Designing Proportional-Integral Consensus Protocols for Second-Order Multi-Agent Systems Using Delayed and Memorized State Information

This paper is concerned with consensus of a secondorder linear time-invariant multi-agent system in the situation that there exists a communication delay among the agents in the network.A proportional-integral consensus protocol is designed by using delayed and memorized state information.Under the proportional-integral consensus protocol,the consensus problem of the multi-agent system is transformed into the problem of asymptotic stability of the corresponding linear time-invariant time-delay system.Note that the location of the eigenvalues of the corresponding characteristic function of the linear time-invariant time-delay system not only determines the stability of the system,but also plays a critical role in the dynamic performance of the system.In this paper,based on recent results on the distribution of roots of quasi-polynomials,several necessary conditions for Hurwitz stability for a class of quasi-polynomials are first derived.Then allowable regions of consensus protocol parameters are estimated.Some necessary and sufficient conditions for determining effective protocol parameters are provided.The designed protocol can achieve consensus and improve the dynamic performance of the second-order multi-agent system.Moreover,the effects of delays on consensus of systems of harmonic oscillators/double integrators under proportional-integral consensus protocols are investigated.Furthermore,some results on proportional-integral consensus are derived for a class of high-order linear time-invariant multi-agent systems.

Operational optimization of copper flotation process based on the weighted Gaussian process regression and index-oriented adaptive differential evolution algorithm

Concentrate copper grade(CCG)is one of the important production indicators of copper flotation processes,and keeping the CCG at the set value is of great significance to the economic benefit of copper flotation industrial processes.This paper addresses the fluctuation problem of CCG through an operational optimization method.Firstly,a density-based affinity propagationalgorithm is proposed so that more ideal working condition categories can be obtained for the complex raw ore properties.Next,a Bayesian network(BN)is applied to explore the relationship between the operational variables and the CCG.Based on the analysis results of BN,a weighted Gaussian process regression model is constructed to predict the CCG that a higher prediction accuracy can be obtained.To ensure the predicted CCG is close to the set value with a smaller magnitude of the operation adjustments and a smaller uncertainty of the prediction results,an index-oriented adaptive differential evolution(IOADE)algorithm is proposed,and the convergence performance of IOADE is superior to the traditional differential evolution and adaptive differential evolution methods.Finally,the effectiveness and feasibility of the proposed methods are verified by the experiments on a copper flotation industrial process.

An Underwater Target Detection Algorithm Based on Attention Mechanism and Improved YOLOv7

For underwater robots in the process of performing target detection tasks,the color distortion and the uneven quality of underwater images lead to great difficulties in the feature extraction process of the model,which is prone to issues like error detection,omission detection,and poor accuracy.Therefore,this paper proposed the CER-YOLOv7(CBAM-EIOU-RepVGG-YOLOv7)underwater target detection algorithm.To improve the algorithm’s capability to retain valid features from both spatial and channel perspectives during the feature extraction phase,we have added a Convolutional Block Attention Module(CBAM)to the backbone network.The Reparameterization Visual Geometry Group(RepVGG)module is inserted into the backbone to improve the training and inference capabilities.The Efficient Intersection over Union(EIoU)loss is also used as the localization loss function,which reduces the error detection rate and missed detection rate of the algorithm.The experimental results of the CER-YOLOv7 algorithm on the UPRC(Underwater Robot Prototype Competition)dataset show that the mAP(mean Average Precision)score of the algorithm is 86.1%,which is a 2.2%improvement compared to the YOLOv7.The feasibility and validity of the CER-YOLOv7 are proved through ablation and comparison experiments,and it is more suitable for underwater target detection.

Analysis and prediction of global vegetation dynamics:past variations and future perspectives

