Spatial acoustic emission evolution of red sandstone during multi-stage triaxial deformation

Multi-stage triaxial compression tests for cylindrical red sandstone specimens(diameter of 50 mm,height of 100 mm) were carried out with a rock mechanics testing system and spatial acoustic emission(AE) locations were obtained by adopting an AE monitoring system.Based on spatial AE distribution evolution of red sandstone during multi-stage triaxial deformation,the relation between spatial AE events and triaxial deformation of red sandstone was analyzed.The results show that before peak strength,the spatial AE events are not active and distribute stochastically in the specimen,while after peak strength,the spatial AE events are very active and focus on a local region beyond final microscopic failure plane.During multi-stage triaxial deformation with five different confining pressures,the spatial AE distribution evolution in the red sandstone was obtained.The obtained spatial AE locations of red sandstone at the final confining pressure agree very well with the ultimate failure experimental mode.Finally,the influence of confining pressure on the spatial AE evolution characteristics of red sandstone during triaxial deformation was discussed.The AE behavior of red sandstone during multi-stage triaxial deformation is interpreted in the light of the Kaiser effect,which has a significant meaning for predicting the unstable failure of engineering rock mass.

Study on the hot deformation behavior of Al-Zn-Mg-Cu-Cr aluminum alloy during multi-stage hot compression

The mechanical behavior and microstructures of an Al-Zn-Mg-Cu-Cr aluminum alloy during multi-stage hot deformation were investigated by thermal stimulation test, optical microscopy, and transmission electron microscopy. The true stress vs true strain curves and the microstructure evolution of two hot deformation procedures were gained. The flow stress of the alloy studied decreases with increasing the deforming passes and declining the temperature, and the larger the temperature decline between adjacent stages, the larger the peak stress fall is. The stress-strain behavior mainly result from the dynamic recovery during deformation, the static recovery and recrystallization in the delay time, and the second phases precipitated from the matrix at high temperature.

Modeling for heterogeneous multi-stage information propagation networks and maximizing information

In this paper, we propose a heterogeneous multi-stage model to study the effect of social reinforcement on information propagation. Both heterogeneity of network components and the heterogeneity of individual reinforcement thresholds are considered. An information outbreak condition is derived, according to which the outbreak scale and individual density of each state under specific propagation parameters can be deduced. Monte Carlo experiments are conducted in Facebook networks to demonstrate the outbreak condition, and we find that social reinforcement effects generally inhibit the propagation of information though it contributes to the emergence of certain hot spots simultaneously. Additionally, by applying Pontryagin's Maximum Principle, we derive the optimal control strategy in the case of limited control resources to maximize the information propagation. Then the forward–backward sweep method is utilized to verify its performance with numerical simulation.

Late-Stage Reservoir Formation Effect and Its Dynamic Mechanisms in Complex Superimposed Basins

Complex superimposed basins exhibit multi-stage tectonic events and multi-stage reservoir formation; hydrocarbon reservoirs formed in the early stage have generally late-stage genesis characteristics after undergoing adjustment, reconstruction and destruction of later-stage multiple tectonic events. In this paper, this phenomenon is called the late-stage reservoir formation effect. The late-stage reservoir formation effect is a basic feature of oil and gas-forming reservoirs in complex superimposed basins, revealing not only multi-stage character, relevance and complexity of oil and gas- forming reservoirs in superimposed basins but also the importance of late-stage reservoir formation. Late-stage reservoir formation is not a basic feature of oil and gas forming reservoir in superimposed basins. Multi-stage reservoir formation only characterizes one aspect of oil and gas-forming reservoir in superimposed basins and does not represent fully the complexity of oil and gas-forming reservoir in superimposed basins. We suggest using ＂late-stage reservoir formation effect＂ to replace the ＂late-stage reservoir formation＂ concept to guide the exploration of complex reservoirs in superimposed basins. Under current geologic conditions, the late-stage reservoir formation effect is represented mainly by four basic forms： phase transformation, scale reconstruction, component variation and trap adjustment. The late-stage reservoir formation effect is produced by two kinds of geologic processes： first, the oil and gas retention function of various geologic thresholds （hydrocarbon expulsion threshold, hydrocarbon migration threshold, and hydrocarbon accumulating threshold） causes the actual time of oil and gas reservoir formation to be later than the time of generation of large amounts of hydrocarbon in a conventional sense, producing the late-stage reservoir formation effect; second, multiple types of tectonic events （continuously strong reconstruction, early-stage strong reconstruction, middle-stage strong reconstruction, late-stage strong reconstruction and long-term stable sedimentation） after oil and gas reservoir formation lead to adjustment, reconstruction and destruction of reservoirs formed earlier, and form new secondary hydrocarbon reservoirs due to the late-stage reservoir formation effect.

