Mathematical Modeling of Zebrafish Social Behavior in Response to Acute Caffeine Administration

Zebrafish is a model organism that is receiving considerable attention in preclinical research. Particularly important is the use of zebrafish in behavioral pharmacology, where a number of high-throughput experimental paradigms have been proposed to quantify the effect of psychoactive substances consequences on individual and social behavior. In an effort to assist experimental research and improve animal welfare, we propose a mathematical model for the social behavior of groups of zebrafish swimming in a shallow water tank in response to the administration of psychoactive compounds to select individuals. We specialize the mathematical model to caffeine, a popular anxiogenic compound. Each fish is assigned to a Markov chain that describes transitions between freezing and swimming. When swimming, zebrafish locomotion is modeled as a pair of coupled stochastic differential equations, describing the time evolution of the turn-rate and speed in response to caffeine administration. Comparison with experimental results demonstrates the accuracy of the model and its potential use in the design of in-silico experiments.

Time Optimal Trajectories for a Mobile Robot With Acceleration and Speed Limits in the Presence of an Obstacle

This paper studies the time optimal paths of a mobile robot navigating in a planar environment containing an obstacle. The paper considers a point-mass robot that moves with bounded acceleration and limited turn-rate controls in the presence of an obstacle. The optimal control problem yields 12 path primitives that form the time optimal paths of the point-mass robot. The problem is then extended to a disc-robot that moves in the presence of an obstacle with turn in-place capability. The optimality conditions yield 12 modified path primitives that form the time optimal paths of the disc-robot. All path primitives are analytically characterized and examples demonstrate how they form time optimal trajectories in the presence of several obstacle types.

Parameter Tuning of the Autonomous Boat in Fish Farming Industry with Design of Experiment

This research studied the feasibility in applying the flight controller of the unmanned aerial vehicle on a pontoon boat in fish farming industry. A small-scale autonomous pontoon boat has been built, equipped with the open-hardware flight controller, GPS receiver, Inertial Measurement Units (IMU) and the magnetometer. A 23 factorial design based on Design of Experiment (DOE) is carried out to study the influence of three parameters (turn_rate, turn_angle and damping) on the response variable (peak-to-peak deviation from the desired trajectory). Total 24 experiments have been conducted by setting the desired trajectory as a circle with diameter 20 m. The peak-to-peak deviation in each experiment has been observed. The analyses revealed that the damping has low interaction with the turn angle and turn rate while there is a stronger interaction between the turn angle and turn rate. And the peak-to-peak deviation of the trajectory tends to decrease when the parameter damping was set to high value. The regression model has been derived and plotted as a response surface. The optimized parameters were selected from the plot and perform the experiment with three replications. The results confirm that parameters tuning has improved the performance of the boat significantly. With the DOE approach, the impact of two or more parameters on a response, the interaction between parameters can be investigated systematically. This approach is an effective way to tuning the parameters and can be applied to various kinds of the autonomous vehicle. A 23 factorial design based on Design of Experiment (DOE) is carried out to study the influence of three parameters (turn_rate, turn_angle and damping) on the response variable (peak-to-peak deviation from the desired trajectory). Total 24 experiments have been conducted by setting the desired trajectory as a circle with diameter 20 m. The peak-to-peak deviation in each experiment has been observed. The analyses revealed that the damping has low interaction with the turn angle and turn rate while there is a stronger interaction between the turn angle and turn rate. And the peak-to-peak deviation of the trajectory tends to decrease when the parameter damping was set to high value. The regression model has been derived and plotted as a response surface. The optimized parameters were selected from the plot and perform the experiment with three replications. The results confirm that parameters tuning has improved the performance of the boat significantly. With the DOE approach, the impact of two or more parameters on a response, the interaction between parameters can be investigated systematically. This approach is an effective way to tuning the parameters and can be applied to various kinds of the autonomous vehicle.

Engagement time constrained formation generation guidance following a non-manoeuvring leader

This paper addresses the problem of formation generation of two UAVs with constraints on engagement time. A leader–follower scenario with the leader being non-manoeuvring is considered. The work uses track guidance method for generating a class of follower spatial paths and combines it with a speed profile that works to minimize the error with respect to the desired follower position. Path curvature analysis is carried out and set of feasible spatial paths which abide by the UAV turn rate constraint is obtained. The equilibrium point of the resulting nonlinear system is found to be the desired formation geometry and stability analysis using Lyapunov direct method guarantees convergence to the equilibrium point. The set of achievable engagement times is deduced with closed-form limits. Extensive simulation exercises are carried out incorporating follower speed limits, wind and vehicle dynamics, and presence of obstacles. The work highlights a flexible guidance method which effectively uses one design parameter and analytic conditions for formation generation.

The Performance of Ball during Flight Incorporate lift Force, Drag, Gravity and high Turning Velocity Trajectories Tracking Prediction

—The abilities on the journey in a bag contain force, travel and gravitational. A ball with a high speed of turn has an alternate elevator and drag according to the turn rate and number of Reynolds. Furthermore, the drag power of balls is mainly distinctive as their magnitude, depth and amount imply. All the less, the golf reproductions do not reflect these differences. "This paper offers the approach to altering a track-story distance of the Golf Ball, which will be imitated by its drag depending on changes to the Reynolds Number. Similarly, because in the real world the separation from the ball from the flight can change depending on temperature, adhesiveness and height, these changes are to be observed in appropriate games. The 3 dimensional (3-D) flight of a golfing ball at taking into consideration the Magnus effect is studied inside the paper. For this purpose it is composed a gadget of six nonlinear differential equations. To decide the 3-d orientation of the ball the rotations round all three axes are given by way of the so-called Cardin angles instead of classical Euler ones. The high nonlinear system differential equations are solved numerically with the aid of a special application created in the MATLAB - Simulink surroundings. It is founded the legal guidelines of motion, velocities and accelerations on all six coordinates, as well as the projections of trajectory at the 3 coordinate planes.

Homing Guidance Using Spatially Quantized Signals

This paper considers homing guidance for a vehicle with a single omnidirectional receiver traveling to a stationary, omnidirectional transmitting beacon by using spatially quantized signal strength measurements. Two homing strategies are presented, and simulations are performed for cases with signal noise and vehicle turn rate limits. The first strategy is the Oyler strategy, which adapts a sliding mode controller and observer from the previous work. The second strategy is based on constant heading changes (CHCs) each time a range increment is detected, and this strategy is shown to be sufficient for homing. This study also discusses a signal filter designed to improve the homing controllers' performance. Performance metrics are developed for strategy evaluation and parameter optimization. The performance of each guidance strategy is shown through simulations for a variety of conditions. The Oyler strategy guides the vehicle to the beacon more efficiently than the constant heading change strategy, but it comes with a slight penalty in success rate.