Spatiotemporal dynamic vegetation changes affect global climate change,energy balances and the hydrological cycle.Predicting these dynamics over a long time series is important for the study and analysis of global environmental change.Based on leaf area index(LAI),climate,and radiation flux data of past and future scenarios,this study looked at historical dynamic changes in global vegetation LAI,and proposed a coupled multiple linear regression and improved gray model(CMLRIGM)to predict future global LAI.The results show that CMLRIGM predictions are more accurate than results predicted by the multiple linear regression(MLR)model or the improved gray model(IGM)alone.This coupled model can effectively resolve the problem posed by the underestimation of annual average of global vegetation LAI predicted by MLR and the overestimate predicted by IGM.From 1981 to 2018,the annual average of LAI in most areas covered by global vegetation(71.4%)showed an increase with a growth rate of 0.0028 a-1;of this area,significant increases occurred in 34.42%of the total area.From 2016 to 2060,the CMLRIGM model has predicted that the annual average global vegetation LAI will increase,accounting for approximately 68.5%of the global vegetation coverage,with a growth rate of 0.004 a-1.The growth rate will increase in the future scenario,and it may be related to the driving factors of the high emission scenario used in this study.This research may provide a basis for simulating spatiotemporal dynamic changes in global vegetation conditions over a long time series.

Quantitative research of the liquid film characteristics in upward vertical gas, oil and water flows

The study of liquid film characteristics in multiphase flow is a very important research topic, however,the characteristics of the liquid film around Taylor bubble structure in gas, oil and water three-phase flow are not clear. In the present study, a novel liquid film sensor is applied to measure the distributed signals of the liquid film in three-phase flow. Based on the liquid film signals, the liquid film characteristics including the structural characteristics and the nonlinear dynamics characteristics in three-phase flows are investigated for the first time. The structural characteristics including the proportion, the appearance frequency and the thickness of the liquid film are obtained and the influences of the liquid and gas superficial velocities and the oil content on them are investigated. To investigate the nonlinear dynamics characteristics of the liquid film with the changing flow conditions, the entropy analysis is introduced to successfully uncover and quantify the dynamic complexity of the liquid film behavior.

Cooperative Sampling Path Planning of Underwater Glider Fleet with Simultaneous Launch and Recovery

As low-cost and highly autonomous ocean observation platforms,underwater gliders encounter risks during their launch and recovery,especially when coordinating multi-glider deployments.This work focuses on cooperative path planning of an underwater glider fleet with simultaneous launch and recovery to enhance the autonomy of sampling and reduce deployment risks.Specifically,the gliders collaborate to achieve sampling considering the specified routines of interest.The overall paths to be planned are divided into four rectangular parts with the same starting point,and each glider is assigned a local sampling route.A clipped-oriented line-of-sight algorithm is proposed to ensure the coverage of the desired edges.The pitch angle of the glider is selected as the optimizing parameter to coordinate the overall progress considering the susceptibility of gliders to currents and the randomness of paths produced by complex navigational strategies.Therefore,a multi-actuation deep-Q network algorithm is proposed to ensure simultaneous launch and recovery.Simulation results demonstrate the acceptable effectiveness of the proposed method.

Influence of the position relationship between gas–liquid interface and laser focus on plasma evolution characteristics in jet LIBS technology

In order to understand the characteristics of breakdown process,plasma evolution and spectral emission in liquid jets laser-induced breakdown spectroscopy methods under the influence of the position variation between laser focus and gas–liquid interface,this work takes the plasma generated by laser-induced liquid jets as the object of study and discusses the changes in the spatial and temporal evolution characteristics and spectral radiation of the plasma when the position parameters between the laser focal point and the gas–liquid interface are different.The initial breakdown position is always between the front interface and the focus when the laser focus moves along the vertical direction of the interface,forming a phenomenon like’interface effect’.The relationship between laser pulse energy and breakdown probability exhibits a law similar to a‘hysteresis curve’in the study of breakdown threshold.In this work,plasma with smaller size,rounder shape,stronger radiation,higher temperature,and higher density can be produced when the focus position is in the liquid column 0.2 mm away from the front interface.Simultaneously,the spectral signal intensity and signal-to-back ratio of the characteristic peaks of target elements in water reach maximum values,and the spectral signal becomes more stable(relative standard deviation value reaches 2%).The Ca element’s ion radiation at 393.366 nm and atomic radiation at 422.673 nm are studied using narrow-band filtering imaging and time-space resolution spectroscopy.The findings demonstrate that the laws of ion and atomic radiation are not perfectly consistent in space and time.

