Adaptive Model Prediction Control-Based Multi-Terrain Trajectory Tracking Framework for Mobile Spherical Robots

Owing to uncertainties in both kinematics and dynamics, the current trajectory tracking framework for mobile robots like spherical robots cannot function effectively on multiple terrains, especially uneven and unknown ones. Since this is a prerequisite for robots to execute tasks in the wild, we enhance our previous hierarchical trajectory tracking framework to handle this issue. First, a modified adaptive RBF neural network (RBFNN) is proposed to represent all uncertainties in kinodynamics. Then the Lyapunov function is utilized to design its adaptive law, and a variable step-size algorithm is employed in the weights update procedure to accelerate convergence and improve stability. Hence, a new adaptive model prediction control-based instruction planner (VAN-MPC) is proposed. Without modifying the bottom controllers, we finally develop the multi-terrain trajectory tracking framework by employing the new instruction planner VAN-MPC. The practical experiments demonstrate its effectiveness and robustness.Comment: 10 pages, 20 figures. This work has been submitted to the IEEE Transactions on Industrial Electronics for possible publicatio

Reinforcement Learning

Brains rule the world, and brain-like computation is increasingly used in computers and electronic devices. Brain-like computation is about processing and interpreting data or directly putting forward and performing actions. Learning is a very important aspect. This book is on reinforcement learning which involves performing actions to achieve a goal. The first 11 chapters of this book describe and extend the scope of reinforcement learning. The remaining 11 chapters show that there is already wide usage in numerous fields. Reinforcement learning can tackle control tasks that are too complex for traditional, hand-designed, non-learning controllers. As learning computers can deal with technical complexities, the tasks of human operators remain to specify goals on increasingly higher levels. This book shows that reinforcement learning is a very dynamic area in terms of theory and applications and it shall stimulate and encourage new research in this field

A Continuous Grasp Representation for the Imitation Learning of Grasps on Humanoid Robots

Models and methods are presented which enable a humanoid robot to learn reusable, adaptive grasping skills. Mechanisms and principles in human grasp behavior are studied. The findings are used to develop a grasp representation capable of retaining specific motion characteristics and of adapting to different objects and tasks. Based on the representation a framework is proposed which enables the robot to observe human grasping, learn grasp representations, and infer executable grasping actions

Cell Migration within 3D Microenvironments: an Integrative Perspective from the Membrane to the Nucleus

La migración celular es fundamental para la vida y el desarrollo. Desafortunadamente, la movilidad celular también está asociada con algunas de las principales causas de morbilidad y mortalidad, incluidos los trastornos inmunitarios, esqueléticos y cardiovasculares, así como la metástasis del cáncer. Las células dependen en su capacidad para percibir y responder a estímulos externos en muchos procesos fisiológicos y patológicos (p. ej., desarrollo embrionario, angiogénesis, reparación de tejidos y progresión tumoral). El objetivo global de esta tesis doctoral fue investigar la respuesta migratoria de células individuales a señales bioquímicas y biofísicas. En particular, el enfoque de esta investigación se centró en los mecanismos que permiten a las células percibir e internalizar señales bioquímicas y biofísicas y la influencia de estos estímulos en la respuesta migratoria de las células individuales.El primer estudio tuvo como objetivo establecer una metodología para facilitar la integración de estudios teóricos con datos experimentales. Al minimizar la intervención del usuario, el sistema propuesto basado en técnicas de optimización Bayesiana gestionó de manera eficiente la calibración de los modelos in silico, que de otro modo sería tediosa y propensa a errores. Posteriormente, se construyó un modelo in silico para investigar cómo los estímulos bioquímicos y biofísicos influyen en el movimiento celular en tres dimensiones. Este modelo computacional integró algunos de los principales actores que permiten a las células percibir y responder a señales externas, que pueden actuar a diferentes escalas e interactuar entre sí. Los resultados mostraron, por un lado, que las células cambian su comportamiento migratorio en función de la pendiente de los gradientes químicos y la concentración absoluta de factores químicos (por ejemplo, factores de crecimiento) a su alrededor. Por otro lado, estos resultados revelaron que la respuesta migratoria de las células a la rigidez y densidad de la matriz depende de su fenotipo. En general, la tesis destaca la dependencia de la migración celular tridimensional al fenotipo de las células (es decir, el tamaño de su núcleo, la deformabilidad del mismo) y las propiedades del microambiente circundante (por ejemplo, el perfil químico, la rigidez de la matriz, el confinamiento).Cell migration is fundamental for life and development. Unfortunately, cell motility is also associated with some of the leading causes of morbidity and mortality, including immune, skeletal, and cardiovascular disorders as well as cancer metastasis. Cells rely on their ability to perceive and respond to external stimuli in many physiological and pathological processes (e.g., embryonic development, angiogenesis, tissue repair, and tumor progression). The global objective of this doctoral thesis was to investigate the migratory response of individual cells to biochemical and biophysical cues. In particular, the focus of this research was on the mechanisms enabling cells to perceive and internalize biochemical and biophysical cues and the influence of these stimuli on the migratory response of individual cells. The first study aimed at establishing a methodology to facilitate the integration of theoretical studies with experimental data. By minimizing user intervention, the proposed framework based on Bayesian optimization techniques efficiently handled the otherwise tedious and error-prone calibration of in silico models. Afterward, an in silico model was built to investigate how biochemical and biophysical stimuli influence three-dimensional cell motion. This computational model integrated some of the main actors enabling cells to probe and respond to external cues, which may act at different scales and interact with each other. The results showed, on the one hand, that cells change their migratory behavior based on the slope of chemical gradients and the absolute concentration of chemical factors (e.g., growth factors) around them. On the other hand, these results revealed that cells’ migratory response to matrix stiffness and density depends on their phenotype. Overall, this thesis highlights the dependence of three-dimensional cell migration on both cells’ phenotype (i.e., nucleus size, deformability) and the properties of the surrounding microenvironment (e.g., chemical profile, matrix rigidity, confinement).<br /

