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Jung, Ga Young, and Incheol Kim. "Dynamic 3D Scene Graph Generation for Robotic Manipulation Tasks." Journal of Institute of Control, Robotics and Systems 27, no. 12 (December 31, 2021): 953–63. http://dx.doi.org/10.5302/j.icros.2021.21.0140.
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Valera, A., V. Mata, M. Vallés, F. Valero, N. Rosillo, and F. Benimeli. "Solving the inverse dynamic control for low cost real-time industrial robot control applications." Robotica 21, no. 3 (May 13, 2003): 261–69. http://dx.doi.org/10.1017/s0263574702004769.
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This work deals with the real-time robot control implementation. In this paper, an algorithm for solving Inverse Dynamic Problem based on the Gibbs-Appell equations is proposed and verified. It is developed using mainly vectorial variables, and the equations are expressed in a recursive form, it has a computational complexity of O(n). This algorithm will be compared with one based on Newton-Euler equations of motion, formulated in a similar way, and using mainly vectors in their recursive formulation. This algorithm was implemented in an industrial PUMA robot. For the robot control a new and open architecture based on PC had been implemented. The architecture used has two main advantages. First it provides a total open control architecture, and second it is not expensive. Because the controller is based on PC, any control technique can be programmed and implemented, and in this way the PUMA can work on high level tasks, such as automatic trajectory generation, task planning, control by artificial vision, etc.
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Savic, Srdjan, Mirko Rakovic, Branislav Borovac, and Milutin Nikolic. "Hybrid motion control of humanoid robot for leader-follower cooperative tasks." Thermal Science 20, suppl. 2 (2016): 549–61. http://dx.doi.org/10.2298/tsci151005037s.
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This paper presents a framework for leader-follower type cooperative transportation of an object by multiple humanoid robots or a single robot and a human. The emphasis in this paper is on the hybrid control algorithm and motion generation of the follower robot, while the influence of the leader has been simulated as external force acting on the follower?s hands. The presented approach uses impedance controller to provide compliant behavior of robot arms and it is an extension of our previous work on dual-mode impedance controller for safe human-robot interaction. Synthesis of the follower?s legs and trunk motion is based on the reconfigurable adaptive motion primitives, which are defined as simple, parameterized motion building blocks that can be combined in a sequence or in parallel to generate complex motion. It has been already proven that motion generation, based on reconfigurable adaptive primitives enables the robot to modify gait parameters online, at any time instant, and to synthesize dynamically balanced walk. Motion of the follower is based on the reactive approach, where the gait parameters (walking velocity, direction and step length) depend on the intensity and the direction of the external force vector. Robot end-effectors are compliant in the horizontal plain, adapting to the physical guidance of the leader, while being stiff in the vertical direction in order to compensate the external force in negative Z direction. The proposed framework has been tested by numerical simulations involving a dynamic robot model.
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Gardiner, B., S. A. Coleman, T. M. McGinnity, and H. He. "Robot control code generation by task demonstration in a dynamic environment." Robotics and Autonomous Systems 60, no. 12 (December 2012): 1508–19. http://dx.doi.org/10.1016/j.robot.2012.07.023.
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Biletskyi, Yurii Olegovych, Ihor Zenonovich Shchur, and Rostyslav-Ivan Kuzyk. "PASSIVITY-BASED CONTROL SYSTEM FOR STAND-ALONE HYBRID ELECTROGENERATING COMPLEX." Applied Aspects of Information Technology 4, no. 2 (June 30, 2021): 140–52. http://dx.doi.org/10.15276/aait.02.2021.2.
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The desire for energy independence presupposes the use of various types of elements for energy generation from renewable sources, for the stand-alone operation of which energy storage devices are required. A power generation complex created in this way must perform a number of tasks that are formed by the energy management system. The control system performs these tasks and ensures proper static and dynamic characteristics of this complex with many inputs and outputs. The results of recent world researches, as well as the authors experience of this work, show that, for creating such control systems, it is advisable to use Passive Based Control (PBC), presenting the control object as a Port-Controlled Hamiltonian (PCH) system. Thanks to the developed method of additional interconnections and damping injection (Interconnection & Damping Assignment - IDA) passive control provides ample opportunities to adjust the control effects, while ensuring the asymptotic stability of the system as a whole. This is particularly useful in the complex system considered in this paper that includes both a hybrid power plant for electricity generation from the sun and wind and a hybrid energy storage unit consisting of the battery and supercapacitor module. This article shows the procedure of PBC system synthesis, according to which three structures of control influence formers (CIF) were designed and investigated. These structures have different combinations of additional interconnections and damping, which allows forming the desired energy flows inside the closed-loop system and therefore provide desired control results. Among them, there are tasks of maintaining voltages on the DC bus and the supercapacitor module at reference levels, and the smoothness of the battery current transients. A comparative simulation studies were performed on a computer model of the power generation complex with synthesized control systems, which was created in the MATLAB/Simulink environment. It showed the efficiency of their work and the advantages of different CIF structures.
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Steer, A. J. "Supersonic transport aircraft longitudinal flight control law design." Aeronautical Journal 108, no. 1084 (June 2004): 319–29. http://dx.doi.org/10.1017/s000192400000018x.
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Abstract Modern civil transport aircraft utilise increasingly complex command and stability augmentation systems to restore stability, optimise aerodynamic performance and provide the pilot with the optimum handling qualities. Provided it has sufficient control power a second generation fly-by-wire supersonic transport aircraft should be capable of exhibiting similarly desirable low-speed handling qualities. However, successful flight control law design requires identification of the ideal command response type for a particular phase of flight, a set of valid handling quality design criteria and piloted simulation evaluation tasks and metrics. A non-linear mathematical model of the European supersonic transport aircraft has been synthesized on the final approach to land. Specific handling quality design criteria have been proposed to enable the non-linear dynamic inversion flight control laws to be designed, with piloted simulation used for validation. A pitch rate command system, with dynamics matched to the aircraft’s flight path response, will consistently provide Level 1 handling qualities. Nevertheless, pre-filtering the pilot’s input to provide a second order pitch rate response, using the author’s suggested revised constraints on the control anticipation parameter will generate the best handling qualities during the terminal phase of flight. The resulting pre-filter can be easily applied to non-linear dynamic inversion inner loop controllers and has simple and flight proven sensor requirements.
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Mohamed, Zulkifli, Mitsuki Kitani, and Genci Capi. "Adaptive arm motion generation of humanoid robot operating in dynamic environments." Industrial Robot: An International Journal 41, no. 2 (March 11, 2014): 124–34. http://dx.doi.org/10.1108/ir-10-2013-409.
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Purpose – The purpose of this paper is to compare the performance of the robot arm motion generated by neural controllers in simulated and real robot experiments. Design/methodology/approach – The arm motion generation is formulated as an optimization problem. The neural controllers generate the robot arm motion in dynamic environments optimizing three different objective functions; minimum execution time, minimum distance and minimum acceleration. In addition, the robot motion generation in the presence of obstacles is also considered. Findings – The robot is able to adapt its arm motion generation based on the specific task, reaching the goal position in simulated and experimental tests. The same neural controller can be employed to generate the robot motion for a wide range of initial and goal positions. Research limitations/implications – The motion generated yield good results in both simulation and experimental environments. Practical implications – The robot motion is generated based on three different objective functions that are simultaneously optimized. Therefore, the humanoid robot can perform a wide range of tasks in real-life environments, by selecting the appropriate motion. Originality/value – A new method for adaptive arm motion generation of a mobile humanoid robot operating in dynamic human and industrial environments.
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Roper, Daniel, Sanjay Sharma, Robert Sutton, and Philip Culverhouse. "Energy-Shaping Gait Generation for a Class of Underactuated Robotic Fish." Marine Technology Society Journal 46, no. 3 (May 1, 2012): 34–43. http://dx.doi.org/10.4031/mtsj.46.3.6.