Stability and multistability of synchronization in networks of coupled phase oscillators

Coupled phase oscillators usually achieve synchronization as the coupling strength among oscillators is increased beyond a critical value. The stability of synchronous state remains an open issue. In this paper, we study the stability of the synchronous state in coupled phase oscillators. It is found that numerical integration of differential equations of coupled phase oscillators with a finite time step may induce desynchronization at strong couplings. The mechanism behind this instability is that numerical accumulated errors in simulations may trigger the loss of stability of the synchronous state.Desynchronization critical couplings are found to increase and diverge as a power law with decreasing the integral time step. Theoretical analysis supports the local stability of the synchronized state. Globally the emergence of synchronous state depends on the initial conditions. Other metastable ordered states such as twisted states can coexist with the synchronous mode. These twisted states keep locally stable on a sparse network but lose their stability when the network becomes dense.

Research on cloud computing and services framework of marine environmental information management

Based on the features of marine environmental data and processing requirements, a cloud computing archi- tecture of marine environment information is proposed, which provides a new cloud technology framework for the integration and sharing of marine environmental information resources. A physical layer, software platform layer and an application layer are illustrated systematically, at the same time, a corresponding solu- tions for many difficult technical problems such as parallel query processing of multi-dimensional, spatio- temporal information, data slice storage, software service flow customization, analysis, reorganization and so on. A prototype system is developed and many different data-size experiments and a comparative analy- sis are done based on it. The experiment results show that the cloud platform based on this framework can achieve high performance and scalability when dealing with large-scale marine data.

Numerical and experimental studies on the effectiveness of time-varying electromagnetic fields in reducing electron density

When an aircraft or a hypersonic vehicle re-enters the atmosphere,the plasma sheath generated can severely attenuate electromagnetic wave signals,causing the problem of communication blackout.A new method based on time-varying E×B fields is proposed to improve on the existing static E×B fields and mitigate the radio blackout problem.The use of the existing method is limited by the invalid electron density reduction resulting from current density j=0 A m^(-2)in plasma beyond the Debye radius.The most remarkable feature is the introduction of a time-varying electric field to increase the current density in the plasma to overcome the Debye shielding effect on static electric field.Meanwhile,a magnetic field with the same frequency and phase as the electric field is applied to ensure that the electromagnetic force is always acting on the plasma in one direction.In order to investigate the effect of time-varying E×B fields on the plasma electron density distribution,two directions of voltage application are considered in numerical simulation.The simulation results indicate that different voltage application methods generate electromagnetic forces in different directions in the plasma,resulting in repulsion and vortex effects in the plasma.A comparison of the vortex effect and repulsion effect reveals that the vortex effect is better at reducing the electron density.The local plasma electron density can be reduced by more than 80%through the vortex effect,and the dimensions of the area of reduced electron density reach approximately 6 cm×4 cm,meeting the requirements of electromagnetic wave propagation.Besides,the vortex effect of reducing the electron density in RAM-C(radio attenuation measurements for the study of communication blackout)reentry at an altitude of 40 km is analyzed.On the basis of the simulation results,an experiment based on a rectangular-window discharge device is proposed to demonstrate the effectiveness of the vortex effect.Experimental results show that time-varying E×B fields can reduce the electron density in plasma of 3 cm thickness by 80%at B=0.07 T and U_(0)=1000 V.The investigations confirm the effectiveness of the proposed method in terms of reducing the required strength of the magnetic field and overcoming the Debye shielding effect.Additionally,the method is expected to provide a new way to apply a magnetic window in engineering applications.

A new model for Doppler shift of C-band echoes backscattered from sea surface

Within the framework of the two-scale scattering model,the Doppler shift of C-band radar return signals from the nonlinear sea surface are numerically evaluated.As an analytical approximation method,the Bragg resonance scattering method cannot accurately describe the backscattering field from sea surface.Therefore,in the twoscale scattering model,more accurate scattering coefficient(the normalized radar cross section,NRCS)evaluated by the C-band dual-polarized(HH/VV)empirical geophysical model function(CSAR model)is employed to replace the traditional Bragg NRCS to weight the Doppler shift.The numerical results indicate that there are obvious differences between the Doppler shift weighted by the CSAR NRCS and that weighted by the traditional Bragg NRCS.The hydrodynamic modulation of the large-scale waves is one of the important factors that affect the difference between the Doppler shift predicted in upwind and downwind directions.If the relaxation rate in the hydrodynamic modulation is set to be the angular frequency of the dominant water waves,the Doppler shift predicted by the numerical method can fit the results of the empirical model(C-band empirical geophysical model function,CDOP)well at moderate wind speed.Under low wind condition,the comparison shows that the empirical CDOP model appears to overestimate the Doppler shift.In order to facilitate the application,at the end of this paper a semi-empirical CSAR-DOP model,which is a polynomial fitting formula,is developed for evaluating the Doppler shift of C-band signals from time varying sea surface.

