesized very pure dimer phase of coroneae by simple heat-treatment and subsequent sublimation purification. It was confirmed by laser desorption/ionization mass spectroscopy measurements that pure dimer phase of coronenes can be obtained by controlling the fusing and sublimation temperatures. The crystal structure of the dimer phase was analyzed by synchrotron XRD （X-ray diffraction） experiments. It was also found that very bright red light is emitted by irradiating ultra violet light （λ = 350 nm） to the dimer phase. The external and internal quantum yields were determined to be 5.56% and 6.95%, respectively.
文摘Photothermal therapy （PTT） using near-infrared （NIR） laser light and gold nanorods （GNRs） shows promise as a novel cancer treatment modality. However, the laser intensity required to destroy tumor cells located beneath the skin is greater than the threshold intensity that causes skin damage; thus, irradiation with laser light damages the skin as well as the tumor. Here, we show that a temperature control system allows metastatic lymph nodes （LNs） to be treated by PTT using NIR laser light and GNRs, without skin damage. A mouse model of LN metastasis was developed by injection of tumor cells, and the tumor-bearing proper axillary LN was treated with NIR laser light after injection of GNRs. The skin temperature was maintained at 45 ~C during irradiation by using a temperature control system. Bioluminescence imaging revealed that tumor progression was less in LNs exposed to NIR laser light and GNRs than in LNs exposed to NIR laser light alone or controls （no irradiation or GNRs）. Furthermore, the skin and LN capsule were macroscopically intact on day 9 after irradiation with NIR laser light, whereas tumor cells within the LN showed apoptosis. A numerical analysis demonstrated that the high-temperature zone and the LN region showing damage were localized to an area up to 3 mm in depth. The proposed novel PTT technique, using NIR laser light and GNRs with controlled surface cooling, could be applied clinically to treat metastatic LNs located within or outside the area accessible for surgical dissection.
