Multi-Robot Formation Control Based on CVT Algorithm and Health Optimization Management

In view of the low formation redundancy in the traditional rigid formation algorithm and its difficulty in dynamically adapting to the external environment, this study considers the use of the CVT (centroidal Voronoi tessellation) algorithm to control multiple robots to form the desired formation. This method significantly increases the complexity of the multi-robot system, its structural redundancy, and its internal carrying capacity. First, we used the CVT algorithm to complete the Voronoi division of the global map, and then changed the centroid position of the Voronoi cell by adjusting the density function. When the algorithm converged, it could ensure that the position of the generated point was the centroid of each Voronoi cell and control the robot to track the position of the generated point to form the desired formation. The use of traditional formations requires less consideration of the impact of the actual environment on the health of robots, the overall mission performance of the formation, and the future reliability. We propose a health optimization management algorithm based on minor changes to the original framework to minimize the health loss of robots and reduce the impact of environmental restrictions on formation sites, thereby improving the robustness of the formation system. Simulation and robot formation experiments proved that the CVT algorithm could control the robots to quickly generate formations, easily switch formations dynamically, and solve the formation maintenance problem in obstacle scenarios. Furthermore, the health optimization management algorithm could maximize the life of unhealthy robots, making the formation more robust when performing tasks in different scenarios.

Condensation tendency and planar isotropic actin gradient induce radial alignment in confined monolayers

A monolayer of highly motile cells can establish long-range orientational order, which can be explained by hydrodynamic theory of active gels and fluids. However, it is less clear how cell shape changes and rearrangement are governed when the monolayer is in mechanical equilibrium states when cell motility diminishes. In this work, we report that rat embryonic fibroblasts (REF), when confined in circular mesoscale patterns on rigid substrates, can transition from the spindle shapes to more compact morphologies. Cells align radially only at the pattern boundary when they are in the mechanical equilibrium. This radial alignment disappears when cell contractility or cell-cell adhesion is reduced. Unlike monolayers of spindle-like cells such as NIH-3T3 fibroblasts with minimal intercellular interactions or epithelial cells like Madin-Darby canine kidney (MDCK) with strong cortical actin network, confined REF monolayers present an actin gradient with isotropic meshwork, suggesting the existence of a stiffness gradient. In addition, the REF cells tend to condense on soft substrates, a collective cell behavior we refer to as the 'condensation tendency'. This condensation tendency, together with geometrical confinement, induces tensile prestretch (i.e., an isotropic stretch that causes tissue to contract when released) to the confined monolayer. By developing a Voronoi-cell model, we demonstrate that the combined global tissue prestretch and cell stiffness differential between the inner and boundary cells can sufficiently define the cell radial alignment at the pattern boundary.

Fracture simulations using edge-based smoothed finite element method for isotropic damage model via Delaunay/Voronoi dual tessellations

In this study, an effective numerical framework for fracture simulations is proposed using the edge-based smoothed finite element method (ES-FEM) and isotropic damage model. The duality between the Delaunay triangulation and Voronoi tessellation is utilized for the mesh construction and the compatible use of the finite element solution with the Voronoi-cell lattice geometry. The mesh irregularity is introduced to avoid calculating the biased crack path by adding random variation in the nodal coordinates, and the ES-FEM elements are defined along the Delaunay edges. With the Voronoi tessellation, each nodal mass is calculated and the fractured surfaces are visualized along the Voronoi edges. The rotational degrees of freedom are implemented for each node by introducing the elemental formulation of the Voronoi-cell lattice model, and the accurate visualizations of the rotational motions in the Voronoi diagram are achieved. An isotropic damage model is newly incorporated into the ES-FEM formulation, and the equivalent elemental length is introduced with an additional geometric factor to simulate the consistent softening behaviors with reducing the mesh sensitivity. The full matrix form of the smoothed strain-displacement matrix is constructed for optimal use in the element-wise computations during explicit time integration, and parallel computing is implemented for the enhancement of the computational efficiency. The simulated results are compared with the theoretical solutions or experimental results, which demonstrates the effectiveness of the proposed methodology in the simulations of the quasi-brittle fractures.

Can a Good Break Shot Determine the Game Outcome in 9-Ball?

