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This thesis studies formation control for a class of general leader-follower multi-agent systems with Control Barrier Functions (CBFs) such that connectivity maintenance is fulfilled for all the neighboring agents. In leader-follower multi-agent systems, only the leader agents are controlled by the externally designed input, while the followers are guided through their dynamic couplings with the neighboring agents. The main problem is how to keep all adjacent agents maintain within the communication distance during the formation process. In this thesis, Control Barrier Functions (CBFs) are utilized in order to maintain connectivity among the neighboring agents. This thesis firstly introduces a general first-order leader-follower multi-agent systems with proper connectivity constrains. All edges in the system are divided into three categories: follower-follower edges, leader-follower edges and leader-leader edges. Three different kinds of edges are discussed individually. For each category, the relevant topological conditions and control barrier functions are defined and proved for both tree graphs and general graphs. Several simulation examples are implemented to verify the developed results. Both theory and simulation results show that the developed results are a strong support for the formation control of leader-follower system in order to achieve connectivity maintenance. / Denna avhandling studerar formationskontroll för en klass av generella ledare-följare multi-agent-system med kontrollbarriärfunktioner (CBFs) så att anslutningsunderhållet uppfylls för alla angränsande agenter. I ledar-följare multi-agent-system är det bara ledaragenterna som styrs av den externt utformade ingången, medan följaren guidas genom sina dynamiska kopplingar med grannagenterna. Huvudproblemet är hur man kan hålla alla intilliggande agenter inom kommunikationsavståndet under bildningsprocessen. I det här examensarbetet används kontrollbarriärfunktioner (CBF) för att upprätthålla förbindelser mellan angränsande agenter. Detta examensarbete introducerar först ett allmänt första ordningens ledare-följare multi-agentsystem med korrekta anslutningsbegränsningar. Alla kanter i systemet är indelade i tre kategorier: efterföljarkanter, ledare-följarkanter och ledare-ledarkanter. Tre olika sorters kanter diskuteras individuellt. För varje kategori definieras och bevisas de relevanta topologiska förhållandena och kontrollbarriärfunktionerna för både trädgrafer och allmänna grafer. Flera simuleringsexempel implementeras för att verifiera de framtagna resultaten. Både teori- och simuleringsresultat visar att de utvecklade resultaten är ett starkt stöd för bildandet av ledare-följare-system för att uppnå anslutningsunderhåll

This dissertation concerns the self-organization behaviors in different types of multi-agent systems, and possible ways to apply interventions on top ofthat to achieve certain goals. A bounded confidence opinion dynamics modelis considered for the first two papers. Theoretical analysis of the model isperformed and modifications of the model are given so that it will have better properties in some aspect. Leader-follower based models are studied in the third to fifth papers where various optimal control problems are considered. Different methods such as Pontryagin minimum principle and dynamic programming are used to solve those optimal control problem. For complex problems, one may only get approximate solutions or suboptimal solutions.In Paper A and Paper B, we consider the continuous-time Hegselmann-Krause (H-K) model and its variations and target the problem of reaching consensus. A sufficient condition on the initial opinion distribution is givento guarantee consensus for the original continuous-time H-K model. A modified model is provided and proven to be able to lead a larger range of initial opinions to synchronization. An H-K model with an exo-system is also studied where sufficient conditions on the exo-system are given for the purpose of consensus.In Paper C and Paper D, optimal control problems with leader-followerbased multi-agent systems are discussed. Analytic solutions are derived if the dynamics is linear by applying Pontryagin minimum principle. For generalnon-linear leader-follower interactions, we provide a method that use sstatistic moments of the follower crowd to approximate the optimal control.The dynamic programming approach is used and certain approximation ofthe Hamilton-Jacobi-Bellman equations is needed. The computational burdenis so heavy that model predictive control method is required in practical applications.In Paper E, we apply a similar method to the approach used in PaperD to target a pollutant elimination problem. It implies that we can use themethod to attack optimal control problem with partial differential equation constraints by discretization in space. The dimension of the discretization is not related to the computational complexity since only the statistic moments are needed. / <p>QC 20161201</p>

