An emergent wall following behaviour to escape local minima for swarms of agents

Natural examples of emergent behaviour, in groups due to interactions among the group's individuals, are numerous. Our aim, in this paper, is to use complex emergent behaviour among agents that interact via pair-wise attractive and repulsive potentials, to solve the local minima problem in the artificial potential based navigation method. We present a modified potential field based path planning algorithm, which uses agent internal states and swarm emergent behaviour to enhance group performance. The algorithm is used successfully to solve a reactive path-planning problem that cannot be solved using conventional static potential fields due to local minima formation. Simulation results demonstrate the ability of a swarm of agents to perform problem solving using the dynamic internal states of the agents along with emergent behaviour of the entire group

Non-linear stability of vortex formation in swarms of interacting particles

We use a particle-based model of a swarm of interacting particles to explore analytically the conditions for the formation of vortexlike behavior. Our model uses pairwise interaction potentials to model weak long-range attraction and strong short-range repulsion with a dissipation function to align particle velocity vectors. We use the effective energy of the swarm as a Lyapunov function to prove convergence to a vortexlike state. Our analysis extends previous work which has relied purely on simulation to explore the formation and stability of vortexlike behavior through analytical rather than numerical methods

Vibration based piezoelectric energy harvesting utilizing bridgeless rectifier circuit

The energy harvesting technique has the capability to build autonomous, self-powered electronic systems that does not depend on the battery power for driving the low power electronics devices. In this paper, a voltage doubler and bridgeless boost rectifier power electronic converter is proposed to increase the energy harvesting output voltage from piezoelectric vibration based transducer. The conventional full-wave diode bridge rectifier and boost converter for energy harvesting system increases significant voltage drop and power losses in the circuit. However, the proposed voltage doubler and bridgeless boost rectifier circuit reduce the voltage drop and power loses in the circuit and thus increases the efficiency of the circuit. The proposed voltage doubler and bridgeless boost rectifier circuit step-up the output voltage up to 3 V DC from an input voltage of 1.9 V AC