A data collection scheme for identification of parameters in a driver model

A high gain steering controller to compensate for limitations in a handicapped driver's range of motion is employed when adapting vehicle to his use. A driver/vehicle system can become unstable as vehicle speed is increased, therefore it is desirable to use a computer simulation of the driver/vehicle combination as a design tool to investigate the system response prior to construction of a controller and road testing. Unknown driver parameters must be identified prior to use of the model for system analysis. A means to collect the data necessary for identification of these driver model parameters without extensive instrumentation of a vehicle to measure and record vehicle states is addressed. Initial tests of the procedure identified all of the driver parameters with errors of 6% or less

Problems of multi-species organisms: endosymbionts to holobionts

The organism is one of the fundamental concepts of biology and has been at the center of many discussions about biological individuality, yet what exactly it is can be confusing. The definition that we find generally useful is that an organism is a unit in which all the subunits have evolved to be highly cooperative, with very little conflict. We focus on how often organisms evolve from two or more formerly independent organisms. Two canonical transitions of this type—replicators clustered in cells and endosymbiotic organelles within host cells—demonstrate the reality of this kind of evolutionary transition and suggest conditions that can favor it. These conditions include co-transmission of the partners across generations and rules that strongly regulate and limit conflict, such as a fair meiosis. Recently, much attention has been given to associations of animals with microbes involved in their nutrition. These range from tight endosymbiotic associations like those between aphids and Buchnera bacteria, to the complex communities in animal intestines. Here, starting with a reflection about identity through time (which we call “Theseus’s fish”), we consider the distinctions between these kinds of animal–bacteria interactions and describe the criteria by which a few can be considered jointly organismal but most cannot

Defensive responses by a social caterpillar are tailored to different predators and change with larval instar and group size

Gregariousness in animals is widely accepted as a behavioral adaptation for protection from predation. However, predation risk and the effectiveness of a prey’s defense can be a function of several other factors, including predator species and prey size or age. The objective of this study was to determine if the gregarious habit of Malacosoma disstria caterpillars is advantageous against invertebrate natural enemies, and whether it is through dilution or cooperative defenses. We also examined the effects of larval growth and group size on the rate and success of attacks. Caterpillars of M. disstria responded with predator-specific behaviors, which led to increased survival. Evasive behaviors were used against stinkbugs, while thrashing by fourth instar caterpillars and holding on to the silk mat by second instar caterpillars was most efficient against spider attacks. Collective head flicking and biting by groups of both second and fourth instar caterpillars were observed when attacked by parasitoids. Increased larval size decreased the average number of attacks by spiders but increased the number of attacks by both stinkbugs and parasitoids. However, increased body size decreased the success rate of attacks by all three natural enemies and increased handling time for both predators. Larger group sizes did not influence the number of attacks from predators but increased the number of attacks and the number of successful attacks from parasitoids. In all cases, individual risk was lower in larger groups. Caterpillars showed collective defenses against parasitoids but not against the walking predators. These results show that caterpillars use different tactics against different natural enemies. Overall, these tactics are both more diverse and more effective in fourth instar than in second instar caterpillars, confirming that growth reduces predation risk. We also show that grouping benefits caterpillars through dilution of risk, and, in the case of parasitoids, through group defenses. The decreased tendency to aggregate in the last larval instar may therefore be linked to decreasing predation risk

Towards Industry 4.0: The Future Automated Aircraft Assembly Demonstrator

Part 4: Digital Technologies and Industry 4.0 ApplicationsInternational audienceAs part of the Future Automated Aircraft Assembly Demonstrator developed by the University of Nottingham, this paper presents a new flexible production environment for the complete manufacturing of high-accuracy high-complexity low-volume aerospace products. The aim is to design a product-independent manufacturing and assembly system that can react to fluctuating product specifications and demands through self-reconfiguration. This environment features a flexible, holistic, and context-aware solution that includes automated positioning, drilling and fastening processes, and is suitable for different aircraft structures with scope to address other manufacturing domains in the future (e.g. automotive, naval and energy). The assembly cell features industrial robots for the handling of aircraft components, while intelligent metrology and control systems monitor the cell to ensure that the assembly process is safe and the target tolerances are met. These three modules are integrated into a single standardized interface, requiring only one operator to control the cell. Performance analyses have shown that, using the reconfigurable production environment described hereafter, a positioning accuracy better than ±0.1 mm can be achieved for large airframe components