Random attention can explain apparent object choice behavior in free-walking blowflies

2021 ◽  
Author(s):  
Jose Monteagudo ◽  
Martin Egelhaaf ◽  
Jens Peter Lindemann
Keyword(s):  
Choice Behavior ◽  
Computational Modelling ◽  
Underlying Mechanism ◽  
Continuous Control ◽  
Behavioral Experiments ◽  
Object Choice ◽  
Decision Mechanism ◽  
Naive Observer ◽  
Control Scheme ◽  
Variable Distance

Flies are often observed to approach dark objects. To a naive observer they seem to pay selective attention to one out of several objects although previous research identified a reflex-like fixation behavior integrating responses to all objects as possible underlying mechanism. In a combination of behavioral experiments and computational modelling, we investigate the choice behavior of flies freely walking towards an arrangement of two objects placed at a variable distance from each other. The walking trajectories are oriented towards one of the objects much earlier than predicted by a simple reactive model. We show that object choice can be explained by a continuous control scheme in combination with a mechanism randomly responding to the position of each object according to a stochastic process. Although this may be viewed as a special form of an attention-like mechanism, the model does not require an explicit decision mechanism or a memory for the drawn decision.

Fuzzy Predictive Control for a Tubular Heat Exchanger System

2013 ◽  
Vol 694-697 ◽  
pp. 2195-2199
Author(s):  
Qiao Ling Ji ◽  
Cong He ◽  
Wei Min Qi ◽  
Jian Kang Zhu
Keyword(s):  
Heat Exchanger ◽  
Predictive Control ◽  
Outlet Temperature ◽  
Adaptive Kalman Filter ◽  
Tubular Heat Exchanger ◽  
Decision Mechanism ◽  
Intelligent Decision ◽  
Control Scheme ◽  
Flow Pressure ◽  
Fuzzy Predictive Control

The paper deals with the problem of controlling the outlet temperature of a tubular heat exchanger system by means of flow pressure. The usual industrial system behavior must precisely be modeled and appropriate control action needs to be obtained based on novel techniques. A new multiple models control strategy using the well-known linear generalized predictive control (LGPC) scheme has been proposed in this paper. Then the best model of the system is accurately identified by an intelligent decision mechanism (IDM) which is organized based on both new recursive weight generator and fuzzy adaptive Kalman filter approaches. Simulations are all done and the results are also compared with those obtained using a nonlinear GPC (NLGPC) approach that is realized based on the Wiener model of the system. The results can verify the validity of the proposed control scheme.

scholarly journals An output-feedback global continuous control scheme with desired gravity compensation for the finite-time and exponential regulation of bounded-input robotic systems

2018 ◽  
Vol 51 (22) ◽  
pp. 108-114 ◽  
Author(s):  
Griselda I. Zamora-Gómez ◽  
Arturo Zavala-Río ◽  
Daniela J. López-Araujo ◽  
Emmanuel Nuño ◽  
Emmanuel Cruz-Zavala
Keyword(s):  
Output Feedback ◽  
Finite Time ◽  
Robotic Systems ◽  
Continuous Control ◽  
Gravity Compensation ◽  
Control Scheme ◽  
Bounded Input

Wind Turbine Speed Control with Maximum Power Extracting Based on Fuzzy Logic

2014 ◽  
Vol 698 ◽  
pp. 168-172 ◽  
Author(s):  
Vadim Z. Manusov ◽  
Sherzod K. Khaldarov
Keyword(s):  
Fuzzy Logic ◽  
Wind Speed ◽  
Wind Turbine ◽  
Speed Control ◽  
Maximum Power ◽  
Continuous Control ◽  
Control Scheme ◽  
Fuzzy Logic Approach ◽  
Logic Approach ◽  
Turbine Speed

In this paper, an adapted control scheme based on fuzzy logic approach to adjusting turbine speed so as to track the maximum power points is proposed. This scheme facilitates continuous control of wind turbine speed, adapting to the changing wind speed.

