On-line learning and updating unmanned tracked vehicle dynamics

Increasing levels of autonomy impose more pronounced performance requirements for unmanned ground vehicles (UGV). Presence of model uncertainties significantly reduces a ground vehicle performance when the vehicle is traversing an unknown terrain or the vehicle inertial parameters vary due to a mission schedule or external disturbances. A comprehensive mathematical model of a skid steering tracked vehicle is presented in this paper and used to design a control law. Analysis of the controller under model uncertainties in inertial parameters and in the vehicle-terrain interaction revealed undesirable behavior, such as controller divergence and offset from the desired trajectory. A compound identification scheme utilizing an exponential forgetting recursive least square, generalized Newton–Raphson (NR), and Unscented Kalman Filter methods is proposed to estimate the model parameters, such as the vehicle mass and inertia, as well as parameters of the vehicle-terrain interaction, such as slip, resistance coefficients, cohesion, and shear deformation modulus on-line. The proposed identification scheme facilitates adaptive capability for the control system, improves tracking performance and contributes to an adaptive path and trajectory planning framework, which is essential for future autonomous ground vehicle mission

Modeling and control of a simplified high-speed vehicle moving in reduced-pressure conditions

In times of rapidly progressing globalization, the possibility of fast long-distance travel between high traffic cities has become an extremely important issue. Currently, available transportation systems have numerous limitations, therefore, the idea of a high-speed transportation system moving in reduced-pressure conditions has emerged recently. This paper presents an approach to the modelling and simulation of the dynamic behaviour of a simplified high-speed vehicle that hovers over the track as a magnetically levitated system. The developed model is used for control system design. The purpose of passive and active suspension discussed in the text is to improve both the performance and stability of the vehicle as well as ride comfort of passengers travelling in a compartment. Comparative numerical studies are performed and the results of the simulations are reported in the paper with the intent to demonstrate the benefits of the approach employed here

Supervised Learning for Makeup Style Transfer

This paper addresses the problem of using deep learning for makeup style transfer. For solving this problem, we propose a new supervised method. Additionally, we present a technique for creating a synthetic dataset for makeup transfer used to train our model. The obtained results were compared with six popular methods for makeup transfer using three metrics. The tests were carried out on four available data sets. The proposed method, in many respects, is competitive with the methods used in the literature. Thanks to images of faces with generated synthetic makeup, the proposed method learns to better transfer details, and the learning process is significantly accelerated

Antithrombotic Potential of Tormentil Extract in Animal Models

Potentilla species that have been investigated so far display pharmacological activity mainly due to the presence of polyphenols. Recently, it was shown that polyphenol-rich extract from rhizome of Potentilla erecta (tormentil extract) affects the metabolism of arachidonic acid and exerts both anti-inflammatory and anti-oxidant activities, suggesting a possible effect on thrombosis. Accordingly, the aim of the study was to evaluate the effect of tormentil extract on haemostasis in a rat model of thrombosis. Lyophilized water-methanol extract from P. erecta rhizome was administrated per os for 14 days in doses of 100, 200, and 400 mg/kg in a volume of 2 mL/kg in a 5% water solution of gummi arabici (VEH). In the in vivo experiment an electrically induced carotid artery thrombosis model with blood flow monitoring was used in Wistar rats. Collected blood samples were analyzed ex vivo functionally and biochemically for changes in haemostasis. Tormentil extract (400 mg/kg) significantly decreased thrombus weight and prolonged the time to carotid artery occlusion and bleeding time without changes in the blood pressure. In the ex vivo experiment tormentil extract (400 mg/kg) reduced thromboxane production and decreased t-PA activity, while total t-PA concentration, as well as total PAI-1 concentration and PAI-1 activity remained unchanged. Furthermore, tormentil extract (400 mg/kg) decreased bradykinin concentration and shortened the time to reach maximal optical density during fibrin generation. Prothrombin time, activated partial thromboplastin time, QUICK index, fibrinogen level, and collagen-induced aggregation remained unchanged. To investigate the involvement of platelets in the antithrombotic effect of tormentil, the extract was administrated per os for 2 days to mice and irreversible platelets activation after ferric chloride induced thrombosis was evaluated under intravital conditions using confocal microscopy system. In this model tormentil extract (400 mg/kg) significantly reduced platelet activation at the same extent as acetylsalicylic acid. Taken together, we have shown for the first time that tormentil extract inhibits arterial thrombosis in platelet- and endothelial-dependent mechanisms without hemodynamic changes. Further studies on the detailed mechanism of action of tormentil extract toward fibrinolysis and the kinin system should be carried out