This paper proposes a general approach to design convergent coordination control laws for multi-agent systems subject to motion constraints. The main contribution of this paper is to prove in a constructive way that a gradient-descent coordination control law designed for single integrators can be easily modified to adapt for various motion constraints such as nonholonomic dynamics, linear/angu...

We propose a framework for synthesizing real-time trajectories for a wide class of coordinating multi-agent systems. The class of problems considered is characterized by the ability to decompose a given formation objective into an equivalent set of lower dimensional problems. These include the so called radar deception problem and the formation control problems that fall under formation keeping...

As MOS devices scale to submicron lengths, short-channel effects become more pronounced, and an improved transistor model becomes a necessary tool for the VLSI designer [10]. We present a simple, physically based charge-controlled model. The current in the MOS transistor is described in terms of the mobile charge in the channel, and incorporates the physical processes of drift and diffusion. Th...

The effects of surface polar phonons on electronic transport properties of monolayer graphene are studied by using a Monte Carlo simulation. Specifically, the low-field electron mobility and saturation velocity are examined for different substrates (SiC, SiO2, and HfO2) in comparison to the intrinsic case. While the results show that the low-field mobility can be substantially reduced by the in...

This paper addresses attitude coordination control for spacecraft formation with multiple delays. A distributed angular velocity input law is firstly constructed for attitude synchronization and tracking under multiple communication delays. Introducing virtual auxiliary systems makes it possible to integrate the angular velocity input law with the true true control torque, and asymptotic stabil...

A quantitative description of the dynamics of droplet motion has been a long-standing concern in electrowetting research. Although many static and dynamic models focusing on droplet motion induced by electrowetting-on-dielectric (EWOD) already exist, some dynamic features do not fit these models well, especially the dynamic saturation phenomenon. In this paper, a dynamic saturation model of dro...

The in-plane transport properties of a strained ( 100) Si layer on a relaxed Sii -XGe, substrate are studied with an ensemble Monte Carlo technique. Similar velocity (-field) characteristics are found for strained Si with any valley splitting energy AE)O. 1 eV. These phonon-limited electron mobilities reach 4000 cm2/V s at 300 K, and 23 000 cm’/v s at 77 K. There is only a slight increase in th...

ABSTRACTThe valves of right horn of systemic venous sinus are prominent structures within the right atrium during early embryonic period. Involution of these structures may not be complete, resulting in a spectrum of anatomical presentations such as cyanosis. A full-term male neonate referred to our hospital for precise evaluation of severe cyanosis on the first day of life. Echocardiographic e...

the goal of this laboratory study is to investigate the effect of pore shapes on seismic wave velocities in carbonate rocks under reservoir conditions. in this research, 41 core plugs of carbonate rocks from oil fields of the southwest of iran were prepared. the compressional and shear wave velocities were measured in both dry and brine saturated samples under several pressures especially reser...