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Evolution and maintenance of cooperation via inheritance of neighborhood relationship

Chinese Science Bulletin 2013年第28期58卷 3491-3498页

作者： TAN ShaoLin Lü JinHu YU XingHuo HILL David John The Key Laboratory of System and Control Institute of Systems ScienceAcademy of Mathematics and Systems ScienceChinese Academy of Sciences School of Electrical and Computer Engineering RMIT University Department of Electrical and Electronic Engineering The University of Hong Kong School of Electrical and Information Engineering University of Sydney

Cooperative behaviors are ubiquitous in nature and human *** is very important to understand the internal mechanism of emergence and maintenance of *** we know now,the offsprings inherit not only the phenotype but also the neighborhood relationship of their *** recent research results show that the interactions among individuals facilitate survival of cooperation through network reciprocity of clustering *** paper aims at introducing an inheritance mechanism of neighborhood relationship to explore the evolution of *** detail,a mathematical model is proposed to characterize the evolutionary process with the above inheritance *** analysis and numerical simulations indicate that high-level cooperation can emerge and be maintained for a wide variety of cost-to-benefit ratios,even if mutation happens during the evolving process.

关键词：合作机制邻里关系维护演变进化过程人类社会遗传机制数学模型

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Semi-Global Output Consensus of Linear Agents with External Disturbances and Actuator Saturation:An Output Regulation Approach

Semi-Global Output Consensus of Linear Agents with External ...

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第三十三届中国控制会议

作者： Zhiyun Zhao Yiguang Hong Zongli Lin Department of Automation and Key Laboratory of System Control and Information Processing of the Ministry of EducationShanghai Jiao Tong University Key Laboratory of Systems and Control Academy of Mathematics and Systems ScienceChinese Academy of Sciences Charles L. Brown Department of Electrical and Computer Engineering University of VirginiaP.O. Box 400743Charlottesville VA 22904-4743 U.S.A.

This paper studies semi-global leader-following output consensus of a multi-agent system. Each follower agent in the system, described by a general linear system subject to external disturbances and actuator saturation, is to track the leader agent. Conditions on the agent dynamics are identified under which a low gain feedback based linear state control algorithm is constructed for each follower agent such that the leader-following output consensus is achieved when the communication topology among the agents is a directed graph that contains no loop and the leader is globally reachable. In addition, discussions and simulations are also provided for the output consensus in the presence of actuator saturation.

关键词： Leader-following output consensus,low gain feedback,multi-agent systems,actuator saturation

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Predicting the Speed of a Wave Glider Autonomous Surface Vehicle from Wave Model Data

Predicting the Speed of a Wave Glider Autonomous Surface Veh...

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IEEE/RSJ International Conference on Intelligent Robots and systems

作者： Phillip Ngo Jnaneshwar Das Jonathan Ogle Jesse Thomas Will Anderson Ryan N. Smith School of Electrical Engineering and Computer Science Queensland University of Technology Brisbane QLD 4001 Australia Robotic Embedded Systems Laboratory University of Southern California Los Angeles CA USA Physics and Engineering Department Fort Lewis College Durango CO USA Liquid Robotics Inc. Sunnyvale CA USA

ISBN: (纸本)9781479969357

A key component of robotic path planning for monitoring dynamic events is reliable navigation to the right place at the right time. For persistent monitoring applications (e.g., over months), marine robots are beginning to make use of the environment for propulsion, instead of depending on traditional motors and propellers. These vehicles are able to realize dramatically higher endurance by exploiting wave and wind energy, however the path planning problem becomes difficult as the vehicle speed is no longer directly controllable. In this paper, we examine Gaussian process models to predict the speed of the Wave Glider autonomous surface vehicle from observable environmental parameters. Using training data from an on-board sensor, and wave parameter forecasts from the WAVEWATCH III model, our probabilistic regression models create an effective method for predicting Wave Glider speed for use in a variety of path planning applications.

