scholarly journals The control effort to steer self-propelled microswimmers depends on their morphology: comparing symmetric spherical versus asymmetric L -shaped particles

2021 ◽  
Vol 8 (9) ◽  
Author(s):  
Julia M. Riede ◽  
Christian Holm ◽  
Syn Schmitt ◽  
Daniel F. B. Haeufle
Keyword(s):  
Information Entropy ◽  
Spherical Particles ◽  
Directed Motion ◽  
Stochastic Motion ◽  
Control Effort ◽  
Neuronal Control ◽  
Control Signals ◽  
Control Schemes ◽  
The Difference ◽  
And Control

Active goal-directed motion requires real-time adjustment of control signals depending on the system’s status, also known as control. The amount of information that needs to be processed depends on the desired motion and control, and on the system’s morphology. The morphology of the system may directly effectuate or support the desired motion. This morphology-based reduction to the neuronal ‘control effort’ can be quantified by a novel information-entropy-based approach. Here, we apply this novel measure of ‘control effort’ to active microswimmers of different morphology. Their motion is a combination of directed deterministic and stochastic motion. In spherical microswimmers, the active propulsion leads to linear velocities. Active propulsion of asymmetric L -shaped particles leads to circular or—on tilted substrates—directed motion. Thus, the difference in shape, i.e. the morphology of the particles, directly influence the motion. Here, we quantify how this morphology can be exploited by control schemes for the purpose of steering the particles towards targets. Using computer simulations, we found in both cases a significantly lower control effort for L -shaped particles. However, certain movements can only be achieved by spherical particles. This demonstrates that a suitably designed microswimmer’s morphology might be exploited to perform specific tasks.

scholarly journals TRACKING CONTROL OF COMPLEMENTARITY LAGRANGIAN SYSTEMS

2005 ◽  
Vol 15 (06) ◽  
pp. 1839-1866 ◽  
Author(s):  
JEAN-MATTHIEU BOURGEOT ◽  
BERNARD BROGLIATO
Keyword(s):  
Tracking Control ◽  
Closed Loop ◽  
Lagrangian Systems ◽  
Unilateral Constraints ◽  
Multiple Impacts ◽  
Dynamical Feature ◽  
Control Signals ◽  
The Difference ◽  
The Stability ◽  
And Control

In this paper we study the tracking control of Lagrangian systems subject to frictionless unilateral constraints. The stability analysis incorporates the hybrid and nonsmooth dynamical feature of the overall system. The difference between tracking control for unconstrained systems and unilaterally constrained ones, is explained in terms of closed-loop desired trajectories and control signals. This work provides details on the conditions of existence of controllers which guarantee stability. It is shown that the design of a suitable transition phase desired trajectory, is a crucial step. Some simulation results provide information on the robustness aspects. Finally the extension towards the case of multiple impacts, is considered.

scholarly journals Decentralized Control for Scalable Quadcopter Formations

2016 ◽  
Vol 2016 ◽  
pp. 1-10
Author(s):  
Qasim Ali ◽  
Sergio Montenegro
Keyword(s):  
Position Control ◽  
Linear Quadratic Regulator ◽  
Linear Quadratic ◽  
Time Duration ◽  
Control Effort ◽  
Ground Station ◽  
Model Following ◽  
Control Scheme ◽  
Control Schemes ◽  
And Control

An innovative framework has been developed for teamwork of two quadcopter formations, each having its specified formation geometry, assigned task, and matching control scheme. Position control for quadcopters in one of the formations has been implemented through a Linear Quadratic Regulator Proportional Integral (LQR PI) control scheme based on explicit model following scheme. Quadcopters in the other formation are controlled through LQR PI servomechanism control scheme. These two control schemes are compared in terms of their performance and control effort. Both formations are commanded by respective ground stations through virtual leaders. Quadcopters in formations are able to track desired trajectories as well as hovering at desired points for selected time duration. In case of communication loss between ground station and any of the quadcopters, the neighboring quadcopter provides the command data, received from the ground station, to the affected unit. Proposed control schemes have been validated through extensive simulations using MATLAB®/Simulink® that provided favorable results.

