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International Joint Conference on Neural Networks

作者： Dongbin Zhao Yuanheng Zhu Haibo He State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Department of Electrical Computer and Biomedical Engineering University of Rhode Island

ISBN: (纸本)9781467314886

This paper aims to integrate the fuzzy control with adaptive dynamic programming (ADP) scheme, to provide an optimized fuzzy control performance, together with faster convergence of ADP for the help of the fuzzy prior knowledge. ADP usually consists of two neural networks, one is the Actor as the controller, the other is the Critic as the performance evaluator. A fuzzy controller applied in many fields can be used instead as the Actor to speed up the learning convergence, because of its simplicity and prior information on fuzzy membership and rules. The parameters of the fuzzy rules are learned by ADP scheme to approach optimal control performance. The feature of fuzzy controller makes the system steady and robust to system states and uncertainties. Simulations on under-actuated systems, a cart-pole plant and a pendubot plant, are implemented. It is verified that the proposed scheme is capable of balancing under-actuated systems and has a wider control zone.

关键词： Adaptive dynamic programming Fuzzy control Neural network Underactutaed system Cart-pole plant Pendubot

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Development of Prosthesis Grasp control systems on a Robotic Testbed

Development of Prosthesis Grasp Control Systems on a Robotic...

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IEEE RAS & EMBS International Conference on biomedical Robotics and Biomechatronics

作者： Bart Peerdeman Ugo Fabrizi Gianluca Palli Claudio Melchiorri Stefano Stramigioli Sarthak Misra MIRA - Institute for Biomedical Technology and Technical Medicine (Control Engineering Group) University of Twente LAR DEIS - Laboratory of Automation and Robotics Department of Electronics Computer Science and Systems University of Bologna

ISBN: (纸本)9781457711992

Modern myoelectric hand prostheses continue to increase in functionality, while their control is constrained by the limits of myoelectric input. This paper covers the development and testing of grasp control systems for multifunctional myoelectric prosthetic hands. The functionality of modern hand prostheses is often focused on the task of grasping, which can be divided into high-level grasp planning and low-level finger control. Initially, models can used to test these control systems, but for proper evaluation actual implementation on a physical system is required. The University of Bologna (UB) Hand IV prototype is an anthropomorphic, tendon-driven robotic hand, which makes it well-suited to represent the structure of modern prostheses. One of the main control systems tested in this paper is based on the intrinsically passive controller (IPC), the structure of which offers guaranteed passivity and stability. After several grasping tests, the systems are evaluated on compliant behavior, grasping ability, and dynamic appearance. IPC proves to be a powerful approach to interaction control, without the associated sensor requirements which could be difficult to meet in modern hand prostheses.

关键词： Grasp control systems Prosthetic hand Prosthesis robotic hand

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Reinforcement Learning control Based on Multi-Goal Representation Using Hierarchical Heuristic Dynamic Programming

Reinforcement Learning Control Based on Multi-Goal Represent...

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International Joint Conference on Neural Networks

作者： Zhen Ni Haibo He Dongbin Zhao Danil V. Prokhorov Department of Electrical Computer and Biomedical Engineering University of Rhode Island State Key Laboratory of Management and Control for Complex Systems Institute of Automation Chinese Academy of Sciences Toyota Research Institute NA TTC

ISBN: (纸本)9781467314886

We are interested in developing a multi-goal generator to provide detailed goal representations that help to improve the performance of the adaptive critic design (ACD). In this paper we propose a hierarchical structure of goal generator networks to cascade external reinforcement into more informative internal goal representations in the ACD. This is in contrast with previous designs in which the external reward signal is assigned to the critic network directly. The ACD control system performance is evaluated on the ball-and-beam balancing benchmark under noise-free and various noisy conditions. Simulation results in the form of a comparative study demonstrate effectiveness of our approach.

关键词： ACD gene Automatic Shutoff Devices noise-free critic hierarchical structure Noise learning (artificial intelligence) dynamic programming Generator dynamos Heuristics

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International Conference on Soft Computing and Intelligent systems

作者： Takaharu Shimada Tatsuya Hazemoto Shunsuke Makino Kouichi Hirata Kimihito Ito Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Department of Artificial Intelligence Kyushu Institute of Technology Department of Artificial Intelligence & Biomedical Informatics R&D Center Kyushu Institute of Technology Research Center for Zoonosis Control Hokkaido University

ISBN: (纸本)9781467327428

In order to capture a selective packaging mechanism among eight RNA segments in influenza A viruses, we assume that almost nucleotides in the positions of packaging signals must be simultaneously changed. In this paper, we formulate such positions as correlated mutations based on a joint entropy ratio, develop a method of finding all of them by using set enumeration with pruning and apply to nucleotide sequences among RNA segments in H3N2 influenza viruses.

