| 1. |
- Dobrota, Ana S., et al.
(författare)
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Functionalized graphene for sodium battery applications : the DFT insights
- 2017
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Ingår i: Electrochimica Acta. - : Elsevier. - 0013-4686 .- 1873-3859. ; 250, s. 185-195
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Tidskriftsartikel (refereegranskat)abstract
- Considering the increasing interest in the use of graphene-based materials for energy conversion and storage applications, we have performed a DFT study of Na interaction with doped graphene, both in non-oxidized and oxidized forms. Oxidation seems to play the crucial role when it comes to the interaction of doped graphene materials with sodium. The dopants act as attractors of OH groups, making the material prone to oxidation, and therefore altering its affinity towards Na. In some cases, this can result in hydroxide or water formation - an irreversible change lethal for battery performance. Our results suggest that one should carefully control the oxidation level of doped graphene-based materials if they are to be used as sodium battery electrode materials as the optimal oxidation level depends on the dopant type.
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| 2. |
- Kolabylina, T., et al.
(författare)
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Superhard pcBN tool materials with Ti3SiC2 MAX-phase binder : Structure, properties, application
- 2017
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Ingår i: Journal of Superhard Materials. - 1063-4576. ; 39:3, s. 155-165
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Tidskriftsartikel (refereegranskat)abstract
- Superhard cutting tool materials were sintered in cBN–(Ti3SiC2–TiC) system via high pressure–high temperature method. Sintering was performed under the pressure 8 GPa in the 1400–2400°C temperature range. The initial mixtures of three compositions were chosen with 90, 80 and 60 vol % cBN. The mixtures were prepared by mixing cBN (1–3 μm) and Ti3SiC2–TiC (< 2 μm). It was found, that upon sintering, the compositions of the obtained samples differed from the initial mixtures in all cases as a result of chemical reactions. Microstructure observations, phase composition estimation, and mechanical properties of the obtained tool materials were carried out. The results indicate that both the varying cBN content and the applied sintering conditions have a direct effect on the structure, properties, and kinetics of reactions.
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| 3. |
- Andersson, Marlene, et al.
(författare)
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Biomimetic spinning of artificial spider silk from a chimeric minispidroin
- 2017
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Ingår i: Nature Chemical Biology. - : Springer Science and Business Media LLC. - 1552-4450 .- 1552-4469. ; 254
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Tidskriftsartikel (refereegranskat)abstract
- Herein we present a chimeric recombinant spider silk protein (spidroin) whose aqueous solubility equals that of native spider silk dope and a spinning device that is based solely on aqueous buffers, shear forces and lowered pH. The process recapitulates the complex molecular mechanisms that dictate native spider silk spinning and is highly efficient; spidroin from one liter of bacterial shake-flask culture is enough to spin a kilometer of the hitherto toughest as-spun artificial spider silk fiber.
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| 4. |
- Andreasson, Martin, et al.
(författare)
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Distributed Frequency Control Through MTDC Transmission Systems
- 2017
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Ingår i: IEEE Transactions on Power Systems. - : IEEE Press. - 0885-8950 .- 1558-0679. ; 32:1, s. 250-260
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we propose distributed dynamic controllers for sharing both frequency containment and restoration reserves of asynchronous ac systems connected through a multi-terminal HVDC (MTDC) grid. The communication structure of the controller is distributed in the sense that only local and neighboring state information is needed, rather than the complete state. We derive sufficient stability conditions, which guarantee that the ac frequencies converge to the nominal frequency. Simultaneously, a global quadratic power generation cost function is minimized. The proposed controller also regulates the voltages of the MTDC grid, asymptotically minimizing a quadratic cost function of the deviations from the nominal dc voltages. The results are valid for distributed cable models of the HVDC grid (e.g., $\pi$-links), as well as ac systems of arbitrary number of synchronous machines, each modeled by the swing equation. We also propose a decentralized communication-free version of the controller. The proposed controllers are tested on a high-order dynamic model of a power system consisting of asynchronous ac grids, modeled as IEEE 14 bus networks, connected through a six-terminal HVDC grid. The performance of the controller is successfully evaluated through simulation.
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| 5. |
- Boccia, Antonio, et al.
(författare)
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Tracking a mobile target by multi-robot circumnavigation using bearing measurements
- 2017
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Ingår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. - : IEEE. - 9781509028733 ; , s. 1076-1081
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Konferensbidrag (refereegranskat)abstract
- In this paper, we study a problem of target tracking and circumnavigation with a network of autonomous agents. We propose a distributed algorithm to estimate the position of the target and drive the agents to rotate around it while forming a regular polygon and keeping a desired distance. We formally show that the algorithm attains exponential convergence of the agents to the desired polygon if the target is stationary, and bounded convergence if the target is moving with bounded speed. Numerical simulations corroborate the theoretical results and demonstrate the resilience of the network to addition and removal of agents.
