Biomimetic approaches to the control of underwater walking machines

2006 ◽  
Vol 365 (1850) ◽  
pp. 273-295 ◽  
Author(s):  
Joseph Ayers ◽  
Jan Witting
Keyword(s):  
Pattern Generator ◽  
State Machine ◽  
American Lobster ◽  
Environmental Perturbation ◽  
Walking Machines ◽  
Time Map ◽  
Biomimetic Robot ◽  
Tactile Navigation ◽  
Biomechanical Features ◽  
Exteroceptive Reflexes

We have developed a biomimetic robot based on the American lobster. The robot is designed to achieve the performance advantages of the animal model by adopting biomechanical features and neurobiological control principles. Three types of controllers are described. The first is a state machine based on the connectivity and dynamics of the lobster central pattern generator (CPG). The state machine controls myomorphic actuators based on shape memory alloys (SMAs) and responds to environmental perturbation through sensors that employ a labelled-line code. The controller supports a library of action patterns and exteroceptive reflexes to mediate tactile navigation, obstacle negotiation and adaptation to surge. We are extending this controller to neuronal network-based models. A second type of leg CPG is based on synaptic networks of electronic neurons and has been adapted to control the SMA actuated leg. A brain is being developed using layered reflexes based on discrete time map-based neurons.

A Control System for a Flexible Spine Belly-Dancing Humanoid

2006 ◽  
Vol 12 (1) ◽  
pp. 63-88 ◽  
Author(s):  
Jimmy Or
Keyword(s):  
Central Pattern Generator ◽  
Humanoid Robot ◽  
Humanoid Robots ◽  
Pattern Generator ◽  
Degree Of Freedom ◽  
Rhythmic Movements ◽  
Walking Machines ◽  
Belly Dancing ◽  
Almost All ◽  
High Degree

Recently, there has been a lot of interest in building anthropomorphic robots. Research on humanoid robotics has focused on the control of manipulators and walking machines. The contributions of the torso towards ordinary movements (such as walking, dancing, attracting mates, and maintaining balance) have been neglected by almost all humanoid robotic researchers. We believe that the next generation of humanoid robots will incorporate a flexible spine in the torso. To meet the challenge of controlling this kind of high-degree-of-freedom robot, a new control architecture is necessary. Inspired by the rhythmic movements commonly exhibited in lamprey locomotion as well as belly dancing, we designed a controller for a simulated belly-dancing robot using the lamprey central pattern generator. Experimental results show that the proposed lamprey central pattern generator module could potentially generate plausible output patterns, which could be used for all the possible spine motions with minimized control parameters. For instance, in the case of planar spine motions, only three input parameters are required. Using our controller, the simulated robot is able to perform complex torso movements commonly seen in belly dancing as well. Our work suggests that the proposed controller can potentially be a suitable controller for a high-degree-of-freedom, flexible spine humanoid robot. Furthermore, it allows us to gain a better understanding of belly dancing by synthesis.

Swallow Pattern Generator Reconfiguration of the Respiratory Neural Network

2009 ◽  
Vol 18 (1) ◽  
pp. 3-12
Author(s):  
Andrea Vovka ◽  
Paul W. Davenport ◽  
Karen Wheeler-Hegland ◽  
Kendall F. Morris ◽  
Christine M. Sapienza ◽  
...  
Keyword(s):  
Behavioral Control ◽  
Upper Airway ◽  
Pattern Generator ◽  
Breathing Patterns ◽  
Motor Patterns ◽  
Control Assembly ◽  
Pharyngeal Swallow ◽  
Laryngeal Vestibule ◽  
Lower Airways ◽  
Swallow Apnea

Abstract When the nasal and oral passages converge and a bolus enters the pharynx, it is critical that breathing and swallow motor patterns become integrated to allow safe passage of the bolus through the pharynx. Breathing patterns must be reconfigured to inhibit inspiration, and upper airway muscle activity must be recruited and reconfigured to close the glottis and laryngeal vestibule, invert the epiglottis, and ultimately protect the lower airways. Failure to close and protect the glottal opening to the lower airways, or loss of the integration and coordination of swallow and breathing, increases the risk of penetration or aspiration. A neural swallow central pattern generator (CPG) controls the pharyngeal swallow phase and is located in the medulla. We propose that this swallow CPG is functionally organized in a holarchical behavioral control assembly (BCA) and is recruited with pharyngeal swallow. The swallow BCA holon reconfigures the respiratory CPG to produce the stereotypical swallow breathing pattern, consisting of swallow apnea during swallowing followed by prolongation of expiration following swallow. The timing of swallow apnea and the duration of expiration is a function of the presence of the bolus in the pharynx, size of the bolus, bolus consistency, breath cycle, ventilatory state and disease.

MARKOV MATHEMATICAL MODEL OF DYNAMIC ADAPTIVE TESTING OF AN ACTIVE AGENT

2018 ◽  
pp. 29-35
Author(s):  
N. V. Brovka ◽  
P. P. Dyachuk ◽  
M. V. Noskov ◽  
I. P. Peregudova
Keyword(s):  
Mathematical Model ◽  
Finite State Machine ◽  
Active Agent ◽  
Adaptive Testing ◽  
State Machine ◽  
Learning Activities ◽  
Independent Learning ◽  
Complex Object ◽  
Total Reward ◽  
Finite State

