arXiv subjects

Long Wang

Publications and source records attributed to Long Wang.

At least 253 records · Page 14Linked to original sources

arXiv2015

Consensus of Hybrid Multi-agent Systems

In this paper, we consider the consensus problem of hybrid multi-agent system. First, the hybrid multi-agent system is proposed which is composed of continuous-time and discrete-time dynamic agents. Then, three kinds of consensus protocols are presented for hybrid multi-agent system. The analysis tool developed in this paper is based on the matrix theory and graph theory. With different restrictions of the sampling period, some necessary and sufficient conditions are established for solving the consensus of hybrid multi-agent system. The consensus states are also obtained under different protocols. Finally, simulation examples are provided to demonstrate the effectiveness of our theoretical results.

eess.SY↗

arXiv2015

Using Bayesian Optimization to Guide Probing of a Flexible Environment for Simultaneous Registration and Stiffness Mapping

One of the goals of computer-aided surgery is to match intraoperative data to preoperative images of the anatomy and add complementary information that can facilitate the task of surgical navigation. In this context, mechanical palpation can reveal critical anatomical features such as arteries and cancerous lumps which are stiffer that the surrounding tissue. This work uses position and force measurements obtained during mechanical palpation for registration and stiffness mapping. Prior approaches, including our own, exhaustively palpated the entire organ to achieve this goal. To overcome the costly palpation of the entire organ, a Bayesian optimization framework is introduced to guide the end effector to palpate stiff regions while simultaneously updating the registration of the end effector to an a priori geometric model of the organ, hence enabling the fusion of ntraoperative data into the a priori model obtained through imaging. This new framework uses Gaussian processes to model the stiffness distribution and Bayesian optimization to direct where to sample next for maximum information gain. The proposed method was evaluated with experimental data obtained using a Cartesian robot interacting with a silicone organ model and an ex vivo porcine liver.

cs.RO↗

arXiv2015

The dynamical fate of planetary systems in young star clusters

We carry out N-body simulations to examine the effects of dynamical interactions on planetary systems in young open star clusters. We explore how the planetary populations in these star clusters evolve, and how this evolution depends on the initial amount of substructure, the virial ratio, the cluster mass and density, and the initial semi-major axis of the planetary systems. The fraction of planetary systems that remains intact as a cluster member, fbps, is generally well-described by the functional form fbps=f0(1+[a/a0]^c)^-1, where (1-f0) is the fraction of stars that escapes from the cluster, a0 the critical semi-major axis for survival, and c a measure for the width of the transition region. The effect of the initial amount of substructure over time can be quantified as fbps=A(t)+B(D), where A(t) decreases nearly linearly with time, and B(D) decreases when the clusters are initially more substructured. Provided that the orbital separation of planetary systems is smaller than the critical value a0, those in clusters with a higher initial stellar density (but identical mass) have a larger probability of escaping the cluster intact. These results help us to obtain a better understanding of the difference between the observed fractions of exoplanets-hosting stars in star clusters and in the Galactic field. It also allows us to make predictions about the free-floating planet population over time in different stellar environments.

astro-ph.EP↗

arXiv2015

Leader selection and weight adjustment problems for multi-agent systems

For an uncontrollable system, adding leaders and adjusting edge weights are two methods to improve controllability. In this paper, controllability of multi-agent systems under directed topologies is studied, especially on leader selection problem and weight adjustment problem. For a given system, necessary and sufficient algebraic conditions for controllability with fewest leaders are proposed. From another perspective, when leaders are fixed, controllability could be improved by adjusting edge weights, and therefore the system is supposed to be structurally controllable, which holds if and only if the communication topology contains a spanning tree. It is also proved that the number of fewest edges needed to be assigned on new weights equals the rank deficiency of controllability matrix. An algorithm on how to perform weight adjustment is presented. Simulation examples are provided to illustrate the theoretical results.

eess.SY↗

arXiv2015

Characterizations of the $(b, c)$-inverse in a ring

Let $R$ be a ring and $b, c\in R$. In this paper, we give some characterizations of the $(b,c)$-inverse, in terms of the direct sum decomposition, the annihilator and the invertible elements. Moreover, elements with equal $(b,c)$-idempotents related to their $(b, c)$-inverses are characterized, and the reverse order rule for the $(b,c)$-inverse is considered.