关键词： Ground vehicles Path planning Vehicle speed speed Crucial components A wave

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Continuous-variable measurement-device-independent quantum key distribution

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Physical Review A 2014年第5期89卷 052301-052301页

作者： Zhengyu Li Yi-Chen Zhang Feihu Xu Xiang Peng Hong Guo State Key Laboratory of Advanced Optical Communication Systems and Networks School of Electronics Engineering and Computer Science and Center for Quantum Information Technology Peking University Beijing 100871 China Center for Computational Science and Engineering Peking University Beijing 100871 China State Key Laboratory of Information Photonics and Optical Communications Beijing University of Posts and Telecommunications Beijing 100876 China Centre for Quantum Information and Quantum Control Department of Physics and Department of Electrical and Computer Engineering University of Toronto Toronto Ontario Canada M5S 3G4

We propose a continuous-variable measurement-device-independent quantum key distribution (CV-MDI QKD) protocol, in which detection is conducted by an untrusted third party. Our protocol can defend all detector side channels, which seriously threaten the security of a practical CV QKD system. Its security analysis against arbitrary collective attacks is derived based on the fact that the entanglement-based scheme of CV-MDI QKD is equivalent to the conventional CV QKD with coherent states and heterodyne detection. We find that the maximal total transmission distance is achieved by setting the untrusted third party close to one of the legitimate users. Furthermore, an alternate detection scheme, a special application of CV-MDI QKD, is proposed to enhance the security of the standard CV QKD system.

关键词： Quantum cryptography

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Index modulated OFDM with ICI self-cancellation in underwater acoustic communications

Index modulated OFDM with ICI self-cancellation in underwate...

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Asilomar Conference on Signals, systems & computers

作者： Miaowen Wen Yuke Li Xiang Cheng Liuqing Yang School of Electronic and Information Engineering South China University of Technology Guangzhou China State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Beijing China School of Electronics Engineering and Computer Science Peking University Beijing China Department of Electrical and Computer Engineering Colorado State University Fort Collins CO USA

ISBN: (纸本)9781479982981

OFDM is promising for underwater acoustic (UWA) communications due to its potential to combat the large delay spread. However, the performance of the OFDM system is seriously deteriorated by the inter-carrier interference (ICI) caused by the transmitter/receiver motion and ocean waves. In this paper, we propose a novel ICI countermeasure. The key idea is to inactivate partial subcarriers according to index modulation and meanwhile transmit signals with opposite polarity on two adjacent active subcarriers for ICI self cancellation. Simulation results validate that the proposed scheme achieves much better bit error rate (BER) performance than many existing schemes in UWA communications.

关键词： OFDM Modulation Bit error rate Indexes Receivers Transmitters Sonar equipment

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Highlights from the 11th ISCB Student Council Symposium 2015. Dublin, Ireland. 10 July 2015

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BMC bioinformatics 2016年第3期17 Suppl 3卷 95页

作者： Katie Wilkins Mehedi Hassan Margherita Francescatto Jakob Jespersen R. Gonzalo Parra Bart Cuypers Dan DeBlasio Alexander Junge Anupama Jigisha Farzana Rahman Griet Laenen Sander Willems Lieven Thorrez Yves Moreau Nagarajan Raju Sonia Pankaj Chothani C. Ramakrishnan Masakazu Sekijima M. Michael Gromiha Paddy J Slator Nigel J Burroughs Przemysław Szałaj Zhonghui Tang Paul Michalski Oskar Luo Xingwang Li Yijun Ruan Dariusz Plewczynski Giulia Fiscon Emanuel Weitschek Massimo Ciccozzi Paola Bertolazzi Giovanni Felici Pieter Meysman Manu Vanaerschot Maya Berg Hideo Imamura Jean-Claude Dujardin Kris Laukens Westa Domanova James R. Krycer Rima Chaudhuri Pengyi Yang Fatemeh Vafaee Daniel J. Fazakerley Sean J. Humphrey David E. James Zdenka Kuncic Plant Pathology and Plant-Microbe Biology Section School of Integrative Plant Science Cornell University Ithaca USA Graduate Field of Computational Biology Cornell University Ithaca USA School of Computing & Mathematics University of South Wales Cardiff UK Department of Genome Biology for Neurodegenerative Diseases German Center for Neurodegenerative Diseases (DZNE) within the Helmholtz Association ᅟ Germany Department of Surgery Massachusetts General Hospital The Broad Institute of MIT and Harvard Boston USA Department of Systems Biology Technical University of Denmark Kemitorvet Denmark Protein Physiology Lab Facultad de Ciencias Exactas y Naturales Universidad de Buenos Aires Buenos Aires Argentina Molecular Parasitology Unit (MPU) Institute of Tropical Medicine Antwerp Belgium Advanced Database Research and Modeling (ADReM) research group University of Antwerp Antwerpen Belgium Department of Computer Science University of Arizona Tucson USA Department of Veterinary Clinical and Animal Sciences Center for non-coding RNA in Technology and Health University of Copenhagen Copenhagen Denmark University College Dublin Dublin Ireland Department of Electrical Engineering (ESAT) STADIUS Center for Dynamical Systems Signal Processing and Data Analytics KU Leuven Leuven Belgium Minds Medical IT Department Leuven Belgium Scientific Institute of Public Health (WIV-ISP) Platform of Biotechnology and Molecular Biology (PBB) Brussels Belgium Department of Development and Regeneration @ Kulak KU Leuven Kortrijk Belgium Department of Biotechnology Bhupat and Jyoti Metha School of Biosciences Indian Institute of Technology Madras Chennai India Philips Research North America Briarcliff Manor USA Global Scientific Information and Computing Center (GSIC) Tokyo Institute of Technology Tokyo Japan Systems Biology Centre University of Warwick Senate House Coventry UK Systems Biology Doctoral Training Centre University of Warwick Senate House Coventry UK Center for B

