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The coverage control and electric desorption kinetics of polypyridyl ruthenium dye molecule fixed on the interface of nanoporous TiO₂

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JOURNAL OF ELECTROANALYTICAL CHEMISTRY 2018年 814卷 168-173页

作者： Liu, Weiqing Liu, Yujing Liu, Fei Zou, Ziyu Duan, Junhong Nanchang Hongkong Univ Jiangxi Engn Lab Optoelect Testing Technol Nanchang 330063 Jiangxi Peoples R China Nanchang Hongkong Univ Sch Testing & Photoelect Engn Nanchang 330063 Jiangxi Peoples R China

This paper conducted researches on electric desorption kinetics, desorption mechanism and quantitative desorption of the adsorbed polypyridyl ruthenium based dye on the surface of nanoporous TiO2 film under negative potential. Change external negative potential to obtain the relationship between dye desorption amount of sensitized-TiO2 film and potential. After the negative potential exceeds about -0.5 V, amount of dye left on the surface of TiO2 film decreases rapidly. According to the pseudo-first-order kinetic equation, dye desorption rate &ITk&ITd under potential of -0.6 V is 6.92 x 10(-3) s(-1). Research the relationship between the amount of desorbed dye and the potential duration, ionic concentration in supporting electrolyte solution as well as film thickness. It implies that the amount of adsorbed dye can be accurately controlled. Based on the measurement and analysis of the adsorption property of desorbed dye through UV-Visible absorption spectroscopy, there is no change of number of absorption peaks of the desorbed dye or no occurrence of new peak, while the absorption peak position of the desorbed dye shows a blue shift. Cyclic voltammetry is used to research the TiO2/dye/electrolyte interface and TiO2/electrolyte interface, and analyze the influence of dye desorption on the cyclic voltammetric response. Two possible dye desorption mechanisms are provided: one is the fracture of ester bond between dye and TiO2 under negative potential;another is the electrostatic repulsion desorption mechanism. Work in this paper is of theoretical guiding significance for compounding new dyes, defining assembly mechanism of dye, enhancing the stability of solar cell, and improving solar cell efficiency.

关键词： coverage control Electric desorption kinetics Polypyridyl ruthenium dye molecule TiO2

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Notes on averaging over acyclic digraphs and discrete coverage control

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AUTOMATICA 2008年第8期44卷 2120-2127页

作者： Gao, Chunkai Cortes, Jorge Bullo, Francesco Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA Univ Calif San Diego Dept Mech & Aerosp Engn La Jolla CA 92093 USA Univ Illinois Coordinated Sci Lab Urbana IL 61801 USA

In this paper we Study averaging algorithms and coverage control laws in a unified light. First, we characterize the convergence properties of averaging algorithms over acyclic digraphs with fixed and controlled-switching topology. Second, we introduce and study novel discrete coverage control laws, which are useful in practical implementations of coverage strategies. We characterize the close relationship of the novel discrete control laws with continuous coverage control laws and with averaging algorithms over a class of a cyclic digraphs, that we term discrete Voronoi graphs. These results provide a unified framework to model a vast class of distributed optimization problems. (C) 2008 Elsevier Ltd. All rights reserved.

关键词： averaging algorithm consensus switching topology coverage control nonsmooth analysis

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AN ADAPTIVE coverage control FOR DEPLOYMENT OF NONHOLONOMIC MOBILE SENSOR NETWORKS OVER TIME-VARYING SENSORY FUNCTIONS

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ASIAN JOURNAL OF control 2013年第4期15卷 988-1000页

作者： Luna, Jose Marcio Fierro, Rafael Abdallah, Chaouki T. Wood, John Univ New Mexico Dept Elect & Comp Engn Albuquerque NM 87131 USA Univ New Mexico Dept Mech Engn Albuquerque NM 87131 USA

In this paper we show the Lyapunov stability of an adaptive and decentralized coverage control for a team of mobile sensors. This new coverage approach assumes nonholonomic sensors rather than the holonomic ones usually found in the literature. Furthermore, sufficient conditions are provided to guarantee an ultimate bound for the system when in presence of time-varying sensory functions. The convergence and feasibility of the coverage control are verified through simulation and experimental results.