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| 6. |
- Mai, Vien V., et al.
(författare)
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Lock-Free Incremental Coordinate Descent
- 2017
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Ingår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509028733
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Konferensbidrag (refereegranskat)abstract
- We study a flexible algorithm for minimizing a sum of component functions, each of which depends on a large number of decision variables. The algorithm combines aspects of incremental gradient method with that of coordinate descent. In contrast to earlier algorithms of this kind, our algorithm is lock-free and does not require synchronization of access to the shared memory. We prove convergence of the algorithm under asynchronous operation and provide explicit bounds on how the solution times depend on the degree of asynchrony. Numerical experiments confirm our theoretical results.
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| 7. |
- Meng, Ziyang, et al.
(författare)
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Targeted agreement of multiple Lagrangian systems*
- 2017
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Ingår i: Automatica. - : PERGAMON-ELSEVIER SCIENCE LTD. - 0005-1098 .- 1873-2836. ; 84, s. 109-116
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, we study the targeted agreement problem for a group of Lagrangian systems. Each system observes a convex set as its local target and the objective of the group is to reach a generalized coordinate agreement towards these target sets. Typically, the generalized coordinate represents position or angle. We first consider the case when the communication graphs are fixed. A control law is proposed based on each system's own target sensing and information exchange with neighbors. With necessary connectivity, the generalized coordinates of multiple Lagrangian systems are shown to achieve agreement in the intersection of all the local target sets while generalized coordinate derivatives are driven to zero. We also discuss the case when the intersection of the local target sets is empty. Exact targeted agreement cannot be achieved in this case. Instead, we show that approximate targeted agreement can be guaranteed if the control gains are properly chosen. In addition, when communication graphs are allowed to be switching, we propose a model-dependent control algorithm and show that global targeted agreement is achieved when joint connectivity is guaranteed and the intersection of local target sets is nonempty. Simulations are given to validate the theoretical results.
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| 8. |
- Yoo, Jaehyun, et al.
(författare)
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Event-triggered Model Predictive Control with Machine Learning for Compensation of Model Uncertainties
- 2017
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Ingår i: 2017 IEEE 56th Annual Conference on Decision and Control, CDC 2017. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781509028733 ; , s. 5463-5468
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Konferensbidrag (refereegranskat)abstract
- As one of the extensions of model predictive control (MPC), event-triggered MPC takes advantage of the reduction of control updates. However, approaches to event-triggered MPCs may be subject to frequent event-triggering instants in the presence of large disturbances. Motivated by this, this paper suggests an application of machine learning to this control method in order to learn a compensation model for disturbance attenuation. The suggested method improves both event-triggering policy efficiency and control accuracy compared to previous approaches to event-triggered MPCs. We employ the radial basis function (RBF) kernel based machine learning technique. By the universial approximation property of the RBF, which imposes an upper bound on the training error, we can present the stability analysis of the learningaided control system. The proposed algorithm is evaluated by means of position control of a nonholonomic robot subject to state-dependent disturbances. Simulation results show that the developed method yields not only two times less event triggering instants, but also improved tracking performance.
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| 9. |
- Adaldo, Antonio, et al.
(författare)
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Cooperative coverage for surveillance of 3D structures
- 2017
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Ingår i: IEEE International Conference on Intelligent Robots and Systems. - Piscataway, NJ : Institute of Electrical and Electronics Engineers (IEEE). - 9781538626825 ; , s. 1838-1845
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Konferensbidrag (refereegranskat)abstract
- In this article, we propose a planning algorithm for coverage of complex structures with a network of robotic sensing agents, with multi-robot surveillance missions as our main motivating application. The sensors are deployed to monitor the external surface of a 3D structure. The algorithm controls the motion of each sensor so that a measure of the collective coverage attained by the network is nondecreasing, while the sensors converge to an equilibrium configuration. A modified version of the algorithm is also provided to introduce collision avoidance properties. The effectiveness of the algorithm is demonstrated in a simulation and validated experimentally by executing the planned paths on an aerial robot.
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| 10. |
- Adaldo, Antonio, et al.
(författare)
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Coordination of multi-agent systems with intermittent access to a cloud repository
- 2017
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Ingår i: Workshop on Sensing and Control for Autonomous Vehicles. - Cham : Springer. - 9783319553719 ; , s. 453-471
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Konferensbidrag (refereegranskat)abstract
- A cloud-supported multi-agent system is composed of autonomous agents required to achieve a common coordination objective by exchanging data over a shared cloud repository. The repository is accessed asychronously by different agents, and direct inter-agent commuication is not possible. This model is motivated by the problem of coordinating a fleet of autonomous underwater vehicles, with the aim to avoid the use of expensive and power-hungry modems for underwater communication. For the case of agents with integrator dynamics, a control law and a rule for scheduling the cloud access are formally defined and proven to achieve the desired coordination. A numerical simulation corroborate the theoretical results.
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