This report includes the original manuscript (pp. 2-40) and the supplementary material (pp. 41-48) of Passive Mechanical Realizations of Bicubic Impedances with No More Than Five Elements for Inerter-Based Control Design.
This paper proposes a new and efficient method to estimate 6-DoF ego-states: attitudes and positions in real time. The proposed method extract information of ego-states by observing a feature called TROVE (Three Rays and One VErtex). TROVE features a
re projected from structures that are ubiquitous on man-made constructions and objects. The proposed method does not search for conventional corner-type features nor use Perspective-n-Point (PnP) methods, and it achieves a real-time estimation of attitudes and positions up to 60 Hz. The accuracy of attitude estimates can reach 0.3 degrees and that of position estimates can reach 2 cm in an indoor environment. The result shows a promising approach for unmanned robots to localize in an environment that is rich in man-made structures.
This report presents some supplementary material to the paper entitled Passive controller realization of a biquadratic impedance with double poles and zeros as a seven-element Series-parallel network for effective mechanical control [1].
The existing results on controllability of multi-agents networks are mostly based on homogeneous nodes. This paper focuses on controllability of heterogeneous multi-agent networks, where the agents are modeled as two types. One type is that the agent
s are of the same high-order dynamics, and the interconnection topologies of the information flow in different orders are supposed to be different. It is proved that a heterogeneous-topology network is controllable if and only if the first-order information topology is leader-follower connected, and there exists a Laplacian matrix, which is a linear combination of the Laplacian matrices of each order information, whose corresponding topology is controllable. The other type is that the agents are of generic linear dynamics, and the dynamics are supposed to be heterogeneous. A necessary and sufficient condition for controllability of heterogeneous-dynamic networks is that each agent contains a controllable dynamic part, and the interconnection topology of the network is leader-follower connected. If some dynamics of the agents are not controllable, the controllability between the agents and the whole network is also studied by introducing the concept of eigenvector-uncontrollable. Different illustrative examples are provided to demonstrate the effectiveness of the theoretical results in this paper.
This report includes the original manuscript and the supplementary material of Realization of Biquadratic Impedance as Five-Element Bridge Networks.
Extensive experiments in Human Movement Science suggest that solo motions are characterized by unique features that define the individuality or motor signature of people. While interacting with others, humans tend to spontaneously coordinate their mo
vement and unconsciously give rise to joint improvisation. However, it has yet to be shed light on the relationship between individuality and joint improvisation. By means of an ad-hoc virtual agent, in this work we uncover the internal mechanisms of the transition from solo to joint improvised motion in the mirror game, a simple yet effective paradigm for studying interpersonal human coordination. According to the analysis of experimental data, normalized segments of velocity in solo motion are regarded as individual motor signature, and the existence of velocity segments possessing a prescribed signature is theoretically guaranteed. In this work, we first develop a systematic approach based on velocity segments to generate emph{in-silico} trajectories of a given human participant playing solo. Then we present an online algorithm for the virtual player to produce joint improvised motion with another agent while exhibiting some desired kinematic characteristics, and to account for movement coordination and mutual adaptation during joint action tasks. Finally, we demonstrate that the proposed approach succeeds in revealing the kinematic features transition from solo to joint improvised motions, thus revealing the existence of a tight relationship between individuality and joint improvisation.
The Susceptible-Infected-Susceptible model is a canonical model for emerging disease outbreaks. Such outbreaks are naturally modeled as taking place on networks. A theoretical challenge in network epidemiology is the dynamic correlations coming from
that if one node is occupied, or infected (for disease spreading models), then its neighbors are likely to be occupied. By combining two theoretical approaches---the heterogeneous mean-field theory and the effective degree method---we are able to include these correlations in an analytical solution of the SIS model. We derive accurate expressions for the average prevalence (fraction of infected) and epidemic threshold. We also discuss how to generalize the approach to a larger class of stochastic population models.
This is a supplementary material to Realization of three-port spring networks with inerter for effective mechanical control [1], which provides the detailed proofs of some results. For more background information, refer to [2]-[32] and references therein.
This is supplementary material to Realizations of a special class of admittances with strictly lower complexity than canonical forms [1], which presents the detailed proofs of some results. For more background information, refer to [2]-[22] and references therein.
By introducing a predictive mechanism with small-world connections, we propose a new motion protocol for self-driven flocks. The small-world connections are implemented by randomly adding long-range interactions from the leader to a few distant agent
s, namely pseudo-leaders. The leader can directly affect the pseudo-leaders, thereby influencing all the other agents through them efficiently. Moreover, these pseudo-leaders are able to predict the leaders motion several steps ahead and use this information in decision making towards coherent flocking with more stable formation. It is shown that drastic improvement can be achieved in terms of both the consensus performance and the communication cost. From the industrial engineering point of view, the current protocol allows for a significant improvement in the cohesion and rigidity of the formation at a fairly low cost of adding a few long-range links embedded with predictive capabilities. Significantly, this work uncovers an important feature of flocks that predictive capability and long-range links can compensate for the insufficiency of each other. These conclusions are valid for both the attractive/repulsive swarm model and the Vicsek model.