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AbstractThe recent explosion of interest in subsea research and industries has led to a demand for efficient, versatile submarine robots to perform interaction and survey tasks. While most of these robots employ conventional propeller- or thruster-based locomotion, there has also been a growing interest in the development of biologically inspired robotic swimmers (or robotic fish). Such devices take inspiration from biological swimmers in the hope of gaining some of their manoeuvrability and efficiency.Early robotic fish achieved their gait by directly controlling the relative angle between each vertebrae using multiple active actuators.Following observations that many biological locomotive gaits utilize spring dynamics to create efficient oscillatory motion with minimal active input, there has been a recent trend toward the development of underactuated robotics utilizing dynamics to achieve harmonic locomotive gaits.For a harmonic dynamic system, the path is dependent on the total energy in the system. By controlling the total energy in the system, the gait can then be controlled by varying a single degree of freedom.This study explores the potential of a novel approach to use an energy-based control to produce an effective propulsive gait for a class of robotic fish. It outlines a deadbeat control strategy and presents simulation results, which demonstrate the effectiveness of the approach. Furthermore, it is shown that the gaits produced would unlikely be found using geometric gait optimization.
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Mendez Monroy, Paul Erick. "Walking Motion Generation and Neuro-Fuzzy Control with Push Recovery for Humanoid Robot." International Journal of Computers Communications & Control 12, no. 3 (April 23, 2017): 330. http://dx.doi.org/10.15837/ijccc.2017.3.2842.
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Push recovery is an essential requirement for a humanoid robot with the objective of safely performing tasks within a real dynamic environment. In this environment, the robot is susceptible to external disturbance that in some cases is inevitable, requiring push recovery strategies to avoid possible falls, damage in humans and the environment. In this paper, a novel push recovery approach to counteract disturbance from any direction and any walking phase is developed. It presents a pattern generator with the ability to be modified according to the push recovery strategy. The result is a humanoid robot that can maintain its balance in the presence of strong disturbance taking into account its magnitude and determining the best push recovery strategy. Push recovery experiments with different disturbance directions have been performed using a 20 DOF Darwin-OP robot. The adaptability and low computational cost of the whole scheme allows is incorporation into an embedded system.
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Mathiyakom, W., J. L. McNitt-Gray, and R. Wilcox. "Lower extremity control and dynamics during backward angular impulse generation in backward translating tasks." Experimental Brain Research 169, no. 3 (November 5, 2005): 377–88. http://dx.doi.org/10.1007/s00221-005-0150-7.
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Mathiyakom, W., J. L. McNitt-Gray, and R. Wilcox. "Lower extremity control and dynamics during backward angular impulse generation in forward translating tasks." Journal of Biomechanics 39, no. 6 (January 2006): 990–1000. http://dx.doi.org/10.1016/j.jbiomech.2005.02.022.
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Puzyrkov, Dmitry, Sergey Polyakov, Viktoriia Podryga, and Sergey Markizov. "Concept of a Cloud Service for Data Preparation and Computational Control on Custom HPC Systems in Application to Molecular Dynamics." EPJ Web of Conferences 173 (2018): 05014. http://dx.doi.org/10.1051/epjconf/201817305014.
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At the present stage of computer technology development it is possible to study the properties and processes in complex systems at molecular and even atomic levels, for example, by means of molecular dynamics methods. The most interesting are problems related with the study of complex processes under real physical conditions. Solving such problems requires the use of high performance computing systems of various types, for example, GRID systems and HPC clusters. Considering the time consuming computational tasks, the need arises of software for automatic and unified monitoring of such computations. A complex computational task can be performed over different HPC systems. It requires output data synchronization between the storage chosen by a scientist and the HPC system used for computations. The design of the computational domain is also quite a problem. It requires complex software tools and algorithms for proper atomistic data generation on HPC systems. The paper describes the prototype of a cloud service, intended for design of atomistic systems of large volume for further detailed molecular dynamic calculations and computational management for this calculations, and presents the part of its concept aimed at initial data generation on the HPC systems.
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Guo, Xi, and Jian Yong Wang. "Similar Execution Path Generation Based on Backward Symbolic Analysis." Applied Mechanics and Materials 533 (February 2014): 427–31. http://dx.doi.org/10.4028/www.scientific.net/amm.533.427.
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Similar execution paths generation is one of the fundamental tasks in code analysis and detection. The current methods usually target to the program behavior or program structure, and change the value of key predicates, but these methods has a low effectiveness due to the lack of the necessary guidance information, Meanwhile, the predicates set has a large size and usually hard to solve, thus it will reduce the analyze precision as well. A technique of similar execution paths generation based on dynamic synergy bidirectional mapping is proposed in this paper. According to extend the shape of Control Flow Graph and use the backward symbolic analysis, the weakest precondition of the candidate path is generated, which can be used as the guidance information to generate pointed similar execution paths set according to the edit distance via changing the distance factor. The experimental results show that this method has the advantage of precision and anti-inference.
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Ayari, Asma, and Sadok Bouamama. "ACD3GPSO: automatic clustering-based algorithm for multi-robot task allocation using dynamic distributed double-guided particle swarm optimization." Assembly Automation 40, no. 2 (September 26, 2019): 235–47. http://dx.doi.org/10.1108/aa-03-2019-0056.
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Purpose The multi-robot task allocation (MRTA) problem is a challenging issue in the robotics area with plentiful practical applications. Expanding the number of tasks and robots increases the size of the state space significantly and influences the performance of the MRTA. As this process requires high computational time, this paper aims to describe a technique that minimizes the size of the explored state space, by partitioning the tasks into clusters. In this paper, the authors address the problem of MRTA by putting forward a new automatic clustering algorithm of the robots' tasks based on a dynamic-distributed double-guided particle swarm optimization, namely, ACD3GPSO. Design/methodology/approach This approach is made out of two phases: phase I groups the tasks into clusters using the ACD3GPSO algorithm and phase II allocates the robots to the clusters. Four factors are introduced in ACD3GPSO for better results. First, ACD3GPSO uses the k-means algorithm as a means to improve the initial generation of particles. The second factor is the distribution using the multi-agent approach to reduce the run time. The third one is the diversification introduced by two local optimum detectors LODpBest and LODgBest. The last one is based on the concept of templates and guidance probability Pguid. Findings Computational experiments were carried out to prove the effectiveness of this approach. It is compared against two state-of-the-art solutions of the MRTA and against two evolutionary methods under five different numerical simulations. The simulation results confirm that the proposed method is highly competitive in terms of the clustering time, clustering cost and MRTA time. Practical implications The proposed algorithm is quite useful for real-world applications, especially the scenarios involving a high number of robots and tasks. Originality/value In this methodology, owing to the ACD3GPSO algorithm, task allocation's run time has diminished. Therefore, the proposed method can be considered as a vital alternative in the field of MRTA with growing numbers of both robots and tasks. In PSO, stagnation and local optima issues are avoided by adding assorted variety to the population, without losing its fast convergence.
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Zhu, Wenjun, Peng Wang, Rui Li, and Xiangli Nie. "Real-time 3D work-piece tracking with monocular camera based on static and dynamic model libraries." Assembly Automation 37, no. 2 (April 3, 2017): 219–29. http://dx.doi.org/10.1108/aa-02-2017-018.
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Purpose This paper aims to propose a novel real-time three-dimensional (3D) model-based work-piece tracking method with monocular camera for high-precision assembly. Tracking of 3D work-pieces with real-time speed is becoming more and more important for some industrial tasks, such as work-pieces grasping and assembly, especially in complex environment. Design/methodology/approach A three-step process method was provided, i.e. the offline static global library generation process, the online dynamic local library updating and selection process and the 3D work-piece localization process. In the offline static global library generation process, the computer-aided design models of the work-piece are used to generate a set of discrete two-dimensional (2D) hierarchical views matching libraries. In the online dynamic library updating and selection process, the previous 3D location information of the work-piece is used to predict the following location range, and a discrete matching library with a small number of 2D hierarchical views is selected from dynamic local library for localization. Then, the work-piece is localized with high-precision and real-time speed in the 3D work-piece localization process. Findings The method is suitable for the texture-less work-pieces in industrial applications. Originality/value The small range of the library enables a real-time matching. Experimental results demonstrate the high accuracy and high efficiency of the proposed method.
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Yao, Heyuan, Zhenhua Song, Baoquan Chen, and Libin Liu. "ControlVAE." ACM Transactions on Graphics 41, no. 6 (November 30, 2022): 1–16. http://dx.doi.org/10.1145/3550454.3555434.
