Network flow of mobile agents enhances the evolution of cooperation

We study the effect of contingent movement on the persistence of cooperation on complex networks with empty nodes. Each agent plays Prisoner's Dilemma game with its neighbors and then it either updates the strategy depending on the payoff difference with neighbors or it moves to another empty node if not satisfied with its own payoff. If no neighboring node is empty, each agent stays at the same site. By extensive evolutionary simulations, we show that the medium density of agents enhances cooperation where the network flow of mobile agents is also medium. Moreover, if the movements of agents are more frequent than the strategy updating, cooperation is further promoted. In scale-free networks, the optimal density for cooperation is lower than other networks because agents get stuck at hubs. Our study suggests that keeping a smooth network flow is significant for the persistence of cooperation in ever-changing societies.Comment: 7 pages, 5 figure

Switched Pinning Control for Merging and Splitting Maneuvers of Vehicle Platoons

This paper considers a velocity control problem for merging and splitting maneuvers of vehicle platoons. In this paper, an external device sends velocity commands to some vehicles in the platoon, and the others adjust their velocities autonomously. The former is pinning control, and the latter is consensus control in multi-agent control. We propose a switched pinning control algorithm. Our algorithm consists of three sub-methods. The first is an optimal switching method of pinning agents based on an MLD (Mixed Logical Dynamical) system model and MPC (Model Predictive Control). The second is a representation method for dynamical platoon formation with merging and splitting maneuver. The platoon formation follows the positional relation between vehicles or the formation demand from the external device. The third is a switching reduction method by setting a cost function that penalizes the switching of the pinning agents in the steady-state. Our proposed algorithm enables us to improve the consensus speed. Moreover, our algorithm can regroup the platoons to the arbitrary platoons and control the velocities of the multiple vehicle platoons to each target value

Self-Triggered Optimal Control Based on Path Search Algorithm

This paper proposes a path search formulation and its solution method to a finite optimal control problem on self-triggered control systems. Previous methods to the problem have high computational complexity. This paper focuses on the formulation and its data structure for reduction of calculation time and reformulates the optimal control problem to a path search problem. We also consider a data structure of a graph for the path search problem. The key point is the sharing of vertices. The sharing leads to the reduction of calculation time. We compare the calculation time of the path search algorithm and the mixed-logical dynamical method

Three-dimensional Simulation of Quantitative Ultrasound in Cancellous Bone using the Echographic Response of a Metallic Pin

International audienceDegenerative discopathy is a common pathology which may require spine surgery. A metallic cylindrical pin is inserted into the vertebral body to maintain soft tissues and may be used as a reflector of ultrasonic wave to estimate bone density. The first aim of this paper is to validate a 3D model to simulate the ultrasonic propagation in a trabecular bone sample in which a metallic pin has been inserted. We also aim at determining the effect of changes of bone volume fraction (BV/TV) and of positioning errors on the quantitative ultrasound (QUS) parameters in this specific configuration. The approach consists in coupling finite difference time domain simulation with X-ray microcomputed tomography. The correlation coefficient between experimental and simulated speed of sound (SOS) (respectively broadband ultrasonic attenuation (BUA)) was equal to 0.90 (respectively 0.55). The results show a significant correlation of SOS with BV/TV (R = 0.82), while BUA values exhibit a non-linear behavior versus BV/TV. The orientation of the pin should be controlled with an accuracy of around 1° in order to obtain accurate results. The results indicate that using the ultrasonic wave reflected by a pin has a potential to estimate the bone density. SOS is more reliable than BUA due its lower sensitivity to the tilt angle

Word Categorization of Vowel Durational Changes in Speech-Modulated Bone-Conducted Ultrasound

Ultrasound can deliver speech information when it is amplitude-modulated with speech and presented via bone conduction. This speech-modulated bone-conducted ultrasound (SM-BCU) can also transmit prosodic information. However, there is insufficient research on the recognition of vowel duration in SM-BCU. The aim of this study was to investigate the categorization of vowel durational changes in SM-BCU using a behavioral test. Eight Japanese-speaking participants with normal hearing participated in a forced-choice behavioral task to discriminate between “hato” (pigeon) and “haato” (heart). Speech signal stimuli were presented in seven duration grades from 220 ms to 340 ms. The threshold at which 50% of responses were “haato” was calculated and compared for air-conducted audible sound (ACAS) and SM-BCU. The boundary width was also evaluated. Although the SM-BCU threshold (mean: 274.6 ms) was significantly longer than the ACAS threshold (mean: 269.6 ms), there were no differences in boundary width. These results suggest that SM-BCU can deliver prosodic information about vowel duration with a similar difference limen to that of ACAS in normal hearing