Fast reconfiguration of robot swarms with uniform control signals

2021 ◽  
Author(s):  
David Caballero ◽  
Angel A. Cantu ◽  
Timothy Gomez ◽  
Austin Luchsinger ◽  
Robert Schweller ◽  
...  
Keyword(s):  
Author(s):  
Peter Mitrano ◽  
Jordan Burklund ◽  
Michael Giancola ◽  
Carlo Pinciroli
Keyword(s):  

2021 ◽  
Author(s):  
Miguel Dasilva ◽  
Christian Brandt ◽  
Marc Alwin Gieselmann ◽  
Claudia Distler ◽  
Alexander Thiele

Abstract Top-down attention, controlled by frontal cortical areas, is a key component of cognitive operations. How different neurotransmitters and neuromodulators flexibly change the cellular and network interactions with attention demands remains poorly understood. While acetylcholine and dopamine are critically involved, glutamatergic receptors have been proposed to play important roles. To understand their contribution to attentional signals, we investigated how ionotropic glutamatergic receptors in the frontal eye field (FEF) of male macaques contribute to neuronal excitability and attentional control signals in different cell types. Broad-spiking and narrow-spiking cells both required N-methyl-D-aspartic acid and α-amino-3-hydroxy-5-methyl-4-isoxazolepropionic acid receptor activation for normal excitability, thereby affecting ongoing or stimulus-driven activity. However, attentional control signals were not dependent on either glutamatergic receptor type in broad- or narrow-spiking cells. A further subdivision of cell types into different functional types using cluster-analysis based on spike waveforms and spiking characteristics did not change the conclusions. This can be explained by a model where local blockade of specific ionotropic receptors is compensated by cell embedding in large-scale networks. It sets the glutamatergic system apart from the cholinergic system in FEF and demonstrates that a reduction in excitability is not sufficient to induce a reduction in attentional control signals.


Sensors ◽  
2021 ◽  
Vol 21 (16) ◽  
pp. 5260
Author(s):  
Yi-Bing Lin ◽  
Sheng-Lin Chou

Due to the fast evolution of Sensor and Internet of Things (IoT) technologies, several large-scale smart city applications have been commercially developed in recent years. In these developments, the contracts are often disputed in the acceptance due to the fact that the contract specification is not clear, resulting in a great deal of discussion of the gray area. Such disputes often occur in the acceptance processes of smart buildings, mainly because most intelligent building systems are expensive and the operations of the sub-systems are very complex. This paper proposes SpecTalk, a platform that automatically generates the code to conform IoT applications to the Taiwan Association of Information and Communication Standards (TAICS) specifications. SpecTalk generates a program to accommodate the application programming interface of the IoT devices under test (DUTs). Then, the devices can be tested by SpecTalk following the TAICS data formats. We describe three types of tests: self-test, mutual-test, and visual test. A self-test involves the sensors and the actuators of the same DUT. A mutual-test involves the sensors and the actuators of different DUTs. A visual-test uses a monitoring camera to investigate the actuators of multiple DUTs. We conducted these types of tests in commercially deployed applications of smart campus constructions. Our experiments in the tests proved that SpecTalk is feasible and can effectively conform IoT implementations to TACIS specifications. We also propose a simple analytic model to select the frequency of the control signals for the input patterns in a SpecTalk test. Our study indicates that it is appropriate to select the control signal frequency, such that the inter-arrival time between two control signals is larger than 10 times the activation delay of the DUT.


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