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In this paper, we introduce ControlVAE, a novel model-based framework for learning generative motion control policies based on variational autoencoders (VAE). Our framework can learn a rich and flexible latent representation of skills and a skill-conditioned generative control policy from a diverse set of unorganized motion sequences, which enables the generation of realistic human behaviors by sampling in the latent space and allows high-level control policies to reuse the learned skills to accomplish a variety of downstream tasks. In the training of ControlVAE, we employ a learnable world model to realize direct supervision of the latent space and the control policy. This world model effectively captures the unknown dynamics of the simulation system, enabling efficient model-based learning of high-level downstream tasks. We also learn a state-conditional prior distribution in the VAE-based generative control policy, which generates a skill embedding that outperforms the non-conditional priors in downstream tasks. We demonstrate the effectiveness of ControlVAE using a diverse set of tasks, which allows realistic and interactive control of the simulated characters.
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Broday-Dvir, Rotem, and Rafael Malach. "Resting-State Fluctuations Underlie Free and Creative Verbal Behaviors in the Human Brain." Cerebral Cortex 31, no. 1 (September 16, 2020): 213–32. http://dx.doi.org/10.1093/cercor/bhaa221.
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Abstract Resting-state fluctuations are ubiquitous and widely studied phenomena of the human brain, yet we are largely in the dark regarding their function in human cognition. Here we examined the hypothesis that resting-state fluctuations underlie the generation of free and creative human behaviors. In our experiment, participants were asked to perform three voluntary verbal tasks: a verbal fluency task, a verbal creativity task, and a divergent thinking task, during functional magnetic resonance imaging scanning. Blood oxygenation level dependent (BOLD)-activity during these tasks was contrasted with a control- deterministic verbal task, in which the behavior was fully determined by external stimuli. Our results reveal that all voluntary verbal-generation responses displayed a gradual anticipatory buildup that preceded the deterministic control-related responses. Critically, the time–frequency dynamics of these anticipatory buildups were significantly correlated with resting-state fluctuations’ dynamics. These correlations were not a general BOLD-related or verbal-response related result, as they were not found during the externally determined verbal control condition. Furthermore, they were located in brain regions known to be involved in language production, specifically the left inferior frontal gyrus. These results suggest a common function of resting-state fluctuations as the neural mechanism underlying the generation of free and creative behaviors in the human cortex.
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Cruz Ulloa, Christyan, David Domínguez, Jaime Del Cerro, and Antonio Barrientos. "A Mixed-Reality Tele-Operation Method for High-Level Control of a Legged-Manipulator Robot." Sensors 22, no. 21 (October 24, 2022): 8146. http://dx.doi.org/10.3390/s22218146.
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In recent years, legged (quadruped) robots have been subject of technological study and continuous development. These robots have a leading role in applications that require high mobility skills in complex terrain, as is the case of Search and Rescue (SAR). These robots stand out for their ability to adapt to different terrains, overcome obstacles and move within unstructured environments. Most of the implementations recently developed are focused on data collecting with sensors, such as lidar or cameras. This work seeks to integrate a 6DoF arm manipulator to the quadruped robot ARTU-R (A1 Rescue Tasks UPM Robot) by Unitree to perform manipulation tasks in SAR environments. The main contribution of this work is focused on the High-level control of the robotic set (Legged + Manipulator) using Mixed-Reality (MR). An optimization phase of the robotic set workspace has been previously developed in Matlab for the implementation, as well as a simulation phase in Gazebo to verify the dynamic functionality of the set in reconstructed environments. The first and second generation of Hololens glasses have been used and contrasted with a conventional interface to develop the MR control part of the proposed method. Manipulations of first aid equipment have been carried out to evaluate the proposed method. The main results show that the proposed method allows better control of the robotic set than conventional interfaces, improving the operator efficiency in performing robotic handling tasks and increasing confidence in decision-making. On the other hand, Hololens 2 showed a better user experience concerning graphics and latency time.
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Denk, Martin, Sebastian Bickel, Patrick Steck, Stefan Götz, Harald Völkl, and Sandro Wartzack. "Generating Digital Twins for Path-Planning of Autonomous Robots and Drones Using Constrained Homotopic Shrinking for 2D and 3D Environment Modeling." Applied Sciences 13, no. 1 (December 22, 2022): 105. http://dx.doi.org/10.3390/app13010105.
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A digital twin describes the virtual representation of a real process. This twin is constantly updated with real data and can thus control and adapt the real model. Designing suitable digital twins for path planning of autonomous robots or drones is often challenging due to the large number of different dynamic environments and multi-task and agent systems. However, common path algorithms are often limited to two tasks and to finding shortest paths. In real applications, not only a short path but also the width of the passage with a path as centered as possible are crucial, since robotic systems are not ideal and require recalibration frequently. In this work, so-called homotopic shrinking is used to generate the digital twin, which can be used to extract all possible path proposals including their passage widths for 2D and 3D environments and multiple tasks and robots. The erosion of the environment is controlled by constraints such that the task stations, the robot or drone positions, and the topology of the environment are considered. Such a deterministic path algorithm can flexibly respond to changing environmental conditions and consider multiple tasks simultaneously for path generation. A distinctive feature of these paths is the central orientation to the non-passable areas, which can have significant benefits for worker and patient safety. The method is tested on 2D and 3D maps with different tasks, obstacles, and multiple robots. For example, the robust generation of the digital twin for a maze and also the dynamic adaptation in case of sudden changes in the environment is covered. This variety of use cases and the comparison with alternative methods result in significant advantages, such as high robustness, consideration of multiple targets, and high safety distances to obstacles and areas that cannot be traversed. Finally, it was shown that the environment for the digital twin can be reduced to reasonable paths by constrained shrinking, both for real 2D maps and for complex virtual 2D and 3D maps.
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Ben Abdallah, Ismail, Yassine Bouteraa, and Chokri Rekik. "Kinect-Based Sliding Mode Control for Lynxmotion Robotic Arm." Advances in Human-Computer Interaction 2016 (2016): 1–10. http://dx.doi.org/10.1155/2016/7921295.
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Recently, the technological development of manipulator robot increases very quickly and provides a positive impact to human life. The implementation of the manipulator robot technology offers more efficiency and high performance for several human’s tasks. In reality, efforts published in this context are focused on implementing control algorithms with already preprogrammed desired trajectories (passive robots case) or trajectory generation based on feedback sensors (active robots case). However, gesture based control robot can be considered as another channel of system control which is not widely discussed. This paper focuses on a Kinect-based real-time interactive control system implementation. Based on LabVIEW integrated development environment (IDE), a developed human-machine-interface (HMI) allows user to control in real time a Lynxmotion robotic arm. The Kinect software development kit (SDK) provides a tool to keep track of human body skeleton and abstract it into 3-dimensional coordinates. Therefore, the Kinect sensor is integrated into our control system to detect the different user joints coordinates. The Lynxmotion dynamic has been implemented in a real-time sliding mode control algorithm. The experimental results are carried out to test the effectiveness of the system, and the results verify the tracking ability, stability, and robustness.
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Broad, Alexander, Ian Abraham, Todd Murphey, and Brenna Argall. "Data-driven Koopman operators for model-based shared control of human–machine systems." International Journal of Robotics Research 39, no. 9 (June 10, 2020): 1178–95. http://dx.doi.org/10.1177/0278364920921935.
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We present a data-driven shared control algorithm that can be used to improve a human operator’s control of complex dynamic machines and achieve tasks that would otherwise be challenging, or impossible, for the user on their own. Our method assumes no a priori knowledge of the system dynamics. Instead, both the dynamics and information about the user’s interaction are learned from observation through the use of a Koopman operator. Using the learned model, we define an optimization problem to compute the autonomous partner’s control policy. Finally, we dynamically allocate control authority to each partner based on a comparison of the user input and the autonomously generated control. We refer to this idea as model-based shared control (MbSC). We evaluate the efficacy of our approach with two human subjects studies consisting of 32 total participants (16 subjects in each study). The first study imposes a linear constraint on the modeling and autonomous policy generation algorithms. The second study explores the more general, nonlinear variant. Overall, we find that MbSC significantly improves task and control metrics when compared with a natural learning, or user only, control paradigm. Our experiments suggest that models learned via the Koopman operator generalize across users, indicating that it is not necessary to collect data from each individual user before providing assistance with MbSC. We also demonstrate the data efficiency of MbSC and, consequently, its usefulness in online learning paradigms. Finally, we find that the nonlinear variant has a greater impact on a user’s ability to successfully achieve a defined task than the linear variant.
