Control of Agent Swarms using Generalized Centroidal Cyclic Pursuit Laws

One of the major tasks in swarm intelligence is to design decentralized but homogenoeus strategies to enable controlling the behaviour of swarms of agents. It has been shown in the literature that the point of convergence and motion of a swarm of autonomous mobile agents can be controlled by using cyclic pursuit laws. In cyclic pursuit, there exists a predefined cyclic connection between agents and each agent pursues the next agent in the cycle. In this paper we generalize this idea to a case where an agent pursues a point which is the weighted average of the positions of the remaining agents. This point correspond to a particular pursuit sequence. Using this concept of centroidal cyclic pursuit, the behavior of the agents is analyzed such that, by suitably selecting the agents' gain, the rendezvous point of the agents can be controlled, directed linear motion of the agents can be achieved, and the trajectories of the agents can be changed by switching between the pursuit sequences keeping some of the behaviors of the agents invariant. Simulation experiments are given to support the analytical proofs.

Factors Affecting Knowledge Sharing in Strategic Alliances: The Role of Knowledge Sharing as Strategic Control Behavior among Multinational Enterprises

International strategic alliances (ISAs) have become increasingly important for the stability, growth, and long-term viability of modern business organizations. Alliance partnerships as inter-firm cooperative ventures represent an influential mechanism for asserting corporate strategic control among autonomous multinational enterprises. These different cooperative arrangements are made of equity investments or contractually-based partnerships. Different alliance forms represent different approaches that partner firms adopt to control their mutual dependence on the alliance and on other partners. Earlier research shows that the partner characteristics could provide an explanation for alliance strategic behavior and see alliances as alternative forms to markets or hierarchies for addressing specific strategic needs linked to partners’ characteristics and their subsequent strategic motives. These characteristics of the partners’ and subsequent strategic motives are analyzed as knowledge sharing factors and how these influence inter-firm control in alliances within the context of the focal-firm STMicroelectronics and its alliance partners Nokia, Ericsson and IBM. This study underline that as contracts are incomplete, they are therefore required to maintain mutual dependence based control mechanisms in addition to a contract. For example, mutual dependence based control mechanisms could be joint financial investments and the building of an ownership structure between the parties (e.g., JVs). However, the present study clarifies that subsequent inter-firm control is also exercised through inter-firm knowledge sharing. The present study contributes by presenting a dynamic interplay between competitive and cooperative rent seeking behavior. Such coopetition behavior describes the firm's strategic orientation to achieve a dynamic balance between competitive and cooperative strategies. This balance is seen in knowledge sharing based cooperation and competition behavior. Thus this study clarifies coopetition strategies by introducing the role of inter-firm cooperation and the competitive nature of knowledge sharing. Simultaneous cooperative and competitive behavior is also seen as synergetic rent-seeking behavior. Therefore, this study extends the perspective of previous studies on competitive and cooperative seeking behavior.

Positional Consensus of Multi-Agent Systems Using Linear Programming Based Decentralized Control with Rectilinear Decision Domain

In this paper we develop a Linear Programming (LP) based decentralized algorithm for a group of multiple autonomous agents to achieve positional consensus. Each agent is capable of exchanging information about its position and orientation with other agents within their sensing region. The method is computationally feasible and easy to implement. Analytical results are presented. The effectiveness of the approach is illustrated with simulation results.

Optimal control of a stochastic hybrid system with discounted cost

We address the optimal control problem of a very general stochastic hybrid system with both autonomous and impulsive jumps. The planning horizon is infinite and we use the discounted-cost criterion for performance evaluation. Under certain assumptions, we show the existence of an optimal control. We then derive the quasivariational inequalities satisfied by the value function and establish well-posedness. Finally, we prove the usual verification theorem of dynamic programming.

Robust controller for an autonomous small refrigeration unit

The authors describe the constructional features of a controller for operating an autonomous refrigeration unit powered by a field of photovoltaic panels and backed up by a generator set. The controller enables three voltage levels of operation of an inverter to meet the start, run and off cycle conditions of the refrigerator compressor. The algorithm considers several input and output parameters and status signals from each subsystem of the unit to deduce a control strategy. Such units find application for storage of vaccines and life-saving medicines requiring uninterrupted refrigeration, in medical shops, rural health centres, veterinary laboratories etc.

Population genetic structure and conservation of Asian elephants (Elephas maximus) across India

This study examines the population genetic structure of Asian elephants (Elephas maximus) across India, which harbours over half the world's population of this endangered species. Mitochondrial DNA control region sequences and allele frequencies at six nuclear DNA microsatellite markers obtained from the dung of free-ranging elephants reveal low mtDNA and typical microsatellite diversity. Both known divergent clades of mtDNA haplotypes in the Asian elephant are present in India, with southern and central India exhibiting exclusively the β clade of Fernando et al. (2000), northern India exhibiting exclusively the α clade and northeastern India exhibiting both, but predominantly the α clade. A nested clade analysis revealed isolation by distance as the principal mechanism responsible for the observed haplotype distributions within the α and β clades. Analyses of molecular variance and pairwise population FST tests based on both mitochondrial and microsatellite DNA suggest that northern-northeastern India, central India, Nilgiris (in southern India) and Anamalai-Periyar (in southern India) are four demographically autonomous population units and should be managed separately. In addition, evidence for female philopatry, male-mediated gene flow and two possible historical biogeographical barriers is described.

