Coordination on Lie groups

This paper studies the coordinated motion of a group of agents evolving on a Lie group. Left-or rightinvariance with respect to the absolute position on the group lead to two different characterizations of relative positions and two associated definitions of coordination (fixed relative positions). Conditions for each type of coordination are derived in the associated Lie algebra. This allows to formulate the coordination problem on Lie groups as consensus in a vector space. Total coordination occurs when both types of coordination hold simultaneously. The discussion in this paper provides a common geometric framework for previously published coordination control laws on SO(3), SE(2) and SE(3). The theory is illustrated on the group of planar rigid motion SE(2). © 2008 IEEE.

Effect of pile spacing on pile demand for small pile groups in laterally spreading soil

Liquefaction-induced lateral spreading has been responsible for widespread damage to pile foundations in many large earthquakes. The specification of inertial and kinematic pile and pile cap demands is a particularly challenging aspect of the analysis of pile foundations in laterally spreading soils. This paper presents and examines the results from a pair of dynamic centrifuge tests focusing on pile and pile cap demands for small pile groups with different pile spacings. Inertial and kinematic pile cap forces and lateral pile group interaction are examined with regard to the overturning mechanism that dominated the pile group response. © 2014 Taylor & Francis Group.

Optimal data fitting on lie groups: A coset approach

This work considers the problem of fitting data on a Lie group by a coset of a compact subgroup. This problem can be seen as an extension of the problem of fitting affine subspaces in n to data which can be solved using principal component analysis. We show how the fitting problem can be reduced for biinvariant distances to a generalized mean calculation on an homogeneous space. For biinvariant Riemannian distances we provide an algorithm based on the Karcher mean gradient algorithm. We illustrate our approach by some examples on SO(n). © 2010 Springer -Verlag Berlin Heidelberg.

Molecular evidence for the monophyly of East Asian groups of Cyprinidae (Teleostei : Cypriniformes) derived from the nuclear recombination activating gene 2 sequences

The family Cyprinidae is one of the largest families of fishes in the world and a well-known component of the East Asian freshwater fish fauna. However, the phylogenetic relationships among cyprinids are still poorly understood despite much effort paid on the cyprinid molecular phylogenetics. Original nucleotide sequence data of the nuclear recombination activating gene 2 were collected from 109 cyprinid species and four non-cyprinid cypriniform outgroup taxa and used to infer the cyprinid phylogenetic relationships and to estimate node divergence times. Phylogenetic reconstructions using maximum parsimony, maximum likelihood, and Bayesian analysis retrieved the same clades, only branching order within these clades varied slightly between trees. Although the morphological diversity is remarkable, the endemic cyprinid taxa in East Asia emerged as a monophyletic clade referred to as Xenocypridini. The monophyly for the subfamilies including Cyprininae and Leuciscinae, as well as the tribes including Labeonini, Gobionini, Acheilognathini, and Leuciscini, was also well resolved with high nodal support. Analysis of the RAG2 gene supported the following cyprinid molecular phylogeny: the Danioninae is the most basal subfamily within the family Cyprinidae and the Cyprininae is the sister group of the Leuciscinae. The divergence times were estimated for the nodes corresponding to the principal clades within the Cyprinidae. The family Cyprinidae appears to have originated in the mid-Eocene in Asia, with the cladogenic event of the key basal group Danioninae occurring in the early Oligocene (about 31-30 MYA), and the origins of the two subfamilies, Cyprininae and Leuciscinae, occurring in the mid-Oligocene (around 26 MYA). (c) 2006 Elsevier Inc. All rights reserved.

Thermoplastic Elastomers Based on Compatibilized Poly(butylene terephthalate) Blends: Effect of Functional Groups and Dynamic Curing

Two sets of graft copolymers were prepared by grafting glycidyl methacrylate (GMA) or ally] (3-isocyanate-4-tolyl) carbamate (TAI) onto ethylene/propylene/diene terpolymer (EPDM) in an internal mixer. These graft copolymers were used as the compatibilizer to prepare the thermoplastic elastomers (TPEs) containing 50 wt%, of poly(butylene terephthalate), PBT, 30 wt% of compatibilizer, and 20 wt% of nitrile-butadiene rubber, NBR. The indirect, two-step mixer process was chosen for dynamic curing.

Novel thin-film composite membranes with improved water flux from sulfonated cardo poly(arylene ether sulfone) bearing pendant amino groups

A new class of polymeric amine, namely, sulfonated cardo poly(arylene ether sulfone) (SPES-NH2) was synthesized and used for the preparation of thin-film composite membrane. The TFC membranes were prepared on a polysulfone supporting film through interfacial polymerization with trimesoyl chloride (TMC) solutions and amine solutions containing SPES-NH2 and m-phenylenediamine (MPDA). The resultant membranes were characterized with water permeation performance, chemical structure, hydrophilicity of active layer and membrane morphology including top surface and cross-section.

Biodegradable amphiphilic block copolymers bearing protected hydroxyl groups: Synthesis and characterization

A new biodegradable amphiphilic block copolymer, poly(ethylene glycol)-b-poly(L-factide-co-9-phenyl-2,4,8, 10-tetraoxaspiro[5,5]undecan-3-one) [PEG-b-P(LA-co-PTO)], was successfully prepared by ring-opening polymerization (ROP) Of L-lactide (LA) and functionalized carbonate monomer 9-phenyl-2,4,8,10-tetraozaspiro[5,5]undecan-3-one (PTO) in the presence of monohydroxyl poly(ethylene glycol) as macroinitiator using Sn(Oct)(2) as catalyst. NMR, FT-IR, and GPC studies confirmed the copolymer structure.