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Táczi, I., and I. Vokony. "Review of Stability Analysis in Power Systems with High Penetration of Non-synchronous Generation." Renewable Energy and Power Quality Journal 20 (September 2022): 685–89. http://dx.doi.org/10.24084/repqj20.402.
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Sustainability goals basically change the power generation portfolio, as the renewable energy resources developing rapidly. This means system integration challenges for system operators, as these new resources have different attributes. Most of the emerging generation technologies connect to the grid via power electronic converters, therefore does not contribute inherently to the system’s rotational inertia. However, advanced control methods became a progressive research area, where many practical pilots deliver valuable results and discussions nowadays. These stability enhancement techniques have great potential to enhance security of supply with synthetic inertia services. This paper aims to review generation-driven stability analysis techniques based on the modelling methods used for the nonsynchronous generators. Based on the stability phenomena (angle, frequency), system size, generation portfolio, computational time the adequate methods could be quite different. The proposed extension of the stability classification convers the need of different approaches with the integration of non-synchronous generation. Based on the review presented in this paper, the stability assessment needs for a specific system operator can be identified to choose the appropriate modelling assumptions. This can help system operators in long-term planning (stability adequacy) and in the dynamic security assessment tasks as well, both on the identification of possible issues and evaluate the countermeasures.
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Kirćanski, N., Dj Leković, M. Borić, M. Vukobratović, M. Djurović, N. Djurović, T. Petrović, B. Karan, and D. Urosević. "A Distributed PC-Based Control System for Education in Robotics." Robotica 9, no. 2 (April 1991): 235–45. http://dx.doi.org/10.1017/s0263574700010298.
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SUMMARYThe paper presents an educational system for teaching and research in robotics which consists of a manipulator, controller and a PC compatible host computer. The advanced design of host-computer user-interface software makes the system very suitable for teaching. It allows the user not only to follow the system states but also to change the control structure on-line. In the first part of this paper the architecture of the system, window-oriented user interface, specially designed robot language and several build-in students lessons will be described as well as the data acquisition system and advanced graphical capabilities.In the second part of this paper the executive controller architecture is described. Besides the manipulator control function and IO operations, the controller supports communication with the host-computer. The controller is programmable, i.e. it executes various tasks within user-defined and build-in students lessons. By the use of simple host-computer commands the controller can execute various algorithms both for trajectory generation and dynamically compensated digital servo control. The dynamic model components in the feed-forward and feed-back control loop can be selectively included and changed during the manipulator's motion. Experimental results with a 4-link educational robot are presented.
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Okechukwu Stanley Ikwunze, kelechi Kingsley Igbokwe, and Victor Ikedichi Okparaku. "Codes application in trajectory generation of simulated robot arm dynamics." World Journal of Advanced Engineering Technology and Sciences 6, no. 1 (June 30, 2022): 047–52. http://dx.doi.org/10.30574/wjaets.2022.6.1.0061.
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The robot arm used in this research had already been modelled and simulated using Simulink software (i.e. software environment) to yield a robot arm that will mimic the functionality and control of real human arm. The main objective is not to rebuild the robot arm to further enhance tasks performance by armless people in the society, rather to verify the significance of the code (program) application in trajectory generation of simulated robot arm or when simulating a robot arm. The common problem encountered with trajectory generation is to connect the initial configuration to a final configuration while satisfying other specified constraints at the endpoints (e.g., velocity constraints). The trajectory parameters (such as angle and angular velocity) of the robot arm joint had already been simulated with reference to the real human arm in order to generate a robot dynamics (trajectory) of same and equal functionality to real human arm. The code system which implies writing of appropriate languages was confirmed to contain the performance and controlling information of the robot arm. This performance and control of the robot arm appears to be the trajectory generation of the simulated robot arm. Hence, the input languages into the software environment (Simulink) were presented as codes which resulted to (have output of the desired functions) to trajectory generation of the simulated robot arm.
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Alam, Tanweer, and Mohammed Aljohani. "Software Defined Networks: Review and Architecture." IAIC Transactions on Sustainable Digital Innovation (ITSDI) 1, no. 2 (March 24, 2020): 143–51. http://dx.doi.org/10.34306/itsdi.v1i2.114.
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In the fifth-generation communication system, secured and reliable data packets will rely on the network with high availability and low latency. The 5G network enables the dynamic control of nodes with low latency. Ultra-reliability is one of the challenging tasks in software-defined networks. The ultra-reliability feature is an interface working with high availability and low latency that brings in fifth-generation networks. The Internet of Things will work in the societies so that it required ultra-reliability features to empower the peoples as well as machines for collaborating with their neighbors. The connections among ultra-reliability networks are extremely hard situations to keep low packets corruption. The Software Defined Networks (SDN) will provide a platform for measuring, controlling, monitoring and scaling the smart objects in reality or virtually. Virtualization enables IT, specialists, to combine or separate the considerable networking or create new programmable networking among virtual machines. In this article, the authors are reviewed the architecture of SDN based on virtualization under the umbrella of 5G networks.
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Castro, Gabriel G. R. de, Guido S. Berger, Alvaro Cantieri, Marco Teixeira, José Lima, Ana I. Pereira, and Milena F. Pinto. "Adaptive Path Planning for Fusing Rapidly Exploring Random Trees and Deep Reinforcement Learning in an Agriculture Dynamic Environment UAVs." Agriculture 13, no. 2 (January 31, 2023): 354. http://dx.doi.org/10.3390/agriculture13020354.
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Unmanned aerial vehicles (UAV) are a suitable solution for monitoring growing cultures due to the possibility of covering a large area and the necessity of periodic monitoring. In inspection and monitoring tasks, the UAV must find an optimal or near-optimal collision-free route given initial and target positions. In this sense, path-planning strategies are crucial, especially online path planning that can represent the robot’s operational environment or for control purposes. Therefore, this paper proposes an online adaptive path-planning solution based on the fusion of rapidly exploring random trees (RRT) and deep reinforcement learning (DRL) algorithms applied to the generation and control of the UAV autonomous trajectory during an olive-growing fly traps inspection task. The main objective of this proposal is to provide a reliable route for the UAV to reach the inspection points in the tree space to capture an image of the trap autonomously, avoiding possible obstacles present in the environment. The proposed framework was tested in a simulated environment using Gazebo and ROS. The results showed that the proposed solution accomplished the trial for environments up to 300 m3 and with 10 dynamic objects.
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Tang, Jin Jun, Cui Liang, and Chen Guang Xu. "High Throughput Calculation and Characteristic Structure Selection of Cu-Cr-Sn Copper Alloy Based on Matclould Platform." Key Engineering Materials 907 (January 21, 2022): 250–57. http://dx.doi.org/10.4028/www.scientific.net/kem.907.250.
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In this paper, high-throughput crystal structure modeling and high-throughput screening optimization algorithm are used to optimize the performance parameters such as characteristic microstructure type, generation conditions, strength and conductivity. The theoretical criterion of multi parameter collaborative optimization and control of key properties of matrix and second phase is established, based on which the optimal composition range of matrix and second phase is determined, which guides high-throughput experimental verification and material screening, and provides basic data for material composition design and structure control. Realize 102 secondary high-throughput parallel computing and screening based on matcloud platform, and calculate and screen the number of candidate material samples ≧106 and other related technologies. Through the functions of online generation, submission and job monitoring of first principle high-throughput jobs, all computing processes are realized automatically, and the computing results are extracted, standardized processed and stored in the database according to certain rules. In this project, the prediction model and process design platform of material composition structure process performance relationship are established according to the dynamic selection parameters of copper alloy structure, pseudopotential recommendation, k-point file generated according to calculation tasks and structure, and the correlation of some other main parameters.
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Zhao, Wenzheng, Xueqi Wang, and Yinhua Liu. "Path Planning for 5-Axis CMM Inspection Considering Path Reuse." Machines 10, no. 11 (October 25, 2022): 973. http://dx.doi.org/10.3390/machines10110973.