Better early osteogenesis of electroconductive hydroxyapatite-calcium titanate composites in a rabbit animal model

In view of the fact that bone healing can be enhanced due to external electric field application, it is important to assess the influence of the implant conductivity on the bone regeneration in vivo. To address this issue, this study reports the in vivo biocompatibility property of multistage spark plasma sintered hydroxyapatite (HA)-80 wt % calcium titanate (CaTiO3) composites and monolithic HA, which have widely different conductivity property (14 orders of magnitude difference). The ability of bone regeneration was assessed by implantation in cylindrical femoral bone defects of rabbit animal model for varying time period of 1, 4, and 12 weeks. The overall assessment of the histology results suggests that the progressive healing of bone defects around HA-80 wt % CaTiO3 is associated with a better efficacy with respect to (w.r.t) early stage neobone formation, which is histomorphometrically around 140% higher than monolithic HA. Overall, this study demonstrates that the in vivo biocompatibility property of HA-80 wt % CaTiO3 with respect to local effects after 12 weeks of implantation is not compromised both qualitatively and quantitatively, and a comparison with control implant (HA) points toward the critical role of electrical conductivity on better early stage bone regeneration. (c) 2013 Wiley Periodicals, Inc. J Biomed Mater Res Part A: 102A: 842-851, 2014.

Integrated relative translation and rotation control of spacecraft formations

Formation flying of small spacecraft provides a way to improve the resolution by aperture distribution. This requires autonomous control of relative position and relative attitude. The present work addresses the formation control using a PID controller to maintain both relative position and relative attitude. To avoid continuous pulsing due to noise, a dead-band has been provided in the position loop. PID control has been selected to maintain the formation in the presence of unmodeled disturbances. Simulations show that the proposed controller meets the required translational and rotational relative motions even in the presence of disturbances.

Evaluacion de riesgos y puntos criticos de control de riesgos (HACCP) en el Matadero de Carne Bovina Nuevo Carnic

La realización de este trabajo investigativo tuvo lugar en un importante matadero del país, en el que se toman las medidas HACCP que los países extranjeros piden como requisitos para exportarles, los problemas sanitarios de la carne dependen, en primer lugar, del estado sanitario del animal y además, de la higiene con la que se realizan todas las operaciones hasta que el alimento llega al consumidor. Sin embargo han aparecido nuevos riesgos asociados al consumo de carne, más difíciles de controlar mediante una inspección tradicional, como las encefalopatías espongiformes, las intoxicaciones por E. coli O157, la presencia de residuos tóxicos, etc., y que están obligando a modificar los métodos tradicionales de inspección. Por lo que en este trabajo investigación se dispuso realizar la Evaluación de Riesgos y Puntos Críticos de Control (HACCP), en el Matadero de Carne Bovina Nuevo Carnic, donde por un periodo de seis meses se desarrollo la inspección detallada en diferentes puntos del proceso de matanza, permitiéndose con la inspección, determinar los puntos críticos que deben tener mayor control que garantice un producto inocuo y seguro para el consumidor. Encontrándose que los Puntos Críticos que contemplan en el plan HACCP de la empresa Nuevo Carnic son PCC-1 Evisceración, PCC-2 lavado antimicrobiano, PCC-3 enfriamiento, de estos puntos el 1 y 2 caen en constantes desviaciones y no se toman medidas correctivas adecuadas. También encontramos que se hace necesario incluir en el plan HACCP de Nuevo Carnic el PCC-4 empaque y PCC-5 almacenamiento para asegurar un producto inocuo para el consumidor, por tanto consideramos que con este trabajo se puede a portar al lector las medidas correctivas al seguimiento y control de los Puntos Críticos de Control en los mataderos que aplican el sistema HACCP o deseen hacerlo.

Prueba de dos insecticidas sistémicos en dos formas de aplicación, en el control del tórsalo (Dermatobia hominis) Lin. Jr

Con el objeto de determinar cuál es el insecticida más efectivo en el control del tórsalo y la mejor forma de aplicación, se llevo a cabo un experimento en el Departamento de Boaco en el lapso comprendido de Julio a Diciembre de 1967. En cada finca se utilizaron cuarenta animales. Los insecticidas aplicados fueron: Ruelene 25 E en dosis de diez y siete miligramos por kilogramo de peso vivo y Neguvón en dosis de cincuenta miligramos por kilogramo de peso vivo. Los insecticidas se aplicaron en la forma siguiente: Ruelene 25 E vertido Ruelene 25 E solución Neguvón vertido Neguvón solución Se efectuaron recuentos de parásitos al principio del experimento y a los tres días y a los ocho días después de la aplicación de los insecticidas. El diseño experimental usado fue de bloques al azar con repeticiones y análisis dentro de las fincas. Los dos insecticidas y sus formas de aplicación estadísticamente tuvieron la misma efectividad, con porcentajes de control similares. el ruelene 25 E fue el insecticida de menor costo, en las dos formas de aplicación. Durante el experimento no se observaron efectos tóxicos en ningún animal. Se observó que el poder residual del Ruelene 25 E fue mayor que el del Neguvón.