A Continuous Robust Antiswing Tracking Control Scheme for Underactuated Crane Systems With Experimental Verification

2016 ◽  
Vol 138 (4) ◽  
Author(s):  
Ning Sun ◽  
Yongchun Fang ◽  
He Chen
Keyword(s):  
Trajectory Planning ◽  
Tracking Control ◽  
Sliding Mode ◽  
Maximum Velocity ◽  
Continuous Control ◽  
Robust Tracking Control ◽  
Mechatronic Systems ◽  
Crane Control ◽  
Control Scheme ◽  
Practical Constraints

Disturbances and uncertainties are unfavorable elements that always accompany industrial mechatronic systems including cranes. If not fully considered or properly dealt with, they would badly influence the control system performance and degrade the working efficiency. Though traditional sliding mode control (SMC) methods are powerful to address these issues, they are discontinuous and might bring potential damages to the actuating devices. In addition, most existing methods cannot involve such practical constraints as permitted swing amplitudes, maximum velocity, etc. To resolve these problems, we suggest a novel composite antiswing crane control scheme, which involves time-suboptimal analytical trajectory planning and continuous robust tracking control. More precisely, a new analytical suboptimal trajectory planning algorithm is presented, which can generate analytical swing-free smooth trajectories guaranteeing practical constraints. Then, we design a new nonlinear control law to make the crane follow the planned trajectories with continuous control efforts, ensuring stable asymptotic tracking in the presence of perturbations/uncertainties. As far as we know, this is the first crane control scheme that simultaneously achieves state-constrained time-suboptimal trajectory planning and robust control with continuous control efforts. We implement experiments to examine its practical control performance and robustness as well.

Behavioural approach for a bipedal robot stepping motion gait

Robotica ◽  
1999 ◽  
Vol 17 (5) ◽  
pp. 491-501 ◽  
Author(s):  
F. El Hafi ◽  
P. Gorce
Keyword(s):  
Dynamic Control ◽  
Biomechanical Model ◽  
Generation Process ◽  
Mechanism Analysis ◽  
Experimental Protocol ◽  
Bipedal Robot ◽  
Decision Mechanism ◽  
Domain Definition ◽  
Control Scheme ◽  
Security Notion

This paper deals with the decision mechanism analysis and the design of bipedal trajectories, for the stepping motion. For that we have used biomechanical model of the human body and dynamic control scheme previously developed by Gorce. We based our study on an experimental protocol, in order to determine behavioural laws for the task execution. We have developed a biped trajectory generation process, taking into account the biped height and the obstacle dimensions. Furthermore, we characterize the stepping motion feasibility by introducing a security notion, and we define an “Admissible control Domain”, which relies on the relative position of the biped to the obstacle and the obstacle dimensions. This domain definition has led us to define the biped behavioural strategies facing an obstacle: the biped executes the task at an accurate “chosen distance”, or stops or takes another way. Experimentations have allowed to validate simulations results.

scholarly journals EFFECTS AND UNDERLYING MECHANISM OF 5-LIPOXYGENASE INHIBITOR (ZILEUTON) ON MICE DEPRESSIVE-LIKE BEHAVIOR

2020 ◽  
pp. 180-186
Author(s):  
SAPTARSHI PANIGRAHI ◽  
SOMNATH SURAI ◽  
HAO HONG
Keyword(s):  
Interleukin 1 ◽  
Physiological Saline ◽  
Underlying Mechanism ◽  
Mice Model ◽  
Lipoxygenase Inhibitor ◽  
Behavioral Experiments ◽  
Necrosis Factor Alpha ◽  
Biochemical Assays ◽  
Treatment Experiment ◽  
Factor Alpha