关键词： coverage control Lyapunov stability nonholonomic mobile robots adaptive control

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Statistical coverage control of Mobile Sensor Networks

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IEEE TRANSACTIONS ON ROBOTICS 2019年第4期35卷 889-908页

作者： Arslan, Oemuer Max Planck Inst Intelligent Syst Autonomous Mot Dept D-72076 Tubingen Germany

A fundamental challenge of mobile sensor networks is automated active reconfiguration of sensors in response to environmental stimuli in order to maximize their total sensing quality (or minimize their total sensing cost) of events occurring over an environment. In this paper, given an event distribution over a convex environment, we consider mobile isotropic sensors with adjustable sensing range and propose a new family of provably correct reactive coverage control algorithms for both continuous-and discrete-time sensor dynamics. The proposed coverage control algorithms constantly (re) configure sensor positions and sensing ranges in order to minimize a statistical distance, in particular, an f-divergence, between the event distribution over the environment and the overall event detection probability of sensors. We show that the standard Voronoi-based coverage control law of homogeneous mobile sensor networks is a special case of our framework where the event detection probability of each sensor has a Gaussian form, the statistical distance is set to be the Kullback-Leibler (KL) divergence and sensor allocation is performed based on Voronoi diagrams. To increase the practicality of our framework, we also present its integration with a Voronoi-based collision avoidance strategy for disk-shaped sensor bodies and its extension to differential drive sensor dynamics, while retaining the stability properties.

关键词： coverage control Kullback-Leibler (KL) divergence sensor networks soft sensor allocation statistical distance Voronoi diagrams

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Learning coverage control of Mobile Sensing Agents in One-Dimensional Stochastic Environments

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IEEE TRANSACTIONS ON AUTOMATIC control 2010年第3期55卷 804-809页

作者： Choi, Jongeun Horowitz, Roberto Michigan State Univ Dept Mech Engn E Lansing MI 48824 USA Michigan State Univ Dept Elect & Comp Engn E Lansing MI 48824 USA Univ Calif Berkeley Dept Mech Engn Berkeley CA 94720 USA

This technical note presents learning coverage control of mobile sensing agents without a priori statistical information regarding random signal locations in a one-dimensional space. In particular, the proposed algorithm controls the usage probability of each agent in a network while simultaneously satisfying an overall network formation topology. The proposed control algorithm is rather direct, not involving any identification of an unknown probability density function associated to random signal locations. Our approach builds on diffeomorphic function learning with kernels. The almost sure convergence properties of the proposed control algorithm are analyzed using the ODE approach. Numerical simulations for different scenarios demonstrate the effectiveness of the proposed approach.

关键词： coverage control learning with kernels mobile sensing agents

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Distributed Receding Horizon coverage control for Multiple Mobile Robots

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IEEE SYSTEMS JOURNAL 2016年第1期10卷 198-207页

作者： Mohseni, Fatemeh Doustmohammadi, Ali Menhaj, Mohammad Bagher Amirkabir Univ Technol Tehran Polytech Tehran 158754413 Iran

This paper presents a distributed coverage control scheme based on receding horizon control for the coordination of multiple mobile robots to cover an event. The mission space is modeled using a probability density function representing the probability of occurrence of events. The distributed scheme is generated by the decomposition of a single optimal coverage problem into distributed receding horizon coverage control problems, each of them associated with one robot. The distributed coverage scheme is proven to optimally stabilize robots at a centroidal Voronoi configuration, which is an optimal configuration to cover an event. The control scheme is tested in three simulation environments to illustrate its good performance at environments with any probability density function of events, as well as its ability to generalize to much larger groups of mobile robots.

关键词： coverage control distributed control optimization receding horizon control (RHC) robot motion

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Distributed model predictive coverage control for decoupled mobile robots

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ROBOTICA 2017年第4期35卷 922-941页

作者： Mohseni, F. Doustmohammadi, A. Menhaj, M. B. Amirkabir Univ Technol Tehran Polytech Tehran 158754413 Iran

A distributed coverage control scheme based on the state space model predictive control, which is known as receding horizon control (RHC) for decoupled systems, is presented. An optimal control problem is formulated for a set of decoupled robotic systems where a cost function couples the dynamical behavior of the robots. The coupling is described through a connected graph using a Voronoi diagram, where each robot is a node and the cost and constraints of the optimization problem associated with each robot are a function of its state and of the states of its neighbors. The complexity of the problem is addressed by breaking a centralized receding horizon controller into distinct RHC controllers of smaller sizes. Each RHC controller is associated with a different node and it computes the local control inputs based only on the position of the robot and that of its neighbors. The stability of the distributed scheme is analyzed and its properties compared with the linear quadratic regulator (LQR) design which has been proposed in the literature. Moreover, the proposed coverage algorithm is also applied to deploy a group of mobile robots in a desired formation pattern. The simulation results are used to illustrate the good performance of the proposed coverage control scheme.

