scholarly journals Virtual Pheromone Based Network Flow Control For Modular Robotic Systems

Electronics ◽  
2020 ◽  
Vol 9 (3) ◽  
pp. 481
Author(s):  
Van Tung Le ◽  
Trung Dung Ngo

Guaranteeing data transmission between modules is the key for application development of modular robotic systems. In a multi-channel modular robotic system, intersection modules play an essential role of communication channel selection in controlling data flow toward desired destinations. The gradient-based routing algorithm is an ideal solution to create an one-way communication path from any robotic module to a designated destination. To create bi-directional communication for a communication path of robotic configuration, virtual pheromone-based routing algorithm is a promising mechanism for intersection modules due to its simplicity and distributivity. In this paper, we address a virtual pheromone based network flow control based on the integration of gradient and virtual pheromone-based routing algorithms. We validated this method through an education and entertainment application using our newly developed modular robotic system.

2010 ◽  
Vol 32 (2) ◽  
pp. 267-271 ◽  
Author(s):  
Hui-bin Feng ◽  
Shun-yi Zhang ◽  
Chao Liu ◽  
Jue-fu Liu

Religions ◽  
2021 ◽  
Vol 12 (6) ◽  
pp. 421
Author(s):  
Iwona Leonowicz-Bukała ◽  
Andrzej Adamski ◽  
Anna Jupowicz-Ginalska

This article presents the partial conclusion of the research project devoted to marketing activity of Polish Catholic opinion-forming weeklies on the social media platforms. The main aim of this article is to present the results of the study on the use of Twitter as a marketing tool by Polish nationwide Catholic opinion-forming weeklies. The basic research questions concerned the extent of utilizing the platform by the magazines’ editors to create and distribute the content of their media product, maintain and develop brand communication and self-promotion. The case studies and the content analysis of the accounts of the three magazines—Gość Niedzielny, Tygodnik Katolicki Niedziela and Przewodnik Katolicki—show that there are three different ways in how the editors of the magazines understand the role of the Twitter account of the title they represent—as an ‘active communicator’, ‘active communicator and community supporter’ or ‘community supporter’. The conclusions show that the studied media fairly efficiently use the visual and distributional potential of the platform as well as some of its features, at the same time missing the chance to build a brand-loyal community. They also limit the role of Twitter to that of a supplement for the main communication channel, which is the printed weekly and its website.


Author(s):  
Oladayo S Ajani ◽  
Samy FM Assal

Recently, people with upper arm disabilities due to neurological disorders, stroke or old age are receiving robotic assistance to perform several activities such as shaving, eating, brushing and drinking. Although the full potential of robotic assistance lies in the use of fully autonomous robotic systems, these systems are limited in design due to the complexities and the associated risks. Hence, rather than the shared controlled or active robotic systems used for such tasks around the head, an adaptive compliance control scheme-based autonomous robotic system for beard shaving assistance is proposed. The system includes an autonomous online face detection and tracking as well as selected geometrical features-based beard region estimation using the Kinect RGB-D camera. Online trajectory planning for achieving the shaving task is enabled; with the capability of online re-planning trajectories in case of unintended head pose movement and occlusion. Based on the dynamics of the UR-10 6-DOF manipulator using ADAMS and MATLAB, an adaptive force tracking impedance controller whose parameters are tuned using Genetic Algorithm (GA) with force/torque constraints is developed. This controller can regulate the contact force under head pose changing and varying shaving region stiffness by adjusting the target stiffness of the controller. Simulation results demonstrate the system capability to achieve beard shaving autonomously with varying environmental parameters that can be extended for achieving other tasks around the head such as feeding, drinking and brushing.


Author(s):  
Shuai Wu ◽  
Richard Burton ◽  
Zongxia Jiao ◽  
Juntao Yu ◽  
Rongjie Kang

This paper considers the feasibility of a new type of voice coil motor direct drive flow control servo valve. The proposed servo valve controls the flow rate using only a direct measurement of the spool position. A neural network is used to estimate the flow rate based on the spool position, velocity and coil current. The estimated flow rate is fed back to a closed loop controller. The feasibility of the concept is established using simulation techniques only at this point. All results are validated by computer co-simulation using AMESim and Simulink. A simulated model of a VCM-DDV (Voice Coil Motor-Direct Drive Valve) and hydraulic test circuit are built in an AMESim environment. A virtual digital controller is developed in a Simulink environment in which the feedback signals are received from the AMESim model; the controller outputs are sent to the VCM-DDV model in AMESim (by interfacing between these two simulation packages). A LQR (Linear Quadratic Regulator) state feedback and nonlinear compensator controller for spool position tracking is considered as this is the first step for flow control. A flow rate control loop is subsequently included via a neural network flow rate estimator. Simulation results show that this method could control the flow rate to an acceptable degree of precision, but only at low frequencies. This kind of valve can find usage in open loop hydraulic velocity control in many industrial applications.


2018 ◽  
Vol 93 (6) ◽  
Author(s):  
Muthukumar Balasubramaniam ◽  
Jing Zhou ◽  
Amma Addai ◽  
Phillip Martinez ◽  
Jui Pandhare ◽  
...  