Analysis of the horizontal structure of a measurement and control geodetic network based on entropy

2013 ◽  
Vol 62 (1) ◽  
pp. 23-31 ◽  
Author(s):  
Maria Mrówczyńska
Keyword(s):  
Geodetic Network ◽  
The State ◽  
Observation System ◽  
Optimum Number ◽  
Optimum Structure ◽  
Horizontal Structure ◽  
The Difference ◽  
And Control ◽  
Measurement And Control ◽  
Horizontal Displacements

Abstract The paper attempts to determine an optimum structure of a directional measurement and control network intended for investigating horizontal displacements. For this purpose it uses the notion of entropy as a logarithmical measure of probability of the state of a particular observation system. An optimum number of observations results from the difference of the entropy of the vector of parameters ΔHX̂ (x)corresponding to one extra observation. An increment of entropy interpreted as an increment of the amount of information about the state of the system determines the adoption or rejection of another extra observation to be carried out.

PENINGKATAN KEMANDIRIAN BELAJAR SISWA SMP MELALUI PEMBELAJARAN BERBASIS MASALAH

2019 ◽  
Vol 8 (2) ◽  
Author(s):  
Tanti Jumaisyaroh Siregar
Keyword(s):  
Problem Based Learning ◽  
Mathematic Teacher ◽  
Self Regulated Learning ◽  
Regulated Learning ◽  
Quasi Experimental ◽  
Independent Variable ◽  
Direct Learning ◽  
The Difference ◽  
And Control ◽  
Learning Data

The purposes of this research were to know: the difference of improvement in self-regulated learning of students that given problem-based learning with students that given  direct learning. The type of this research is a quasi-experimental research by taking samples from the existing population. The variable of this research consist of independent variable that is problem based learning model while the dependent variable isself regulated learning of student.The population of this research is all students of SMP Swasta Ar-rahman Percut and the sample of this research is grade eight with taken sample two classes (experiment and control)  with total 60 students. The instrument of this research were: scale of self-regulated learning. Data that have been collected then analyzed and performed hypothesis testing by using T-test. Based of the results analysis, it showed that: improvment  of the students’ self-regulated learning that given problem-based learning was higher than the students’ ability that given direct learning His then, suggested that problem-based learning be used as an alternative for mathematic teacher to improved students’ ability in mathematical critical thinking and self-regulated learning.

FINANCIAL CONTROLLING IN THE SYSTEM OF FINANCIAL MANAGEMENT

2018 ◽  
Vol 28 (1) ◽  
pp. 137-141
Author(s):  
Petya Yordanova – Dinova
Keyword(s):  
Comparative Analysis ◽  
Financial Management ◽  
Financial Stability ◽  
Business Environment ◽  
Innovative Approach ◽  
Financial Sustainability ◽  
The Common ◽  
The Difference ◽  
Effective Use ◽  
And Control

This paper explores the comparative analysis of the financial controlling, who is a result from the common controlling concept and the financial management. In the specialized literature, financial controlling is seen as an innovative approach to financial management. It is often presented as the most promising instrument of financial diagnostics. Generally speaking, financial controlling is seen as a process of managing the company`s assets which are valued in monetary measures. The difference between the financial management and the financial controlling is that the second covers all functions of management, analysis and control of finances, aiming at maximizing their effective use and increasing the value of the enterprise. Financial controlling is often seen as a function of the common practice of financial management. Its objective is to preserve the financial stability and financial sustainability of enterprises operating in a highly aggressive business environment.

