The coupling control of biological precursors and environmental factors onβ-carotane enrichment in alkaline lacustrine source rocks:A case study from the Fengcheng formation in the western Junggar Basin,NW China

The organic-rich mudstones and dolostones of the Permian Fengcheng Formation(Fm.)are typically alkaline lacustrine source rocks,which are typified by impressively abundantβ-carotane.Abundant β-carotane has been well acknowledged as an effective indicator of biological sources or depositional environments.However,the specific biological sources of β-carotane and the coupling control of biological sources and environmental factors on the enrichment of β-carotane in the Fengcheng Fm.remains obscure.Based on a comprehensive investigation of the bulk,molecular geochemistry,and organic petrology of sedimentary rocks and the biochemistry of phytoplankton in modern alkaline lakes,we proposed a new understanding of the biological precursors of β-carotane and elucidated the enrichment mechanism of β-carotane in the Fengcheng Fm.The results show that the biological precursors crucially control the enrichment of β-carotane in the Fengcheng Fm.The haloalkaliphilic cyanobacteria are the primary biological sources of β-carotane,which is suggested by a good positive correlation between the 2-methylhopane index,7-+8-methyl heptadecanes/C_(max),C_(29%),and β-carotane/C_(max)in sedimentary rocks and the predominance of cyanobacteria with abundantβ-carotene in modern alkaline lakes.The enrichment of β-carotane requires the reducing condition,and the paleoredox state that affects the enrichment of β-carotane appears to have a threshold.The paleoclimate conditions do not considerably impact the enrichment of β-carotane,but they have some influence on the water's paleosalinity by affecting evaporation and precipitation.While it does not directly affect the enrichment of β-carotane in the Fengcheng Fm.,paleosalinity does have an impact on the cyanobacterial precursor supply and the preservation conditions.

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.

Self-triggered Consensus Control for Linear Multi-agent Systems With Input Saturation

In this paper, we study the consensus problem for a class of linear multi-agent systems(MASs) with consideration of input saturation under the self-triggered mechanism. In the context of discrete-time systems, a self-triggered strategy is developed to determine the time interval between the adjacent triggers. The triggering condition is designed by using the current sampled consensus error. Furthermore, the consensus control protocol is designed by means of a state feedback approach. It is shown that the considered multi-agent systems can reach consensus with the presented algorithm. Some sufficient conditions are proposed in the form of linear matrix inequalities(LMIs) to show the positively invariant property of the domain of attraction(DOA). Moreover, some sufficient conditions of controller synthesis are provided to enlarge the volume of the DOA and obtain the control gain matrix. A numerical example is simulated to demonstrate the effectiveness of the theoretical analysis results.

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.

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.

Analysis on the Seismic Response of Soil Slopes Based on the Multi-point Input Method

In general, the seismic response analysis in earthquake engineering assumes that the vibration parameters of the target and the contact surface of the external media are identical,i. e., single point input. However, earthquake energy has an attenuation phenomenon in wave propagation,so a wide range of soil slopes and the external medium contact surface of different input points on motion are not identical. If we consider single point input only, it may not correspond with reality, so it is necessary to carry out research on multi-point input methods. Based on the 2-D slope model,single-point input and multi-point input are performed respectively to analyze and compare their similarities and differences in the perspectives of the characteristics of seismic response of soil layer and plastic zone distribution to provide a reference for the seismic design of slopes. The results show that in the perspective of soil seismic response analysis,the peak acceleration output and peak velocity output under multi-point input are greater than the peak values under single point input at the same monitoring point,the peak appearing time is also earlier than that of the single point input; in terms of the plastic zone distribution,the multi-point effect is manifested as the presence of more obvious tensile shear failures; in the perspective of safety coefficient,the safety coefficient under each multi-point input is smaller than that of single point input,a difference of about 7 % or so. In summary,multi-point input is more reasonable and practical than single point input,so multi-point input should be considered in seismic design.

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.

Augmented input estimation in multiple maneuvering target tracking

This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observations are assigned to the considered tracks.In real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done simply.In this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in computations.After DA,estimation and tracking should be done.Since in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is eliminated.This model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state vector.Some comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT.

A Multi Input Multi Output Converter for Hybrid Energy Systems

Multi input and multi output converters are becoming popular because they are cost effective and compact. This paper proposes a multi input multi output converter for Grid-Solar power integration for uninterrupted power supply. The proposed converter uses four winding transformer with two primary windings and two secondary windings. The grid supply is connected to the first winding of transformer through rectifier-inverter for controlled power transfer. The solar energy is inverted and applied to the second winding of primary. Two output ports are considered. The circuit is designed to get zero current switching during turn-off and zero voltage switching during turn-on to alleviate the switching losses. The simulation results for the proposed configuration are presented in this paper.

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.

Performance Improvement of Multi-User Multiple-Input Multiple-Output Protocol for WLAN

The increase in the number of devices with a massive revolution in mobile technology leads to increase the capacity of the wireless communications net-works. Multi-user Multiple-Input Multiple-Output is an advanced procedure of Multiple-Input Multiple-Output, which improves the performance of Wireless Local Area Networks. Moreover, Multi-user Multiple-Input Multiple-Output leads the Wireless Local Area Networks toward covering more areas. Due to the growth of the number of clients and requirements, researchers try to improve the performance of the Medium Access Control protocol of Multi-user Multiple-Input Multiple-Output technology to serve the user better, by supporting different data sizes, and reducing the waiting time to be able to transmit data quickly. In this paper, we propose a Clustering Multi-user Multiple-Input Multiple-Output protocol, which is an improved Medium Access Control protocol for Multi-user Multiple-Input Multiple-Out-put based on MIMOMate clustering technique and Padovan Backoff Algorithm. Utilizing MIMOMMate focuses on the signal power which only serves the user in that cluster, minimizes the energy consumption and increases the capacity. The implementation of Clustering Multi-user Multiple-Input Multiple-Output performs on the Network Simulator (NS2.34) platform. The results show that Clustering Multi-user Multiple-Input Multiple-Output protocol improves the throughput by 89.8%, and reduces the latency of wireless communication by 43.9% in scenarios with contention. As a result, the overall performances of the network are improved.

Input series out putparallel based multi-modular boost half bridge DC-DC converter with a dynamic control scheme

Multi-modular system plays an important role in power system architecture because low voltage and low power converters can be connected in any combination parallel or series at input/ output side in order to obtained any given power system specifications. Multi-modular boost haft bridge DC-DC converter in the configuration of input series output parallel has been investigated in this paper. The boost half bridge DC-DC converters are connected in input series output parallel con- figuration in order to achieve equal input voltage sharing and output current sharing between the con- verters. This can be achieved with the help of dynamic control scheme which consists of two loops, a voltage loop and a current loop, for each module. Dynamic behavior of multi-modular converter configuration has been observe by varying the load condition. Moreover, the results obtained through multi-modular converter describe that the system has good dynamic and steady state response. Al- though two converter modules are focused in this paper but it can be modified to any number of modules.