Adaptive Preview based Control System for Unmanned Vehicle Path Tracking

The unmanned vehicle control technology is constantly updated. How to accurately track the path has become a key issue. For this reason, a path tracking control system for an unmanned vehicle is designed. The system control module solves the lateral and longitudinal control problems of the unmanned vehicle. The preview compensation controller corrects the deviation of the vehicle approaching the normal track. The steering control module changes the direction of the vehicle based on the motor command signal. In the software part, the kinematics model of the unmanned vehicle in the plane rectangular coordinate system is built. In this model, the steering geometric track is constructed based on the Stanley algorithm. Track tracking preview model can adjust the preview adaptively according to the lateral deviation and heading angle deviation of the vehicle and gets the adaptive preview point. The simulation results show that the maximum absolute value of preview deviation angle, the root mean square of preview deviation angle and the root mean square of tracking error are lower. The effect of path tracking control is better. The effect of path tracking control is less affected by vehicle speed and road environment.

METHODS AND MEANS OF PROVIDING REHABILITATION PROCEDURES THROUGH A BIOTECHNICAL SYSTEM WITH BIOLOGICAL FEEDBACK AND A FUZZY CONTROL MODULE

В статье описана реабилитационная биотехническая система с виртуальной реальностью, позволяющая модулю нечеткого управления осуществлять биологическую обратную связь путем сопоставления стимулирующих сигналов виртуальной реальности, электроэнцефалографических сигналов и электромиосигналов. Предложена рекурсивная математическая модель планирования процедур реабилитации с использованием биологической обратной связи, основанная на понятии функций «обучения» и «забывания», позволяющая планировать сеансы тренинга и прогнозировать их результаты. Разработано аппаратное, алгоритмическое и программное обеспечение биотехничекой системы реабилитации постинсультных больных с модулем нечеткого управления экзоскелетом, позволяющее адаптировать программу реабилитации постинсультных больных с функциональным состоянием конкретного пациента. Сформирована экспериментальная группа для оценки эффективности БТС-тренинга постинсультных больных с паретичными нижними конечностями. Контрольная группа формировалась виртуально на основе статистического анализа ретроспективных стратифицированных результатов реабилитации постинсультных больных посредством биотехнической системы с робототехническим устройством без использования модуля нечеткого управления. Исследование показало, что можно изменить показатели клинического исхода у пациентов с подострым и хроническим течением инсульта после 12 сеансов БТС-тренинга. Биотехничесая система с нечетким управлением робототехническим устройством позволяет осуществлять индивидуальную стратегию реабилитации постинсультных больных (включая целенаправленную тренировку ходьбы) The article describes a biotechnical rehabilitation system with virtual reality, which allows the fuzzy control module to carry out biological feedback by comparing stimulating signals of virtual reality, electroencephalographic signals and electromyosignals. A recursive mathematical model for planning rehabilitation procedures using biofeedback is proposed, based on the concept of “learning” and “forgetting” functions, which allows planning training sessions and predicting their results. The hardware, algorithmic and software support of the biotechnical rehabilitation system for post-stroke patients with a fuzzy exoskeleton control module has been developed, which allows to adapt the rehabilitation program for post-stroke patients with the functional state of a particular patient. An experimental group was formed to assess the effectiveness of BPS training in post-stroke patients with paretic lower extremities. The control group was formed virtually on the basis of statistical analysis of retrospective stratified results of rehabilitation of post-stroke patients using a biotechnical system with a robotic device without using a fuzzy control module. The study showed that it is possible to change the indicators of clinical outcome in patients with subacute and chronic stroke after 12 sessions of BPS training. A biotechnical system with fuzzy control of a robotic device allows an individual strategy for the rehabilitation of post-stroke patients (including targeted walking training)

Parsed synthesis of pyocyanin via co-culture enables context-dependent intercellular redox communication

Background Microbial co-cultures and consortia are of interest in cell-based molecular production and even as “smart” therapeutics in that one can take advantage of division of labor and specialization to expand both the range of available functions and mechanisms for control. The development of tools that enable coordination and modulation of consortia will be crucial for future application of multi-population cultures. In particular, these systems would benefit from an expanded toolset that enables orthogonal inter-strain communication. Results We created a co-culture for the synthesis of a redox-active phenazine signaling molecule, pyocyanin (PYO), by dividing its synthesis into the generation of its intermediate, phenazine carboxylic acid (PCA) from the first strain, followed by consumption of PCA and generation of PYO in a second strain. Interestingly, both PCA and PYO can be used to actuate gene expression in cells engineered with the soxRS oxidative stress regulon, although importantly this signaling activity was found to depend on growth media. That is, like other signaling motifs in bacterial systems, the signaling activity is context dependent. We then used this co-culture’s phenazine signals in a tri-culture to modulate gene expression and production of three model products: quorum sensing molecule autoinducer-1 and two fluorescent marker proteins, eGFP and DsRed. We also showed how these redox-based signals could be intermingled with other quorum-sensing (QS) signals which are more commonly used in synthetic biology, to control complex behaviors. To provide control over product synthesis in the tri-cultures, we also showed how a QS-induced growth control module could guide metabolic flux in one population and at the same time guide overall tri-culture function. Specifically, we showed that phenazine signal recognition, enabled through the oxidative stress response regulon soxRS, was dependent on media composition such that signal propagation within our parsed synthetic system could guide different desired outcomes based on the prevailing environment. In doing so, we expanded the range of signaling molecules available for coordination and the modes by which they can be utilized to influence overall function of a multi-population culture. Conclusions Our results show that redox-based signaling can be intermingled with other quorum sensing signaling in ways that enable user-defined control of microbial consortia yielding various outcomes defined by culture medium. Further, we demonstrated the utility of our previously designed growth control module in influencing signal propagation and metabolic activity is unimpeded by orthogonal redox-based signaling. By exploring novel multi-modal strategies for guiding communication and consortia outcome, the concepts introduced here may prove to be useful for coordination of multiple populations within complex microbial systems.

Scalable Architecture and Structure of Modules for Distributed Process Control System in Industrial Greenhouse Comp

With the growth of the population, the issue of food supply of cities with high-quality agricultural crops becomes urgent. Supply problems arising from this can be solved with the use of industrial greenhouse complexes with artificial lighting and groundless technologies. The development of these complexes makes the task of developing a control system to automate the cultivation processes urgent. Real industrial greenhouse complexes have a significant number of operations with the direct participation of personnel, which can be automated: control of the greenhouse microclimate, lighting, watering and preparation of the nutrient solution composition. This paper presents the architecture of a distributed control system for industrial greenhouse complexes. The system is built on a modular basis and is divided into three levels. The developed architecture is based on the use of standard modules, which makes the control system flexible and scalable. The paper also presents the basic design ratios, with the help of which it is possible to determine the required number of modules for the three levels of the proposed architecture. The use of wireless data transmission between modules based on LoRa technology allows you to abandon the laying of an information bus and at the same time deploy the system over large areas. Control of the system and its parameters is possible through direct human interaction with the interface of the control module or through remote interaction through the cloud. The architecture includes 3 types of executive modules, one combined sensor module and a control module. Each of the executive modules functions according to a given algorithm, and its parameters are controlled by a control module, based on a given growing program and information from sensors. This feature allows you to increase the reliability of the system and continue working in the event of a loss of communication with the cloud, as well as to exclude emergencies in the event of a loss of communication between the modules. The developed solutions make it possible to adapt the proposed control system for greenhouse complexes of various configurations and growing principles.