ABSTRACTThe HIV-1 capsid protein (CA) facilitates reverse transcription and nuclear entry of the virus. However, CA’s role in post-nuclear entry steps remains speculative. We describe a direct link between CA and integration by employing the capsid inhibitor PF74 as a probe coupled with the biochemical analysis of HIV-1 preintegration complexes (PICs) isolated from acutely infected cells. At a low micromolar concentration, PF74 potently inhibited HIV-1 infection without affecting reverse transcription. Surprisingly, PF74 markedly reduced proviral integration owing to inhibition of nuclear entry and/or integration. However, a 2-fold reduction in nuclear entry by PF74 did not quantitatively correlate with the level of antiviral activity. Titration of PF74 against the integrase inhibitor raltegravir showed an additive antiviral effect that is dependent on a block at the post-nuclear entry step. PF74’s inhibitory effect was not due to the formation of defective viral DNA ends or a delay in integration, suggesting that the compound inhibits PIC-associated integration activity. Unexpectedly, PICs recovered from cells infected in the presence of PF74 exhibited elevated integration activity. PF74’s effect on PIC activity is CA specific since the compound did not increase the integration activity of PICs of a PF74-resistant HIV-1 CA mutant. Sucrose gradient-based fractionation studies revealed that PICs assembled in the presence of PF74 contained lower levels of CA, suggesting a negative association between CA and PIC-associated integration activity. Finally, the addition of a CA-specific antibody or PF74 inhibited PIC-associated integration activity. Collectively, our results demonstrate that PF74’s targeting of PIC-associated CA results in impaired HIV-1 integration.IMPORTANCEAntiretroviral therapy (ART) that uses various combinations of small molecule inhibitors has been highly effective in controlling HIV. However, the drugs used in the ART regimen are expensive, cause side effects, and face viral resistance. The HIV-1 CA plays critical roles in the virus life cycle and is an attractive therapeutic target. While currently there is no CA-based therapy, highly potent CA-specific inhibitors are being developed as a new class of antivirals. Efforts to develop a CA-targeted therapy can be aided through a clear understanding of the role of CA in HIV-1 infection. CA is well established to coordinate reverse transcription and nuclear entry of the virus. However, the role of CA in post-nuclear entry steps of HIV-1 infection is poorly understood. We show that a CA-specific drug PF74 inhibits HIV-1 integration revealing a novel role of this multifunctional viral protein in a post-nuclear entry step of HIV-1 infection.


2001 ◽  
Vol 204 (14) ◽  
pp. 2499-2507 ◽  
Author(s):  
Sarah Hunt ◽  
Innes C. Cuthill ◽  
Andrew T. D. Bennett ◽  
Stuart C. Church ◽  
Julian C. Partridge

SUMMARYThere is growing evidence that ultraviolet (UV) wavelengths play an important role in avian mate choice. One of the first experiments to support this idea showed that female zebra finches (Taeniopygia guttata) prefer UV-reflecting males to males whose ultraviolet reflection has been removed. The effect was very strong despite little or no UV reflection from several plumage areas. However, it is not clear how the importance of the UV waveband compares to other regions of the bird-visible spectrum. We tested whether the response of female zebra finches to the removal of male UV reflection is greater than to the removal of other wavebands. We presented females with a choice of males whose appearance was manipulated using coloured filters. The filters removed single blocks of the avian visible spectrum corresponding closely to the spectral sensitivities of each of the zebra finch’s single cone classes. This resulted in males that effectively had no UV (UV−), no short-wave (SW−), no medium-wave (MW−) or no long-wave (LW−) plumage reflection. Females preferred UV− and SW− males. LW− and MW− males were least preferred, suggesting that female zebra finches show the greatest response to the removal of longer wavelengths. Quantal catches of the single cone types viewing body areas of the male zebra finch are presented for each treatment. Our study suggests it is important to consider the role of the UV waveband in avian mate choice in conjunction with the rest of the avian visible spectrum.


2021 ◽  
Vol 6 (1) ◽  
pp. 134
Author(s):  
Ambar Tri Hapsari

PT. Duta Astakona Girinda is a company in the field of geomatics and spatial information management. This company was founded in early 1987 to provide consulting services for spatial information management applications, hardware, software, implementation and communication. As the experience of PT. Duta Astakona Girinda as an information and communication technology management application consulting service provider, continues to innovate. Providing services such as mapping planning, thematic maps of various needs, cartography, digitizing services, scanning, plotting. This company also provides GIS market application development services, GIS and MIS integration. Other services include conducting training, seminars and creating a spatial database. The company needs a warehouse information system to make it easier for warehouse administrators to manage incoming and outgoing goods at PT Duta Astakona Girinda. The role of this Information System is also inseparable from the users of equipment that are able to overcome the inability of human labor. The desktop application created here is internal in nature, which can only be accessed by employees.


2012 ◽  
Vol 72 (11) ◽  
pp. 1412-1422 ◽  
Author(s):  
Lizhong Chen ◽  
Ruisheng Wang ◽  
Timothy M. Pinkston

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