Biohybrid robots are synthetic biology systems

2018 ◽  
Author(s):  
Joseph Ayers
Keyword(s):  
Nervous System ◽  
Synthetic Biology ◽  
Behavioral Control ◽  
Eukaryotic Cells ◽  
Chemical Senses ◽  
Biomimetic Robots ◽  
Control Schemes ◽  
Induced Pluripotent ◽  
And Control ◽  
And Robotics

This chapter describes how synthetic biology and organic electronics can integrate neurobiology and robotics to form a basis for biohybrid robots and synthetic neuroethology. Biomimetic robots capture the performance advantages of animal models by mimicking the behavioral control schemes evolved in nature, based on modularized devices that capture the biomechanics and control principles of the nervous system. However, current robots are blind to chemical senses, difficult to miniaturize, and require chemical batteries. These obstacles can be overcome by integration of living engineered cells. Synthetic biology seeks to build devices and systems from fungible gene parts (gene systems coding different proteins) integrated into a chassis (induced pluripotent eukaryotic cells, yeast, or bacteria) to produce devices with properties not found in nature. Biohybrid robots are examples of such systems (interacting sets of devices). A nascent literature describes genes that can mediate organ levels of organization. Such capabilities, applied to biohybrid systems, portend truly biological robots guided, controlled, and actuated solely by life processes.

An LQ Approach to Active Control of Vibrations in Helicopters

1996 ◽  
Vol 118 (3) ◽  
pp. 482-488 ◽  
Author(s):  
Sergio Bittanti ◽  
Fabrizio Lorito ◽  
Silvia Strada
Keyword(s):  
Optimal Control ◽  
Active Control ◽  
Linear Quadratic ◽  
Control Effort ◽  
Vibration Effect ◽  
Suitable Definition ◽  
Lq Optimal Control ◽  
The One ◽  
Definition Of ◽  
And Control

In this paper, Linear Quadratic (LQ) optimal control concepts are applied for the active control of vibrations in helicopters. The study is based on an identified dynamic model of the rotor. The vibration effect is captured by suitably augmenting the state vector of the rotor model. Then, Kalman filtering concepts can be used to obtain a real-time estimate of the vibration, which is then fed back to form a suitable compensation signal. This design rationale is derived here starting from a rigorous problem position in an optimal control context. Among other things, this calls for a suitable definition of the performance index, of nonstandard type. The application of these ideas to a test helicopter, by means of computer simulations, shows good performances both in terms of disturbance rejection effectiveness and control effort limitation. The performance of the obtained controller is compared with the one achievable by the so called Higher Harmonic Control (HHC) approach, well known within the helicopter community.

scholarly journals Effects of Clonostachys rosea f. catenula Inoculum on the Composting of Cabbage Wastes and the Endophytic Activities of the Composted Material on Tomatoes and Red Spider Mite Infestation

2021 ◽  
Vol 9 (6) ◽  
pp. 1184
Author(s):  
Nomfusi Ntsobi ◽  
Morris Fanadzo ◽  
Marilize Le Roes-Hill ◽  
Felix Nchu
Keyword(s):  
Seed Germination ◽  
Spider Mite ◽  
Fungal Treatment ◽  
Tomato Seed ◽  
Clonostachys Rosea ◽  
Tomato Plants ◽  
Red Spider Mite ◽  
Phytotoxicity Test ◽  
The Difference ◽  
And Control

Globally, fungal inocula are being explored as agents for the optimization of composting processes. This research primarily evaluates the effects of inoculating organic vegetable heaps with the entomopathogenic fungus Clonostachys rosea f. catenula (Hypocreales) on the biophysicochemical properties of the end-product of composting. Six heaps of fresh cabbage (Brassica oleracea var. capitata) waste were inoculated with C. rosea f. catenula conidia and another six were not exposed to the fungus. The composted materials from the fungus- and control-treated heaps were subsequently used as a medium to cultivate tomatoes (Solanum lycopersicum). The biophysicochemical characteristics of the composted materials were also assessed after composting. In addition, the protective effect of the fungal inoculum against red spider mite (Tetranychus urticae) infestations in the tomatoes was evaluated through the determination of conidial colonization of the plant tissue and the number of plants infested by the insect. Furthermore, phytotoxicity tests were carried out post experiment. There were few significant variations (p < 0.05) in heap temperature or moisture level between treatments based on the weekly data. We found no significant differences in the levels of compost macronutrient and micronutrient constituents. Remarkably, the composted materials, when incorporated into a growth medium from fungus-treated heaps, induced a 100% endophytic tissue colonization in cultivated tomato plants. While fewer red spider mite infestations were observed in tomato plants grown in composted materials from fungus-treated heaps, the difference was not significant (χ2 = 0.96 and p = 0.32). The fungal treatment yielded composted materials that significantly (p < 0.05) enhanced tomato seed germination, and based on the phytotoxicity test, the composted samples from the heaps exposed to the C. rosea f. catenula inoculum were not toxic to tomato seeds and seedlings. In conclusion, this study showed that C. rosea f. catenula improved the quality of composted materials in terms of fungal endophytism and seed germination.

