一种基于事件触发的分布式卡尔曼一致性滤波算法设计

针对无线传感器网络中存在的通信带宽受限等问题,设计了基于事件触发的分布式卡尔曼一致性滤波算法.采用增量发送的传输机制,每个传感器仅在当前时刻观测值与最新触发时刻观测值之间的差值平方超出阈值时,才将观测值发送到相应的估值器.而每个估值器都可以通过时间触发的规则从其邻居节点接收到估计值.为了避免估值之间互协方差矩阵的计算,通过局部最小化方差的上界提出了事件触发的分布式卡尔曼滤波器.基于李雅普诺夫方法证明了算法在均方意义下的指数有界性.数值仿真验证了事件触发的阈值越小,通信率越高且滤波器的估计精度越高;否则,通信率越低且估计精度越低.     

SlNPV PK基因的部分序列分析

ＳｌＮＰＶ基因组ＤＮＡ的ＨｉｎｄⅢ－Ｘｂａ片段上含有部分的ＰＫ基因，ＳｌＮＰＶＰＫ的氨基酸序列与ＨａＮＰＶ，ＨｚＮＰＶＳｐｌｉＮＰＶ，ＡｆＮＰＶ，ＡｃＮＩＶ，ＬｄＮＰＶＰＫ氨基酸序列的同源性分别为４５％，４４％，８９％，３７％，３８％和３７％，其上含有蛋白激酶的特征序列ＩＶＨＡＮＤＶＫＬＥＮＶＬ。     

Consensus problems on networks with free protocol

In the real world, rule makers can only restrict, not completely control the behavior of the governed, while the governed can only choose their behavior patterns under these restrictions. In this paper, we design a new control protocol called free protocol to describe this situation. First, we calculate consensus probabilities based on the information of the interaction networks. Then, sufficient conditions are obtained for all agents converging to a same value with probability one. Finally, numerical simulation results are given to verify the above results.     

复杂条件下多智能体系统编队一致性控制

针对噪声信号使多智能体系统难以形成一致的问题,综合运用代数图理论、矩阵论等知识,结合一致性形成条件和现有的一致性协议,提出一种改进的带有噪声的一致性控制算法。该算法能够使系统状态量与控制输入量收敛到一个很小的范围,从而大大弱化噪声对系统的影响。将这种改进算法应用到多智能体编队控制中并进行仿真,仿真结果表明,采用改进的一致性控制算法后,多智能体运动轨迹波动小,轨迹曲线平滑,各运动参数趋于一致,具有良好的编队一致性。     

SKATE: A docking program that decouples systematic sampling from scoring

SKATE is a docking prototype that decouples systematic sampling from scoring. This novel approach removes any interdependence between sampling and scoring functions to achieve better sampling and, thus, improves docking accuracy. SKATE systematically samples a ligand's conformational, rotational and translational degrees of freedom, as constrained by a receptor pocket, to find sterically allowed poses. Efficient systematic sampling is achieved by pruning the combinatorial tree using aggregate assembly, discriminant analysis, adaptive sampling, radial sampling, and clustering. Because systematic sampling is decoupled from scoring, the poses generated by SKATE can be ranked by any published, or in‐house, scoring function. To test the performance of SKATE, ligands from the Asetex/CDCC set, the Surflex set, and the Vertex set, a total of 266 complexes, were redocked to their respective receptors. The results show that SKATE was able to sample poses within 2 Å RMSD of the native structure for 98, 95, and 98% of the cases in the Astex/CDCC, Surflex, and Vertex sets, respectively. Cross‐docking accuracy of SKATE was also assessed by docking 10 ligands to thymidine kinase and 73 ligands to cyclin‐dependent kinase. © 2010 Wiley Periodicals, Inc. J Comput Chem, 2010     

时延耦合自主个体的一致性问题

考察了同时具有通信时延和输入时延的多自主个体的耦合一致性问题.利用频域分析方法,分别得到了一阶和二阶耦合自主个体渐近达到一致的充分条件,该条件与输入时延、通信时延以及控制参数有关.仿真结果证明了结论的正确性. 关键词： 耦合自主个体 输入时延 通信时延 一致性     

Leader‐following consensus problem of heterogeneous multi‐agent systems with nonlinear dynamics using fuzzy disturbance observer

This article considers the leader‐following consensus problem of heterogeneous multi‐agent systems. The proposed multi‐agent system is consisted of heterogeneous agents where each agents have their own nonlinear dynamic behavior. To overcome difficulty from heterogeneous nonlinear intrinsic dynamics of agents, a fuzzy disturbance observer is adopted. In addition, based on the Lyapunov stability theory, an adaptive control method is used to compensate the observation error caused by the difference between the unknown factor and estimated values. Two numerical examples are given to illustrate the effectiveness of the proposed method. © 2013 Wiley Periodicals, Inc. Complexity 19: 20–31, 2014     

Finite-time consensus for switching network topologies with disturbances

In this paper we investigate the properties of a decentralized consensus algorithm for a network of continuous-time integrators subject to unknown-but-bounded time-varying disturbances. The proposed consensus algorithm is based on a discontinuous local interaction rule. Under certain restrictions on the switching topology, it is proven that after a finite transient time the agents achieve an approximated consensus condition by attenuating the destabilizing effect of the disturbances. This main result is complemented by an additional result establishing the achievement of consensus under different requirements on the switching communication topology. In particular, we provide a convergence result that encompasses situations in which the time varying graph is always disconnected. Lyapunov analyses are carried out to support the suggested algorithms and results. Simulative tests considering, as case study, the synchronization problem for a network of clocks are illustrated and commented on to validate the developed analysis.     

基于评价信息随机化的群体评价方法与应用

针对群体评价中共识集结的相关问题,从仿真的视角讨论了评价信息随机化的群体共识聚合求解方法。首先,面向实数类型的评价信息,将精确性的数据给予一定的宽松性处理,进一步结合正态分布的3σ原则,利用随机模拟的方式集结出带有概率特征的可能性排序;其次,面向区间数类型的评价信息,整合出各子区间发生概率不同的区间数评价信息,在充分随机模拟的情况下,给出了带有优胜概率特征的可能性排序。最后,通过相应的算例进行求解分析,说明了该方法的可行性和有效性。基于群体共识视角,针对实数和区间数两种类型的评价信息,分别进行相应的随机化处理,并为进一步探索区间数的分布形式提供了一种新的研究思路。     

An attribute weight based feedback model for multiple attributive group decision analysis problems with group consensus requirements in evidential reasoning context

In an evidential reasoning context, a group consensus (GC) based approach can model multiple attributive group decision analysis problems with GC requirements. The predefined GC is reached through several rounds of group analysis and discussion (GAD) in the approach. However, the GAD with no guidance may not be the most appropriate way to reach the predefined GC because several rounds of GAD will spend a lot of time of all experts and yet cannot help them to effectively emphasize on the assessments which primarily damage the GC. In this paper, an attribute weight based feedback model is constructed to effectively identify the assessments primarily damaging the GC and accelerate the GC convergence. Considering important attributes with the weights more than or at least equal to the mean of the weights of all attributes, the feedback model constructs identification rules to identify the assessments damaging the GC for the experts to renew. In addition, a suggestion rule is introduced to generate appropriate recommendations for the experts to renew their identified assessments. The identification rules are constructed at three levels including the attribute, alternative and global levels. The feedback model is used to solve an engineering project management software selection problem to demonstrate its detailed implementation process, its validity and applicability, and its advantages compared with the GC based approach.