Consensus tracking protocol and formation control of multi-agent systems with switching topology

Consensus tracking control problems for single-integrator dynamics of multi-agent systems with switching topology are investigated.In order to design effective consensus tracking protocols for a more general class of networks,which are aimed at ensuring that the concerned states of agents converge to a constant or time-varying reference state,new consensus tracking protocols with a constant and time-varying reference state are proposed,respectively.Particularly,by contrast with spanning tree,an improved condition of switching interaction topology is presented.And then,convergence analysis of two consensus tracking protocols is provided by Lyapunov stability theory.Moreover,consensus tracking protocol with a time-varying reference state is extended to achieve the formation control.By introducing formation structure set,each agent can gain its individual desired trajectory.Finally,several simulations are worked out to illustrate the effectiveness of theoretical results.The test results show that the states of agents can converge to a desired constant or time-varying reference state.In addition,by selecting appropriate structure set,agents can maintain the expected formation under random switching interaction topologies.

Consensus and formation control of discrete-time multi-agent systems

Consensus problems for discrete-time multi-agent systems were focused on.In order to design effective consensus protocols,which were aimed at ensuring that the concerned states of agents converged to a common value,a new consensus protocol for general discrete-time multi-agent system was proposed based on Lyapunov stability theory.For discrete-time multi-agent systems with desired trajectory,trajectory tracking and formation control problems were studied.The main idea of trajectory tracking problems was to design trajectory controller such that each agent tracked desired trajectory.For a type of formation problem with fixed formation structure,the formation structure set was introduced.According to the formation structure set,each agent can track its individual desired trajectory.Finally,simulations were provided to demonstrate the effectiveness of the theoretical results.The numerical results show that the states of agents converge to zero with consensus protocol,which is said to achieve a consensus asymptotically.In addition,through designing appropriate trajectory controllers,the simulation results show that agents converge to the desired trajectory asymptotically and can form different formations.

Distributed formation control for a multi-agent system with dynamic and static obstacle avoidances

Formation control and obstacle avoidance for multi-agent systems have attracted more and more attention. In this paper, the problems of formation control and obstacle avoidance are investigated by means of a consensus algorithm. A novel distributed control model is proposed for the multi-agent system to form the anticipated formation as well as achieve obstacle avoidance. Based on the consensus algorithm, a distributed control function consisting of three terms （formation control term, velocity matching term, and obstacle avoidance term） is presented. By establishing a novel formation control matrix, a formation control term is constructed such that the agents can converge to consensus and reach the anticipated formation. A new obstacle avoidance function is developed by using the modified potential field approach to make sure that obstacle avoidance can be achieved whether the obstacle is in a dynamic state or a stationary state. A velocity matching term is also put forward to guarantee that the velocities of all agents converge to the same value. Furthermore, stability of the control model is proven. Simulation results are provided to demonstrate the effectiveness of the proposed control.

Leader-following consensus protocols for formation control of multi-agent network

Two protocols are presented,which can make agents reach consensus while achieving and preserving the desired formation in fixed topology with and without communication timedelay for multi-agent network.First,the protocol without considering the communication time-delay is presented,and by using Lyapunov stability theory,the sufficient condition of stability for this multi-agent system is presented.Further,considering the communication time-delay,the effectiveness of the protocol based on Lyapunov-Krasovskii function is demonstrated.The main contribution of the proposed protocols is that,as well as the velocity consensus is considered,the formation control is concerned for multi-agent systems described as the second-order equations.Finally,numerical examples are presented to illustrate the effectiveness of the proposed protocols.

Multi-task Coalition Parallel Formation Strategy Based on Reinforcement Learning

代理人联盟是代理人协作和合作的一种重要方式。形成一个联盟，代理人能提高他们的能力解决问题并且获得更多的实用程序。在这份报纸，新奇多工联盟平行形成策略被介绍，并且多工联盟形成的过程是一个 Markov 决定过程的结论理论上被证明。而且，学习的加强被用来解决多工联盟平行的代理人行为策略，和这个过程形成被描述。在多工面向的领域，策略罐头有效地并且平行形式多工联盟。

Leader-following formation control of multi-agent networks based on distributed observers

To investigate the leader-following formation control, in this paper we present the design problem of control protocols and distributed observers under which the agents can achieve and maintain the desired formation from any initial states, while the velocity converges to that of the virtual leader whose velocity cannot be measured by agents in real time. The two cases of switching topologies without communication delay and fixed topology with time-varying communication delay are both considered for multi-agent networks. By using the Lyapunov stability theory, the issue of stability is analysed for multi-agent systems with switching topologies. Then, by considering the time-varying communication delay, the sufficient condition is proposed for the multi-agent systems with fixed topology. Finally, two numerical examples are given to illustrate the effectiveness of the proposed leader-following formation control protocols.