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The 5-axis Coordinate Measuring Machine (CMM) is widely used for quality data collection of the machining parts, such as cylinder blocks and heads of the engines. High efficient inspection path planning for multiple feature groups from different stations is one of the key tasks for CMM application. In engineering practice, the inspection planning of diverse feature groups accounts for large labor cost and process development cycle. To improve the efficiency of path generation for the complex machining part, a five-axis CMM inspection path planning method considering path length, probe rotation and path reusability is proposed. Firstly, the measuring points (MPs) are classified based on feasible inspection direction cone and accessibility of the MPs to achieve the minimum times of probe rotation. Then, the rapidly exploring random trees with multi-root node (RRT-MRNC) algorithm is proposed to implement local path planning considering inspection path reuse. Furthermore, intra-group and inter-group path is generated simultaneously based on the proposed enhanced Genetic Algorithm (GA) algorithm. In order to evaluate the effectiveness of the proposed method, the cylinder block path planning case is used. Compared with the benchmark methods, the total planning time based on the proposed planning method for the dynamic tasks was reduced by 55.2% and 54.9% respectively.
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Temnov, E. S. "ANALYSIS OF SOME APPROACHES IN CURRENT PRACTICE OF TRANSPORT MODELLING." Russian Automobile and Highway Industry Journal 15, no. 5 (November 11, 2018): 708–17. http://dx.doi.org/10.26518/2071-7296-2018-5-708-717.
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Introduction. The urgency of transport modeling, which is the basis for the implementation of various technical solutions aimed on the automated traffic control systems usage based on a new generation of road controllers, is noted. The circumstance according to which the transport modeling acquires essentially dynamic approach is specified. The aim and the problems of the study are formulated, consisting in the generalization and formalization of the tasks of transport modelling.Materials and methods. To solve such problems the author uses methods of system analysis, theory of transport systems, as well as techniques that are widely used in the community of transport engineers, including various options for computational and experimental methods of modeling traffic flows and transport systems for the city or agglomeration.Results. On the basis of generalization of information about stages of transport modeling the sequence of actions leading to obtaining the required transport model, by means of which it is possible to carry out the decision of a specific task, is offered. The list of the main tasks of transport engineering is formulated, the importance of the dynamic approach and the special role of the theory of transport macro systems are indicated, according to the provisions of which stochastic processes at the micro level lead to the deterministic behavior of transport systems at the macro level.Discussion and conclusions. The main result of the research is the development of the control actions for the operation of the intelligent transport system that evenly distributes traffic flows through the network and prevents the occurrence of congestion in real time. The basis for it is the formulation and solution of various problems of transport modeling.
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Zahadat, Payam, and Thomas Schmickl. "Generation of Diversity in a Reaction-Diffusion-Based Controller." Artificial Life 20, no. 3 (July 2014): 319–42. http://dx.doi.org/10.1162/artl_a_00134.
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A controller of biological or artificial organism (e.g., in bio-inspired cellular robots) consists of a number of processes that drive its dynamics. For a system of processes to perform as a successful controller, different properties can be mentioned. One of the desirable properties of such a system is the capability of generating sufficiently diverse patterns of outputs and behaviors. A system with such a capability is potentially adaptable to perform complicated tasks with proper parameterizations and may successfully reach the solution space of behaviors from the point of view of search and evolutionary algorithms. This article aims to take an early step toward exploring this capability at the levels of individuals and populations by introducing measures of diversity generation and by evaluating the influence of different types of processes on diversity generation. A reaction-diffusion-based controller called the artificial homeostatic hormone system (AHHS) is studied as a system consisting of different processes with various domains of functioning (e.g., internal or external to the control unit). Various combinations of these processes are investigated in terms of diversity generation at levels of both individuals and populations, and the effects of the processes are discussed representing different influences for the processes. A case study of evolving a multimodular AHHS controller with all the various process combinations is also investigated, representing the relevance of the diversity generation measures and practical scenarios.
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Imai, Emiko, and Yoshitada Katagiri. "Cognitive Control and Brain Network Dynamics during Word Generation Tasks Predicted Using a Novel Event-Related Deep Brain Activity Method." Journal of Behavioral and Brain Science 08, no. 02 (2018): 93–115. http://dx.doi.org/10.4236/jbbs.2018.82006.
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Cefalo, Massimo, and Giuseppe Oriolo. "A general framework for task-constrained motion planning with moving obstacles." Robotica 37, no. 3 (October 30, 2018): 575–98. http://dx.doi.org/10.1017/s0263574718001182.
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SUMMARYConsider the practically relevant situation in which a robotic system is assigned a task to be executed in an environment that contains moving obstacles. Generating collision-free motions that allow the robot to execute the task while complying with its control input limitations is a challenging problem, whose solution must be sought in the robot state space extended with time. We describe a general planning framework which can be tailored to robots described by either kinematic or dynamic models. The main component is a control-based scheme for producing configuration space subtrajectories along which the task constraint is continuously satisfied. The geometric motion and time history along each subtrajectory are generated separately in order to guarantee feasibility of the latter and at the same time make the scheme intrinsically more flexible. A randomized algorithm then explores the search space by repeatedly invoking the motion generation scheme and checking the produced subtrajectories for collisions. The proposed framework is shown to provide a probabilistically complete planner both in the kinematic and the dynamic case. Modified versions of the planners based on the exploration–exploitation approach are also devised to improve search efficiency or optimize a performance criterion along the solution. We present results in various scenarios involving non-holonomic mobile robots and fixed-based manipulators to show the performance of the planner.
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Kim, Svetlana, Jieun Kang, and YongIk Yoon. "Linked-Object Dynamic Offloading (LODO) for the Cooperation of Data and Tasks on Edge Computing Environment." Electronics 10, no. 17 (September 3, 2021): 2156. http://dx.doi.org/10.3390/electronics10172156.
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With the evolution of the Internet of Things (IoT), edge computing technology is using to process data rapidly increasing from various IoT devices efficiently. Edge computing offloading reduces data processing time and bandwidth usage by processing data in real-time on the device where the data is generating or on a nearby server. Previous studies have proposed offloading between IoT devices through local-edge collaboration from resource-constrained edge servers. However, they did not consider nearby edge servers in the same layer with computing resources. Consequently, quality of service (QoS) degrade due to restricted resources of edge computing and higher execution latency due to congestion. To handle offloaded tasks in a rapidly changing dynamic environment, finding an optimal target server is still challenging. Therefore, a new cooperative offloading method to control edge computing resources is needed to allocate limited resources between distributed edges efficiently. This paper suggests the LODO (linked-object dynamic offloading) algorithm that provides an ideal balance between edges by considering the ready state or running state. LODO algorithm carries out tasks in the list in the order of high correlation between data and tasks through linked objects. Furthermore, dynamic offloading considers the running status of all cooperative terminals and decides to schedule task distribution. That can decrease the average delayed time and average power consumption of terminals. In addition, the resource shortage problem can settle by reducing task processing using its distributions.
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Grzelczyk, Dariusz, and Jan Awrejcewicz. "Modeling and Control of an Eight-Legged Walking Robot Driven by Different Gait Generators." International Journal of Structural Stability and Dynamics 19, no. 05 (May 2019): 1941009. http://dx.doi.org/10.1142/s0219455419410098.
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In this paper, we studied both kinematic and dynamic models of a mammal-like octopod robot. To control robot legs, we employed a simple gait generator based on a sine function and we proposed modified generators of gait. The introduced generators allowed us to obtain better kinematic and dynamic properties of motion of the whole robot during walking. By changing the length and the height of a single robot step, it is possible to use one model to control the initial, regular, and final phases of the robot gait without the need of generating additional control signals. The simulation parameters were estimated based on the prototype designed in Inventor software. In turn, for numerical research, we used a simulation model implemented in Mathematica. The obtained results were presented in the form of time histories of basic kinematic and dynamic quantities of the robot gait as well as the configuration of the robot legs at the chosen time moments. The presented method allows us to precisely control the robot position in the vertical direction, which is also presented in this paper. As a result, we obtained better stability of the whole robot during walking and performing tasks, also on slippery terrains, i.e. on terrains with relatively low coefficient of friction between the ground and the robot feet.
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Kalinina, N. M., and N. A. Kulik. "Assessing the degree of innovative readiness of systemic transformation of management in the context of transition to the sixth technological paradigm." Omsk Scientific Bulletin. Series Society. History. Modernity 8, no. 4 (2023): 139–45. http://dx.doi.org/10.25206/2542-0488-2023-8-4-139-145.
