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Performance Measure of Hierarchical Structures for Multi-agent Systems
Ali Raza,Muhammad Iqbal,Jun Moon,Shun-Ichi Azuma 제어·로봇·시스템학회 2022 International Journal of Control, Automation, and Vol.20 No.3
This paper investigates the robustness of linear consensus networks which are designed under a hierarchical scheme based on Cartesian product. For robustness analysis, consensus networks are subjected to additive white Gaussian noise. To quantify the robustness of the network, we use H2-norm: the square root of the expected value of the steady state dispersion of network states. We compare several classes of undirected and directed graph topologies. We show that the hierarchical structures, designed under the Cartesian product-based hierarchy, outperform the single-layer structures in terms of robustness. We provide simulations to support the analytical results presented in this paper.
Effects of Salts on Rheological Behaviour of Salvia Hydrogels
Yudianti, Rike,Karina, Myrtha,Sakamoto, Masahiro,Azuma, Jun-ichi The Polymer Society of Korea 2009 Macromolecular Research Vol.17 No.5
Rheological behavior of natural hydrogel produced from seeds of three Salvia spp. (S. miltiorrhiza (SM), S. sclarea (SS), S. viridis (SV)) was investigated by using a Rheometer equipped with a cone and plate geometry measuring system under never-dried condition. Different chemical contents of such hydrogels give significant effects on their rheological properties. Because of incomplete penetration of water inside the hydrogels after drying before-dried hydrogels were used for rheological analysis. To know molecular interactions which predominated in the gel formation, some constituents were externally added to the 1.0% (w/w) hydrogel. Addition of urea to disrupt hydrogen bonds reduced 3.4-67% viscosity of the untreated hydrogels and changed viscoelastic properties from gel to liquid-like behavior. Neutral salts added to the hydrogel solution at 0.1 M also lowered the viscosity in a manner related with increase in size of cations and temperature. Changing from gel state to liquid-like state was also easily confirmed by oscillation measurement (storage, G', and loss, G", modulii) typically observed in the cases of potassium sulfate and potassium thiocyanate. Influence of pH variation on the viscosity explained that weak alkaline condition (pH 8-9) creates a higher resistance to flow due to increasingly electrostatic repulsions between negative charges ($COO^-$) Importance of calcium bridges was also demonstrated by recovery of viscosity of the hydrogels by addition of calcium after acidification. The summarized results indicate that electrostatic repulsion is a major contributor for production of hydrogel structure.
DSC Analysis on Water State of Salvia Hydrogels
Yudianti, Rike,Karina, Myrtha,Sakamoto, Masahiro,Azuma, Jun-Ichi The Polymer Society of Korea 2009 Macromolecular Research Vol.17 No.12
The role of the water structure present in hydrogels from nutlets of three species of salvias, S. miltiorrhiza (SM), S. sclarea (SS) and S. viridis (SV), was analyzed by differential scanning calorimetry (DSC). The sharp endothermic peaks that appeared at $5.9^{\circ}C$ (SM), $2.8^{\circ}C$ DC (SS) and $1.8^{\circ}C$ (SV) in each 1.0% hydrogel of 10.4-15.8% were not affected by addition of 0.1 M urea and alkali-metal salts. The order-disorder portions in the network were slightly affected by the distribution of freezable and non-freezable water in the hydrogel networks. The SV hydrogel was further used to investigate the effects of additives (0.1-8.0 M urea and 0.1-5.0 M NaCl) on its melting behavior. At 0.5-4.0 M urea and 1.0-3.0 M NaCl, two endothermic peaks appeared, corresponding to unbound (high temperature) and bound (low temperature) water in the gel networks, and eventually merged into one endothermic peak at 5.0-8.0 M urea and 4.0-4.5 M NaCl. After this merger, the endothermic peak shifted to 3.7, 4.0 and $5.6^{\circ}C$ at 5.0, 6.0 and 8.0 M urea, respectively. In the case of NaCl, a combination of peaks that occurred at 4.0-4.5 M were accompanied by a shift to lower temperature (-14.4 and $15.3^{\circ}C$) and the endothermic peak finally disappeared at 5.0 M NaCl due to the strong binding of water in the gel networks.