In the world of networked system, average consensus is an important dimension of co-ordinate control and cooperation. Since the communication medium is digital, real value cannot be transmitted and we need to perform quantization before data transmission. But for the quantization, error is introduced in exact value and initial average is lost. Based on this limitation, my 16 bit quantization method (sending MSB in 1-4 cycle and MSB+LSB in 5th cycle) reduces error significantly and preserves initial average. Besides, it works on all types of graphs (star, complete, ring, random geometric graph). My other algorithm, distributing averaging algorithm (PQDA) with probabilistic quantization also works on random geometric graph, star, ring and slow co-herency graph. It shows significant reduced error and attain strict consensus.

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We study stochastic stability for a class of agreement dynamics and define two forms of agreement which we call stochastic agreement and stochastic absolute agreement. We identify conditions for a broad class of random, possibly state-dependent agreement processes to achieve stochastic agreement. We take the approach of applying Lyapunov drift criteria to study the behaviour of such processes. We generalize some results in the literature to the noisy and state-dependent case. / Thesis (Master, Mathematics & Statistics) -- Queen's University, 2013-06-28 16:12:15.743

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Thesis (Ph. D.)--University of Wisconsin--Madison, 1975. / Typescript. Vita. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

Thesis--Wisconsin. / Vita. Includes bibliographical references (leaves 112-117).

Thesis (Ph. D.)--University of Wisconsin--Madison, 1975. / Vita. Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references.

<div>This thesis applies flocking algorithms for the distributed consensus control of a multi-agent system composed of four-Mecanum-wheeled robots. The working mechanism of flocking is an artificial potential field consisting of attractive/repulsive forces and velocity alignment. The potential function of the attractive and repulsive force is introduced to control the connected distance among agents in the network. A consensus is a group of robots in a communication network to achieve common goals, which are the agreement of position and heading angle in this thesis. The main contribution of this thesis is our proposed feasible methods to achieve consensus control for general multi-agent systems of four-Mecanum-wheeled robots.</div><div><br></div><div>With the fast development of information technology and the growing demand for data exchange around the world, the sensors and actuators of agents become more complicated and require more resources. Local communication among agents reduces the need for high material costs and lengthy installation time. This thesis established a controllable model of four-Mecanum-wheeled robots in a local communication network. An assumption is that all robots can obtain information on the relative position and heading angle difference between themselves and their neighbors. A few robots with installed GPS are directly connected to the central host. Our flocking methods under the assumed communication conditions adjust the velocities of robots by controlling the speed of Mecanum wheels.</div><div><br></div><div>This thesis simulated the proposed leader-following flocking algorithms for cases of connected formation and snake formation with different numbers of leaders. The simulation results regarding the position consensus and heading angles consensus are provided to illustrate the robustness of the proposed algorithms.</div><div><br></div>

Educational leaders, families, and politicians debate the methods for teaching, the materials taught, and the content learned (Benninga, Berkowitz, Kuehn, and Smith, 2006; Kohn, 1997). These stakeholders all agree, however, that a major goal for education is to produce learned, productive members of society (DeRoche and Williams, 2001). The goal of this research is to develop a framework that provides schools and division-level leaders with essential elements to resolve character education issues and to provide the means for implementing and evaluating those programs. I used the Delphi research method to collect information from notable researchers and practitioners in the educational world (Keeney, McKenna, and Hasson, 2010). Many of the panelists were selected because their previous research on character education formed a large part of my literature review in Chapter 2. The practitioners are current superintendents, principals, or program directors in representative school systems. The study itself consisted of three rounds of questionnaires; the first round consisted of three open-ended questions that then elicited responses on which the other two rounds were based. The panelists indicated that clearly defined goals and values, stakeholder buy-in, and inclusion of social/emotional issues were the essential elements needed for an effective character education program. Shared responsibilities by stakeholders and student-driven debates were seen as the keys to implementing said program. Finally, the panelists concurred that attendance and discipline data and surveys were the best tools/methods for evaluating character education programs. / Ed. D.

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