A1 Highlights from the eleventh ISCB Student Council Symposium 2015 Katie Wilkins, Mehedi Hassan, Margherita Francescatto, Jakob Jespersen, R. Gonzalo Parra, Bart Cuypers, Dan DeBlasio, Alexander Junge, Anupama Jigisha, Farzana Rahman O1 Prioritizing a drug’s targets using both gene expression and structural similarity Griet Laenen, Sander Willems, Lieven Thorrez, Yves Moreau O2 Organism specific protein-RNA recognition: A computational analysis of protein-RNA complex structures from different organisms Nagarajan Raju, Sonia Pankaj Chothani, C. Ramakrishnan, Masakazu Sekijima; M. Michael Gromiha O3 Detection of Heterogeneity in Single Particle Tracking Trajectories Paddy J Slator, Nigel J Burroughs O4 3D-NOME: 3D NucleOme Multiscale Engine for data-driven modeling of three-dimensional genome architecture Przemysław Szałaj, Zhonghui Tang, Paul Michalski, Oskar Luo, Xingwang Li, Yijun Ruan, Dariusz Plewczynski O5 A novel feature selection method to extract multiple adjacent solutions for viral genomic sequences classification Giulia Fiscon, Emanuel Weitschek, Massimo Ciccozzi, Paola Bertolazzi, Giovanni Felici O6 A systems Biology Compendium for Leishmania donovani Bart Cuypers, Pieter Meysman, Manu Vanaerschot, Maya Berg, Hideo Imamura, Jean-Claude Dujardin, Kris Laukens O7 Unravelling signal coordination from large scale phosphorylation kinetic data Westa Domanova, James R. Krycer, Rima Chaudhuri, Pengyi Yang, Fatemeh Vafaee, Daniel J. Fazakerley, Sean J. Humphrey, David E. James, Zdenka Kuncic

关键词： Visceral Leishmaniasis Feature Selection Method Frequent Itemset Mining Leishmania Donovani Student Council

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Darwinian Robotic Swarms for exploration with minimal communication

Darwinian Robotic Swarms for exploration with minimal commun...

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2013 IEEE Congress on Evolutionary Computation, CEC 2013

作者： Couceiro, Micael S. Rocha, Rui P. Ferreira, Nuno M. F. Vargas, Patricia A. Institute of Systems and Robotics University of Coimbra Coimbra Portugal RoboCorp Department of Electrical Engineering Engineering Institute of Coimbra Coimbra Portugal Robotics Laboratory School of Mathematical and Computer Science Heriot-Watt University Edinburgh United Kingdom

ISBN: (纸本)9781479904549

The Robotic Darwinian Particle Swarm Optimization (RDPSO) recently introduced in the literature has the ability to dynamically partition the whole population of robots based on simple 'punish-reward' rules. Although this evolutionary algorithm enables the reduction of the amount of required information exchange among robots, a further analysis on the communication complexity of the RDPSO needs to be carried out so as to evaluate its scalability. This paper analyses the architecture of the RDPSO communication system, thus describing the dynamics of the communication data packet structure shared between teammates. Moreover, a set of simple communication rules is also proposed in order to reduce the communication overhead within swarms of robots. Experimental results with teams of 15 real robots show that the proposed methodology reduces the communication overhead, thus improving the scalability and applicability of the RDPSO algorithm. © 2013 IEEE.

