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Biologically inspired collective construction with visual landmarks

Journal of Zhejiang University-Science C(Computers and Electronics) 2012年第5期13卷 315-327页

作者： Zheng-wei ZHAN Hong ZHANG Yi-bin LI School of Control Science and Engineering Shandong University Jinan 250061 China Department of Computing Science University of Alberta Edmonton Alberta T6G 2E8 Canada

We describe our research in using environmental visual landmarks as the basis for completing simple robot construction *** by honeybee visual navigation behavior,a visual template mechanism is proposed in which a natural landmark serves as a visual reference or template for distance determination as well as for navigation during collective *** validate our proposed mechanism,a wall construction problem is investigated and a minimalist solution is *** results show that,using the mechanism of a visual template,a collective robotic system can successfully build the desired structure in a decentralized fashion using only local sensing and no direct *** addition,a particular variable,which defines tolerance for alignment of the structure,is found to impact the system *** decreasing the value of the variable,system performance is improved at the expense of a longer construction *** visual template mechanism is appealing in that it can use a reference point or salient object in a natural environment that is new or unexplored and it could be adapted to facilitate more complicated building tasks.

关键词： Biologically inspired Swarm robotics Collective construction Visual landmark Template

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Biomimetic sensing by the photoreceptor membrane protein bacteriorhodopsin

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Journal of the National Institute of Information and Communications Technology 2013年第1期60卷 75-83页

作者： Kasai, Katsuyuki Haruyama, Yoshihiro Yamada, Toshiki Akiba, Makoto Tominari, Yukihiro Kaji, Takahiro Terui, Toshifumi Peper, Ferdinand Katagiri, Yoshitada Tanaka, Shukichi Kikuchi, Hiroshi Okada-Shudo, Yoshiko Otomo, Akira Nano ICT Laboratory Department of Quantum Optics Nonlinear Optics Laser Control Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Bio-Materials Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Organic Materials Material Physics Optical Measurement Nano Materials Advanced ICT Research Institute Japan Planning Office Department of Photodetection Technology Semiconductor Device Low-Noise Technology Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Superconductor Organic Electronics Terahertz Advanced ICT Research Institute Japan Nano ICT Laboratory Department of Laser Photochemistry Single-Molecule Spectroscopy Nanophotonics Advanced ICT Research Institute Japan Strategic Planning Office Strategic Planning Department Japan Brain Networks and Communication Laboratory Department of Nanocomputer Architectures Cellular Automata Neural Networks Natural Computing Center for Information and Neural Networks Japan Brain Networks and Communication Laboratory Department of Health Science and Informatics Human Informatics Center for Information and Neural Networks Japan Nano ICT Laboratory Terahertz Technology Research Center Advanced ICT Research Institute Japan Japan Graduate School of Informatics and Engineering Dept. of Engneering Science Japan Nano ICT Laboratory Depatment of Nanophotonics Nonlinear Optics Advanced ICT Research Institute Japan

Bacteriorhodopsin (bR) is a light-sensitive protein which has a proton-pump function, and is found in the cell membrane of Halobacterium salinarum inhabiting the salt lake. Optical excitation of bR at an electrode-electrolyte interface generates differential photocurrents while an incident light is turned on and off. This unique functional response is similar to that seen in retinal neurons. This paper describes the fabrication and evaluation of the dip-coated bR thin films, photocurrent characteristics, and biomimetic artificial retinas with the bR thin films.

关键词： Biomimetics

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A uniform solution to the independent set problem through tissue P systems with cell separation

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Frontiers of Computer Science 2012年第4期6卷 477-488页

作者： Xingyi ZHANG Xiangxiang ZENG Bin LUO Zheng ZHANG Key Laboratory of Intelligent Computing and Signal Processing of Ministry of Education School of Computer Science and TechnologyAnhui UniversityHefei 230039China Department of Computer Science Xiamen UniversityXiamen 361005China Key Laboratory of Image Processing and Intelligent Control Department of Control Science and EngineeringHuazhong University of Science and TechnologyWuhan 430074China

Membrane computing is an emergent branch of natural computing, which is inspired by the structure and the functioning of living cells, as well as the organization of cells in tissues, organs, and other higher order structures. Tissue P systems are a class of the most investigated computing mod- els in the framework of membrane computing, especially in the aspect of efficiency. To generate an exponential resource in a polynomial time, cell separation is incorporated into such systems, thus obtaining so called tissue P systems with cell separation. In this work, we exploit the computational efficiency of this model and construct a uniform family of such tissue P systems for solving the independent set problem, a well-known NP-complete problem, by which an efficient so- lution can be obtained in polynomial time.

