Search results for "Adaptive"
showing 10 items of 792 documents
On the coupling between agent internal and agent/ environmental dynamics: Development of spatial representations in evolving autonomous robots
2008
In this article we describe how a population of evolving robots can autonomously develop forms of spatial representation which allow them to self-localize and to discriminate different locations of their environment by integrating sensory-motor information over time. The evolving robots also display a remarkable ability to generalize their skill in new environmental conditions that they have never experienced before. The analysis of the obtained results indicates that the evolved robots come up with simple and robust solutions that exploit quasi-periodic limit cycle dynamics emerging from the coupling between the robot/environmental dynamics and a robot's internal dynamics. More specifical…
African trypanosomes expressing multiple VSGs are rapidly eliminated by the host immune system
2019
Significance Many parasites escape the host immune system by undergoing antigenic variation, a process in which surface antigens are regularly shed and replaced by new ones. Trypanosoma brucei employs multiple sophisticated molecular mechanisms to ensure the expression of a homogeneous VSG coat. We generated a mutant parasite that expresses multiple distinct VSGs and studied the consequences of having a multi-VSG coat during an infection. We showed that expression of multiple VSGs makes the parasites more vulnerable to the immune response, which can now control the trypanosomes from the onset of the infection, allowing most mice to survive. In the future, trypanosome infections may be treat…
Data-Driven Adaptive Observer for Fault Diagnosis
2012
Published version of an article from the journal: Mathematical Problems in Engineering. Also available from the publisher:http://dx.doi.org/10.1155/2012/832836 This paper presents an approach for data-driven design of fault diagnosis system. The proposed fault diagnosis scheme consists of an adaptive residual generator and a bank of isolation observers, whose parameters are directly identified from the process data without identification of complete process model. To deal with normal variations in the process, the parameters of residual generator are online updated by standard adaptive technique to achieve reliable fault detection performance. After a fault is successfully detected, the iso…
APPLICATION OF ADAPTIVE WAVELET NETWORKS FOR VIBRATION CONTROL OF BASE ISOLATED STRUCTURES
2010
Accepted version of an article from the journal: International Journal of Wavelets, Multiresolution & Information Processing. Official version article published as International Journal of Wavelets, Multiresolution & Information Processing, 2010 8(5), 773-791. doi: 10.1142/s0219691310003778 © World Scientific Publishing Company http:// http://www.worldscinet.com/ijwmip/ This paper presents an application of wavelet networks (WNs) in identification and control design for a class of structures equipped with a type of semiactive actuators, which are called magnetorheological (MR) dampers. The nonlinear model is identified based on a WN framework. Based on the technique of feedback linearizatio…
Application of Wavelet Networks to Adaptive Control of Robotic Manipulators
2011
Published version of a chapter in the book: Intelligent Robotics and Applications. Also available from the publisher at; http://dx.doi.org/10.1007/978-3-642-25489-5_39 In this paper, a wavelet-based adaptive control is proposed for a class of robotic manipulators, which consist of nonlinearities for friction effects and uncertain terms as disturbances. The controller is calculated by using a mixed of feedback linearization technique, supervisory control and H∞ control. In addition, the parameter adaptive laws of the wavelet network are developed using a Lyapunov-based design. It is also shown that both system tracking stability and convergence of the error estimation can be guaranteed in th…
Robust adaptive H∞ synchronization of master-slave systems with discrete and distributed time-varying delays and nonlinear perturbations
2011
Author's version of a chapter published in the book: Proceedings of the 18th IFAC World Congress 2011. Also available from the publisher at: http://dx.doi.org/10.3182/20110828-6-IT-1002.03116 This paper establishes an adaptive synchronization problem for the master and slave structure of linear systems with nonlinear perturbations and mixed time-varying delays, where the mixed delays comprise different discrete and distributed time-delays. Using an appropriate Lyapunov-Krasovskii functional, some delay-dependent sufficient conditions and an adaption law which include the master-slave parameters are established for designing a delayed synchronization law in terms of linear matrix inequalitie…
Robust adaptive backstepping DP control of ROVs
2022
Dynamic positioning is an important control feature for an underwater remotely operated vehicle. This paper presents a nonlinear dynamic positioning controller suited for application to vehicles with model uncertainties, operating in environments with unpredictable disturbances, such as an aquaculture net cage. The proposed controller combines the backstepping approach with an adaptation term to ensure robustness. Using Lyapunov theory and Matrosov’s theorem the origin of the closed-loop system is proven to be: (i) globally asymptotically stable when assuming persistency of excitation, and (ii) stable and bounded, with the true position converging to the desired position if there is no pers…
Heart rate responses during the modified six-minute walk test among Special Olympics athletes
2021
Objective: The construct validity of the modified six-minute walk test (m6MWT) was examined by addressing the following questions: 1) do participants attain a steady state plateau in heart rate (HR) within the range of 110-150 beats per minute? 2) at what percentage of their predicted HR maximum were participants during each minute of the test? Material and Methods: Participants were 36 (male=56%) Special Olympics athletes aged 34.4 years (SD = 12.7). Following familiarization, participants completed the m6MWT while wearing a Polar Team 2 heart rate monitor. Results: By the end of the first minute, average heart rate was 120bpm, and a factorial repeated measures ANOVA revealed that steady s…
Parallelization of adaptive MC integrators
1997
Monte Carlo (MC) methods for numerical integration seem to be embarassingly parallel on first sight. When adaptive schemes are applied in order to enhance convergence however, the seemingly most natural way of replicating the whole job on each processor can potentially ruin the adaptive behaviour. Using the popular VEGAS-Algorithm as an example an economic method of semi-micro parallelization with variable grain-size is presented and contrasted with another straightforward approach of macro-parallelization. A portable implementation of this semi-micro parallelization is used in the xloops-project and is made publicly available.
Fuzzy dynamic sliding mode control design for high order disturbed systems
2013
In this paper, the problem of fuzzy dynamic sliding mode control design is investigated for a class of disturbed systems. Specifically, the fuzzy controller is constructed based on one feedback signal to estimate the unknown nonlinear terms and to develop the sliding mode control according to the fuzzy rules. Furthermore, it possesses the characteristic of simplicity in design and effectiveness in attenuating chattering. Finally, a numerical example is included to demonstrate the effectiveness and advantage of the proposed method.