Proportional-Integral-Plus Control Strategy of an Intelligent Excavator

This article considers the application of Proportional-Integral-Plus (PIP) control to the Lancaster University Computerised Intelligent Excavator (LUCIE), which is being developed to dig foundation trenches on a building site. Previous work using LUCIE was based on the ubiquitous PI/PID control algorithm, tuned on-line, and implemented in a rather ad hoc manner. By contrast, the present research utilizes new hardware and advanced model-based control system design methods to improve the joint control and so provide smoother, more accurate movement of the excavator arm. In this article, a novel nonlinear simulation model of the system is developed for MATLAB/SIMULINK, allowing for straightforward refinement of the control algorithm and initial evaluation. The PIP controller is compared with a conventionally tuned PID algorithm, with the final designs implemented on-line for the control of dipper angle. The simulated responses and preliminary implementation results demonstrate the feasibility of the approach

Transcriptional regulatory dynamics drive coordinated metabolic and neural response to social challenge in mice

Agonistic encounters are powerful effectors of future behavior, and the ability to learn from this type of social challenge is an essential adaptive trait. We recently identified a conserved transcriptional program defining the response to social challenge across animal species, highly enriched in transcription factor (TF), energy metabolism, and developmental signaling genes. To understand the trajectory of this program and to uncover the most important regulatory influences controlling this response, we integrated gene expression data with the chromatin landscape in the hypothalamus, frontal cortex, and amygdala of socially challenged mice over time. The expression data revealed a complex spatiotemporal patterning of events starting with neural signaling molecules in the frontal cortex and ending in the modulation of developmental factors in the amygdala and hypothalamus, underpinned by a systems-wide shift in expression of energy metabolism-related genes. The transcriptional signals were correlated with significant shifts in chromatin accessibility and a network of challenge-associated TFs. Among these, the conserved metabolic and developmental regulator ESRRA was highlighted for an especially early and important regulatory role. Cell-type deconvolution analysis attributed the differential metabolic and developmental signals in this social context primarily to oligodendrocytes and neurons, respectively, and we show that ESRRA is expressed in both cell types. Localizing ESRRA binding sites in cortical chromatin, we show that this nuclear receptor binds both differentially expressed energy-related and neurodevelopmental TF genes. These data link metabolic and neurodevelopmental signali ng to social challenge, and identify key regulatory drivers of this process with unprecedented tissue and temporal resolution

Understanding structures : analysis, materials, design

viii, 336 p. ; ill. ; 25 cm

Automating the construction workplace: positioning and navigational factors.

The adaptation of conventional robots to construction sites is fraught with problems. Most significant of these are in relation to positioning, means of collision avoidance, and appropriate navigation strategy. This paper reviews the different levels of navigational autonomy that are possible and describes the system requirements for each. A taxonomy based on the concept of a Mobility Automation Level (MAL) is proposed. Each level is described and the requirements from a robot design perspective are discussed. Finally, a case study, based on an excavator with autonomously optimised movement, known as LUCIE, is used to illustrate some of the design criteria previously described and discussed

Understanding students of color in multicultural counselor training courses: A qualitative investigation of student perspectives

Multicultural training courses are a primary preparation method employed by counselor education programs to prepare counselors for work with diverse populations (Abreu, Chung, Atkinson, 2000; American Counseling Association, 2005; Council for Accreditation of Counseling and Related Educational Programs, 2001). However, the effectiveness of multicultural training in preparing students of color has been questioned. In particular, it has been argued that multicultural training courses both ignore the cultural development needs of students of color and have limited effectiveness with students of color (Negy, 1999; Pope-Davis, Breaux, & Liu, 1997; Atkinson, 1994). Yet, there is scant empirical research to support these critiques of counseling multicultural training courses. The purpose of this study is to enhance our understanding of the perspectives of students of color in multicultural training. In this study a grounded theory approach (Glaser & Strauss, 1967) is used to explore the perspectives of students of color in beginning level multicultural counselor training courses at different counselor education programs in the northeastern United States. This study comprehends from a student orientation what students of color perceive as important to their training in multicultural training courses and to what extent students perceive their multicultural training courses are addressing their educational needs. This research has implications for addressing criticisms of training ineffectiveness with students of color, improving multicultural course curriculum, and informing efforts within the larger mental health community to address racial disparities through diversity training within graduate programs

Graphical programming and the development of construction robots.

Complexity, multidisciplinarity, and algorithmic inherency are characteristics of construction robotic systems. Controlling the development process of such systems requires the adoption of a development model based on Systems Engineering principles. The software-development process is an important aspect of the system, which requires a development environment that can cope with this complexity. Using traditional programming languages (textual) requires highly trained programmers for this purpose, which involves high cost and long development time. In the present work Graphical Programming (iconic) is used as the software development environment because it is highly modular and allows concurrent development, both of which save on time and cost. It also enables nonexpert programmers to produce software capable of coping with the system complexity. A detailed case study of the software development process for an existing tool manipulation robot known as Starlifter is presented. Use of the LabVIEW package is demonstrated for both onboard system control and off-line project management