关键词： membrane computing tissue P system cell sep- aration independent set problem

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Continuous finite-time stabilization for some classes of fractional order dynamics

Continuous finite-time stabilization for some classes of fra...

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2012 12th International Workshop on Variable Structure Systems, VSS 2012

作者： Pisano, Alessandro Rapaić, Milan R. Usai, Elio Jeličić, Zoran D. Department of Electrical and Electronic Engineering University of Cagliari Cagliari Italy Computing and Control Department Faculty of Technical Sciences Novi Sad Serbia

ISBN: (纸本)9781457720666

This paper analyzes some basic issues involving the application of discontinuous control techniques for controlling fractional order systems (FOS). With reference to a simple class of SISO perturbed processes, we compare the performance of two distinct approaches, namely the "fractional sliding manifold" (FSM) approach, and the "fractional dynamic input extension" (FDIE) approach. The latter, which is the main new contribution of this paper, is shown to provide for the finite time convergence property of the systems' state. Remarkably, this approach also attenuates the chattering phenomenon by leading to a continuous, although obviously non-smooth, control action. The performance of the two methodologies under investigation are determined by means of Lyapunov approach. Additionally, we derive two new results involving the application of second-order sliding mode control techniques in the context of SISO FOS, and the application of the unit-vector methodology for controlling uncertain multivariable FOS. The presented analysis is supported by simulation results. © 2012 IEEE.

关键词： Sliding mode control

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CDMC2011 data mining competition: LEVIS group results overview

CDMC2011 data mining competition: LEVIS group results overvi...

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2012 International Conference on System Simulation, ICUSS 2012

作者： Zhao, Q.C. Liu, J.M. Wang, X. You, M.Y. Li, G.Z. MOE Key Laboratory of Embedded Systems and Service Computing Department of Control Science and Engineering Tongji University Shanghai 201804 China

ISBN: (纸本)9781849195386

The task for the data mining contest organized in conjunction with the ICONIP2011 conference was to learn three predictive models (i.e. a classifier) capable of distinguishing between different classes for three separate tasks. Different combinations of data preprocess, feature selection and classifier learning methods were tried to obtain the best results.

关键词： Intrusion detection

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Simple control system for power converter connecting electrochemical dual-layer capacitors to DC link

Simple control system for power converter connecting electro...

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35th International Convention on Information and Communication Technology, Electronics and Microelectronics, MIPRO 2012

作者： Čihak, Tihomir Jakopović, Željko KONČAR - Electrical Engineering Institute Power Electronics and Control Department Zagreb Croatia Faculty of Electrical Engineering and Computing Department of Electric Machines Drives and Automation Zagreb Croatia

ISBN: (纸本)9789532330724

Electrochemical dual layer capacitors, also known by their market names Supercapacitors and Ultracapacitors are perspective technology for many uses, for instance in power saving circuits for electric propulsion systems, short-term energy storage systems, systems for extending battery lifetime and other similar uses. Although they can be used connected directly to a power converter DC link, in most cases they are connected to the DC link through a separate power converter. In use, such an EDLC and power converter assembly, due to EDLC specifics, must reliably operate in numerous operating points, unlike a typical power electronic converter. Such a power converter operation entails many control issues. Some of them are considered in this paper. © 2012 MIPRO.

关键词： Power converters

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Efficient Interpolated Path Planning of Mobile Robots based on Occupancy Grid Maps

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IFAC Proceedings Volumes 2012年第22期45卷 349-354页

作者： Marija Đakulović Mijo Čikeš Ivan Petrović University of Zagreb Faculty of Electrical Engineering and Computing Department of Control and Computer

This paper focuses on interpolation-based path planning algorithms for mobile robot that use the occupancy grid map of the environment. Such an algorithm produces the path close to optimal solution in continuous search space, but has computational burden. We discuss on using heuristics to improve efficiency of the E * algorithm, as the interpolation-based path planning algorithm, with a trade-off of generating less optimal paths. We compare obtained paths with the almost optimal solution in continuous search space and also with the path obtained by the D * algorithm, which is a representative of the classical graph search algorithms applied on the occupancy grid map. All used algorithms are verified both by simulation and experimentally on a Pioneer 3DX mobile robot equipped with a laser range finder.

