Artificial intelligence-controlled pole balancing using an Arduino board

Automation Process (AP) is an important issue in the current digitized world and, in general, represents an increase in the quality of productivity when compared with manual control. Balance is a natural human capacity as it relates to complex operations and intelligence. Balance Control presents an extra challenge in automation processes, due to the many variables that may be involved. This work presents a physical balancing pole where a Reinforcement Learning (RL) agent can explore the environment, sense its position through accelerometers, and wirelessly communicate and eventually learns by itself how to keep the pole balanced under noise disturbance. The agent uses RL principles to explore and learn new positions and corrections that lead toward more significant rewards in terms of pole equilibrium. By using a Q-matrix, the agent explores future conditions and acquires policy information that makes it possible to maintain stability. An Arduino microcontroller processes all training and testing. With the help of sensors, servo motors, wireless communications, and artificial intelligence, components merge into a system that consistently recovers equilibrium under random position changes. The obtained results prove that through RL, an agent can learn by itself to use generic sensors, actuators and solve balancing problems even under the limitations that a microcontroller presents.

A Novel Invariant Based Commutative Encryption and Watermarking Algorithm for Vector Maps

Commutative encryption and watermarking (CEW) is an emerging method that combines encryption technology with digital watermarking technology. It has the dual capability of secure transmission and copyright protection. However, the existing CEW methods for vector maps have good robustness in resisting geometric attacks but poor resistance to vertex attacks (e.g., addition, deletion, etc.). To solve this problem, here we propose a novel invariant-based CEW algorithm for vector maps, which consists of permutation-based encryption scheme and coordinates-based watermarking scheme. In the encryption scheme, the encryption key is generated via the Gaussian distribution method combined with the SHA-512 hash method; then, the double random position permutation strategy is applied to the vector map encryption. In watermarking embedding scheme, the original watermark image is scrambled via logistic chaotic encryption before embedding, and the coordinates of all the vertices are normalized. Then, the scrambled watermark image is embedded into the normalized coordinates. Results show that: proposed method is more robust to conventional attacks (e.g., vertex addition and deletion, reordering and data format conversion) and geometric attacks (e.g., scaling and translation). In addition, compared with the existing CEW methods for vector maps, the proposed method has higher security and stronger robustness against vertex attacks.

A single and double closed-loop compound anti-sway control method for double-pendulum bridge cranes locating at random position

In the assembly workshops of some heavy special equipment, the bridge cranes for payload lifting often needs to be located frequently. However, the locating position is often determined by the operator, which is random and results in significant payload oscillation and difficulties in trolley positioning. Furthermore, in practice, the bridge crane always exhibits more complicated double-pendulum dynamics compared with single-pendulum crane. To solve these problems, this paper establishes the double-pendulum model of bridge crane. Derived from the proportional-derivative (PD) control, the single closed-loop is designed based on the hook oscillation during acceleration and transporting; when locating, the double closed-loop is presented by utilizing the position and the hook oscillation. Combining the two control methods, a single and double closed-loop compound anti-sway control (SDCAC) method for the bridge crane is proposed. On this basis, to improve the performance of the SDCAC system, the sequential quadratic optimization (SQP) method is adopted to optimize PD parameters. Besides, a novel bumpless transfer control method is proposed to realize the smooth transition between the two control modes. Finally, the simulations and experiments are conducted. The results demonstrate the effectiveness of the proposed method.

Enhancement of Network Lifetime for Wireless Sensor Networks with Mobile Sink Node

Due to the importance of the wireless sensor network in the applications of daily life, especially medical, military and agricultural, the process of developingthis type of networks to overcome the problems in use, as the most important of these problems is the problem of energy consumption. The development of the performance of these networks continued to ensure the lowest energy consumption to ensure that they last as long as possible. In this paper, proposed algorithm choose choosing best location for mobile sink according to nodes to save power of these nodes by generating random position. The results in the search show how to represents network model to increase network lifetime. The results indicate the superior performance of the algorithm in improving power consumption with specific conditions and compare energy consumption with other researcher works.

Microtubule Disassembling Through Stathmin Bending Bow: A Molecular Dynamic Study

By this work, molecular modeling has been used to interpret the dynamic instabilities of these macromolecules in their structures. By this investigation, multi-dimension structures of microtubules are fixed in both length and width. Via Monte Carlo simulation, the tubulins have been added from the first side of the tubule towards the opposite side by gradually growing a random position. This method is theoretically accomplished via generating a uniform random number between (0, 1) based on the Monte Carlo approach. Our calculations have been done by proper dimension around 5×10-6 meters of length that consists of 2000 tubulin dimers. The structure growth rates are based on soluble tubulin dimer concentration. Hereby all results were run between 6-12 times in our modeling of any conditions. There have been recorded value numbers, average length, free tubulin concentration, and the important data of thermodynamic parameters for each simulation.

