Leader Based Cyclic Pursuit

In this work a system of autonomous agents engaged in cyclic pursuit (under constant bearing (CB) strategy) is considered, for which one informed agent (the leader) also senses and responds to a stationary beacon. Building on the framework proposed in a previous work on beacon-referenced cyclic pursuit, necessary and suffi- cient conditions for the existence of circling equilibria in a system with one informed agent are derived, with discussion of stability and performance. In a physical testbed, the leader (robot) is equipped with a sound sensing apparatus composed of a real time embedded system, estimating direction of arrival of sound by an Interaural Level and Phase Difference Algorithm, using empirically determined phase and level signatures, and breaking front-back ambiguity with appropriate sensor placement. Furthermore a simple framework for implementing and evaluating the performance of control laws with the Robot Operating System (ROS) is proposed, demonstrated, and discussed.

[n]cycloparaphenylenes with charges: cyclic conjugation at last

Oligophenylenes (polyphenylenes) are constituted by an array of conjugated benzenes where inter-ring electron delocalization tends to extend over the whole chain (linear conjugation) being intrinsically limited, among other factors, by terminal effects. Alternatively, cyclic conjugation is envisaged as the unlimited free-boundary versionofconjugation which will impact the structure of molecules in rather unknown ways. The cyclic version of oligophenylenes, cycloparaphenylenes ([n]CPPs with n the number of phenyl rings) were first synthesized in 2008 by Beztozzi and Jasti.1 Today the whole [n]CPP series from [5]CPP to [18]CPP has been prepared. [n]CPPs represent ideal models to investigate new insights of the electronic structure of molecules and cyclic conjugation when electrons or charges circulate in a closed circuit without boundaries. Radical cations and dications of [n]CPP from n=5 to n=12 have been prepared and studied by Raman spectroscopy.2 Small [n]CPP dications own their stability to the closed-shell electronic configuration imposed by cyclic conjugation. However, in large [n]CPP dications cyclic conjugation is minimal and these divalent species form open-shell biradicals. The Raman spectra reflect the effect of cyclic conjugation in competition with cyclic strain and biradicaloid aromatic stabilization. Cyclic conjugation provokes the existence of a turning point or V-shape behavior of the frequencies of the G bands as a function of n. In this communication we will show the vibrational spectroscopic fingerprint of this rare form of conjugation. [1] R. Jasti, J. Bhattacharjee, J. B. Neaton, C. R. Bertozzi, “Synthesis, Characterization, and Theory of [9]-, [12]-, and [18]Cycloparaphenylene: Carbon Nanohoop Structures”, J. Am. Chem. Soc. 130 (2008), 17646–17647. [2] M. P. Alvarez, P. M. Burrezo, M. Kertesz, T. Iwamoto, S. Yamago, J. Xia, R. Jasti, J. T. L. Navarrete, M. Taravillo, V. G. Baonza, J. Casado, “Properties of Sizeable [n]CycloParaPhenylenes As Molecular Models of Single-Wall Carbon Nanotubes By Raman Spectroscopy: Structural and Electron-Transfer Responses Under Mechanical Stress”, Angew. Chem. Int. Ed. 53, (2014), 7033−7037.

Purity evaluation and influence of carbon nanotube on carbon nanotube/graphite thermal stability

High resolution thermogravimetry has been used to evaluate the carbonaceous content in a commercial sample of single-walled carbon nanotube (SWNT). The content of SWNTs in the sample was found to be at least 77mass% which was supported by images obtained with scanning and transmission electron microscopies (SEM and TEM). Furthermore, the influence of SWNT addition on the thermal stability of graphite in mixtures of SWNT/graphite at different proportions was investigated. The graphite stability decreased with the increased of SWNT content in the overall range of composition. This behavior could be due to the close contact between these carbonaceous species as determined by SEM analysis.

Static load modelling and voltage stability indices

This paper analyzes the performance of some of the widely used voltage stability indices, namely, singular value, eigenvalue, and loading margin with different static load models. Well-known ZIP model is used to represent loads having components with different power to voltage sensitivities. Studies are carried out on a 10-bus power system and the New England 39-bus power system models. The effects of variation of load model on the performance of the voltage stability indices are discussed. The choice of voltage stability index in the context of load modelling is also suggested in this paper.

Stability analysis and control of multiple converter based autonomous microgrid

In this paper, the stability of an autonomous microgrid with multiple distributed generators (DG) is studied through eigenvalue analysis. It is assumed that all the DGs are connected through Voltage Source Converter (VSC) and all connected loads are passive. The VSCs are controlled by state feedback controller to achieve desired voltage and current outputs that are decided by a droop controller. The state space models of each of the converters with its associated feedback are derived. These are then connected with the state space models of the droop, network and loads to form a homogeneous model, through which the eigenvalues are evaluated. The system stability is then investigated as a function of the droop controller real and reac-tive power coefficients. These observations are then verified through simulation studies using PSCAD/EMTDC. It will be shown that the simulation results closely agree with stability be-havior predicted by the eigenvalue analysis.

Sociometric stability and the behavioral correlates of peer acceptance in early childhood

This paper presents findings from an Australian study examining the behavioral correlates and stability of social status for preschool-aged children. The social status of an initial sample of 187 (94 boys and 93 girls) preschool children (mean age 62.4 months, SD = 4.22) was determined through sociometric assessment. Children classified as rejected, neglected and popular (n = 70) were selected for observation. Children were observed for a total of 25 minutes over a three-month period engaging in free play within their preschool centers. Results indicated that children classified as popular were more likely than rejected or neglected children to engage in cooperative play, ongoing connected conversation and to display positive affect. Popular children were less likely than rejected or neglected children to engage in parallel play, onlooker behavior or alone directed behavior. Six months after initial sociometric classification, sociometric interviews were repeated to test for stability and change. Results indicated that preschool-aged children’s social status classifications showed a moderate to high rate of stability for those children classified as popular, rejected and neglected.

Stability of the learning and development survey : findings for mature aged local government and private healthcare organisations.

This article investigates work related learning and development amongst mature aged workers from a lifespan developmental psychology perspective. The current study follows on from research regarding the construction and revision of the Learning and Development Survey (LDS; Tones & Pillay, 2008). Designed to measure adaptive development for work related learning, the revised LDS (R-LDS) encompasses goal selection, engagement and disengagement from individual and organisational perspectives. Previous survey findings from a mixed age sample of local government workers suggest that mature aged workers aged over 45 years are less likely to report engagement in learning and development goals than younger workers, which is partly due to insufficient opportunities at work. In the current paper, exploratory factor analysis was used to investigate responses to the R-LDS amongst two groups of mature aged workers from a local government (LG) and private healthcare (PH) organisation to determine the stability of the R-LDS. Organisational constraints to development accounted for almost a quarter of the variance in R-LDS scores for both samples, while remaining factors emerged in different orders for each data set. Organisational opportunities for development explained about 17% of the variance in R-LDS scores in the LG sample, while the individual goal disengagement factor contributed a comparable proportion of variance to R-LDS scores for the PH sample. Findings from the current study indicate that opportunities for learning and development at work may be age structured and biased towards younger workers. Implications for professional practice are discussed and focus on improving the engagement of mature aged workers.