math.RA↗

arXiv2015

NBODY6++GPU: Ready for the gravitational million-body problem

Accurate direct $N$-body simulations help to obtain detailed information about the dynamical evolution of star clusters. They also enable comparisons with analytical models and Fokker-Planck or Monte-Carlo methods. NBODY6 is a well-known direct $N$-body code for star clusters, and NBODY6++ is the extended version designed for large particle number simulations by supercomputers. We present NBODY6++GPU, an optimized version of NBODY6++ with hybrid parallelization methods (MPI, GPU, OpenMP, and AVX/SSE) to accelerate large direct $N$-body simulations, and in particular to solve the million-body problem. We discuss the new features of the NBODY6++GPU code, benchmarks, as well as the first results from a simulation of a realistic globular cluster initially containing a million particles. For million-body simulations, NBODY6++GPU is $400-2000$ times faster than NBODY6 with 320 CPU cores and 32 NVIDIA K20X GPUs. With this computing cluster specification, the simulations of million-body globular clusters including $5\%$ primordial binaries require about an hour per half-mass crossing time.

astro-ph.IM↗

arXiv2015

Close encounters involving free-floating planets in star clusters

Instabilities in planetary systems can result in the ejection of planets from their host system, resulting in free-floating planets (FFPs). If this occurs in a star cluster, the FFP may remain bound to the star cluster for some time and interact with the other cluster members until it is ejected. Here, we use $N$-body simulations to characterise close star-planet and planet-planet encounters and the dynamical fate of the FFP population in star clusters containing $500-2000$ single or binary star members. We find that FFPs ejected from their planetary system at low velocities typically leave the star cluster 40% earlier than their host stars, and experience tens of close ($<1000$ AU) encounters with other stars and planets before they escape. The fraction of FFPs that experiences a close encounter depends on both the stellar density and the initial velocity distribution of the FFPs. Approximately half of the close encounters occur within the first 30 Myr, and only 10% occur after 100 Myr. The periastron velocity distribution for all encounters is well-described by a modified Maxwell-Bolzmann distribution, and the periastron distance distribution is linear over almost the entire range of distances considered, and flattens off for very close encounters due to strong gravitational focusing. Close encounters with FFPs can perturb existing planetary systems and their debris structures, and they can result in re-capture of FFPs. In addition, these FFP populations may be observed in young star clusters in imaging surveys; a comparison between observations and dynamical predictions may provide clues to the early phases of stellar and planetary dynamics in star clusters.

astro-ph.EP↗

arXiv2014

Consensus of Multi-agent Systems Under State-dependent Information Transmission

In this paper, we study the consensus problem for continuous-time and discrete-time multi-agent systems in state-dependent switching networks. In each case, we first consider the networks with fixed connectivity, in which the communication between adjacent agents always exists but the influence could possibly become negligible if the transmission distance is long enough. It is obtained that consensus can be reached under a restriction of either the decaying rate of the transmission weight or the initial states of the agents. After then we investigate the networks with state-dependent connectivity, in which the information transmission between adjacent agents gradually vanishes if their distance exceeds a fixed range. In such networks, we prove that the realization of consensus requires the validity of some initial conditions. Finally, the conclusions are applied to models with the transmission law of C-S model, opinion dynamics and the rendezvous problem, the corresponding simulations are also presented.

eess.SY↗

arXiv2014

Optimal topology of multi-agent systems with two leaders: a zero-sum game perspective

It is typical to assume that there is no conflict of interest among leaders. Under such assumption, it is known that, for a multi-agent system with two leaders, if the followers' interaction subgraph is undirected and connected, then followers will converge to a convex combination of two leaders' states with linear consensus protocol. In this paper, we introduce the conflict between leaders: by choosing k followers to connect with, every leader attempts all followers converge to himself closer than that of the other. By using graph theory and matrix theory, we formulate this conflict as a standard two-player zero-sum game and give some properties about it. It is noteworthy that the interaction graph here is generated from the conflict between leaders. Interestingly, we find that to find the optimal topology of the system is equivalent to solve a Nash equilibrium. Especially for the case of choosing one connected follower, the necessary and sufficient condition for an interaction graph to be the optimal one is given. Moreover, if followers' interaction graph is a circulant graph or a graph with a center node, then the system's optimal topology is obtained. Simulation examples are provided to validate the effectiveness of the theoretical results.