关键词： coverage control Distributed control Optimization Receding horizon control Stability

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Privacy-Preserving coverage control for Multiagent Systems with Limited Communication Ranges

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INTERNATIONAL JOURNAL OF ROBUST AND NONLINEAR control 2024年第0期

作者： Wang, Peng Song, Cheng Liu, Lu Xian Modern Control Technol Res Inst Xian Peoples R China City Univ Hong Kong Dept Biomed Engn Hong Kong Peoples R China Nanjing Univ Sci & Technol Sch Automat Nanjing Peoples R China

This work investigates the coverage control problem for networked mobile agents on a circle, considering both limited communication ranges and privacy preservation requirements. The objective of the agents is to cooperatively minimize the coverage cost function, which is the longest time required to arrive at any point on the circle from the optimal locations of the agents. A new confidential interaction protocol is proposed to drive the multiagent system to the optimal configuration. Moreover, the process required to implement the confidential interaction protocol is provided to handle the limited communication ranges during coverage tasks. Under the privacy-preserving coverage control law, it is proved that networked mobile agents with limited communication ranges can be driven to optimal configuration with guaranteed privacy preservation. Finally, a simulation example is provided.

关键词： communication ranges cooperative control coverage control multiagent systems privacy preservation

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A coverage control-Based Idle Vehicle Rebalancing Approach for Autonomous Mobility-on-Demand Systems

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IEEE TRANSACTIONS ON control SYSTEMS TECHNOLOGY 2024年第5期32卷 1839-1853页

作者： Zhu, Pengbo Sirmatel, Isik Ilber Ferrari-Trecate, Giancarlo Geroliminis, Nikolas Ecole Polytech Fed Lausanne Urban Transport Syst Lab CH-1015 Lausanne Switzerland Trakya Univ Fac Engn Dept Elect & Elect Engn Control Sect TR-22030 Edirne Turkiye Ecole Polytech Fed Lausanne Dependable Control & Decis Grp CH-1015 Lausanne Switzerland

As an emerging mode of urban transportation, autonomous mobility-on-demand (AMoD) systems show the potential in improving mobility in cities through timely and door-to-door services. However, the spatiotemporal imbalances between mobility demand and supply may lead to inefficiencies and a low quality of service. Vehicle rebalancing (i.e., dispatching idle vehicles to high-demand areas) is a potential solution for efficient AMoD fleet management. In this article, we formulate the vehicle rebalancing problem as a coverage control problem for the deployment of a fleet of mobile agents for AMoD operation in urban areas. Performance is demonstrated via microscopic simulations representing a large urban road network in Shenzhen, China. The results reveal the potential of the proposed method in improving service rates and decreasing passenger waiting times.

关键词： Autonomous mobility-on-demand (AMoD) systems cooperative control coverage control distributed control vehicle rebalancing

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Dynamic coverage control in a Time-Varying Environment Using Bayesian Prediction

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IEEE TRANSACTIONS ON CYBERNETICS 2019年第1期49卷 354-362页

作者： Zuo, Lei Shi, Yang Yan, Weisheng Changan Univ Sch Elect & Control Engn Xian 710064 Shaanxi Peoples R China Univ Victoria Dept Mech Engn Victoria BC V8W 3P1 Canada Northwestern Polytech Univ Sch Marine Sci & Technol Xian Shaanxi Peoples R China

This paper investigates the dynamic coverage control problem for a group of agents with unknown density function. A cost function, depending on a certain metric and the density function, is defined to describe the performance of coverage network. Since the optimal deployment of agents is closely depending on the density function, we employ the Bayesian prediction approaches to estimate the density function. Moreover, a novel coverage-control-customized algorithm is proposed to acquire the Bayesian parameters. The merits of this Bayesian-based spatial estimation algorithm are the consideration of measurement noise and the capability of dealing time-varying density function. However, the estimated density function from Bayesian framework follows normal distribution, which leads the cost function to a stochastic process. To deal with this type of cost function, a discrete control scheme is proposed to steer the agents approaching to a near-optimal deployment. The mean-square stability of the proposed coverage system is further analyzed. Finally, numerical simulations are provided to verify the effectiveness of the proposed approaches.

关键词： Bayesian prediction coverage control Gaussian Markov random fields (GMRFs) mean-square stability

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