关键词： Swarm intelligence

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Experimental Testing of a Traction control System with On-line Road Condition Estimation for Electric Vehicles

Experimental Testing of a Traction Control System with On-li...

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Mediterranean Conference on control & Automation

作者： Goran Vasiljevic Karlo Griparic Stjepan Bogdan LARICS - Laboratory for Robotics and Intelligent Control Systems Department of Control and Computer Engineering. Faculty of Electrical Engineering and Computing University of Zagreb

ISBN: (纸本)9781479909964

In this paper experimental results of testing slip-based traction control system (TCS) with an on-line road condition estimation are presented. TCS is designed for a car with in-wheel electric motors, so that estimation and control are implemented independently for each wheel thus enabling the optimal friction coefficient for every wheel, even if they are on different surfaces or have different tire characteristics. A road condition is approximated using a function which is estimated in the real-time and used as the input to the TCS. The design of the presented TCS is based on the wheel slip ratio, controlled to it's optimal value by a PI controller and with the addition of a feedforward branch for the transition response speed up. System is tested on a newly developed experimental setup consisting of the wheel with embedded (in-wheel) motor rolling on the metal drum loaded by the second motor simulating car behaviour.

关键词： Traction control systems Pavement condition Electric vehicles Wheels PI control coefficient of friction experimental test SLIP RATIO Cars Best value IN-LINE

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Cooperative AUV motion planning using terrain information

Cooperative AUV motion planning using terrain information

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OCEANS 2013 MTS/IEEE Bergen: The Challenges of the Northern Dimension

作者： Hausler, Andreas J. Saccon, Alessandro Pascoal, Antonio M. Hauser, John Aguiar, A. Pedro Laboratory of Robotics and Systems in Science and Engineering Instituto Superior Técnico Lisbon Portugal Department of Mechanical Engineering Eindhoven University of Technology Netherlands Electrical Computer and Energy Engineering Department University of Colorado at Boulder Colorado United States Faculdade de Engenharia University of Porto Portugal

ISBN: (纸本)9781479900015

There is widespread interest in the deployment of fleets of marine robots with the potential to roam the oceans freely and collect data at an unprecedented scale. This calls for the development of efficient algorithms for multiple vehicle motion planning that can take directly into account the capabilities of each vehicle as well as the environmental conditions and lend themselves to seamless integration with control and navigation systems. The latter connection is for the most part eschewed in the literature, in spite of the obvious fact that in order for the vehicles to execute the planned motions they must at a later stage navigate with great accuracy and follow the trajectories using control algorithms that take explicitly into account the dynamical constraints of the vehicles involved. Among the methods available for underwater vehicle navigation, terrain-based techniques have recently come to the fore. These techniques avoid the use of overly expensive inertial-like motion sensor units and hold considerable promise for the development of a new breed of affordable long range navigation systems. Motivated by these considerations, we tackle in the present paper the problem of multiple vehicle motion planning by taking explicitly into consideration inter-vehicle collision avoidance, together with a number of criteria that may include simultaneous times of arrival at assigned target points, energy minimization, acoustic communication constraints, and the maximization of terrain information along the vehicle paths (as measured by some appropriate criterion) for terrain-based navigation purposes. © 2013 IEEE.

关键词： Motion planning

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An analysis of regression models for predicting the speed of a wave glider autonomous surface vehicle

An analysis of regression models for predicting the speed of...

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2013 Australasian Conference on robotics and Automation, ACRA 2013

作者： Ngo, Phillip Al-Sabban, Wesam Thomas, Jesse Anderson, Will Das, Jnashewar Smith, Ryan N. Electrical Engineering and Computer Science Queensland University of Technology BrisbaneQLD Australia Liquid Robotics Inc. Sunnyvale SunnyvaleCA United States Robotics Embedded Systems Laboratory University of Southern California Los AngelesCA United States Physics and Engineering Department Fort Lewis College DurangoCO United States

ISBN: (纸本)9780980740448

An important aspect of robotic path planning for is ensuring that the vehicle is in the best location to collect the data necessary for the problem at hand. Given that features of in- terest are dynamic and move with oceanic cur- rents, vehicle speed is an important factor in any planning exercises to ensure vehicles are at the right place at the right time. Here, we examine different Gaussian process models to find a suitable predictive kinematic model that enable the speed of an underactuated, au- tonomous surface vehicle to be accurately pre- dicted given a set of input environmental pa-rameters.

关键词： Motion planning

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