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The relevance of the study is due to the need for Russia to actively enter the new post-industrial technological paradigm of the sixth generation, which requires not only an infrastructural basis, but also a scientific and managerial potential. These circumstances, characterized by high rates of change, actualize the tasks of rethinking the value orientations of the management of industrial enterprises, especially in terms of technologies, methods and management tools, focused on the priorities of innovative development, which are reasonably considered as the managerial basis for technological modernization of the economy based on innovative solutions. The purpose of the work is to assess the degree of readiness for the transformation of management systems in the context of the transition to the sixth technological paradigm in the context of studying the innovative activity of industrial entities in the field of developed production technologies, including integrated management and control (advanced methods of organization and production management). The article examines dynamic, structural, trend qualitative variations of the developed advanced production technologies in the Russian Federation for 2000–2021 based on a significant amount of statistical data. The authors concluded that there are positive growth dynamics of developed advanced production technologies, qualitative structural shifts towards Russian developments.
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Rotas, Renos, Petros Iliadis, Nikos Nikolopoulos, Ananias Tomboulides, and Elias Kosmatopoulos. "Dynamic Simulation and Performance Enhancement Analysis of a Renewable Driven Trigeneration System." Energies 15, no. 10 (May 18, 2022): 3688. http://dx.doi.org/10.3390/en15103688.
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Research activity in the field of combined cooling heating power (or trigeneration) systems with high renewable energy source (RES) contributions has increased rapidly over the last few years, in line with the European Union legislation about energy communities. However, technical challenges arise regarding the synergetic, sustainable and optimal integration of RES in local energy systems. In the present study, the operation of a trigeneration system located in the student residences of Democritus University of Thrace in Greece is examined. The system involves a combination of highly promising renewable and storage technologies, including solar thermal energy and biomass for heat generation, hot water tanks for thermal energy storage, absorption refrigeration for cooling, along with Organic Rankine Cycle and photovoltaic systems for electricity generation. System modeling and simulation have been implemented in Dymola environment with the use of Modelica equation-based modeling language. The accuracy of the model response has been validated against available measurements. Specific design and control measures have been proposed, simulated in a transient fashion and evaluated in terms of (i) RES generation, (ii) solar fraction and (iii) temporal flexibility. The measures examined, including the placement of a Li-ion battery, resulted in an increase of 24.6% in the heating demand solar contribution and of 7.9% in the renewable energy generated for the electricity demand, over the examined periods.
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Karavay, M. F., and A. M. Mikhailov. "Design of local heterogeneous system control networks of a new generation with the preservation of the optimality of the main topological functionals of the network." Journal of Physics: Conference Series 2091, no. 1 (November 1, 2021): 012038. http://dx.doi.org/10.1088/1742-6596/2091/1/012038.
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Abstract The paper discusses On-Board Computing Control Systems (OBCS) in astronautics, avionics, autonomous mobile devices, robotics, weapons control and multi-core microprocessors. This is sort of a “backbone”, which unites many sensors, calculators, control and executive devices. The architecture of these networks was developed some 30-40 years ago. At that time, these systems met the technical conditions in terms of dynamics and reliability. Nowadays, these systems must perform their functions for 10 to 15 years without maintenance. The performance of system networks must be high enough to solve such tasks as monitoring “swarms” that comprise hundreds of objects or work as a “garbage collectors” in space orbits. Nevertheless modern system networks continue to be based on bus or multi-bus architectures. Since these systems are serial for active nodes, a multi-bus solution is a main way to increase the performance of networks by using very high frequencies that amount to 2 ÷ 4 GHz. It’s an extensive path of development, which is problematic. More acceptable would be an intensive path of development, which, in electronics and computer engineering, is associated with the parallelism of task execution. It means that the operating frequencies may not be ultra-high, not exceeding that of modern devices for frequencies of 10 – 600 MHz. However, such devices should work in a parallel mode. The paper proposes a new approach to designing of heterogeneous parallel control system networks, solving parallel tasks, and a conflict-free management of “passive” nodes. To the best of our knowledge, such control system networks are not available as yet.
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Banerjee, Pallab, Sharmistha Roy, Umar Muhammad Modibbo, Saroj Kumar Pandey, Parul Chaudhary, Anurag Sinha, and Narendra Kumar Singh. "OptiDJS+: A Next-Generation Enhanced Dynamic Johnson Sequencing Algorithm for Efficient Resource Scheduling in Distributed Overloading within Cloud Computing Environment." Electronics 12, no. 19 (October 2, 2023): 4123. http://dx.doi.org/10.3390/electronics12194123.
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The continuously evolving world of cloud computing presents new challenges in resource allocation as dispersed systems struggle with overloaded conditions. In this regard, we introduce OptiDJS+, a cutting-edge enhanced dynamic Johnson sequencing algorithm made to successfully handle resource scheduling challenges in cloud computing settings. With a solid foundation in the dynamic Johnson sequencing algorithm, OptiDJS+ builds upon it to suit the demands of modern cloud infrastructures. OptiDJS+ makes use of sophisticated optimization algorithms, heuristic approaches, and adaptive mechanisms to improve resource allocation, workload distribution, and task scheduling. To obtain the best performance, this strategy uses historical data, dynamic resource reconfiguration, and adaptation to changing workloads. It accomplishes this by utilizing real-time monitoring and machine learning. It takes factors like load balance and make-up into account. We outline the design philosophies, implementation specifics, and empirical assessments of OptiDJS+ in this work. Through rigorous testing and benchmarking against cutting-edge scheduling algorithms, we show the better performance and resilience of OptiDJS+ in terms of reaction times, resource utilization, and scalability. The outcomes underline its success in reducing resource contention and raising service quality generally in cloud computing environments. In contexts where there is distributed overloading, OptiDJS+ offers a significant advancement in the search for effective resource scheduling solutions. Its versatility, optimization skills, and improved decision-making procedures make it a viable tool for tackling the resource allocation issues that cloud service providers and consumers encounter daily. We think that OptiDJS+ opens the way for more dependable and effective cloud computing ecosystems, assisting in the full realization of cloud technologies’ promises across a range of application areas. In order to use the OptiDJS+ Johnson sequencing algorithm for cloud computing task scheduling, we provide a two-step procedure. After examining the links between the jobs, we generate a Gantt chart. The Gantt chart graph is then changed into a two-machine OptiDJS+ Johnson sequencing problem by assigning tasks to servers. The OptiDJS+ dynamic Johnson sequencing approach is then used to minimize the time span and find the best sequence of operations on each server. Through extensive simulations and testing, we evaluate the performance of our proposed OptiDJS+ dynamic Johnson sequencing approach with two servers to that of current scheduling techniques. The results demonstrate that our technique greatly improves performance in terms of makespan reduction and resource utilization. The recommended approach also demonstrates its ability to scale and is effective at resolving challenging work scheduling problems in cloud computing environments.
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Pollack, Jordan B., Hod Lipson, Gregory Hornby, and Pablo Funes. "Three Generations of Automatically Designed Robots." Artificial Life 7, no. 3 (July 2001): 215–23. http://dx.doi.org/10.1162/106454601753238627.
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The difficulties associated with designing, building, and controlling robots have led their development to a stasis: Applications are limited mostly to repetitive tasks with predefined behavior. Over the last few years we have been trying to address this challenge through an alternative approach: Rather than trying to control an existing machine or create a general-purpose robot, we propose that both the morphology and the controller should evolve at the same time. This process can lead to the automatic design of special-purpose mechanisms and controllers for specific short-term objectives. Here we provide a brief review of three generations of our recent research, which underlies the robots shown on the cover of this issue: Automatically designed static structures, automatically designed and manufactured dynamic electromechanical systems, and modular robots automatically designed through a generative DNA-like encoding.
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Mathiyakom, Witaya, Rand Wilcox, and Jill L. McNitt-Gray. "Regulation of Forward Angular Impulse in Tasks With Backward Translation." Journal of Applied Biomechanics 37, no. 6 (December 1, 2021): 601–10. http://dx.doi.org/10.1123/jab.2021-0301.