Assessment on Fault Diagnosis and State Evaluation of New Power Grid:AReview

1 Introduction The proposal of the concept of“New Power System”aims to illustrate the transform direction of the traditional power system,acting as the development core of the future new power grid.To achieve this,the proposed strategic targets of“carbon neutralization and carbon peaking”must be implemented and insisted[1].The core feature of the new power system is that renewable energy plays a leading role and becomes the main source of energy supply,meanwhile,the goal of green energy utilization has also been put forward on the agenda.Green energy utilization includes two aspects,one is the exploitation and promotion of various green energy technologies,and the other is the digitalization of energy management.Under this trend,stochastic and fluctuating energy sources such as wind power and photovoltaic power replace deterministic controllable power sources such as thermal power,bringing challenges to power grid regulation and dispatching,as well as flexible operation.The large-scale integration of renewable energy and increasingly high proportion of power electronic equipment tend to bring about fundamental changes in the operation characteristics,safety control,and production mode of the power system.

Water inrush evaluation of coal seam floor by integrating the water inrush coefficient and the information of water abundance

The method of singular coefficient of water inrush to achieve safety mining has limitation and one sidedness. Aiming at the problem above, large amounts of data about water inrush were collected. Then the data, including the maximum water inrush, water inrush coefficient and water abundance in aquifers of working face, were processed by the statistical analysis. The analysis results indicate that both water inrush coefficient and water abundance in aquifers should be taken into consideration when evaluating the danger of water inrush from coal seam floor. The prediction model of safe-mining evaluation grade was built by using the support vector machine, and the result shows that this model has high classification accuracy. A feasible classification system of water-inrush safety evaluation can be got by using the data visualization method which makes the implicit support vector machine models explicit.

Collection System of Soil Moisture Information Based on ZigBee and GPRS

Real-time monitoring and wireless transmission of farmland soil moisture have been paid with more and more attention in the research of agricultural drought monitoring, early warning and prevention and control technology. The hardware design and software design of soil moisture monitoring in farmland were carried out, and a monitoring system based on the principles of ZigBee and GPRS technologies was developed and applied to the actual monitoring of soil moisture in farmland. This study provides a good idea to promote real-time monitoring, wireless transmission and intelligent management of soil moisture in farmland.

Quantification of Dance Movement by Simultaneous Measurement of Body Motion and Biophysical Information

The purpose of this research is a quantitative analysis of movement patterns of dance, which cannot be analyzed with a motion capture system alone, using simultaneous measurement of body motion and biophysical information. In this research, two kinds of same leg movement are captured by simultaneous measurement; one is a leg movement with given strength, the other is a leg movement without strength on condition of basic experiment using optical motion capture and electromyography （EMG） equipment in order to quantitatively analyze characteristics of leg movement. Also, we measured the motion of the traditional Japanese dance using the constructed system. We can visualize leg movement of Japanese dance by displaying a 3D CG character animation with motion data and EMG data. In addition, we expect that our research will help dancers and researchers on dance through giving new information on dance movement which cannot be analyzed with only motion capture.

Orbital angular momentum conversion of acoustic vortex beams via planar lattice coupling

Orbital angular momentum(OAM)conversion is critical in understanding interactions between a structural sound field and a planar lattice.Herein,we explore the evolution of a monochromatic acoustic vortex beam(AVB)that is scattered by a phononic crystal(PnC)or a correlated random lattice.The phenomenon is ascribed to the enhanced orbit–orbit angular momentum coupling induced by the band structure.By modifying the coupling condition,accurate and continuous micromanipulation of AVBs can be achieved,including the transverse/lateral gravity shift,the dynamics of the phase singularities,and the spatial distribution of acoustic pressure,etc.This research provides insight to the inhomogeneous coupling of AVBs with both propagating Bloch waves and localized Anderson modes,and may facilitate development of novel OAM-based acoustic devices for active sound field manipulation.