Multi-target pursuit formation of multi-agent systems

The main goal of this paper is to design a team of agents that can accomplish multi-target pursuit formation using a developed leader-follower strategy. It is supposed that every target can accept a certain number of agents. First, each agent can automatically choose its target based on the distance from the agent to the target and the number of agents accepted by the target. In view of the fact that all agents are randomly dispersed in the workplace at the initial time, we present a numbering strategy for them. During the movement of agents, not every agent can always obtain pertinent state information about the targets. So, a developed leader-follower strategy and a pursuit formation algorithm are proposed. Under the proposed method, agents with the same target can maintain a circle formation. Furthermore, it turns out that the pursuit formation algorithm for agents to the desired formation is convergent. Simulation studies are provided to illustrate the effectiveness of the proposed method.

Robust Formation Maneuvers Through Sliding Mode for Multi-agent Systems With Uncertainties

This paper develops a robust control method for formation maneuvers of a multi-agent system. The multi-agent system is leader-follower-based, where the graph theory is utilized to describe the information exchange among the agents. The control method is exercised via sliding mode methodology where each agent is subjected to uncertainties. The technique of nonlinear disturbance observer is adopted in order to overcome the adverse effects of the uncertainties. Assuming that the uncertainties have an unknown bound, the formation stability conditions are investigated according to a given communication topology. In the sense of Lyapunov, not only the formation maneuvers of the multi-agent system have guaranteed stability, but the desired formations of the agents are also realized. Compared with other two control approaches, i.e., the basic sliding mode approach and the fuzzy sliding mode approach, some numerical results are presented to illustrate the effectiveness, performance and validity of the robust control method for formation maneuvers in the presence of uncertainties.

Graph rigidity and localization of multi-robot formations

This paper provides theoretical foundation tor the problem ot localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.

Coalition Formation for Multiple UAVs Cooperative Search and Attack with Communication Constraints in Unknown Environment

A coalition formation algorithm is presented with limited communication ranges and delays in unknown environment,for the performance of multiple heterogeneous unmanned aerial vehicles(UAVs)in cooperative search and attack missions.The mathematic model of coalition formation is built on basis of the minimum attacking time and the minimum coalition size with satisfying resources and simultaneous strikes requirements.A communication protocol based on maximum number of hops is developed to determine the potential coalition members in dynamic network.A multistage sub-optimal coalition formation algorithm(MSOCFA)with polynomial time is established.The performances of MSOCFA and particle swarm optimization(PSO)algorithms are compared in terms of complexity,mission performance and computational time.A complex scenario is deployed to illustrate how the coalitions are formed and validate the feasibility of the MSOCFA.The effect of communication constraints(hop delay and max-hops)on mission performance is studied.The results show that it is beneficial to determine potential coalition members in a wide and deep range over the network in the presence of less delay.However,when the delays are significant,it is more advantageous to determine coalitions from among the immediate neighbors.

Searching for initial stage of massive star formation around the HⅡ region G18.2–0.3

Sometimes, early star formation can be found in cold and dense molecular clouds, such as an infrared dark cloud. Considering that star formation often occurs in clusters, H II regions may be triggering a new generation of star formation, so we can search for the initial stage of massive star formation around H II regions. Based on the above, this work introduces one method to search for the initial stage of massive star formation around H II regions. Towards one section of the H II region G18.2-0.3, multiwavelength observations are carried out to investigate its physical properties. Through analysis, we find three potential initial stages of massive star formation, suggesting that it is feasible to use in searching for the initial stage of massive star formation around H II regions.

Immune multi-agent model using vaccine for cooperative air-defense system of systems for surface warship formation based on danger theory

Aiming at the problem on cooperative air-defense of surface warship formation, this paper maps the cooperative airdefense system of systems （SoS） for surface warship formation （CASoSSWF） to the biological immune system （BIS） according to the similarity of the defense mechanism and characteristics between the CASoSSWF and the BIS, and then designs the models of components and the architecture for a monitoring agent, a regulating agent, a killer agent, a pre-warning agent and a communicating agent by making use of the theories and methods of the artificial immune system, the multi-agent system （MAS）, the vaccine and the danger theory （DT）. Moreover a new immune multi-agent model using vaccine based on DT （IMMUVBDT） for the cooperative air-defense SoS is advanced. The immune response and immune mechanism of the CASoSSWF are analyzed. The model has a capability of memory, evolution, commendable dynamic environment adaptability and self-learning, and embodies adequately the cooperative air-defense mechanism for the CASoSSWF. Therefore it shows a novel idea for the CASoSSWF which can provide conception models for a surface warship formation operation simulation system.