Made available in DSpace on 2016-07-27T13:49:01Z (GMT). No. of bitstreams: 1 Pedro Antonio Chagas Caceres.pdf: 4515221 bytes, checksum: 9be40ab3dff00946651d2057bd62b9dc (MD5) Previous issue date: 2006-02-23 / The purpose of this work is to investigate the representation of Devil in the Universal Church follower imaginariness. We analyze the anthropological, historical and social origins of this imaginariness and its effects on the Universal Church follower. We also intend to identify and analyze the mechanisms developed by the Universal Church follower to understand his and world problems. Then we will explore the historical and doctrinal Universal Church structures, as well as its theological mechanisms such as the Theology of the Holy War and the Theology of the Prosperity. The representation of Devil has a meaningful input in the follower imaginariness in due to the speeches of the Church that often meet some people necessities. The only way to salvation is the association to God through the religious institutions that function as mediators to the sacred itself. The Universal Church follower represents Devil as the great reason of his pain and grief. Defeating him is only possible by acts of faith and right decisions. / Este trabalho teve como objetivo investigar as representações do Diabo no imaginário dos fiéis da Igreja Universal do Reino de Deus (IURD). Pretendeu-se examinar também as origens antropológicas, históricas e sociais das representações do Diabo e suas influências nas representações dos fiéis da IURD. Além de analisar os mecanismos desenvolvidos pelo fiel da IURD para a compreensão dos problemas do mundo e de si mesmo, exploramos também as estruturas históricas e doutrinárias desta igreja, bem como seus mecanismos teológicos, como a teologia da guerra santa e a teologia da prosperidade. As representações do Diabo ganham um significativo reforço no imaginário dos fiéis, através dos discursos da Igreja Universal dirigidos à pessoas geralmente fragilizadas. Para elas a única forma de salvação é através da associação com Deus mediante a instituição religiosa. O fiel da IURD representa o Diabo como o grande provocador de suas dores a aflições e só por meio de ações da fé e da tomada de decisão pessoal que ele pode ser derrotado.

Made available in DSpace on 2016-04-28T20:19:13Z (GMT). No. of bitstreams: 1 2006-Marcello Vinicius Doria Calvosa.pdf: 1581898 bytes, checksum: 670b280fbad5e9929ad99450ea9823d4 (MD5) Previous issue date: 2006-03-13 / The leader of century XXI, according to main theoreticians, searches an identity, strategical vision and sensitivity to share values with all proper the members of the company. This work had as objective main to identify if a deserving position in its model of leadership exists in the students of Universidade Federal Rural do Rio de Janeiro, from existing intertime exchanges between the leader and its followers, making possible the bond between these and justifying the power of influence of those. For such a research of the descriptive type was carried through. One searched to identify the deserving position of the followers in relation to the leader, to leave of these existing intertime exchanges. It s necessary that the differentiation of the leaders and the controlling, in the companies, either made not only in function of the positions that occupy, but in result of the real capacity that has to influence the people and to give to the collaborator, an eager participant of intertime exchanges, values to which, this can be grasped. This exchange is present in many dimensions of the practical life, without that the people, many times, if give account of this. Always that hand of some thing in the gift in favor of some thing in the future confides, assumes a creditor position, position this based by an idea of sacrifices gifts in favor of future benefits. The leader works with common people and gets resulted extraordinary with these people, therefore she knows that its vision will become reality if the change in that direction will be made with the adhesion and the contribution of each participant of the team. Leadership is a choice, does not want to say position, privileges, headings or money, but, however, means responsibility. A group of students of business of the research showed to possess a creditor position as initially suggested. / O l?der do s?culo XXI, segundo os principais te?ricos do assunto, busca uma identidade pr?pria, vis?o estrat?gica e a sensibilidade de compartilhar valores com todos os membros da empresa. Este trabalho teve como objetivo principal identificar se existe nos estudantes de Administra??o da Universidade Federal Rural do Rio de Janeiro uma posi??o credora em seu modelo de lideran?a, a partir de trocas intertemporais existentes entre o l?der e seus seguidores, possibilitando o v?nculo entre estes e justificando o poder de influ?ncia daqueles. Para tal foi realizada uma pesquisa do tipo descritiva. Buscou-se identificar a posi??o credora dos seguidores em rela??o ao l?der, a partir destas trocas intertemporais existentes. Torna-se necess?rio que a diferencia??o dos l?deres e dos gerentes, nas empresas, seja feita n?o apenas em fun??o dos cargos que ocupam, mas em decorr?ncia da real capacidade que t?m de influenciar as pessoas e dar ao colaborador, um ?vido part?cipe de trocas intertemporais, valores aos quais este possa se agarrar. Esta troca est? presente em muitas dimens?es da vida pr?tica, sem que as pessoas, muitas vezes, se d?em conta disto. Sempre que se abre m?o de alguma coisa no presente em prol de alguma coisa no futuro, assume-se uma posi??o credora, posi??o esta fundamentada por uma id?ia de sacrif?cios presentes em prol de benef?cios futuros. O l?der trabalha com pessoas comuns e obt?m resultados extraordin?rios com essas pessoas, pois sabe que sua vis?o se tornar? realidade se a mudan?a naquela dire??o for feita com a ades?o e a contribui??o de cada participante da equipe. Lideran?a ? uma escolha, n?o quer dizer posi??o, privil?gios, t?tulos ou dinheiro, mas, entretanto, significa responsabilidade. Um grupo de estudantes de administra??o da pesquisa mostrou possuir uma posi??o credora como inicialmente sugerido.

