Search results for "loop"
showing 10 items of 608 documents
Underwater Wireless Communications for Cooperative Robotics with UWSim-NET
2019
The increasing number of autonomous underwater vehicles (AUVs) cooperating in underwater operations has motivated the use of wireless communications. Their modeling can minimize the impact of their limited performance in real-time robotic interventions. However, robotic frameworks hardly ever consider the communications, and network simulators are not suitable for HIL experiments. In this work, the UWSim-NET is presented, an open source tool to simulate the impact of communications in underwater robotics. It gathers the benefits of NS3 in modeling communication networks with those of the underwater robot simulator (UWSim) and the robot operating system (ROS) in modeling robotic systems. Thi…
On stability and robustness of Virtual Torsion Sensor (VTS) for flexible joint robots
2016
The so called ‘Virtual Torsion Sensor’ (VTS) has been introduced in pervious works for flexible joint robots without sensing of the joint output states, i.e. link position and velocity. Since VTS is incorporated into the feedback control loop, so as to improve the links' positioning accuracy, the related stability is crucial for the overall control design and robust operation of VTS. In this paper, we analyze the stability of including VTS into the feedback loop while assuming the predicted joint torsion is gained by the proportional term of the underlying motor position feedback control. We start our consideration by an ideal case of the linear joint stiffness, first assuming the measured …
Engineering multi-agent systems using feedback loops and holarchies
2016
This paper presents a methodological approach for the engineering of Multi-Agent Systems using feedback loops as a first class concept in order to identify organizations. Feedback loops are a way for modeling complex systems that expose emergent behavior by means of a cause-effect loop between two levels called micro and macro levels of the system. The proposed approach principles consist in defining an abstract feedback loop pattern and providing activities and guidelines in order to identify and refine possible candidates for feedback loops during the analysis phase of the Aspecs methodology. This approach is illustrated by using an example drawn from the smart grid field.
A new approach to simulate coating thickness in cold spray
2020
Abstract In the process of cold spray on complex components, the coating thickness is an important indicator to monitor and control. Current methods such as destructive tests or direct mechanical measurements can only be performed after spraying. Besides, these methods lead to production shutdown and additional costs . This article presents a novel approach predicting coating thickness for components with complex curved surfaces, especially in the case of shadow effects. Firstly, a three-dimensional geometric model of the coating profile based on Gaussian distribution was developed. In addition, the relative deposition efficiency (RDE) resulting from the different robot kinematic parameters…
Crowd-Averse Robust Mean-Field Games: Approximation via State Space Extension
2016
We consider a population of dynamic agents, also referred to as players. The state of each player evolves according to a linear stochastic differential equation driven by a Brownian motion and under the influence of a control and an adversarial disturbance. Every player minimizes a cost functional which involves quadratic terms on state and control plus a cross-coupling mean-field term measuring the congestion resulting from the collective behavior, which motivates the term “crowd-averse.” Motivations for this model are analyzed and discussed in three main contexts: a stock market application, a production engineering example, and a dynamic demand management problem in power systems. For th…
Analyzing Cascading Effects in Interdependent Critical Infrastructures
2018
International audience; Critical Infrastructures (CIs) are resources that are essential for the performance of society, including its economy and its security. Large-scale disasters, whether natural or man-made, can have devastating primary (direct) effects on some CI and significant indirect effects (cascading effects) on other CIs, because CIs are interconnected and depend on each other’s services. Recent work by Laugé et al. expressed the dependency values among CIs as dependency matrices for various durations of the primary CI failure. For better preparedness and mitigation of CI failures knowledge of the weak points in CI interdependencies is crucial. To this effect, we have developed …
The Importance of Cerebellar Connectivity on Simulated Brain Dynamics
2020
The brain shows a complex multiscale organization that prevents a direct understanding of how structure, function and dynamics are correlated. To date, advances in neural modeling offer a unique opportunity for simulating global brain dynamics by embedding empirical data on different scales in a mathematical framework. The Virtual Brain (TVB) is an advanced data-driven model allowing to simulate brain dynamics starting from individual subjects' structural and functional connectivity obtained, for example, from magnetic resonance imaging (MRI). The use of TVB has been limited so far to cerebral connectivity but here, for the first time, we have introduced cerebellar nodes and interconnecting…
Biological and Ecological Features, Trophic Structure and Energy Flow in Meromictic Lakes
2017
Case studies and typical examples for meromictic lakes are used to provide a review of the biology and ecology of these ecosystems. Water column in meromictic lakes is not entirely mixed. These lakes are chemically and/or thermally stratified for several years and have several specific ecological features. The chemocline —the habitat created between the mixolimnion on top and monimolimnion below—is characterised by the existence of complex bacterial communities, autotrophic and heterotrophic protists and metazooplankton, commonly dominated by rotifers , high rates of oxygenic and anoxygenic photosynthesis and some biogeochemical processes . In these lakes, the sulphur, carbon and nitrogen c…
Aryl Hydrocarbon Receptor in Keratinocytes Is Essential for Murine Skin Barrier Integrity.
2016
The aryl hydrocarbon receptor (AhR) is a ligand-activated transcription factor involved in adaptive cell functions, and it is highly active in the epidermis. AhR ligands can accelerate keratinocyte differentiation, but the precise role of AhR in the skin barrier is unknown. Our study showed that transepidermal water loss, a parameter of skin barrier integrity, is high in AhR-deficient mice. Experiments with conditionally AhR-deficient mouse lines identified keratinocytes as the primary cell population responsible for high transepidermal water loss. Electron microscopy showed weaker intercellular connectivity in the epidermis of keratinocytes in AhR-knockout mice, and gene expression analysi…
Selective AhR knockout in langerin-expressing cells abates Langerhans cells and polarizes Th2/Tr1 in epicutaneous protein sensitization
2020
The aryl hydrocarbon receptor (AhR) represents an environmental sensor regulating immune responses. In the skin, AhR is expressed in several cell types, including keratinocytes, epidermal Langerhans cells (LC), and dermal dendritic cells (DC). The mechanisms how AhR activates or inhibits cutaneous immune responses remain controversial, owing to differences in the cell-specific functions of AhR and the different activating ligands. Therefore, we sought to investigate the role of AhR in LC and langerin(+) and negative DC in the skin. To this aim, we generated Langerin-specific and CD11c-specific knockout ((−/−)) mice lacking AhR, respectively, in LC and Langerin(+) dermal DC and in all CD11c(…