This study aimed to quantify the break shot characteristics and identify their significance in predicting the game outcomes in 9-ball tournaments. The break shots of 275 frames (241 men’s, 34 women’s) of professional tournaments were analyzed from two aspects: (1) cue ball position, represented by the distance between the cue ball and the table center, and (2) ball distribution, indicated by the standard deviation of Voronoi cell areas determined from all remaining balls on the table. Spearman correlation and binary logistic regression were utilized to identify associations and to predict the frame outcomes, respectively. Results showed that the more balls falling into the pockets during the break, the more clustered the remaining balls (rs = 0.232, p < 0.001). The closer the cue ball ending toward the table center, the more balls potted in the visit immediately after the break (rs = −0.144, p = 0.027). Neither cue ball position nor ball distribution could predict table clearance or winning of a frame. In conclusion, pocketing more balls during the break is associated with more clustered balls remaining on the table. Parking the cue ball near the table center after the break can facilitate potting more balls immediately after.

Topological Quantum Codes from Lattices Partition on the n-Dimensional Flat Tori

In this work, we show that an n-dimensional sublattice Λ′=mΛ of an n-dimensional lattice Λ induces a G=Zmn tessellation in the flat torus Tβ′=Rn/Λ′, where the group G is isomorphic to the lattice partition Λ/Λ′. As a consequence, we obtain, via this technique, toric codes of parameters [[2m2,2,m]], [[3m3,3,m]] and [[6m4,6,m2]] from the lattices Z2, Z3 and Z4, respectively. In particular, for n=2, if Λ1 is either the lattice Z2 or a hexagonal lattice, through lattice partition, we obtain two equivalent ways to cover the fundamental cell P0′ of each hexagonal sublattice Λ′ of hexagonal lattices Λ, using either the fundamental cell P0 or the Voronoi cell V0. These partitions allow us to present new classes of toric codes with parameters [[3m2,2,m]] and color codes with parameters [[18m2,4,4m]] in the flat torus from families of hexagonal lattices in R2.

A Computational Geometry Generation Method for Creating 3D Printed Composites and Porous Structures

A computational method for generating porous materials and composite structures was developed and implemented. The method is based on using 3D Voronoi cells to partition a defined space into segments. The topology of the segments can be controlled by controlling the Voronoi cell set. The geometries can be realized by additive manufacturing methods, and materials can be assigned to each segment. The geometries are generated and processed virtually. The macroscopic mechanical properties of the resulting structures can be tuned by controlling microstructural features. The method is implemented in generating porous and composite structures using polymer filaments i.e., polylactic acid (PLA), thermoplastic polyurethane (TPU) and nylon. The geometries are realized using commercially available double nozzle fusion deposition modelling (FDM) equipment. The compressive properties of the generated porous and composite configurations are tested quasi statically. The structures are either porous of a single material or composites of two materials that are geometrically intertwined. The method is used to produce and explore promising material combinations that could otherwise be difficult to mix. It is potentially applicable with a variety of additive manufacturing methods, size scales, and materials for a range of potential applications.

A procedure to join the force and volume ensemble statistical descriptions of granular media

Granular media consist of a large number of discrete particles interacting mostly through contact forces that, being dissipative, jeopardizes a classical statistical equilibrium approach based on energy. Instead, two independent equilibrium statistical descriptions have been proposed: the Volume Ensemble and the Force Network Ensemble. Hereby, we propose a procedure to join them into a single description, using Discrete Element simulations of a granular medium of monodisperse spheres in the limit state of isotropic compression as testing ground. By classifying grains according to the number of faces of the Voronoï cells around them, our analysis establishes an empirical relationship between that number of faces and the number of contacts on the grain. In addition, a linear relationship between the number of faces of each Voronoï cell and the number of elementary cells proposed by T. Aste and T. Di Matteo in 2007 is found. From those two relations, an expression for the total entropy (volumes plus forces) is written in terms of the contact number, an entropy that, when maximized, gives an equation of state connecting angoricity (the temperature-like variable for the force network ensemble) and compactivity (the temperature-like variable for the volume ensemble). So, the procedure establishes a microscopic connection between geometry and mechanics and, constitutes a further step towards building a complete statistical theory for granular media in equilibrium.