Generation of optimal persistent formations for heterogeneous multi-agent systems with a leader constraint

In this study, we consider the generation of optimal persistent formations for heterogeneous multi-agent systems, with the leader constraint that only specific agents can act as leaders. We analyze three modes to control the optimal persistent formations in two-dimensional space, thereby establishing a model for their constrained generation. Then, we propose an algorithm for generating the optimal persistent formation for heterogeneous multi-agent systems with a leader constraint （LC-HMAS-OPFGA）, which is the exact solution algorithm of the model, and we theoretically prove its validity. This algorithm includes two kernel sub-algorithms, which are optimal persistent graph generating algorithm based on a minimum cost arborescence and the shortest path （MCA-SP-OPGGA）, and the optimal persistent graph adjusting algorithm based on the shortest path （SP-OPGAA）. Under a given agent formation shape and leader constraint, LC-HMAS-OPFGA first generates the network topology and its optimal rigid graph corresponding to this formation shape. Then, LC-HMAS- OPFGA uses MCA-SP-OPGGA to direct the optimal rigid graph to generate the optimal persistent graph. Finally, LC- HMAS-OPFGA uses SP-OPGAA to adjust the optimal persistent graph until it satisfies the leader constraint. We also demonstrate the algorithm, LC-HMAS-OPFGA, with an example and verify its effectiveness.

Integrated Manufacturing Cell Formation Technology Orienting Multi-product Type and Variant Volume Production

What is pursued by multi-product type and variant volume（MPTVV） production is rapid response and quick switching,so that structure of transferring line in manufacturing system is no longer unalterable.Cell formation（CF） algorithm is the key technology of cellular manufacturing system（CMS）.Currently,CF methods are mainly extended on the idea of group technology（GT） that covers a lot on analysis of resource capability matching and its algorithm.Various constraints are considered,but seldom utilized comprehensively.Aimed to the problem of manufacturing cell（MC） formation under MPTVV production mode,integrated formation technologies for typical MC as group type of cell（GC）,flow type of cell（FC） and inherited cell（IC） are presented based on technical analysis of CF.Oriented to practical production constraints like delivery time,product batch,equipment ability,key machine,key part and machine sharing,etc,an integrated formation model is constructed and internal interrelations of these constraints are analyzed synthetically.Ulteriorly,formation goals of types of MCs and their formation procedures under joint effect of formation constraints and rules are spread.In case study,three highly balanced GC are formed first;then FC formation are implemented based on the same data which indicate good balancing effect of cell load and flow-style production for key tasks;When task is adjusted,a new scheme is constructed on the result of FC configuration by using IC formation method,and more optimal performance of flow-style production is manifested.The proposed comparative study of different type of cells strongly explains the validation of integrated MC formation in support of rapid manufacturing resource transformation under MPTVV production mode.

Distance-based formation tracking control of multi-agent systems with double-integrator dynamics

This paper addresses the distance-based formation tracking problem for a double-integrator modeled multi-agent system（MAS） in the presence of a moving leader in d-dimensional space. Under the assumption that the state of leader can be obtained over fixed graphs, a distributed distance-based control protocol is designed for each double-integrator follower agent. The protocol consists of three terms： a gradient function term, a velocity consensus term, and a leader tracking term.Different shape stabilizing functions proposed in the literature can be applied to the gradient function term. The proposed controller allows all agents to both achieve the desired shape and reach the same velocity with moving leader by controlling the distances and velocity. Finally, we analyze the local asymptotic stability of the equilibrium set with center manifold theory. We validate the effectiveness of our approach through two examples.

Robust attitude control for rapid multi-target tracking in spacecraft formation flying

A robust attitude tracking control scheme for spacecraft formation flying is presented. The leader spacecraft with a rapid mobile antenna and a camera is modeled. While the camera is tracking the ground target, the antenna is tracking the follower spacecraft. By an angular velocity constraint and an angular constraint, two methods are proposed to compute the reference attitude profiles of the camera and antenna, respectively. To simplify the control design problem, this paper first derives the desired inverse system （DIS）, which can convert the attitude tracking problem of 3D space into the regulator problem. Based on DIS and sliding mode control （SMC）, a robust attitude tracking controller is developed in the presence of mass parameter uncertainties and external disturbance. By Lyapunov stability theory, the closed loop system stability can be achieved. The numerical simulations show that the proposed robust control scheme exhibits significant advantages for the multi-target attitude tracking of a two-spacecraft formation.