关键词： Packaging signal Influenza viruses Correlated mutation

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A Trim Distance between Positions as Packaging Signals in H3N2 Influenza Viruses

A Trim Distance between Positions as Packaging Signals in H3...

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International Conference on Soft Computing and Intelligent systems

作者： Shunsuke Makino Takaharu Shimada Kouichi Hirata Kouki Yonezawa Kimihito Ito Graduate School of Computer Science and Systems Engineering Kyushu Institute of Technology Department of Artificial Intelligence & Biomedical Informatics R&D Center Kyushu Institute of Technology Department of Computer Bioscience Nagahama Institute of Bio-Science and Technology Research Center for Zoonosis Control Hokkaido University

ISBN: (纸本)9781467327428

A trim distance as a phylogeny-based distance between two positions in nucleotide sequences is formulated as an LCA-preserving distance between the trimmed phylogenetic trees by the positions. In this paper, in order to investigate the positions as packaging signals of nucleotide sequences in influenza A (H3N2) viruses, we compute and compare the trim distances between positions in the nucleotide sequences of influenza A (H3N2) viruses provided from NCBI.

关键词： Packaging signal Influenza viruses Trim distance

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Assortative and modular networks are shaped by adaptive synchronization processes

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Physical Review E 2012年第1期86卷 015101(R)-015101(R)页

作者： Vanesa Avalos-Gaytán Juan A. Almendral David Papo Satu Elisa Schaeffer Stefano Boccaletti Postgraduate Division in Systems Engineering Department of Mechanical and Electrical Engineering Universidad Autónoma de Nuevo León San Nicolás de los Garza Nuevo León Mexico Complex Systems Group Universidad Rey Juan Carlos Calle Tulipán s/n E-28933 Móstoles Spain Laboratory of Biological Networks Center for Biomedical Technology E-28223 Pozuelo de Alarcón Madrid Spain Group of Computational Systems Biology Center for Biomedical Technology E-28223 Pozuelo de Alarcón Madrid Spain Postgraduate Division in Computation and Mechatronics Department of Mechanical and Electrical Engineering Universidad Autónoma de Nuevo León San Nicolás de los Garza Nuevo León Mexico

Modular organization and degree-degree correlations are ubiquitous in the connectivity structure of biological, technological, and social interacting systems. So far most studies have concentrated on unveiling both features in real world networks, but a model that succeeds in generating them simultaneously is needed. We consider a network of interacting phase oscillators, and an adaptation mechanism for the coupling that promotes the connection strengths between those elements that are dynamically correlated. We show that, under these circumstances, the dynamical organization of the oscillators shapes the topology of the graph in such a way that modularity and assortativity features emerge spontaneously and simultaneously. In turn, we prove that such an emergent structure is associated with an asymptotic arrangement of the collective dynamical state of the network into cluster synchronization.

关键词： Topology

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Continuous control of blood glucose in TIDM using fuzzy logic controller in insulin pump: A simulation study

Continuous control of blood glucose in TIDM using fuzzy logi...

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2011 2nd International Conference on control, Instrumentation and Automation, ICCIA 2011

作者： Maleki, Ali Geramipour, Arezou Semnan University Electrical and Computer Engineering Faculty Biomedical Engineering Department Iran Amirkabir University of Technology Biomedical Engineering Faculty Biological Systems Control Laboratory Iran

ISBN: (纸本)9781467316903

This paper presents a closed-loop control system for regulating blood glucose level in type-1 diabetic patients. The goals of designing controller are 1. avoidance of hypoglycemia (blood glucose concentrations should be above 3mmol/l) and 2. reduction in the blood glucose level (average blood glucose should be less than 7mmol/l) in diabetic patients. An intensive therapy for these patients is described by a continuous subcutaneous insulin infusion pump which mimics the natural insulin secretion in healthy person. The control algorithm uses experience of physicians to treat this disease by using Mamdani-type fuzzy logic controller (FLC). Robustness of this controller is tested by a group of diabetic patients models. Then to assess the performance and capabilities of fuzzy controller, the results of FLC were compared to PID controller for each diabetic patient. The results showed that FLC has a more stable response in presence of uncertainty in system parameters which can vary from patient to patient. © 2011 IEEE.