Quantum circuit-based proxy blind signatures:A novel approach and experimental evaluation on the IBM quantum cloud platform

This paper presents a novel approach to proxy blind signatures in the realm of quantum circuits,aiming to enhance security while safeguarding sensitive information.The main objective of this research is to introduce a quantum proxy blind signature(QPBS)protocol that utilizes quantum logical gates and quantum measurement techniques.The QPBS protocol is constructed by the initial phase,proximal blinding message phase,remote authorization and signature phase,remote validation,and de-blinding phase.This innovative design ensures a secure mechanism for signing documents without revealing the content to the proxy signer,providing practical security authentication in a quantum environment under the assumption that the CNOT gates are securely implemented.Unlike existing approaches,our proposed QPBS protocol eliminates the need for quantum entanglement preparation,thus simplifying the implementation process.To assess the effectiveness and robustness of the QPBS protocol,we conduct comprehensive simulation studies in both ideal and noisy quantum environments on the IBM quantum cloud platform.The results demonstrate the superior performance of the QPBS algorithm,highlighting its resilience against repudiation and forgeability,which are key security concerns in the realm of proxy blind signatures.Furthermore,we have established authentic security thresholds(82.102%)in the presence of real noise,thereby emphasizing the practicality of our proposed solution.

Adaptive Event-Triggered Time-Varying Output Group Formation Containment Control of Heterogeneous Multiagent Systems

In this paper,a class of time-varying output group formation containment control problem of general linear hetero-geneous multiagent systems(MASs)is investigated under directed topology.The MAS is composed of a number of tracking leaders,formation leaders and followers,where two different types of leaders are used to provide reference trajectories for movement and to achieve certain formations,respectively.Firstly,compen-sators are designed whose states are estimations of tracking lead-ers,based on which,a controller is developed for each formation leader to accomplish the expected formation.Secondly,two event-triggered compensators are proposed for each follower to evalu-ate the state and formation information of the formation leaders in the same group,respectively.Subsequently,a control protocol is designed for each follower,utilizing the output information,to guide the output towards the convex hull generated by the forma-tion leaders within the group.Next,the triggering sequence in this paper is decomposed into two sequences,and the inter-event intervals of these two triggering conditions are provided to rule out the Zeno behavior.Finally,a numerical simulation is intro-duced to confirm the validity of the proposed results.

BCCLR:A Skeleton-Based Action Recognition with Graph Convolutional Network Combining Behavior Dependence and Context Clues

In recent years,skeleton-based action recognition has made great achievements in Computer Vision.A graph convolutional network(GCN)is effective for action recognition,modelling the human skeleton as a spatio-temporal graph.Most GCNs define the graph topology by physical relations of the human joints.However,this predefined graph ignores the spatial relationship between non-adjacent joint pairs in special actions and the behavior dependence between joint pairs,resulting in a low recognition rate for specific actions with implicit correlation between joint pairs.In addition,existing methods ignore the trend correlation between adjacent frames within an action and context clues,leading to erroneous action recognition with similar poses.Therefore,this study proposes a learnable GCN based on behavior dependence,which considers implicit joint correlation by constructing a dynamic learnable graph with extraction of specific behavior dependence of joint pairs.By using the weight relationship between the joint pairs,an adaptive model is constructed.It also designs a self-attention module to obtain their inter-frame topological relationship for exploring the context of actions.Combining the shared topology and the multi-head self-attention map,the module obtains the context-based clue topology to update the dynamic graph convolution,achieving accurate recognition of different actions with similar poses.Detailed experiments on public datasets demonstrate that the proposed method achieves better results and realizes higher quality representation of actions under various evaluation protocols compared to state-of-the-art methods.

Chimera states of phase oscillator populations with nonlocal higher-order couplings

The chimera states underlying many realistic dynamical processes have attracted ample attention in the area of dynamical systems.Here, we generalize the Kuramoto model with nonlocal coupling incorporating higher-order interactions encoded with simplicial complexes.Previous works have shown that higher-order interactions promote coherent states.However, we uncover the fact that the introduced higher-order couplings can significantly enhance the emergence of the incoherent state.Remarkably, we identify that the chimera states arise as a result of multi-attractors in dynamic states.Importantly, we review that the increasing higher-order interactions can significantly shape the emergent probability of chimera states.All the observed results can be well described in terms of the dimension reduction method.This study is a step forward in highlighting the importance of nonlocal higher-order couplings, which might provide control strategies for the occurrence of spatial-temporal patterns in networked systems.