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>

America’s poor face many obstacles including health disparities and limited access to affordable primary healthcare services. This study focuses on treatment seeking and knowledge of the Patient Protection and Affordable Care Act among the working poor in Tupelo, Mississippi, where research was conducted in 2014. The working poor cannot afford medical insurance even with government subsidies but earn too much money to qualify for Medicaid, leaving them with few options. Strategies to manage acute and chronic illnesses include frequenting organizations that attempt to fill the gaps in healthcare. This thesis presents a cultural model of health-seeking among the working poor as they attempt to navigate the changing healthcare marketplace. Research indicates that the working poor are largely uninformed and unable to utilize ObamaCare and are still relying on safety net providers.

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