关键词： controllers

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Drift-diffusion analysis of neutrophil migration during inflammation resolution in a zebrafish model

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Advances in Hematology 2012年第1期2012卷 792163页

作者： Holmes, Geoffrey R. Dixon, Giles Anderson, Sean R. Reyes-Aldasoro, Constantino Carlos Elks, Philip M. Billings, Stephen A. Whyte, Moira K. B. Kadirkamanathan, Visakan Renshaw, Stephen A. Department of Automatic Control and Systems Engineering University of Sheffield Sheffield S1 3JD United Kingdom MRC Centre for Developmental and Biomedical Genetics University of Sheffield Sheffield S10 2TN Firth Court Western Bank United Kingdom University of Sussex School of Engineering and Design Biomedical Engineering Research Group Brighton BN1 9QT United Kingdom Department of Infection and Immunity University of Sheffield Sheffield S10 2JF United Kingdom

Neutrophils must be removed from inflammatory sites for inflammation to resolve. Recent work in zebrafish has shown neutrophils can migrate away from inflammatory sites, as well as die in situ. The signals regulating the process of reverse migration are of considerable interest, but remain unknown. We wished to study the behaviour of neutrophils during reverse migration, to see whether they moved away from inflamed sites in a directed fashion in the same way as they are recruited or whether the inherent random component of their migration was enough to account for this behaviour. Using neutrophil-driven photoconvertible Kaede protein in transgenic zebrafish larvae, we were able to specifically label neutrophils at an inflammatory site generated by tailfin transection. The locations of these neutrophils over time were observed and fitted using regression methods with two separate models: pure-diffusion and drift-diffusion equations. While a model hypothesis test (the F-test) suggested that the datapoints could be fitted by the drift-diffusion model, implying a fugetaxis process, dynamic simulation of the models suggested that migration of neutrophils away from a wound is better described by a zero-drift, diffusion process. This has implications for understanding the mechanisms of reverse migration and, by extension, neutrophil retention at inflammatory sites. © Copyright 2012 Geoffrey R. Holmes et al.

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Linear Quadratic Regulator (LQR) approach for lifting and stabilizing of two-wheeled wheelchair

Linear Quadratic Regulator (LQR) approach for lifting and st...

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IEEE International Conference on mechatronics

作者： Ahmad, Salmiah Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia Kuala Lumpur Malaysia Dept. of Automatic Control and Systems Engineering University of Sheffield Sheffield United Kingdom

ISBN: (纸本)9781612844350

This paper discussed about the implementation of Linear Quadratic Regulator (LQR) on a two-wheeled wheelchair model. The state space model of the two-wheeled wheelchair that mimics double inverted pendulum has been obtained from the linearized mathematical equations of the model. The equations of motions, which are very complex, are derived from the wheels, Link1 and Link2. The goal is to have both links of the two-wheeled wheelchair to be at the upright position. To fulfill the goal, Link1 is to be lifted up from its initial position to zero degree upright position while maintaining Link2 at the upright position. This research is aimed to help disabled people who are using the wheelchair as the main transport for mobility but cannot stand on his own due to permanent injuries on the extremities. The scenario requires a suitable control strategy for the good system performance. Results show that LQR provides good response with the linearized differential equations. © 2011 IEEE.

关键词： Fuzzy logic

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Multi-objective PSO based augmented control of a twin rotor system

Multi-objective PSO based augmented control of a twin rotor ...

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IEEE International Conference on mechatronics

作者： Toha, S.F. Tokhi, M.O. Department of Mechatronics Faculty of Engineering International Islamic University Malaysia P.O. Box 10 50728 Kuala Lumpur Malaysia Department of Automatic Control and Systems Engineering University of Sheffield United Kingdom

ISBN: (纸本)9781612844350

control of vibration suppressions is crucial for applications in engineering particularly in the area of aircraft system. An augmented control approach encompasses of using a feedforward intelligent command shaping technique with combination of intelligent PID feedback control is presented in this paper. The advantage of using command shaping is to reduce system vibration. However, it can cause delay in system response resulting to a conflict between vibration suppression and rise time response. Multi-objective particle swarm optimization with spread factor (MOPSO-SF) is employ in this paper to determine a set of solutions for the amplitudes and corresponding time locations of impulses on an extra sensitive (El) command shaping as well as gain parameters for the PID controller. The effectiveness of the proposed technique is assessed both in the time domain and the frequency domain. Moreover, a comparative assessment of the performance of the technique with the system response and unshaped finite step input is presented. © 2011 IEEE.

关键词： Particle swarm optimization (PSO)

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