RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation

Variation in brain connectivity during motor imagery and motor execution in stroke patients based on electroencephalography

ObjectiveThe objective of this study was to analyze the changes in connectivity between motor imagery (MI) and motor execution (ME) in the premotor area (PMA) and primary motor cortex (MA) of the brain, aiming to explore suitable forms of treatment and potential therapeutic targets.MethodsTwenty-three inpatients with stroke were selected, and 21 right-handed healthy individuals were recruited. EEG signal during hand MI and ME (synergy and isolated movements) was recorded. Correlations between functional brain areas during MI and ME were compared.ResultsPMA and MA were significantly and positively correlated during hand MI in all participants. The power spectral density (PSD) values of PMA EEG signals were greater than those of MA during MI and ME in both groups. The functional connectivity correlation was higher in the stroke group than in healthy people during MI, especially during left-handed MI. During ME, functional connectivity correlation in the brain was more enhanced during synergy movements than during isolated movements. The regions with abnormal functional connectivity were in the 18th lead of the left PMA area.ConclusionLeft-handed MI may be crucial in MI therapy, and the 18th lead may serve as a target for non-invasive neuromodulation to promote further recovery of limb function in patients with stroke. This may provide support for the EEG theory of neuromodulation therapy for hemiplegic patients

Phenotypic Subtyping and Re-analyses of Existing Transcriptomic Data from Autistic Probands in Simplex Families Reveal Differentially Expressed and ASD Trait-Associated Genes

© Copyright © 2020 Hu and Bi. Autism spectrum disorder (ASD) describes a collection of neurodevelopmental disorders characterized by core symptoms that include social communication deficits and repetitive, stereotyped behaviors often coupled with restricted interests. Primary challenges to understanding and treating ASD are the genetic and phenotypic heterogeneity of cases that complicates all omics analyses as well as a lack of information on relationships among genes, pathways, and autistic traits. In this study, we re-analyze existing transcriptomic data from simplex families by subtyping individuals with ASD according to multivariate cluster analyses of clinical ADI-R scores that encompass a broad range of behavioral symptoms. We also correlate multiple ASD traits, such as deficits in verbal and non-verbal communication, play and social skills, ritualistic behaviors, and savant skills, with expression profiles using Weighted Gene Correlation Network Analyses (WGCNA). Our results show that subtyping greatly enhances the ability to identify differentially expressed genes involved in specific canonical pathways and biological functions associated with ASD within each phenotypic subgroup. Moreover, using WGCNA, we identify gene modules that correlate significantly with specific ASD traits. Network prediction analyses of the genes in these modules reveal canonical pathways as well as neurological functions and disorders relevant to the pathobiology of ASD. Finally, we compare the WGCNA-derived data on autistic traits in simplex families with analogous data from multiplex families using transcriptomic data from our previous studies. The comparison reveals overlapping trait-associated pathways as well as upstream regulators of the module-associated genes that may serve as useful targets for a precision medicine approach to ASD

EKF-Neural Network Observer Based Type-2 Fuzzy Control of Autonomous Vehicles

This paper proposes a novel robust path-following strategy for autonomous road vehicles based on type-2 fuzzy PID neural network (PIDT2FNN) method coupled to an Extended Kalman Filter-based Fuzzy Neural Network (EKFNN) observer. Uncertain Gaussian membership functions (MFs) are employed to self-adjust the universe of discourse for MFs using the adaptation mechanism derived from Lyapunov stability theory and Barbalat's lemma. External disturbances are significant in autonomous vehicles by changing the driving condition. Furthermore, parametric uncertainties related to the physical limits of tires and the change of the vehicle mass may significantly affect the desired performance of autonomous vehicles. The robustness of the proposed controller against the parametric uncertainties and external disturbances is compared with one active disturbance rejection control (ADRC) algorithm, and a linear-quadratic tracking (LQT) method. The obtained results in terms of the maximum error and root mean square error (RMSE), demonstrate the effectiveness of the proposed control algorithm to reach the minimized path-tracking error

Advanced Modeling, Analysis and Control for Electrified Vehicles

International audienceElectrified vehicles, especially fully driven electric ground vehicles, are expected to provide significantly increased traffic mobility and road utilization with faster response times, lower levels of fuel consumption, less environmental pollution, electrified power sources and actuators, and the benefits of greater driving safety and convenience integrated with diverse, dynamic subsystems [...