scholarly journals Vertical Jumping for Legged Robot Based on Quadratic Programming

Sensors ◽  
2021 ◽  
Vol 21 (11) ◽  
pp. 3679
Author(s):  
Dingkui Tian ◽  
Junyao Gao ◽  
Xuanyang Shi ◽  
Yizhou Lu ◽  
Chuzhao Liu
Keyword(s):  
Quadratic Programming ◽  
Stance Phase ◽  
Center Of Mass ◽  
Maximum Error ◽  
Legged Robot ◽  
Flight Phase ◽  
Programming Framework ◽  
Vertical Jumping ◽  
Control Schemes ◽  
And Control

The highly dynamic legged jumping motion is a challenging research topic because of the lack of established control schemes that handle over-constrained control objectives well in the stance phase, which are coupled and affect each other, and control robot’s posture in the flight phase, in which the robot is underactuated owing to the foot leaving the ground. This paper introduces an approach of realizing the cyclic vertical jumping motion of a planar simplified legged robot that formulates the jump problem within a quadratic-programming (QP)-based framework. Unlike prior works, which have added different weights in front of control tasks to express the relative hierarchy of tasks, in our framework, the hierarchical quadratic programming (HQP) control strategy is used to guarantee the strict prioritization of the center of mass (CoM) in the stance phase while split dynamic equations are incorporated into the unified quadratic-programming framework to restrict the robot’s posture to be near a desired constant value in the flight phase. The controller is tested in two simulation environments with and without the flight phase controller, the results validate the flight phase controller, with the HQP controller having a maximum error of the CoM in the x direction and y direction of 0.47 and 0.82 cm and thus enabling the strict prioritization of the CoM.

scholarly journals Evaluating the Impact of Floods on Housing Price Using a Spatial Matching Difference-In-Differences (SM-DID) Approach

2021 ◽  
Vol 13 (2) ◽  
pp. 804
Author(s):  
Jean Dubé ◽  
Maha AbdelHalim ◽  
Nicolas Devaux
Keyword(s):  
Housing Price ◽  
Hedonic Pricing ◽  
Environmental Amenities ◽  
Sale Price ◽  
Difference In Differences ◽  
Hedonic Pricing Model ◽  
The Difference ◽  
And Control ◽  
The Impact ◽  
The City

Many applications have relied on the hedonic pricing model (HPM) to measure the willingness-to-pay (WTP) for urban externalities and natural disasters. The classic HPM regresses housing price on a complete list of attributes/characteristics that include spatial or environmental amenities (or disamenities), such as floods, to retrieve the gradients of the market (marginal) WTP for such externalities. The aim of this paper is to propose an innovative methodological framework that extends the causal relations based on a spatial matching difference-in-differences (SM-DID) estimator, and which attempts to calculate the difference between sale price for similar goods within “treated” and “control” groups. To demonstrate the potential of the proposed spatial matching method, the researchers present an empirical investigation based on the case of a flood event recorded in the city of Laval (Québec, Canada) in 1998, using information on transactions occurring between 1995 and 2001. The research results show that the impact of flooding brings a negative premium on the housing price of about 20,000$ Canadian (CAN).

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