Certifying non-existence of undesired locally stable equilibria in formation shape control problems

A fundamental control problem for autonomous vehicle formations is formation shape control, in which the agents must maintain a prescribed formation shape using only information measured or communicated from neighboring agents. While a large and growing literature has recently emerged on distance-based formation shape control, global stability properties remain a significant open problem. Even in four-agent formations, the basic question of whether or not there can exist locally stable incorrect equilibrium shapes remains open. This paper shows how this question can be answered for any size formation in principle using semidefinite programming techniques for semialgebraic problems, involving solutions sets of polynomial equations, inequations, and inequalities.Comment: 6 pages; to appear in the 2013 IEEE Multiconference on Systems and Contro

Distributed stabilization control of rigid formations with prescribed orientation

Most rigid formation controllers reported in the literature aim to only stabilize a rigid formation shape, while the formation orientation is not controlled. This paper studies the problem of controlling rigid formations with prescribed orientations in both 2-D and 3-D spaces. The proposed controllers involve the commonly-used gradient descent control for shape stabilization, and an additional term to control the directions of certain relative position vectors associated with certain chosen agents. In this control framework, we show the minimal number of agents which should have knowledge of a global coordinate system (2 agents for a 2-D rigid formation and 3 agents for a 3-D rigid formation), while all other agents do not require any global coordinate knowledge or any coordinate frame alignment to implement the proposed control. The exponential convergence to the desired rigid shape and formation orientation is also proved. Typical simulation examples are shown to support the analysis and performance of the proposed formation controllers.Comment: This paper was submitted to Automatica for publication. Compared to the submitted version, this arXiv version contains complete proofs, examples and remarks (some of them are removed in the submitted version due to space limit.

Method of controlling defect orientation in silicon crystal ribbon growth

The orientation of twinning and other effects in silicon crystal ribbon growth is controlled by use of a starting seed crystal having a specific (110) crystallographic plane and (112) crystallographic growth direction

Antenna Design Concepts Based on Transformation Electromagnetics Approach

Using the idea of wave manipulation via coordinate transformation, we demonstrate the design of novel antenna concepts. The manipulation is enabled by composite metamaterials that realize the space coordinate transformation. We present the design, realization and characterization of three types of antennas: a directive, a steered beam and a quasi-isotropic one. Numerical simulations together with experimental measurements are performed in order to validate the concept. Near-field cartography and far-field pattern measurements performed on a fabricated prototype agree qualitatively with Finite Element Method (FEM) simulations. It is shown that a particular radiation can be transformed at ease into a desired one by modifying the electromagnetic properties of the space around it. This idea can find various applications in novel antenna design techniques for aeronautical, telecommunication and transport domains

Formation Control of Rigid Graphs with a Flex Node Addition

This paper examines stability properties of distance-based formation control when the underlying topology consists of a rigid graph and a flex node addition. It is shown that the desired equilibrium set is locally asymptotically stable but there exist undesired equilibria. Specifically, we further consider two cases where the rigid graph is a triangle in 2-D and a tetrahedral in 3-D, and prove that any undesired equilibrium point in these cases is unstable. Thus in these cases, the desired formations are almost globally asymptotically stable.Comment: The full version of this paper with general extensions has been submitted to a journal for publicatio

Enhancement of the spin pumping efficiency by spin-wave mode selection

The spin pumping efficiency of lateral standing spin wave modes in a rectangular YIG/Pt sample has been investigated by means of the inverse spin-Hall effect (ISHE). The standing spin waves drive spin pumping, the generation of spin currents from magnetization precession, into the Pt layer which is converted into a detectable voltage due to the ISHE. We discovered that the spin pumping efficiency is significantly higher for lateral standing surface spin waves rather than for volume spin wave modes. The results suggest that the use of higher-mode surface spin waves allows for the fabrication of an efficient spin-current injector