Control of Networked Multiagent Systems with Uncertain Graph Topologies

Multiagent systems consist of agents that locally exchange information through a physical network subject to a graph topology. Current control methods for networked multiagent systems assume the knowledge of graph topologies in order to design distributed control laws for achieving desired global system behaviors. However, this assumption may not be valid for situations where graph topologies are subject to uncertainties either due to changes in the physical network or the presence of modeling errors especially for multiagent systems involving a large number of interacting agents. Motivating from this standpoint, this paper studies distributed control of networked multiagent systems with uncertain graph topologies. The proposed framework involves a controller architecture that has an ability to adapt its feed- back gains in response to system variations. Specifically, we analytically show that the proposed controller drives the trajectories of a networked multiagent system subject to a graph topology with time-varying uncertainties to a close neighborhood of the trajectories of a given reference model having a desired graph topology. As a special case, we also show that a networked multi-agent system subject to a graph topology with constant uncertainties asymptotically converges to the trajectories of a given reference model. Although the main result of this paper is presented in the context of average consensus problem, the proposed framework can be used for many other problems related to networked multiagent systems with uncertain graph topologies.Comment: 14 pages, 2 figure

The Effect of Starch on Clay Dispersions

Cationic starches and anionic (oxidized) starches are compared in this thesis with respect to their effect upon dispersion. The methods used for determining dispersion quality were relative sediment volume (RSV) and the Hercules Hi-Shear Viscometer. These methods are compared as to-their applicability for use as practical. tools in determining color dispersion quality. Limitations of RSV are discussed with regard to clay-starch mixtures. Comparisons are made using both types of starch on predispersed and undispersed clays. Hercules rheograms are compared for samples using both starches and clays at 40 percent solids. The rheograms indicate no difference between the cationic and anionic using undispersed clay, however, the predispersed clay s hows a slightly greater viscosity for the cationic I as compared to the anionic

Fluctuations and Pinch-Offs Observed in Viscous Fingering

Our experiments on viscous (Saffman-Taylor) fingering in Hele-Shaw channels reveal several phenomena that were not observed in previous experiments. At low flow rates, growing fingers undergo width fluctuations that intermittently narrow the finger as they evolve. The magnitude of these fluctuations is proportional to Ca^{-0.64}, where Ca is the capillary number, which is proportional to the finger velocity. This relation holds for all aspect ratios studied up to the onset of tip instabilities. At higher flow rates, finger pinch-off and reconnection events are observed. These events appear to be caused by an interaction between the actively growing finger and suppressed fingers at the back of the channel. Both the fluctuation and pinch-off phenomena are robust but not explained by current theory.Comment: 6 pages, 3 figures; to appear in Proceedings of the Seventh Experimental Chaos Conferenc

Visual suppression of the vestibulo-ocular reflex during space flight

Visual suppression of the vestibulo-ocular reflex was studied in 16 subjects on 4 Space Shuttle missions. Eye movements were recorded by electro-oculography while subjects fixated a head mounted target during active sinusoidal head oscillation at 0.3 Hz. Adequacy of suppression was evaluated by the number of nystagmus beats, the mean amplitude of each beat, and the cumulative amplitude of nystagmus during two head oscillation cycles. Vestibulo-ocular reflex suppression was unaffected by space flight. Subjects with space motion sickness during flight had significantly more nystagmus beats than unaffected individuals. These susceptible subjects also tended to have more nystagmus beats before flight

Eye and head motion during head turns in spaceflight

Eye-head motion was studied pre-, in- and postflight during single voluntary head turns. A transient increase in vestibulo-ocular reflex (VOR) gain occurred early in the flight, but later trended toward normal. This increased gain was produced by a relative increase in eye counterrotation velocity. Asymmetries in gain with right and left turns also occurred, caused by asymmetries in eye counterrotation velocities. These findings were remarkably similar to those from Soviet primate studies using gaze fixation targets, except the human study trended more rapidly toward normal. These findings differ substantially from those measuring VOR gain by head oscillation, in which no significant changes were found inflight. No visual disturbances were noted in either test condition or in normal activities. These head turn studies are the only ones to date documenting any functional change in VOR in weightlessness

Fluctuations and Pinch-Offs Observed in Viscous Fingering

Our experiments on viscous (Saffman-Taylor) fingering in Hele-Shaw channels reveal several phenomena that were not observed in previous experiments. At low flow rates, growing fingers undergo width fluctuations that intermittently narrow the finger as they evolve. The magnitude of these fluctuations is proportional to Ca^{-0.64}, where Ca is the capillary number, which is proportional to the finger velocity. This relation holds for all aspect ratios studied up to the onset of tip instabilities. At higher flow rates, finger pinch-off and reconnection events are observed. These events appear to be caused by an interaction between the actively growing finger and suppressed fingers at the back of the channel. Both the fluctuation and pinch-off phenomena are robust but not explained by current theory.Comment: 6 pages, 3 figures; to appear in Proceedings of the Seventh Experimental Chaos Conferenc

Studies of the vestibulo-ocular reflex on STS 4, 5 and 6

The vestibulo-ocular reflex (VOR) may be altered by weightlessness. Since this reflex plays a large role in visual stabilization, it was important to document any changes caused by space flight. This is a report on findings on STS-4 through 6 and is part of a larger study of neurosensory adaptation done on STS-4 through 8. Voluntary horizontal head oscillations at 1/3 Hz with amplitude of 30 deg right and left of center were recorded by a potentiometer and compared to eye position recorded by electroculography under the following conditions: eyes open, head fixed, tracking horizontal targets switched 0, 15, and 30 degrees right and left (optokinetic reflex - OKR - and calibration); eyes open and fixed on static external target with oscillation, (vestibulo ocular reflex, eyes closed - VOR EC); eyes open and wearing opaque goggles with target fixed in imagination (vestibulo-ocular reflex, eyes shaded - VOR ES); and eyes open and fixed on a head synchronized target with head oscillation (VOR suppression). No significant changes were found in voluntary head oscillation frequency or amplitude in those with (n=5), and without (n=3), space motion sickness (SMS), with phase of flight or test condition. Variations in head oscillation were too small to have produced detectable changes in test results

Landscape Assessment of Soil Erosion and Nonpoint Source Pollution

ABSTRACT-The hydrologic processes occurring in the landscape are a manifestation of its topographic attributes. Spatially variable topographic-based attributes permit the distribution of hydrologic and nonpoint source pollution processes to be mapped within catchments. They can be derived from Digital Elevation Models (DEMs) using a variety of Terrain Analysis Methods (TAMs). The relationships between topographic indices and the spatial distribution of the potential for surface runoff, groundwater recharge, soil erosion, and evapotranspiration are graphically illustrated

The Lawfulness of United States Assistance to the Republic of Viet Nam

In recent months, critics of United States assistance to the Republic of Viet Nam have increasingly used legal arguments in their attacks on that assistance. They have asserted that the United States presence and activities in Viet Nam violate general principles of international law and the United Nations Charter. In support of these assertions, they argue that the Republic of Viet Nam is not a state, that the United States is merely intervening in a civil war, and that this intervention neither qualifies as self-defense under Article 51 of the United Nations Charter nor is otherwise legally justified. Although there is certainly room for choice and disagreement among the available policy alternatives, these legal arguments substantially misstate the case