Localizability and distributed protocols for bearing-based network localization in arbitrary dimensions

This paper addresses the problem of bearing-based network localization, which aims to localize all the nodes in a static network given the locations of a subset of nodes termed anchors and inter-node bearings measured in a common reference frame. The contributions of the paper are twofold. Firstly, we propose necessary and sufficient conditions for network localizability with both algebraic and rigidity theoretic interpretations. Secondly, we propose and analyze a linear distributed protocol for bearing-based network localization. One novelty of our work is that the localizability analysis and localization protocol are applicable to networks in arbitrary dimensional spaces

Translational and Scaling Formation Maneuver Control via a Bearing-Based Approach

This paper studies distributed maneuver control of multi-agent formations in arbitrary dimensions. The objective is to control the translation and scale of the formation while maintaining the desired formation pattern. Unlike conventional approaches where the target formation is defined by relative positions or distances, we propose a novel bearing-based approach where the target formation is defined by inter-neighbor bearings. Since the bearings are invariant to the translation and scale of the formation, the bearing-based approach provides a simple solution to the problem of translational and scaling formation maneuver control. Linear formation control laws for double-integrator dynamics are proposed and the global formation stability is analyzed. This paper also studies bearing-based formation control in the presence of practical problems including input disturbances, acceleration saturation, and collision avoidance. The theoretical results are illustrated with numerical simulations

Bearing Rigidity and Almost Global Bearing-Only Formation Stabilization

A fundamental problem that the bearing rigidity theory studies is to determine when a framework can be uniquely determined up to a translation and a scaling factor by its inter-neighbor bearings. While many previous works focused on the bearing rigidity of two-dimensional frameworks, a first contribution of this paper is to extend these results to arbitrary dimensions. It is shown that a framework in an arbitrary dimension can be uniquely determined up to a translation and a scaling factor by the bearings if and only if the framework is infinitesimally bearing rigid. In this paper, the proposed bearing rigidity theory is further applied to the bearing-only formation stabilization problem where the target formation is defined by inter-neighbor bearings and the feedback control uses only bearing measurements. Nonlinear distributed bearing-only formation control laws are proposed for the cases with and without a global orientation. It is proved that the control laws can almost globally stabilize infinitesimally bearing rigid formations. Numerical simulations are provided to support the analysis

The opposites task: Using general rules to test cognitive flexibility in preschoolers

A brief narrative description of the journal article, document, or resource. Executive functions play an important role in cognitive development, and during the preschool years especially, children's performance is limited in tasks that demand flexibility in their behavior. We asked whether preschoolers would exhibit limitations when they are required to apply a general rule in the context of novel stimuli on every trial (the "opposites" task). Two types of inhibitory processing were measured: response interference (resistance to interference from a competing response) and proactive interference (resistance to interference from a previously relevant rule). Group data show 3-year-olds have difficulty inhibiting prepotent tendencies under these conditions, whereas 5-year-olds' accuracy is near ceiling in the task. (Contains 4 footnotes and 1 table.

Faraday instability on viscous ferrofluids in a horizontal magnetic field: Oblique rolls of arbitrary orientation

A linear stability analysis of the free surface of a horizontally unbounded ferrofluid layer of arbitrary depth subjected to vertical vibrations and a horizontal magnetic field is performed. A nonmonotonic dependence of the stability threshold on the magnetic field is found at high frequencies of the vibrations. The reasons of the decrease of the critical acceleration amplitude caused by a horizontal magnetic field are discussed. It is revealed that the magnetic field can be used to select the first unstable pattern of Faraday waves. In particular, a rhombic pattern as a superposition of two different oblique rolls can occur. A scaling law is presented which maps all data into one graph for the tested range of viscosities, frequencies, magnetic fields and layer thicknesses.Comment: 8 pages, 6 figures, RevTex

Hot and cool executive function and its relation to theory of mind in children with and without autism spectrum disorder