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Studying how elite athletes satisfy multiple mechanical objectives when initiating well-practiced, goal-directed tasks provides insights into the control and dynamics of whole-body movements. This study investigated the coordination of multiple body segments and the reaction force (RF) generated during foot contact when regulating forward angular impulse in backward translating tasks. Six highly skilled divers performed inward somersaults (upward and backward jump with forward rotation) and inward timers (upward and backward jump without rotation) from a stationary platform. Sagittal plane kinematics and RFs were recorded simultaneously during the takeoff phase. Regulation of the forward angular impulse was achieved by redirecting the RF about the total body center of mass. Significantly more backward-directed RF was observed during the first and second peak horizontal RF of the inward somersaults than the inward timers. Modulation of the horizontal RF altered the RF direction about the center of mass and the lower-extremity segments. Backward leg and forward trunk orientation and a set of relatively large knee extensor and small hip flexor net joint moments were required for forward angular impulse generation. Understanding how the forward angular impulse is regulated in trained individuals provides insights for clinicians to consider when exploring interventions related to fall prevention.
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Karakula-Juchnowicz, H., P. Krukow, J. Morylowska-Topolska, and M. Flis. "Cognitive engagement profile of the fluency tasks performance by patients with schizophrenia." European Psychiatry 33, S1 (March 2016): S139. http://dx.doi.org/10.1016/j.eurpsy.2016.01.228.
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IntroductionFluency tasks, e.g. verbal, design fluency test, etc. are often used in the evaluation of cognitive function in patients with schizophrenia. In the standard approach, the test result is the sum of stimuli generated in a given time period. However, this approach does not allow to determinate of what strategies are used by subjects to regulate the cognitive engagement during task execution.AimTo investigate the specific dynamic profile of fluency tests performance comparing with healthy controls.MethodsThirty patients diagnosed with schizophrenia and 30 demographically matched healthy controls took part in the study. Participants performed two tests: COWAT (3 trials) and Ruff Figural Fluency Test in accordance with the original instructions. During the generation of these stimuli, the investigator wrote down their quantity in 15-second intervals, which enables the assessment of cognitive engagement variability in different parts of the whole time (1 minute).ResultsComparison of cognitive engagement variation in both fluency tests showed statistically significant differences. The differences in repeated measures ANOVA with group as an independent variables reached P < 0.0001. Factor differentiating the profiles in verbal and figural fluency was first 15 seconds after the tasks started.ConclusionsThe beginning of task was the most difficult part for patients with schizophrenia, which may indicate that the overall worse performance of fluency tests is associated with significant difficulties in mobilizing the cognitive activity.Disclosure of interestThe authors have not supplied their declaration of competing interest.
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Astafieva, Mariіa М., Dmytro M. Bodnenko, and Volodymyr V. Proshkin. "ВИКОРИСТАННЯ КОМП’ЮТЕРНО ОРІЄНТОВАНИХ ЗАСОБІВ ГЕОМЕТРІЇ У ПРОЦЕСІ ФОРМУВАННЯ КРИТИЧНОГО МИСЛЕННЯ МАЙБУТНІХ УЧИТЕЛІВ МАТЕМАТИКИ." Information Technologies and Learning Tools 71, no. 3 (June 29, 2019): 102. http://dx.doi.org/10.33407/itlt.v71i3.2449.
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The article proved that critical thinking is one of the most important and universal competences of a modern teacher of mathematics. It has been established that geometric disciplines, in particular constructive and projective geometries, have the greatest potential for this. The pedagogical technology of critical thinking formation of future teachers of mathematics by means of geometry has been developed. This technology consists of a target, content and legal, and control component. It was found out that the essential element of the technology at all stages (substantive and procedural, control and evaluation etc.) is the purposeful computer support, first of all, the use of computer tools for mathematical activity and communication. The possibilities of information and communication technologies have been disclosed. An expediency of computer support within the process formation of critical thinking of future teachers of mathematics has been proved. There are systems of dynamic geometry and cloud services, which help to make the process of critical thinking formation of future teachers of mathematics more effective by means of geometry. This is the visualization of geometric objects, concepts, connections (in particular, expressed by analytical constructs), statements, proofs; dynamic drawings; computer experiment for research (nomination and hypothesis testing); control of analytical transformations; fast and high-quality execution of necessary images that saves time; interactive tasks generation; providing unlimited communication. The implementation analysis of the developed technology by means of mathematical methods, in particular, on the basis of the theory of fuzzy sets, has been carried out. The effectiveness of computer support of the formation of critical thinking of future mathematics teachers by means of geometry has been revealed.
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Duncan, Mark C., Michael E. Miller, and Brett J. Borghetti. "Analysis and Requirement Generation for Defense Intelligence Search: Addressing Data Overload through Human–AI Agent System Design for Ambient Awareness." Systems 11, no. 12 (November 29, 2023): 561. http://dx.doi.org/10.3390/systems11120561.
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This research addresses the data overload faced by intelligence searchers in government and defense agencies. The study leverages methods from the Cognitive Systems Engineering (CSE) literature to generate insights into the intelligence search work domain. These insights are applied to a supporting concept and requirements for designing and evaluating a human-AI agent team specifically for intelligence search tasks. Domain analysis reveals the dynamic nature of the ‘value structure’, a term that describes the evolving set of criteria governing the intelligence search process. Additionally, domain insight provides details for search aggregation and conceptual spaces from which the value structure could be efficiently applied for intelligence search. Support system designs that leverage these findings may enable an intelligence searcher to interact with and understand data at more abstract levels to improve task efficiency. Additionally, new system designs can support the searcher by facilitating an ‘Ambient Awareness’ of non-selected objects in a large data field through relevant system cues. Ambient Awareness achieved through the supporting concept and AI teaming has the potential to address the data overload problem while increasing the breadth and depth of search coverage.
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Escandón-Panchana, Paulo, Fernando Morante-Carballo, Gricelda Herrera-Franco, Héctor Rodríguez, and Fausto Carvajal. "Fluid Level Measurement System in Oil Storage. Python, Lab-Based Scale." Mathematical Modelling of Engineering Problems 9, no. 3 (June 30, 2022): 787–95. http://dx.doi.org/10.18280/mmep.090327.
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Refineries, fuel depots, airports and storage terminals commonly use fluid level measurement in storage tanks. Different fluid level measurement techniques and devices differ in the inaccuracy of measurement results, costs, and company needs. In addition, these measurements seek reliability of measurement data, immediate response times, control in operations, oil movement, custody transfer and inventory control. The objective is to develop a computer system for measuring fluid levels in oil storage tanks, using ultrasonic and temperature sensors, creating a web application for an automated measurement system (SAM) for managing volumes of Petroleum. The study methodology is i) Analysis of measurement reports. ii) Selection of physical components of the computer system. iii) SAM algorithm design and web application, and iv) Validate the system. The SAM application developed in open source proposes functional modules for administration, control, security, management and monitoring of storage tanks, the status of physical components and generation of dynamic reports in real-time. The results show the control characteristics of storage tanks such as maximum and minimum volume, temperature, time, precise data records in less time than certain current computer structures.
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Cisek, Paul, Stephen Grossberg, and Daniel Bullock. "A Cortico-Spinal Model of Reaching and Proprioception under Multiple Task Constraints." Journal of Cognitive Neuroscience 10, no. 4 (July 1998): 425–44. http://dx.doi.org/10.1162/089892998562852.
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A model of cortico-spinal trajectory generation for voluntary reaching movements is developed to functionally interpret a broad range of behavioral, physiological, and anatomical data. The model simulates how arm movements achieve their remarkable efficiency and accuracy in response to widely varying positional, speed, and force constraints. A key issue in arm movement control is how the brain copes with such a wide range of movement contexts. The model suggests how the brain may set automatic and volitional gating mechanisms to vary the balance of static and dynamic feedback information to guide the movement command and to compensate for external forces. For example, with increasing movement speed, the system shifts from a feedback position controller to a feedforward trajectory generator with superimposed dynamics compensation. Simulations of the model illustrate how it reproduces the effects of elastic loads on fast movements, endpoint errors in Coriolis fields, and several effects of muscle tendon vibration, including tonic and antagonist vibration reflexes, position and movement illusions, effects of obstructing the tonic vibration reflex, and reaching undershoots caused by antagonist vibration.