Objective: Treatment experiment was conducted to investigate the effectiveness and mechanism of the action of zileuton in corticosteroid-induced depressive mice model through neuroinflammation. Methods: The mice were randomly separated into four groups: (Veh+Veh), (Corticosteroid+Veh), (Corticosteroid+ZIL50), and (Corticosteroid+ZIL100). Intraperitoneal injection of corticosterone (CORT) (20 mg/kg for 6 weeks) was used in the mice to induce depression and neuroinflammation diverse from the Veh+Veh group, which was injected only physiological saline. The drug-treated groups (Corticosteroid+ZIL50 and Corticosteroid+ZIL100) were orally administered with the mentioned doses of zileuton. After confirming the effectiveness of zileuton through the behavioral tests, the mechanism of the action of the drug was explored through a set of biochemical assays. Results: Zileuton (50/100 mg/kg) administration improved the performance of the mice in the behavioral experiments (p<0.05 or 0.01). Immunohistochemistry detection of Iba1+ revealed over activation of microglial cells in the corticosteroid-treated mice which was suppressed by the zileuton (50 or 100 mg/kg [p<0.05 or 0.01]). Through Western blotting tests, it had been found that CORT (i.p.) administration led to the increment of the protein 5-Lipoxygenase in the mouse hippocampus associated with neuroinflammation, which was decreased significantly by zileuton (p<0.05 or 0.01). Level of tumor necrosis factor-alpha, interleukin-1 beta, nuclear factor kappa B p65 protein (for neuroinflammation), Bax, and cleaved caspase-3 and TUNEL assay increased, and Bcl-2 expression decreased in the CORT-induced depressive mice. These were significantly reversed by zileuton (50 or 100 mg/kg [p<0.05 or 0.01]). Conclusion: It can be concluded that selective 5-lipoxygenase inhibitor zileuton can efficiently inhibit the depressive-like behavior/activity in CORT-induced depressive mouse model. Moreover, the underlying mechanism may be the inhibition of hippocampal neuroinflammation and apoptosis.

Motion Control of a Flock of 1-Trailer Robots with Swarm Avoidance

Robotica ◽  
2021 ◽  
pp. 1-26
Author(s):  
Jai Raj ◽  
Krishna Raghuwaiya ◽  
Bibhya Sharma ◽  
Jito Vanualailai
Keyword(s):  
Motion Planning ◽  
Control Problem ◽  
Motion Control ◽  
Dynamic Environment ◽  
Continuous Control ◽  
Control Laws ◽  
Planning And Control ◽  
Control Scheme ◽  
And Control ◽  
Emergent Behaviors

SUMMARY This paper addresses the motion planning and control problem of a system of 1-trailer robots navigating a dynamic environment cluttered with obstacles including a swarm of boids. A set of nonlinear continuous control laws is proposed via the Lyapunov-based Control Scheme for collision, obstacle, and swarm avoidances. Additionally, a leader–follower strategy is utilized to allow the flock to split and rejoin when approaching obstacles. The effectiveness of the control laws is demonstrated through numerical simulations, which show the split and rejoin maneuvers by the flock when avoiding obstacles while the swarm exhibits emergent behaviors.

A Continuous Control for Stabilizing the Extended Nonholonomic Double Integrator

2011 ◽  
Vol 464 ◽  
pp. 217-220
Author(s):  
Yan Peng ◽  
Mei Liu ◽  
Qing Jiu Huang ◽  
Shao Rong Xie
Keyword(s):  
Mobile Robot ◽  
Dimensional Space ◽  
Control Law ◽  
Continuous Control ◽  
Time Varying ◽  
Higher Dimensional ◽  
Control Scheme ◽  
And Performance ◽  
Time Invariant ◽  
Double Integrator

The extended nonholonomic double integrator (ENDI) cannot be asymptotically stabilized by a continuous and time-invariant feedback controller since it violates the Brockett’s condition. In this paper, a new continuous control scheme is proposed to stabilize the ENDI system without drift. The dynamics of an ENDI system is enlarged to a higher dimensional space where a continuous but time-varying control law is designed for its stabilization. Besides the theoretical proofs, simulations conducted on the dynamics of a mobile robot are also presented to demonstrate the validity and performance of the proposed method.

Terminal Synergetic Control for Blood Glucose Regulation in Diabetes Patients

2018 ◽  
Vol 140 (10) ◽  
Author(s):  
A. Hachana ◽  
M. N. Harmas
Keyword(s):  
Blood Glucose ◽  
Sliding Mode ◽  
Type I Diabetes ◽  
System Stability ◽  
Diabetic Patients ◽  
Type I ◽  
Continuous Control ◽  
Control Scheme ◽  
Synergetic Control ◽  
Diabetes Patients

In this paper, a new robust terminal synergetic control scheme is proposed to regulate blood glucose level in diabetic patients (type I diabetes), based on recently developed synergetic control and a terminal attractor technique. The technique presented has the advantage of using a continuous control law. Moreover, the proposed control scheme, besides being chattering free, has the characteristics of finite time convergence. Lyapunov synthesis is adopted to ensure controlled system stability. Simulation results of terminal synergetic control are compared to classic synergetic and second-order sliding mode control (SMC) performance, demonstrating that the proposed control method allows for rapidly achieving normoglycemia in type I diabetes patients.

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