Background: Dexcom G5, a continues glucose monitoring system, includes a follower function that gives people the possibility to see other people's glucose levels in real time. During the adolescents the metabolic control often deteriorate, When the responsibility for the diabetes care is shared between the parent and the youth there is better possibility to achieve a good metabolic control (Olinder, Nyhlin och Smider 2011). Purpose: The purpose of this study is to investigate how adolescents perceive the follower function in Dexcom G5. Method: A qualitative interview method with inductive onset. Eleven adolescents have been interviewed using a question guide with semi structured questions. The material was analysed with content analysis by Graneheim and Lundman (2014). The theoretic framework  used is person centred  care (Ekman et al., 2011). Result: The conclusion from the analysis were one theme, three categories and eight subcategories. The theme is a means of adolescents to liberation using the follower function. The categories are use of technology, safety and liberation. The adolescents had a positive perception of the follower function and they felt safe, especially during the night and when there was a risk for hypoglycaemia. They felt that their parents was safer which led to fewer diabetes related conflicts and more liberation. The adolescents felt that it was easier to get help with the self-care. Some could feel some restrictions to their integrity and they could experience some stress by being responsible for their self-care. Most did not perceive the follower function as offensive to their integrity. They could understand that their parents used it with their welfare in mind. Conclusion: The follower function can be helpful when adolescents gradually take responsibility for their self-care. It is useful both in that it makes the adolescents feel safe, but it also provides a means for parents to let go. There are times when the adolescents may feel supervised and the follower function restrict their integrity. In such cases good communication is important. This is where the diabetes nurse has an important role to play. / Bakgrund: Till Dexcom G5, en kontinuerlig glukosmätare, finns en följarfunktion som ger möjlighet att följa andras glukosvärden i realtid. Under adolescensen försämras ofta den metabola kontrollen. När ansvaret för egenvården delas mellan föräldrar och ungdomar finns det bättre förutsättningar för att god metabol kontroll uppnås (Olinder, Nyhlin och Smide 2011). Syftet: Syftet med denna studie är att undersöka ungdomars upplevelse av Dexcom G5s följarfunktion. Metod: En kvalitativ intervjumetod med induktiv ansats. Elva ungdomar har intervjuats med en frågeguide med semistrukturerade frågor. Materialet har analyserats med hjälp av innehållsanalys utifrån Graneheim och Lundman (2004). Den teoretiska referensram som använts är personcentrerad vård (Ekman et al., 2011). Resultat: Vid analysen framkom ett tema, tre kategorier och åtta subkategorier. Temat var ungdomars väg till frigörelse med hjälp av följarfunktionen, kategorierna var handhavande av teknik, trygghet och frigörelse. Ungdomarna var positiva till följarfunktionen och kände sig trygga framförallt på nätterna samt vid risk för hypoglykemier. De upplevde att deras föräldrar var tryggare, vilket ledde till färre diabetesrelaterade konflikter och en större frihet. Ungdomarna upplevde att de lättare kunde få hjälp med egenvården. Några kände sig delvis inskränkta i sin integritet, och kunde ibland uppleva det stressande att alltid ställas till svars för hur de skötte sin egenvård. De flesta upplevde dock att följarfunktionen inte var kränkande för deras integritet, de förstod oftast att föräldrarna använde sig av den med gott uppsåt. Slutsats: Följarfunktionen kan vara till hjälp för att ungdomarna successivt ska kunna ta över ansvaret för sin egenvård. Den är till nytta både för att ungdomarna ska känna sig trygga, men också för att föräldrarna ska våga släppa taget. Det fanns dock tillfällen då ungdomarna kände sig övervakade och att följarfunktionen inskränkte på deras integritet. I dessa fall framkom det att kommunikation var extra viktig. Här har diabetessjuksköterskan en viktig roll.