Using MapReduce Streaming for Distributed Life Simulation on the Cloud

Distributed software simulations are indispensable in the study of large-scale life models but often require the use of technically complex lower-level distributed computing frameworks, such as MPI. We propose to overcome the complexity challenge by applying the emerging MapReduce (MR) model to distributed life simulations and by running such simulations on the cloud. Technically, we design optimized MR streaming algorithms for discrete and continuous versions of Conway’s life according to a general MR streaming pattern. We chose life because it is simple enough as a testbed for MR’s applicability to a-life simulations and general enough to make our results applicable to various lattice-based a-life models. We implement and empirically evaluate our algorithms’ performance on Amazon’s Elastic MR cloud. Our experiments demonstrate that a single MR optimization technique called strip partitioning can reduce the execution time of continuous life simulations by 64%. To the best of our knowledge, we are the first to propose and evaluate MR streaming algorithms for lattice-based simulations. Our algorithms can serve as prototypes in the development of novel MR simulation algorithms for large-scale lattice-based a-life models.https://digitalcommons.chapman.edu/scs_books/1014/thumbnail.jp

Underwater Vehicles

For the latest twenty to thirty years, a significant number of AUVs has been created for the solving of wide spectrum of scientific and applied tasks of ocean development and research. For the short time period the AUVs have shown the efficiency at performance of complex search and inspection works and opened a number of new important applications. Initially the information about AUVs had mainly review-advertising character but now more attention is paid to practical achievements, problems and systems technologies. AUVs are losing their prototype status and have become a fully operational, reliable and effective tool and modern multi-purpose AUVs represent the new class of underwater robotic objects with inherent tasks and practical applications, particular features of technology, systems structure and functional properties

Selected Papers from the 5th International Electronic Conference on Sensors and Applications

This Special Issue comprises selected papers from the proceedings of the 5th International Electronic Conference on Sensors and Applications, held on 15–30 November 2018, on sciforum.net, an online platform for hosting scholarly e-conferences and discussion groups. In this 5th edition of the electronic conference, contributors were invited to provide papers and presentations from the field of sensors and applications at large, resulting in a wide variety of excellent submissions and topic areas. Papers which attracted the most interest on the web or that provided a particularly innovative contribution were selected for publication in this collection. These peer-reviewed papers are published with the aim of rapid and wide dissemination of research results, developments, and applications. We hope this conference series will grow rapidly in the future and become recognized as a new way and venue by which to (electronically) present new developments related to the field of sensors and their applications

Gaze-Based Human-Robot Interaction by the Brunswick Model

We present a new paradigm for human-robot interaction based on social signal processing, and in particular on the Brunswick model. Originally, the Brunswick model copes with face-to-face dyadic interaction, assuming that the interactants are communicating through a continuous exchange of non verbal social signals, in addition to the spoken messages. Social signals have to be interpreted, thanks to a proper recognition phase that considers visual and audio information. The Brunswick model allows to quantitatively evaluate the quality of the interaction using statistical tools which measure how effective is the recognition phase. In this paper we cast this theory when one of the interactants is a robot; in this case, the recognition phase performed by the robot and the human have to be revised w.r.t. the original model. The model is applied to Berrick, a recent open-source low-cost robotic head platform, where the gazing is the social signal to be considered