eess.SY↗

arXiv2014

Bounds for the positive or negative inertia index of a graph

Let $G$ be a graph and let $A(G)$ be adjacency matrix of $G$.The positive inertia index (respectively, the negative inertia index) of $G$, denoted by $p(G)$ (respectively, $n(G)$), is defined to be the number of positive eigenvalues (respectively, negative eigenvalues) of $A(G)$. In this paper, we present the bounds for $p(G)$ and $n(G)$ as follows: $$m(G)-c(G)\leq p(G)\leq m(G)+c(G), \ m(G)-c(G)\leq n(G)\leq m(G)+c(G),$$ where $m(G)$ and $c(G)$ are respectively the matching number and the cyclomatic number of $G$. Furthermore, we characterize the graphs which attain the upper bounds or the lower bounds respectively.

math.CO↗

arXiv2014

Consensus of switched multi-agent systems

In this paper, we consider the consensus problem of switched multi-agent system composed of continuous-time and discrete-time subsystems. By combining the classical consensus protocols of continuous-time and discrete-time multi-agent systems, we propose a linear consensus protocol for switched multi-agent system. Based on the graph theory and Lyapunov theory, we prove that the consensus of switched multi-agent system is solvable under arbitrary switching with undirected connected graph, directed graph and switching topologies, respectively. Simulation examples are also provided to demonstrate the effectiveness of the theoretical results.

eess.SY↗

arXiv2014

Evolutionary dynamics of cooperation on interdependent networks with Prisoner's Dilemma and Snowdrift Game

The world in which we are living is a huge network of networks and should be described by interdependent networks. The interdependence between networks significantly affects the evolutionary dynamics of cooperation on them. Meanwhile, due to the diversity and complexity of social and biological systems, players on different networks may not interact with each other by the same way, which should be described by multiple models in evolutionary game theory, such as the Prisoner's Dilemma and Snowdrift Game. We therefore study the evolutionary dynamics of cooperation on two interdependent networks playing different games respectively. We clearly evidence that, with the increment of network interdependence, the evolution of cooperation is dramatically promoted on the network playing Prisoner's Dilemma. The cooperation level of the network playing Snowdrift Game reduces correspondingly, although it is almost invisible. In particular, there exists an optimal intermediate region of network interdependence maximizing the growth rate of the evolution of cooperation on the network playing Prisoner's Dilemma. Remarkably, players contacting with other network have advantage in the evolution of cooperation than the others on the same network.

physics.soc-ph↗

arXiv2014

Containment control of multi-agent systems with measurement noises

In this paper, containment control of multi-agent systems with measurement noises is studied under directed networks. When the leaders are stationary, a stochastic approximation type protocol is employed to solve the containment control of multi-agent systems. By using stochastic analysis tools and algebraic graph theory, some necessary and sufficient criteria are established to ensure the followers converge to the convex hull spanned by the leaders in the sense of mean square and probability 1. When the leasers are dynamic, a stochastic approximation type protocol with distributed estimators is developed and necessary and sufficient conditions are also obtained for solving the containment control problem. Simulations are provided to illustrate the effectiveness of the theoretical results.

eess.SY↗

arXiv2014

The spectral radius of the square of graphs

The square of a connected graph $G$ is obtained from $G$ by adding an edge between every pair of vertices at distance $2$. In this paper we give some upper or lower bounds for the spectral radius of the square of connected graphs, trees and unicyclic graphs respectively.We also investigate the spectral radius of the square of unicyclic graphs with given girth or trees with fixed diameter.

math.CO↗

arXiv2014

Cooperation with both synergistic and local interactions can be worse than each alone

Cooperation is ubiquitous ranging from multicellular organisms to human societies. Population structures indicating individuals' limited interaction ranges are crucial to understand this issue. But it is still at large to what extend multiple interactions involving nonlinearity in payoff play a role on cooperation in structured populations. Here we show a rule, which determines the emergence and stabilization of cooperation, under multiple discounted, linear, and synergistic interactions. The rule is validated by simulations in homogenous and heterogenous structured populations. We find that the more neighbors there are the harder for cooperation to evolve for multiple interactions with linearity and discounting. For synergistic scenario, however, distinct from its pairwise counterpart, moderate number of neighbors can be the worst, indicating that synergistic interactions work with strangers but not with neighbors. Our results suggest that the combination of different factors which promotes cooperation alone can be worse than that with every single factor.

