Discrete neural compensator algorithm of dynamic in mobile robots using extended Kalman filter

Este artículo presenta el diseño de un algoritmo basado en redes neuronales en tiempo discreto para su aplicación en robótica móvil. También se muestran las condiciones de estabilidad y una evaluación de los resultados. El robot móvil en el cual se aplicó el algoritmo neural posee 2 controladores en cascada, uno para la cinemática y otro para la dinámica; ambos controladores están basados en la linealización por realimentación. El controlador de la dinámica solo posee la información de la dinámica nominal (parámetros). La red neuronal de compensación se adapta para reducir las perturbaciones ocasionadas por las variaciones en la dinámica y las incertidumbres existentes en el modelo, y esas diferencias en la dinámica entre el modelo nominal y el real son aprendidas por una red neuronal RBF (funciones de base radial) usando el filtro de Kalman extendido para el ajuste de los pesos de salida de las funciones de base radial. El algoritmo de compensación neuronal es eficiente, ya que el costo computacional es menor que el necesario para aprender la totalidad de la dinámica y al mismo tiempo posee la robustez que podría aprender la totalidad de la dinámica en caso de fallo del controlador dinámico. En este trabajo se muestra un análisis de estabilidad del algoritmo neuronal adaptable, y además se comprueba que los errores de control están acotados en función del error de aproximación de la red neuronal RBF. Se muestran resultados de experimentación sobre un robot móvil que prueban la viabilidad práctica y el rendimiento para el control de los mismos.This paper presents the design of an algorithm based on neural networks in discrete time for its application in mobile robots. In addition, the system stability is analyzed and an evaluation of the experimental results is shown. The mobile robot has two controllers, one addressed for the kinematics and the other one designed for the dynamics. Both controllers are based on the feedback linearization. The controller of the dynamics only has information of the nominal dynamics (parameters). The neural algorithm of compensation adapts its behaviour to reduce the perturbations caused by the variations in the dynamics and the model uncertainties. Thus, the differences in the dynamics between the nominal model and the real one are learned by a neural network RBF (radial basis functions) where the output weights are set using the extended Kalman filter. The neural compensation algorithm is efficient, since the consumed processing time is lower than the one required to learning the totality of the dynamics. In addition, the proposed algorithm is robust with respect to failures of the dynamic controller. In this work, a stability analysis of the adaptable neural algorithm is shown and it is demonstrated that the control errors are bounded depending on the error of approximation of the neural network RBF. Finally, the results of experiments performed by using a mobile robot are shown to test the viability in practice and the performance for the control of robots.Peer Reviewe

Manipulation of ultracold atomic mixtures using microwave techniques

We used microwave radiation to evaporatively cool a mixture of of 133Cs and 87Rb atoms in a magnetic trap. A mixture composed of an equal number (around 10^4) of Rb and Cs atoms in their doubly polarized states at ultracold temperatures was prepared. We also used microwaves to selectively evaporate atoms in different Zeeman states.Comment: 9 pages, 6 figure

Symbiotic Behaviour of Alfalfa Varieties Grown in Different Soils

Six alfalfa (Medicago sativa) varieties were grown in two contrasting soils to study their symbiotic ability as estimated by nodule biomass and dry matter yield in presence of the natural population of rhizobia of soil. Varieties can be discriminated on the basis of total (year) nodule biomass; their ranking for nodule biomass was consistent in the different soil types although soils significantly influenced nodulation and dry matter yield

Association of the mtDNA m.4171C>A/MT-ND1 mutation with both optic neuropathy and bilateral brainstem lesions

Background: An increasing number of mitochondrial DNA (mtDNA) mutations, mainly in complex I genes, have been associated with variably overlapping phenotypes of Leber’s hereditary optic neuropathy (LHON), mitochondrial encephalomyopathy with stroke-like episodes (MELAS) and Leigh syndrome (LS). We here describe the first case in which the m.4171C>A/MT-ND1 mutation, previously reported only in association with LHON, leads also to a Leigh-like phenotype. Case presentation: A 16-year-old male suffered subacute visual loss and recurrent vomiting and vertigo associated with bilateral brainstem lesions affecting the vestibular nuclei. His mother and one sister also presented subacute visual loss compatible with LHON. Sequencing of the entire mtDNA revealed the homoplasmic m.4171C>A/MT-ND1 mutation, previously associated with pure LHON, on a haplogroup H background. Three additional non-synonymous homoplasmic transitions affecting ND2 (m.4705T>C/MT-ND2 and m.5263C>T/MT-ND2) and ND6 (m.14180T>C/MT-ND6) subunits, well recognized as polymorphisms in other mtDNA haplogroups but never found on the haplogroup H background, were also present. Conclusion: This case widens the phenotypic expression of the rare m.4171C>A/MT-ND1 LHON mutation, which may also lead to Leigh-like brainstem lesions, and indicates that the co-occurrence of other ND non-synonymous variants, found outside of their usual mtDNA backgrounds, may have increased the pathogenic potential of the primary LHON mutation

Effectiveness of natural antioxidants in sunflower oil

The antioxidant activity of ∝- and δ-tocopherol, citric acid, ascorbic acid and ascorbyl palmitate was investigated in sunflower oil containing naturally occurring tocopherol. The effectiveness of natural antioxidants in sunflower oil was monitored by the accelerated oxidative stability test Rancimat and oxidation development during storage under different conditions. Samples in storage experiments were periodically removed and analyzed for peroxide value, p-anisidine value, total content and distribution of polar compounds, and residual naturally occurring tocopherol. The effectiveness of each antioxidant was strongly dependent on temperature and the testing method. While ascorbic acid appears to be the most effective antioxidant according to the Rancimat oxidative stability index, δ-tocopherol shows improved performance when considering storage experiments.The antioxidant activity of ∝- and δ-tocopherol, citric acid, ascorbic acid and ascorbyl palmitate was investigated in sunflower oil containing naturally occurring tocopherol. The effectiveness of natural antioxidants in sunflower oil was monitored by the accelerated oxidative stability test Rancimat and oxidation development during storage under different conditions. Samples in storage experiments were periodically removed and analyzed for peroxide value, p-anisidine value, total content and distribution of polar compounds, and residual naturally occurring tocopherol. The effectiveness of each antioxidant was strongly dependent on temperature and the testing method. While ascorbic acid appears to be the most effective antioxidant according to the Rancimat oxidative stability index, δ-tocopherol shows improved performance when considering storage experiments

Superconducting tunable flux qubit with direct readout scheme

We describe a simple and efficient scheme for the readout of a tunable flux qubit, and present preliminary experimental tests for the preparation, manipulation and final readout of the qubit state, performed in incoherent regime at liquid Helium temperature. The tunable flux qubit is realized by a double SQUID with an extra Josephson junction inserted in the large superconducting loop, and the readout is performed by applying a current ramp to the junction and recording the value for which there is a voltage response, depending on the qubit state. This preliminary work indicates the feasibility and efficiency of the scheme.Comment: 10 pages, 5 figure