Previous research has clearly demonstrated that Autism Spectrum Disorder (ASD) involves deficits in multiple neuropsychological functions, such as Executive Function (EF) and Theory of Mind (ToM). A conceptual distinction is commonly made between cool and hot EF. In ASD, continued attention has been paid to the cool areas of executive dysfunction. Cool EF has been strongly related to ToM but research has not taken into account the association between hot EF and ToM in ASD. The present study investigates the associations between hot and cool EF and ToM in 56 school-aged children with ASD and 69 controls on tasks tapping cool EF (i.e. working memory, inhibition, planning), hot EF (i.e. affective decision making, delay discounting), and ToM (i.e. mental state/ emotion recognition and false belief). Significant group differences in each EF measure support an executive dysfunction in both domains in ASD. Strong associations between delay discounting and ToM mental state/ emotion recognition are reported suggesting that hot EF makes a unique contribution to ToM above and beyond cool EF in typical development and ASD. This study improves understanding of the profile of higher-order cognitive deficits in children with ASD, which may inform diagnosis and intervention

Bearing rigidity theory and its applications for control and estimation of network systems: Life beyond distance rigidity

Distributed control and location estimation of multiagent systems have received tremendous research attention in recent years because of their potential across many application domains [1], [2]. The term agent can represent a sensor, autonomous vehicle, or any general dynamical system. Multiagent systems are attractive because of their robustness against system failure, ability to adapt to dynamic and uncertain environments, and economic advantages compared to the implementation of more expensive monolithic systems

Understanding the Mind or Predicting Signal-Dependent Action? Performance of Children With and Without Autism on Analogues of the False-Belief Task

To evaluate the claim that correct performance on unexpected transfer false-belief tasks specifically involves mental-state understanding, two experiments were carried out with children with autism, intellectual disabilities, and typical development. In both experiments, children were given a standard unexpected transfer false-belief task and a mental-state-free, mechanical analogue task in which participants had to predict the destination of a train based on true or false signal information. In both experiments, performance on the mechanical task was found to correlate with that on the false-belief task for all groups of children. Logistic regression showed that performance on the mechanical analogue significantly predicted performance on the false-belief task even after accounting for the effects of verbal mental age. The findings are discussed in relation to possible common mechanisms underlying correct performance on the two tasks

Delayed self-recognition in children with autism spectrum disorder.

This study aimed to investigate temporally extended self-awareness (awareness of one’s place in and continued existence through time) in autism spectrum disorder (ASD), using the delayed self-recognition (DSR) paradigm (Povinelli et al., Child Development 67:1540–1554, 1996). Relative to age and verbal ability matched comparison children, children with ASD showed unattenuated performance on the DSR task, despite showing significant impairments in theory-of-mind task performance, and a reduced propensity to use personal pronouns to refer to themselves. The results may indicate intact temporally extended self-awareness in ASD. However, it may be that the DSR task is not an unambiguous measure of temporally extended self-awareness and it can be passed through strategies which do not require the possession of a temporally extended self-concept

Power management and control strategies for off-grid hybrid power systems with renewable energies and storage

This document is the Accepted Manuscript of the following article: Belkacem Belabbas, Tayeb Allaoui, Mohamed Tadjine, and Mouloud Denai, 'Power management and control strategies for off-grid hybrid power systems with renewable energies and storage', Energy Systems, September 2017. Under embargo. Embargo end date: 19 September 2018. The final publication is available at Springer via https://doi.org/10.1007/s12667-017-0251-y.This paper presents a simulation study of standalone hybrid Distributed Generation Systems (DGS) with Battery Energy Storage System (BESS). The DGS consists of Photovoltaic (PV) panels as Renewable Power Source (RPS), a Diesel Generator (DG) for power buck-up and a BESS to accommodate the surplus of energy, which may be employed in times of poor PV generation. While off-grid DGS represent an efficient and cost-effective energy supply solution particularly to rural and remote areas, fluctuations in voltage and frequency due to load variations, weather conditions (temperature, irradiation) and transmission line short-circuits are major challenges. The paper suggests a hierarchical Power Management (PM) and controller structure to improve the reliability and efficiency of the hybrid DGS. The first layer of the overall control scheme includes a Fuzzy Logic Controller (FLC) to adjust the voltage and frequency at the Point of Common Coupling (PCC) and a Clamping Bridge Circuit (CBC) which regulates the DC bus voltage. A maximum power point tracking (MPPT) controller based on FLC is designed to extract the optimum power from the PV. The second control layer coordinates among PV, DG and BESS to ensure reliable and efficient power supply to the load. MATLAB Simulink is used to implement the overall model of the off-grid DGS and to test the performance of the proposed control scheme which is evaluated in a series of simulations scenarios. The results demonstrated the good performance of the proposed control scheme and effective coordination between the DGS for all the simulation scenarios considered.Peer reviewedFinal Accepted Versio