physics.bio-ph↗

arXiv2014

Aspiration Dynamics of Multi-player Games in Finite Populations

Studying strategy update rules in the framework of evolutionary game theory, one can differentiate between imitation processes and aspiration-driven dynamics. In the former case, individuals imitate the strategy of a more successful peer. In the latter case, individuals adjust their strategies based on a comparison of their payoffs from the evolutionary game to a value they aspire, called the level of aspiration. Unlike imitation processes of pairwise comparison, aspiration-driven updates do not require additional information about the strategic environment and can thus be interpreted as being more spontaneous. Recent work has mainly focused on understanding how aspiration dynamics alter the evolutionary outcome in structured populations. However, the baseline case for understanding strategy selection is the well-mixed population case, which is still lacking sufficient understanding. We explore how aspiration-driven strategy-update dynamics under imperfect rationality influence the average abundance of a strategy in multi-player evolutionary games with two strategies. We analytically derive a condition under which a strategy is more abundant than the other in the weak selection limiting case. This approach has a long standing history in evolutionary game and is mostly applied for its mathematical approachability. Hence, we also explore strong selection numerically, which shows that our weak selection condition is a robust predictor of the average abundance of a strategy. The condition turns out to differ from that of a wide class of imitation dynamics, as long as the game is not dyadic. Therefore a strategy favored under imitation dynamics can be disfavored under aspiration dynamics. This does not require any population structure thus highlights the intrinsic difference between imitation and aspiration dynamics.

q-bio.PE↗

arXiv2013

The Link Between Ejected Stars, Hardening and Eccentricity Growth of Super Massive Black Holes in Galactic Nuclei

The hierarchical galaxy formation picture suggests that super massive black holes (MBHs) observed in galactic nuclei today have grown from coalescence of massive black hole binaries (MBHB) after galaxy merging. Once the components of a MBHB become gravitationally bound, strong three-body encounters between the MBHB and stars dominate its evolution in a "dry" gas free environment, and change the MBHB's energy and angular momentum (semi-major axis, eccentricity and orientation). Here we present high accuracy direct N-body simulations of spherical and axisymmetric (rotating) galactic nuclei with order a million stars and two massive black holes that are initially unbound. We analyze the properties of the ejected stars due to slingshot effects from three-body encounters with the MBHB in detail. Previous studies have investigated the eccentricity and energy changes of MBHs using approximate models or Monte-Carlo three body scatterings. We find general agreement with the average results of previous semi-analytic models for spherical galactic nuclei, but our results show a large statistical variation. Our new results show many more phase space details of how the process works, and also show the influence of stellar system rotation on the process. We detect that the angle between the orbital plane of the MBHBs and that of the stellar system (when it rotates) influences the phase-space properties of the ejected stars. We also find that massive MBHB tend to switch stars with counter-rotating orbits into co-rotating orbits during their interactions.

astro-ph.GA↗

arXiv2013

Big Data Analytics in Future Internet of Things

Current research on Internet of Things (IoT) mainly focuses on how to enable general objects to see, hear, and smell the physical world for themselves, and make them connected to share the observations. In this paper, we argue that only connected is not enough, beyond that, general objects should have the capability to learn, think, and understand both the physical world by themselves. On the other hand, the future IoT will be highly populated by large numbers of heterogeneous networked embedded devices, which are generating massive or big data in an explosive fashion. Although there is a consensus among almost everyone on the great importance of big data analytics in IoT, to date, limited results, especially the mathematical foundations, are obtained. These practical needs impels us to propose a systematic tutorial on the development of effective algorithms for big data analytics in future IoT, which are grouped into four classes: 1) heterogeneous data processing, 2) nonlinear data processing, 3) high-dimensional data processing, and 4) distributed and parallel data processing. We envision that the presented research is offered as a mere baby step in a potentially fruitful research direction. We hope that this article, with interdisciplinary perspectives, will stimulate more interests in research and development of practical and effective algorithms for specific IoT applications, to enable smart resource allocation, automatic network operation, and intelligent service provisioning.

cs.DC↗