This paper is concerned with distributed consensus between two multi‐agent networks with the same topology structure. Considering one network as the leaders' network and the other one as the followers' network, a new event‐triggered pinning control scheme is proposed to realize distributed consensus between these two networks. By utilizing the graph theory and Lyapunov functional method, consensus criteria are derived in the form of linear matrix inequalities. Moreover, distributed consensus of multi‐agent networks with Lipschitz nonlinear dynamics is also discussed. Numerical simulations are provided to demonstrate the effectiveness of the theoretical analysis.
Thanks to their sprawled posture and multi-legged support, stability is not as hard to achieve for hexapedal robots as it is for bipeds and quadrupeds. A key engineering challenge with hexapods has been to produce insect-like agility and maneuverability, of which steering is an essential part. However, the mechanisms of multi-legged steering are not always clear, especially for robots with underactuated legs. Here we propose a formal definition of steering, and show why steering is difficult for robots with 6 or more underactuated legs. We show that for many of these robots, steering is impossible without slipping, and present experimental results which demonstrate the importance of allowing for slipping to occur intentionally when optimizing steering ability. Our results suggest that a non-holonomic multi-legged slipping model might be more appropriate than dynamic models for representing such robots, and that conventional non-slip contact models might miss significant parts of the performance envelope.
Conventional wisdom would have it that moving mechanical systems that dissipate energy by Coulomb friction have no relationship between force and average speed. One could argue that the work done by friction is constant per unit of distance travelled, and if propulsion forces exceed friction, the net work is positive, and the system accumulates kinetic energy without bound. We present a minimalistic model for legged propulsion with slipping under Coulomb friction, scaled to parameters representative of single kilogram robots and animals. Our model, amenable to exact solutions, exhibits nearly linear (R2 > 0.96) relationships between actuator force and average speed over its entire range of parameters, and in both motion regimes, it supports. This suggests that the interactions inherent in multilegged locomotion may lead to governing equations more reminiscent of viscous friction than would be immediately obvious.
Legged movement is ubiquitous in nature and of increasing interest for robotics. Most legged animals routinely encounter foot slipping, yet detailed modeling of multiple contacts with slipping exceeds current simulation capacity. Here we present a principle that unifies multilegged walking (including that involving slipping) with slithering and Stokesian (low Reynolds number) swimming. We generated data-driven principally kinematic models of locomotion for walking in low-slip animals (Argentine ant, 4.7% slip ratio of slipping to total motion) and for high-slip robotic systems (BigANT hexapod, slip ratio 12 to 22%; Multipod robots ranging from 6 to 12 legs, slip ratio 40 to 100%). We found that principally kinematic models could explain much of the variability in body velocity and turning rate using body shape and could predict walking behaviors outside the training data. Most remarkably, walking was principally kinematic irrespective of leg number, foot slipping, and turning rate. We find that grounded walking, with or without slipping, is governed by principally kinematic equations of motion, functionally similar to frictional swimming and slithering. Geometric mechanics thus leads to a unified model for swimming, slithering, and walking. Such commonality may shed light on the evolutionary origins of animal locomotion control and offer new approaches for robotic locomotion and motion planning.
Nowadays, quantities of commercial off-the-shelf (COTS) optical transceivers are widely equipped in both exiting and abuilding data centers. As data centers are becoming larger and containing more servers, the method to ensure longer and steady transmission with COTS optical transceivers becomes one of the key issues. Meanwhile, variations in the manufacturing of COTS optical transceivers bring in fluctuation of packet error rate (PER) in communication. In this paper, we present an application layer adaptive forward error correction (AL-AFEC) coding scheme for COTS optical transceivers in optical interconnect to solve the problems mentioned above and test its performance in a 10 Gbps Ethernet (10GbE) link using 10GBASE-SR SFP+ modules. Experimental results show that the proposed scheme enables longer transmission distance and the instability introduced by manufactural variations is well settled. Since our scheme requires no extra hardware on optical transceivers, it is a considerable low-cost alternative to improve system reliability and achieve longer transmission distance for COTS optical transceivers.
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