Caracterización de las enfermedades monitoreadas por el sistema de vigilancia de salud animal en bovinos del municipio de Camoapa en el periodo 2011- 2014

La investigación se realizó en el municipio de Camoapa departamento de Boaco. El objetivo fue Caracterizar las enfermedades monitoreadas por el sistema de vigilancia de salud animal (SIVE) en bovinos del municipio en el periodo 2011–2014. El trabajo consistió en determinar la presencia, distribución temporal y espacial así como el comportamiento de las enfermedades zoonóticas, analizando los datos obtenidos de la base de datos del SIVE del Instituto de Protección y Sanidad Agropecuaria (IPSA) entre el 2011-2014, obtenidas de los reportes realizados por el médico veterinario de Camoapa. Se realizó un estudio de corte transversal (retrospectivo) donde se evaluó el comportamiento de las enfermedades en el período. El procesamiento estadístico de las variables e indicadores se realizó utilizando el programa Microsoft Exel 2010. Los resultados derivados del análisis demostraron una presencia de agentes infecciosos como: Áscari 37.50%, Babesia spp. 5.60%, Brucellla spp 0.04%, Coccidia spp. 47.75%, Escherichia coli (E. coli) 100%, Rinot raqueítis infecciosa bovina (RIV/VPI) 100%, Paratuberculosis 100%, Trichostrongilosis 77.7%, La distribución en el periodo en estudio (2011–2014) fue: en el año 2011 de 6% de los casos, en el 2012 de 54%, 2013 de 23% y en el 2014 de 16% de un total de 111 casos. El año 2012 se identificó con mayores índices de muestras positivas, con el 54%, en la distribución por mes el año, 2011 en el mes de julio se encontró una mayor distribución con el 86%, en el 2012 en Marzo con 42% y en 2013 nuevamente en Marzo con 38% y para el año 2014 en septiembre con 56% de presencia de enfermedades, la distribución espacial demuestra que la comarca Bijagua presento 18% de casos y Zarrigo 15% de los casos en el periodo 2011-2014. En la distribución por año, Platanar norte se encontró una mayor distribución con el 100% en el 2012, Zarrigo con 27% en 2013 Tolinapa con 38% y para el 2014 Matamba con 44% de los casos. Se concluye que se identificó presencia de agentes infecciosos productores de enfermedades importantes para el consumidor, como: bacterias del genero Brucella spp., Escherichia coli, y parásitos nematodos como trichostrongylus, Áscaris y protozoarios como Coccidia Spp. Se recomienda elaborar un diseño muestreal para determinar la prevalencia real de la enfermedades en el municipio, ya que hay enfermedades que son de notificación obligatoria para la OIE, el involucramiento de los productores en mantener el estatus sanitario del municipio al notificar los problemas sanitarios con respecto a las enfermedades zoonóticas e implementar calendarios sanitarios, así como llenar registros de control sanitario, además de incorporar el municipio a los programas de trazabilidad bovina y certificación de hatos libres de brucelosis y tuberculosis.

Seafood safety: economics of Hazard Analysis and Critical Control Point (HACCP) programmes

Seventy percent of the world's catch of fish and fishery products is consumed as food. Fish and shellfish products represent 15.6 percent of animal protein supply and 5.6 percent of total protein supply on a worldwide basis. Developing countries account for almost 50 percent of global fish exports. Seafood-borne disease or illness outbreaks affect consumers both physically and financially, and create regulatory problems for both importing and exporting countries. Seafood safety as a commodity cannot be purchased in the marketplace and government intervenes to regulate the safety and quality of seafood. Theoretical issues and data limitations create problems in estimating what consumers will pay for seafood safety and quality. The costs and benefits of seafood safety must be considered at all levels, including the fishers, fish farmers, input suppliers to fishing, processing and trade, seafood processors, seafood distributors, consumers and government. Hazard Analysis Critical Control Point (HACCP) programmes are being implemented on a worldwide basis for seafood. Studies have been completed to estimate the cost of HACCP in various shrimp, fish and shellfish plants in the United States, and are underway for some seafood plants in the United Kingdom, Canada and Africa. Major developments within the last two decades have created a set of complex trading situations for seafood. Current events indicate that seafood safety and quality can be used as non-tariff barriers to free trade. Research priorities necessary to estimate the economic value and impacts of achieving safer seafood are outlined at the consumer, seafood production and processing, trade and government levels. An extensive list of references on the economics of seafood safety and quality is presented. (PDF contains 56 pages; captured from html.)

Distribución de "coxiella burnetii" en los rumiantes domésticos y en la fauna silvestre de la Comunidad Atutónoma Vasca. Evaluacióndel efecto del tratamiento antibiótico y de la vacunación en el control de la fiebre Q en rebaños ovinos naturalmente infectados

243 p. : il.