关键词： path planning graph search autonomous mobile robots

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Making Nodes Cooperative: A Secure Incentive Mechanism for Message Forwarding in DTNs

Making Nodes Cooperative: A Secure Incentive Mechanism for M...

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International Conference on Computer Communications and Networks

作者： Honglong Chen Wei Lou College of Information and Control Engineering China University of Petroleum Qingdao P. R. China Department of Computing The Hong Kong Polytechnic University Kowloon Hong Kong

ISBN: (纸本)9781467357739

In traditional Delay Tolerant Networks (DTNs), the nodes can take advantage of intermittent contact opportunities to forward messages. However, in noncooperative DTNs, the nodes may be selfish and reluctant to cooperate with each other in message forwarding. Therefore, it is necessary to motivate the nodes to cooperate with each other in such DTNs. The previously proposed incentive mechanisms have obvious limitations such as the security vulnerability. To resolve such kind of drawbacks, in this paper we propose two credit-based rewarding schemes, called earliest path singular rewarding scheme and earliest path cumulative rewarding scheme respectively, to ensure the nodes truthfully forward the messages. The proposed rewarding schemes are incentive compatible. They also ensure that the payment for each delivered message is upper bounded. Furthermore, the proposed rewarding schemes can prevent selfish nodes from having malicious behaviors. Simulations based on the real trace are conducted to illustrate the effectiveness of the proposed rewarding schemes.

关键词： DTNs illustrate effectiveness

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controllability and stability of discrete-time antilinear systems

Controllability and stability of discrete-time antilinear sy...

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Australian control Conference (AUCC)

作者： Ai-Guo Wu Guang-Ren Duan Wanquan Liu Victor Sreeram Harbin Institute of Technology Shenzhen Graduate School The University of Western Australia Shenzhen P. R. China Center for Control Theory and Guidance Technology Harbin Institute of Technology Harbin P. R. China Department of Computing Curtin University Perth Australia School of Electrical Electronic and Computer Engineering The University of West Australia Perth Australia

In this paper, the discrete-time antilinear systems are investigated. Firstly, a closed-form expression for the state response of discrete-time antilinear systems is established. Secondly, the concepts of reachability and controllability are proposed for discrete-time antilinear systems. With the closed-form expression of the state reponse as tools, anti-Gram criteria for reachability are given. In addition, a matrix rank criteria for reachability and controllability is given for time-invariant antilinear systems. In addition, an anti-Lyapnov equation approach is given to check the stability of the time-invariant antilinear systems.

关键词： Linear systems controllability Australia Educational institutions Equations Vectors

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Stochastic search strategies in 2D using agents with limited perception

Stochastic search strategies in 2D using agents with limited...

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10th IFAC Symposium on Robot control, SYROCO 2012

作者： Puljiz, David Varga, Maja Bogdan, Stjepan Department of Control and Computer Engineering Faculty of Electrical Engineering and Computing University of Zagreb Zagreb Croatia Laboratory of Intelligent Systems Ecole Polytechnique Federale de Lausanne 1015 Lausanne Switzerland

ISBN: (纸本)9783902823113

Animals use stochastic search strategies to find a potential nest or to localize the food source. Animals do not rely much on the environmental cues or their sensory inputs. Since their cognitive capabilities are rather limited, search strategies are usually simplistic and stochastic. And yet such simple search strategies result in high efficiency in finding potential targets in limited time intervals. Similar problems with perception of the environment and limited computational power and sensory inputs are observed on the mobile robots used in search scenarios. In spite of their limitations, such robotic systems usually perform deterministic search strategies which heavily depend on environmental cues and sensory input. The research question we are addressing in this paper is which stochastic search strategy has the best performance in terms of area coverage and can stochastic search strategies outperform deterministic search strategies. © 2012 IFAC.

关键词： Sensory perception

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