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Abstract

This paper studies an evacuation problem described by a leader-follower model with bounded confidence under predictive mechanisms. We design a control strategy in such a way that agents are guided by a leader, which follows the evacuation path. The proposed evacuation algorithm is based on Model Predictive Control (MPC) that uses the current and the past information of the system to predict future agents’ behaviors. It can be observed that, with MPC method, the leader-following consensus is obtained faster in comparison to the conventional optimal control technique. The effectiveness of the developed MPC evacuation algorithm with respect to different parameters and different time domains is illustrated by numerical examples.
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Bibliography

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Authors and Affiliations

Ricardo Almeida
1
Ewa Girejko
2
Luís Machado
3 4
Agnieszka B. Malinowska
2
Natália Martins
1

  1. Center for Research and Development in Mathematics and Applications (CIDMA), Department of Mathematics, University of Aveiro, 3810–193 Aveiro, Portugal
  2. Faculty of Computer Science, Bialystok University of Technology, 15-351 Białystok, Poland
  3. Institute of Systems and Robotics, DEEC – UC, 3030-290 Coimbra, Portugal
  4. Department of Mathematics, University of Trás-os-Montes e Alto Douro (UTAD), 5000-801 Vila Real, Portugal
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Abstract

The aim of this study is to prove that the dynamic behavior of tensegrity grids can be controlled. This possibility is very important, especially for deployable structures. The impact the support conditions of the structure on the existence of the immanent characteristics, such as self-stress states and infinitesimal mechanisms, and consequently on the dynamic control, is analyzed. Grids built with the modified Quartex modules are considered. A geometrically non-linear model is used, implemented in an original program written in the Mathematica environment. The results confirm the feasibility of controlling tensegrity structures characterized by the presence of the infinitesimal mechanisms. In the case that the mechanisms do not exist, structures are insensitive to the change of the initial prestress level. The occurrence of mechanisms can be controlled by changing the support conditions of the structure. The obtained results make tensegrity a very promising structural concept, applicable in many areas when conventional solutions are insufficient.
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Authors and Affiliations

Paulina Obara
1
ORCID: ORCID
Justyna Tomasik
1
ORCID: ORCID

  1. Kielce University of Technology, al. Tysiaclecia Panstwa Polskiego 7, 25-314 Kielce, Poland
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Abstract

The starting point of the article is V. Ivanov’s epistolary statement and an expression included in it: “me, semper idem” as important for reflections on the question of “person and time.” Ivanov’s expression, considered within its context, was analysed taking into account other texts by the same poet (the poem Fio, ergo non sum, as well as others from the Prozrachnost’ cycle, author’s commentaries etc.), and S. Frank’s philosophical reflection and his idea of a person as a unity which encompasses continuing in time (“vremiaoblemlushcheje jedinstvo licznosti”). In analogous interpretation (lecture analogique) of both expressions included in the title of the article, two Paul Ricoeur’s conceptual categories were used: the idem identity and the ipse identity, as well as the thinker’s notion of their dialectic relationship. Referring to the European model of thinking about time (St. Augustine), taking into account its presence in Frank and Nikolai Berdyaev, author of the article considers two types of conceptualisations of the category of becoming, in its relation to the category of Being and the problem of transcending time in the reflections of the above- mentioned thinkers and in V. Ivanov’s poetry. Therefore, the article discusses situations in which a human as a person transcends the order of “horizontal” time, and in their existential experience enters the vertical dimension of Eternity (“moment-Eternity”). In relation to that, what turned out to be useful was another notional analogy: the concept of the “poetic moment” and “metaphysical moment” in Gaston Bachelard.

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Authors and Affiliations

Maria Cymborska-Leboda

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