The problem and the goal.The urgency of the problem of mathematical description of dynamic adaptive testing is due to the need to diagnose the cognitive abilities of students for independent learning activities. The goal of the article is to develop a Markov mathematical model of the interaction of an active agent (AA) with the Liquidator state machine, canceling incorrect actions, which will allow mathematically describe dynamic adaptive testing with an estimated feedback.The research methodologyconsists of an analysis of the results of research by domestic and foreign scientists on dynamic adaptive testing in education, namely: an activity approach that implements AA developmental problem-solving training; organizational and technological approach to managing the actions of AA in terms of evaluative feedback; Markow’s theory of cement and reinforcement learning.Results.On the basis of the theory of Markov processes, a Markov mathematical model of the interaction of an active agent with a finite state machine, canceling incorrect actions, was developed. This allows you to develop a model for diagnosing the procedural characteristics of students ‘learning activities, including: building axiograms of total reward for students’ actions; probability distribution of states of the solution of the problem of identifying elements of the structure of a complex object calculate the number of AA actions required to achieve the target state depending on the number of elements that need to be identified; construct a scatter plot of active agents by target states in space (R, k), where R is the total reward AA, k is the number of actions performed.Conclusion.Markov’s mathematical model of the interaction of an active agent with a finite state machine, canceling wrong actions allows you to design dynamic adaptive tests and diagnostics of changes in the procedural characteristics of educational activities. The results and conclusions allow to formulate the principles of dynamic adaptive testing based on the estimated feedback.

PENERAPAN FINITE STATE MACHINE UNTUK PENGENDALIAN ANIMASI PADA VIDEO GAME RPG NUSANTARA LEGACY

2018 ◽  
Vol 3 (1) ◽  
pp. 1
Author(s):  
Mustofa Mustofa ◽  
Sidiq Sidiq ◽  
Eva Rahmawati
Keyword(s):  
Life Cycle ◽  
Video Game ◽  
Finite State Machine ◽  
Role Playing ◽  
State Machine ◽  
Game Development ◽  
Development Life Cycle ◽  
Finite State ◽  
Role Playing Game

Perkembangan dunia yang dinamis mendorong percepatan perkembangan teknologi dan informasi. Dengan dorongan tersebut komputer yang dulunya dibuat hanya untuk membantu pekerjaan manusia sekarang berkembang menjadi sarana hiburan, permainan, komunikasi dan lain sebagainya. Dalam sektor hiburan salah satu industri yang sedang menjadi pusat perhatian adalah industri video game. Begitu banyaknya produk video game asing yang masuk ke dalam negeri ini memberikan tantangan kepada bangsa ini. Tentunya video game asing yang masuk ke negara ini membawa banyak unsur kebudayaan negara lain. Ini semakin membuat kebudayaan nusantara semakin tergeserkan dengan serangan kebudayaan asing melalui berbagai media. Maka dari itu peneliti mencoba untuk menerapkan Finite State Machine dalam merancang sebuah video game RPG (Role-Playing game) yang memperkenalkan kebudayaan. Dalam perancangan video game ini peneliti menggunakan metode GDLC(Game Development Life Cycle) agar penelitian ini berjalan secara sistematis. Dalam suatu perancangan video game tedapat banyak elemen, pada penelitian ini penulis lebih fokus pada pengendalian animasi karakter yang dimainkan pada video game ini. Dari perancangan yang dilakukan, disimpulkan bahwa Finite State Machine dapat digunakan untuk pengendalian animasi yang baik pada video game RPG. Diharapkan video game ini dapat menjadi salah satu media untuk mengenalkan kebudayaan nusantara

Growth of juvenile American lobster Homarus americanus in a changing environment

2016 ◽  
Vol 557 ◽  
pp. 177-187 ◽  
Author(s):  
MD McMahan ◽  
DF Cowan ◽  
Y Chen ◽  
GD Sherwood ◽  
JH Grabowski
Keyword(s):  
Homarus Americanus ◽  
American Lobster ◽  
Changing Environment

Predicting bycatch hotspots based on suitable habitat derived from fishery-independent data

2020 ◽  
Vol 641 ◽  
pp. 159-175
Author(s):  
J Runnebaum ◽  
KR Tanaka ◽  
L Guan ◽  
J Cao ◽  
L O’Brien ◽  
...  
Keyword(s):  
Habitat Suitability ◽  
Mixed Model ◽  
Linear Mixed Model ◽  
Gulf Of Maine ◽  
Homarus Americanus ◽  
Management Tool ◽  
American Lobster ◽  
Suitable Habitat ◽  
Climate Conditions ◽  
Suitability Index

Bycatch remains a global problem in managing sustainable fisheries. A critical aspect of management is understanding the timing and spatial extent of bycatch. Fisheries management often relies on observed bycatch data, which are not always available due to a lack of reporting or observer coverage. Alternatively, analyzing the overlap in suitable habitat for the target and non-target species can provide a spatial management tool to understand where bycatch interactions are likely to occur. Potential bycatch hotspots based on suitable habitat were predicted for cusk Brosme brosme incidentally caught in the Gulf of Maine American lobster Homarus americanus fishery. Data from multiple fisheries-independent surveys were combined in a delta-generalized linear mixed model to generate spatially explicit density estimates for use in an independent habitat suitability index. The habitat suitability indices for American lobster and cusk were then compared to predict potential bycatch hotspot locations. Suitable habitat for American lobster has increased between 1980 and 2013 while suitable habitat for cusk decreased throughout most of the Gulf of Maine, except for Georges Basin and the Great South Channel. The proportion of overlap in suitable habitat varied interannually but decreased slightly in the spring and remained relatively stable in the fall over the time series. As Gulf of Maine temperatures continue to increase, the interactions between American lobster and cusk are predicted to decline as cusk habitat continues to constrict. This framework can contribute to fisheries managers’ understanding of changes in habitat overlap as climate conditions continue to change and alter where bycatch interactions could occur.

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