The implementation of a bioinspired PID-based controller with online tuning capabilities is developed for obstacle following/avoidance of a nonholonomic mobile robot. An innovative mixture of the conventional PID cont...
The implementation of a bioinspired PID-based controller with online tuning capabilities is developed for obstacle following/avoidance of a nonholonomic mobile robot. An innovative mixture of the conventional PID controller and particle swarm optimization (PSO), which has a strong capability of adaptation across unknown scenarios, reduced objective error, brings us a novel online tuning methodology that can derive optimal controller parameters for a given scenario. It is appropriate for a kind of plant without prior knowledge or established mobile robot model. Computer simulation for obstacle following/avoidance is carried out in four different scenarios using the CoppeliaSim software and the EVA mobile robot platform. The effectiveness of the proposed control algorithm is demonstrated trough the simulation experiment, which shows its superior performance in the training scenario, including an overshoot of 20.1 %, a settling time of 10 seconds, and a steady-state error of 0.76%.
Natural killer(NK)cells play an important role in the antitumor immune response as the major cytotoxic lymphocytes in the innate immune *** cells without any genetic modifications have been used for both autologous an...
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Natural killer(NK)cells play an important role in the antitumor immune response as the major cytotoxic lymphocytes in the innate immune *** cells without any genetic modifications have been used for both autologous and allogeneic ***,many reports have suggested that allogeneic NK cells can reduce the recurrence of disease and improve survival through a graft-versus-leukemia effect without GVHD[1,2].
As the number of livestock farms in Korea decreases, the scale of individual farms has grown, necessitating advanced methods for efficient livestock management. Recent studies have increasingly applied computer vision...
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With the advancement of semiconductor technologies, the need for efficient power management solutions in integrated systems, such as RISC-V architecture-based microcontrollers, becomes increasingly critical. However, ...
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Recently, it has been found that Mg-Sc alloys with a body-centered cubic (bcc) structure have excellent workability, strength and ductility, and exhibit superelasticity at room temperature. However, due to the high co...
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Electric Arc Furnace and Ladle Furnace transformers are very important in steel production industry. The overvoltages caused by vacuum circuit breaker during operation are very repetitive and can lead to failures and,...
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Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for ...
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ISBN:
(数字)9798331508807
ISBN:
(纸本)9798331508814
Learning from Demonstration (LfD) enables robots to learn new tasks through an imitation process. This methodology can be combined with Behavior-Based Control (BBC), which facilitates the abstraction of behaviors for the robot by dividing them into micro-behaviors. These can be implemented using Artificial Neural Networks trained by bio-inspired algorithms. In this work, a novel methodology based on the LfD and BBC methods is proposed for controlling soccer robots, specifically for the Very Small Size Soccer (VSSS) category, which demands quick and dynamic responses. Simulations using CoppeliaSim were conducted to demonstrate how the proposed methodology can be used for path planning and path-following problems in the IEEE VSSS category.
While temozolomide (TMZ) has been a cornerstone in the treatment of newly diagnosed glioblastoma (GBM), a significant challenge has been the emergence of resistance to TMZ, which compromises its clinical benefits. Add...
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This study analyzed the actual condition of the support projects for vacant house utilization in Tokyo’s 23 wards. As a result of interview researches in five wards set up this support projects, the subsidies per yea...
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Retting has been employed to extract natural fibers from agricultural wastes as a biological and cost-effective approach for *** its global abundance,banana pseudo-stem is a promising agro-waste for lignocellulosic fi...
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Retting has been employed to extract natural fibers from agricultural wastes as a biological and cost-effective approach for *** its global abundance,banana pseudo-stem is a promising agro-waste for lignocellulosic fiber *** this study,fibers were extracted from the pseudo-stems after being pre-treated under four conditions using seawater at room temperature for up to 35 d Bacterial isolation from the fresh seawater sample and screening for ligninolytic ability were *** load as well as laccase and manganese peroxidase enzyme activity profile assay during the retting duration were *** transform infrared(FT-IR)and X-day diffraction(XRD)analyses were also examined for both pre-treated and untreated extracted *** results shows that six out of the eight bacterial isolates had the ability to degrade *** treatments(Raw stem+Raw seawater)and(Autoclaved stem+Raw seawater)recorded the highest viable bacterial load of 9.24×102 and 4.46×102 CFU,respectively,on the 14th day of the retting ***,the highest laccase and manganese peroxidase enzymes activity was recorded for(Raw stem+Raw seawater)and(Autoclaved stem+Raw seawater)treatments in the second to the third *** FT-IR spectra of the pre-treated fibers revealed relative reductions in peaks attributed to polysaccharides and other amorphous substances for all retting *** XRD diffractogram revealed that the crystallinity index(CI)of pre-treated fibers increased in all seawater retting treatment ***,the CI for fibers pre-treated under enzymatic conditions were enhanced even after five *** analysis for selected bacterial isolates showed homology to sequences of Bacillus velezensis,Shewanella sp.L8–5,and Citrobacter amalonaticus and Bacillus subtilis j8 *** these findings,it was suggested that physical,biological,and chemical actions were collectively involved in the seawater retting process of banana ps
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