Vector Map Encryption Algorithm Based on Double Random Position Permutation Strategy

Encryption of vector maps, used for copyright protection, is of importance in the community of geographic information sciences. However, some studies adopt one-to-one mapping to scramble vertices and permutate the coordinates one by one according to the coordinate position in a plain map. An attacker can easily obtain the key values by analyzing the relationship between the cipher vector map and the plain vector map, which will lead to the ineffectiveness of the scrambling operation. To solve the problem, a vector map encryption algorithm based on a double random position permutation strategy is proposed in this paper. First, the secret key sequence is generated using a four-dimensional quadratic autonomous hyperchaotic system. Then, all coordinates of the vector map are encrypted using the strategy of double random position permutation. Lastly, the encrypted coordinates are reorganized according to the vector map structure to obtain the cipher map. Experimental results show that: (1) one-to-one mapping between the plain vector map and cipher vector map is prevented from happening; (2) scrambling encryption between different map objects is achieved; (3) hackers cannot obtain the permutation key value by analyzing the pairs of the plain map and cipher map.

Detection of Highly Divergent Tandem Repeats in the Rice Genome

Currently, there is a lack of bioinformatics approaches to identify highly divergent tandem repeats (TRs) in eukaryotic genomes. Here, we developed a new mathematical method to search for TRs, which uses a novel algorithm for constructing multiple alignments based on the generation of random position weight matrices (RPWMs), and applied it to detect TRs of 2 to 50 nucleotides long in the rice genome. The RPWM method could find highly divergent TRs in the presence of insertions or deletions. Comparison of the RPWM algorithm with the other methods of TR identification showed that RPWM could detect TRs in which the average number of base substitutions per nucleotide (x) was between 1.5 and 3.2, whereas T-REKS and TRF methods could not detect divergent TRs with x > 1.5. Applied to the search of TRs in the rice genome, the RPWM method revealed that TRs occupied 5% of the genome and that most of them were 2 and 3 bases long. Using RPWM, we also revealed the correlation of TRs with dispersed repeats and transposons, suggesting that some transposons originated from TRs. Thus, the novel RPWM algorithm is an effective tool to search for highly divergent TRs in the genomes.

Impact of The Number of Light Emitting Diode Towards The Accuracy in Indoor Positioning System Based on Visible Light Communication

This research detects the random position with received signal strength (RSS) method based on the received power in the room with a size of 5×5×3 cubic meter and several numbers of light emitting diode (LEDs). The first scenario uses 4 LEDs, the second scenario uses 6 LEDs and the third scenario uses 8 LEDs. Random points as the detector are placed spread at the room as many as 25 points. The simulation result shows that the use of more LEDs reduces the positioning error and increases the accuracy. If the accuracy reduces, the positioning error increase and affect the detection results. Using 8 LEDs, the number of the detected random point increases 30%, the positioning error is 47%, and the accuracy increase from 33%. In addition, our research is useful for finding the locations of small items such as sensors that are scattered in a closed room.

Sperm Motility of Mice under Simulated Microgravity and Hypergravity

For deep space exploration, reproductive health must be maintained to preserve the species. However, the mechanisms underlying the effect of changes in gravity on male germ cells remain poorly understood. The aim of this study was to determine the effect of simulated micro- and hypergravity on mouse sperm motility and the mechanisms of this change. For 1, 3 and 6 h, mouse sperm samples isolated from the caudal epididymis were subjected to simulated microgravity using a random position machine and 2g hypergravity using a centrifuge. The experimental samples were compared with static and dynamic controls. The sperm motility and the percentage of motile sperm were determined using microscopy and video analysis, cell respiration was determined by polarography, the protein content was assessed by Western blotting and the mRNA levels were determined using qRT-PCR. The results indicated that hypergravity conditions led to more significant changes than simulated microgravity conditions: after 1 h, the speed of sperm movement decreased, and after 3 h, the number of motile cells began to decrease. Under the microgravity model, the speed of movement did not change, but the motile spermatozoa decreased after 6 h of exposure. These changes are likely associated with a change in the structure of the microtubule cytoskeleton, and changes in the energy supply are an adaptive reaction to changes in sperm motility.