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Manrique Delgado, Benjamin, Reino Ruusu, Ala Hasan, Simo Kilpeläinen, Sunliang Cao, and Kai Sirén. "Energetic, Cost, and Comfort Performance of a Nearly-Zero Energy Building Including Rule-Based Control of Four Sources of Energy Flexibility." Buildings 8, no. 12 (December 5, 2018): 172. http://dx.doi.org/10.3390/buildings8120172.
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A focal point of ongoing research is matching the energy demand in the built environment to the energy supply from onsite generation, to maximize the self-consumption, and from the energy grids, to lower energy costs and reduce peak loads on the system. Energy flexibility addresses this task by modulating the energy demand in a building according to dynamic criteria such as electricity prices or onsite generation. This study addresses the potential of building performance simulation with real time rule-based control that provides energy flexibility based on onsite generation and hourly electricity prices, prioritizing energy matching, and reducing costs. The novelty relies on investigating four sources of energy flexibility simultaneously: shiftable machine loads, charging/discharging of batteries, hot-water storage tanks, and the building’s mass. The energy matching and flexibility actions provided a decrease of up to 4% in annual energy costs, yet risk increasing the cost by 9% when the savings are offset by the increase in the energy demand. As well, the method for price categorization strongly influences the cost performance of the flexibility actions. The outcomes of this study provide insight to energy flexibility sources in nearly-zero energy buildings and how their outcomes are affected by price thresholds.
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Dong, Hui Ying, Qi Hua Sun, Xue Lu, and Zhang Ming Liu. "The Trajectory Planning of Robotic Operation Simulation Based on Virtual Reality." Applied Mechanics and Materials 204-208 (October 2012): 4729–33. http://dx.doi.org/10.4028/www.scientific.net/amm.204-208.4729.
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At present, robot simulation based on virtual reality is a hot spot in the study of the robotic. We can build more intuitive and efficient and realistic simulation environment of processing of the robot through combining computer technology and virtual reality technology to carry out a more effective human-machine interactive operation. Robotic trajectory planning is not only the basis of trajectory tracking control, but also the implementation of tasks in robotics. It is discussed trajectory planning and path generation based on robot kinematics and dynamics in the joint space and Cartesian space. In this paper, we study the robot trajectory planning and use three B-spines fitting the robot path in Cartesian space.
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Naufel, Stephanie, Joshua I. Glaser, Konrad P. Kording, Eric J. Perreault, and Lee E. Miller. "A muscle-activity-dependent gain between motor cortex and EMG." Journal of Neurophysiology 121, no. 1 (January 1, 2019): 61–73. http://dx.doi.org/10.1152/jn.00329.2018.
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Whether one is delicately placing a contact lens on the surface of the eye or lifting a heavy weight from the floor, the motor system must produce a wide range of forces under different dynamical loads. How does the motor cortex, with neurons that have a limited activity range, function effectively under these widely varying conditions? In this study, we explored the interaction of activity in primary motor cortex (M1) and muscles (electromyograms, EMGs) of two male rhesus monkeys for wrist movements made during three tasks requiring different dynamical loads and forces. Despite traditionally providing adequate predictions in single tasks, in our experiments, a single linear model failed to account for the relation between M1 activity and EMG across conditions. However, a model with a gain parameter that increased with the target force remained accurate across forces and dynamical loads. Surprisingly, this model showed that a greater proportion of EMG changes were explained by the nonlinear gain than the linear mapping from M1. In addition to its theoretical implications, the strength of this nonlinearity has important implications for brain-computer interfaces (BCIs). If BCI decoders are to be used to control movement dynamics (including interaction forces) directly, they will need to be nonlinear and include training data from broad data sets to function effectively across tasks. Our study reinforces the need to investigate neural control of movement across a wide range of conditions to understand its basic characteristics as well as translational implications.NEW & NOTEWORTHY We explored the motor cortex-to-electromyogram (EMG) mapping across a wide range of forces and loading conditions, which we found to be highly nonlinear. A greater proportion of EMG was explained by a nonlinear gain than a linear mapping. This nonlinearity allows motor cortex to control the wide range of forces encountered in the real world. These results unify earlier observations and inform the next-generation brain-computer interfaces that will control movement dynamics and interaction forces.
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Raasch, Christine C., and Felix E. Zajac. "Locomotor Strategy for Pedaling: Muscle Groups and Biomechanical Functions." Journal of Neurophysiology 82, no. 2 (August 1, 1999): 515–25. http://dx.doi.org/10.1152/jn.1999.82.2.515.
Full textAbstract:
A group of coexcited muscles alternating with another group is a common element of motor control, including locomotor pattern generation. This study used computer simulation to investigate human pedaling with each muscle assigned at times to a group. Simulations were generated by applying patterns of muscle excitations to a musculoskeletal model that includes the dynamic properties of the muscles, the limb segments, and the crank load. Raasch et al. showed that electromyograms, pedal reaction forces, and limb and crank kinematics recorded during maximum-speed start-up pedaling could be replicated with two signals controlling the excitation of four muscle groups (1 group alternating with another to form a pair). Here a four-muscle-group control also is shown to replicate steady pedaling. However, simulations show that three signals controlling six muscle groups (i.e., 3 pairs) is much more biomechanically robust, such that a wide variety of forward and backward pedaling tasks can be executed well. We found the biomechanical functions necessary for pedaling, and how these functions can be executed by the muscle groups. Specifically, the phasing of two pairs with respect to limb extension and flexion and the transitions between extension and flexion do not change with pedaling direction. One pair of groups (uniarticular hip and knee extensors alternating with their anatomic antagonists) generates the energy required for limb and crank propulsion during limb extension and flexion, respectively. In the second pair, the ankle plantarflexors transfer the energy from the limb inertia to the crank during the latter part of limb extension and the subsequent limb extension-to-flexion transition. The dorsiflexors alternate with the plantarflexors. The phasing of the third pair (the biarticular thigh muscles) reverses with pedaling direction. In forward pedaling, the hamstring is excited during the extension-to-flexion transition and in backward pedaling during the opposite transition. In both cases hamstrings propel the crank posteriorly through the transition. Rectus femoris alternates with hamstrings and propels the crank anteriorly through the transitions. With three control signals, one for each pair of groups, different cadences (or power outputs) can be achieved by adjusting the overall excitatory drive to the pattern generating elements, and different pedaling goals (e.g., smooth, or energy-efficient pedaling; 1- or 2-legged pedaling) by adjusting the relative excitation levels among the muscle groups. These six muscle groups are suggested to be elements of a general strategy for pedaling control, which may be generally applicable to other human locomotor tasks.
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Lee, Hyunyong, Jungho Choi, Inchul Jung, Sangick Lee, Sangdeuk Yoon, Borim Ryu, and Hokeun Kang. "Effect of Parameters on Vapor Generation in Ship-to-Ship Liquefied Natural Gas Bunkering." Applied Sciences 10, no. 19 (September 29, 2020): 6861. http://dx.doi.org/10.3390/app10196861.
Full textAbstract:
Liquefied natural gas (LNG) is attracting increasing attention as an alternative fuel in the maritime sector, as it can reduce harmful emissions for compliance with stricter environmental regulations. Owing to this environmental advantage, the number of ships using LNG as a fuel is increasing; thus, the demand for ship-to-ship LNG bunkering is increasing. One of the challenges of ship-to-ship LNG bunkering is boil-off gas (BOG) management, as it is more difficult than normal BOG management. This study analyzed the influences of the parameters on vapor generation, including the temperature difference between the bunker tank and receiving tank, bunkering flow rate, insulation performance, and compositions. A model based on a typical bunkering system was established, and a dynamic simulation was conducted using a commercial process simulator, Aspen HYSYS. The results indicated that as the initial temperature of the receiving tank increased, the amount of vapor return increased proportionally. In addition, increasing the bunkering flow rate decreased the amount of heat entering through the pipes and tanks; however, the heat dissipated by the pump shaft power increased. Different LNG compositions in the bunker tank led to changes in the initial pressure of the bunker tank, influencing the vapor return and vapor generation in the receiving tank. Through a parametric study, it was found that the pressure of the tank is the most important factor in terms of vapor return and vapor generation. As such, a pressure control method was proposed for the tank, so as to reduce vapor generation and vapor return. With pressure control, the total amount of vapor return to the bunker tanks is reduced from 7392 to 3317 kg. The net vapor generation in the receiving tank is reduced by up to 4047 kg and the net vapor generation in the overall system is reduced by 16.2%.