Controllability Analysis and Degraded Control for a Class of Hexacopters Subject to Rotor Failures

This paper considers the controllability analysis and fault tolerant control problem for a class of hexacopters. It is shown that the considered hexacopter is uncontrollable when one rotor fails, even though the hexacopter is over-actuated and its controllability matrix is row full rank. According to this, a fault tolerant control strategy is proposed to control a degraded system, where the yaw states of the considered hexacopter are ignored. Theoretical analysis indicates that the degraded system is controllable if and only if the maximum lift of each rotor is greater than a certain value. The simulation and experiment results on a prototype hexacopter show the feasibility of our controllability analysis and degraded control strategy.Comment: 21 pages, 7 figures, submitted to Journal of Intelligent & Robotic System

Approach to accurately measuring the speed of optical precursors

Precursors can serve as a bound on the speed of information with dispersive medium. We propose a method to identify the speed of optical precursors using polarization-based interference in a solid-state device, which can bound the accuracy of the precursors' speed to less than $10^{-4}$ with conventional experimental conditions. Our proposal may have important implications for optical communications and fast information processing.Comment: 4 pages, 4 figure

Experimental detection of quantum coherent evolution through the violation of Leggett-Garg-type inequalities

We discuss the use of inequalities of the Leggett-Garg type (LGtI) to witness quantum coherence and present the first experimental violation of this type of inequalities using a light-matter interfaced system. By separately benchmarking the Markovian character of the evolution and the translational invariance of the conditional probabilities, the observed violation of a LGtI is attributed to the quantum coherent character of the process. These results provide a general method to benchmark `quantumness' when the absence of memory effects can be independently certified and confirm the persistence of quantum coherent features within systems of increasing complexity.Comment: published version, including supplementary materia

2,10-Dibromo-6-isobutyl-6-methyl­dibenzo[d,f][1,3]dioxepine

In the crystal structure of the title compound, C18H18Br2O2, the two benzene rings of the bridged biphenyl unit are twisted by 38.0 (1)°

Influence of Reciprocal links in Social Networks

In this Letter, we empirically study the influence of reciprocal links, in order to understand its role in affecting the structure and function of directed social networks. Experimental results on two representative datesets, Sina Weibo and Douban, demonstrate that the reciprocal links indeed play a more important role than non-reciprocal ones in both spreading information and maintaining the network robustness. In particular, the information spreading process can be significantly enhanced by considering the reciprocal effect. In addition, reciprocal links are largely responsible for the connectivity and efficiency of directed networks. This work may shed some light on the in-depth understanding and application of the reciprocal effect in directed online social networks