This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autono...This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.展开更多
During the drilling process for oil and gas production,a larger number of drilling fluids invade the formation,causing severe formation damage and wellbore collapsing,which seriously hinders the efficient production o...During the drilling process for oil and gas production,a larger number of drilling fluids invade the formation,causing severe formation damage and wellbore collapsing,which seriously hinders the efficient production of deep oil and gas.Although several plugging agents have been developed for efficient fracture sealing in recent years,the development of high-performance plugging agents with self-adaptive ability and high-temperature resistance remain a challenge.Herein,we report the synthesis of an internal rigid and external flexible plugging agent PANS by reversed-phase emulsion polymerization with nano-silica as the rigid core and poly(acrylamide-co-N-vinylpyrrolidone)as a flexible shell.The plugging agent has a median particle size of 10.5μm and can self-adapt to seal the microfractures and fractures in the formation,leading to an effective reduction in the filtration loss of bentonite water-based drilling fluid under both low temperature and low pressure(LTLP)and high temperature and high pressure(HTHP)conditions.In addition,compared with the neat nano-silica(500 nm),the sealing efficiency of PANS toward 100–120 mesh sand bed was increased by 71.4%after hot rolling at 180°C.展开更多
In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid gr...In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.展开更多
This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is avail...This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is available to only a subset of the agents. The following two cases are considered： the desired velocity is constant, and the desired velocity is timevarying. In the first case, a distributed linear estimator is constructed for each agent to estimate the desired velocity. The velocity estimation and a formation acquisition term are employed to design the control inputs for the agents, where the rigidity matrix plays a central role. In the second case, a distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in a finite time. Theoretical analysis shows that the formation tracking problem can be solved under the proposed control algorithms and estimators. Simulation results are also provided to show the validity of the derived results.展开更多
基金supported by the National Natural Science Foundation for Distinguished Young Scholars of China (Grant No 60525303)the National Natural Science Foundation of China (Grant No 60704009)Doctor Fund of Yanshan University (Grant NoB203)
文摘This paper researched into some methods for generating min-weighted rigid graphs and min-weighted persistent graphs. Rigidity and persistence are currently used in various studies on coordination and control of autonomous multi-agent formations. To minimize the communication complexity of formations and reduce energy consumption, this paper introduces the rigidity matrix and presents three algorithms for generating rain-weighted rigid and min- weighted persistent graphs. First, the existence of a min-weighted rigid graph is proved by using the rigidity matrix, and algorithm 1 is presented to generate the min-weighted rigid graphs. Second, the algorithm 2 based on the rigidity matrix is presented to direct the edges of min-weighted rigid graphs to generate min-weighted persistent graphs. Third, the formations with range constraints are considered, and algorithm 3 is presented to find whether a framework can form a min-weighted persistent formation. Finally, some simulations are given to show the efficiency of our research.
基金Natural Science Foundation of China(Grants 51904328).
文摘During the drilling process for oil and gas production,a larger number of drilling fluids invade the formation,causing severe formation damage and wellbore collapsing,which seriously hinders the efficient production of deep oil and gas.Although several plugging agents have been developed for efficient fracture sealing in recent years,the development of high-performance plugging agents with self-adaptive ability and high-temperature resistance remain a challenge.Herein,we report the synthesis of an internal rigid and external flexible plugging agent PANS by reversed-phase emulsion polymerization with nano-silica as the rigid core and poly(acrylamide-co-N-vinylpyrrolidone)as a flexible shell.The plugging agent has a median particle size of 10.5μm and can self-adapt to seal the microfractures and fractures in the formation,leading to an effective reduction in the filtration loss of bentonite water-based drilling fluid under both low temperature and low pressure(LTLP)and high temperature and high pressure(HTHP)conditions.In addition,compared with the neat nano-silica(500 nm),the sealing efficiency of PANS toward 100–120 mesh sand bed was increased by 71.4%after hot rolling at 180°C.
基金supported by National Natural Science Foundation of China (No. 60934003, No. 61074065)Key Project for Natural Science Research of Hebei Education Department (No. ZD200908)
文摘In this paper, decentralized methods of optimally rigid graphs generation for formation control are researched. The notion of optimally rigid graph is first defined in this paper to describe a special kind of rigid graphs. The optimally rigid graphs can be used to decrease the topology complexity of graphs while maintaining their shapes. To minimize the communication complexity of formations, we study the theory of optimally rigid formation generation. First, four important propositions are presented to demonstrate the feasibility of using a decentralized method to generate optimally rigid graphs. Then, a formation algorithm for multi-agent systems based on these propositions is proposed. At last, some simulation examples are given to show the efficiency of the proposed algorithm.
基金Project supported by the National Natural Science Foundation of China(Grant No.61473240)
文摘This paper considers the formation tracking problem under a rigidity framework, where the target formation is specified as a minimally and infinitesimally rigid formation and the desired velocity of the group is available to only a subset of the agents. The following two cases are considered： the desired velocity is constant, and the desired velocity is timevarying. In the first case, a distributed linear estimator is constructed for each agent to estimate the desired velocity. The velocity estimation and a formation acquisition term are employed to design the control inputs for the agents, where the rigidity matrix plays a central role. In the second case, a distributed non-smooth estimator is constructed to estimate the time-varying velocity, which is shown to converge in a finite time. Theoretical analysis shows that the formation tracking problem can be solved under the proposed control algorithms and estimators. Simulation results are also provided to show the validity of the derived results.
基金Supported by the National Natural Science Foundation of China(51729501,U1713203,U2141235,61803166)the National Natural Science Foundation of Hubei Province(2019CFA005)。
