Control of a bioreactor using a neural network

This paper describes an experimental investigation concerning the use of neural networks to achieve the non-linear control of a continuous stirred tank fermenter. The influent dilution rate and the substrate concentration have been selected as control variables. The backpropagation learning algorithm has been used for both off-line and on-line identification of the inverse model which provides the control action. Experimental results show the performance and the implementation simplicity of this control approach.     

Development of a direct digital-controlled fermentor using a microminicomputer hierarchical system

A computerized fermentation system was developed for use in a research environment. Major goals in the design and construction of the system were flexibility and versatility. Direct digital control is employed for all low-level and high-level control loops. A microminicomputer hierarchical configuration is used to implement this control structure. The microcomputer is also utilized to simplify the interface with the fermentor, both at the hardware and minicomputer software levels. This computerized fermentation system provides accurate data acquisition, excellent control, and flexibility in the fermentation operation.     

Fuzzy Vorticity Control of a Biomimetic Robotic Fish Using a Flapping Lunate Tail

Vorticity control mechanisms for flapping foils play a guiding role in both biomimetic thrust research and modeling the forward locomotion of animals with wings, fins, or tails. In this paper, a thrust-producing flapping lunate tail is studied through force and power measurements in a water channel. Proper vorticity control methods for flapping tails are discussed based on the vorticity control parameters: the dimensionless transverse amplitude, Strouhal number, angle of attack, and phase angle. Field tests are conducted on a free-swimming biomimetic robotic fish that uses a flapping tail. The results show that active control of Strouhal number using fuzzy logic control methods can efficiently reduce power consumption of the robotic fish and high swimming speeds can be obtained. A maximum speed of 1.17 length specific speed is obtained experimentally under conditions of optimal vorticity control. The St of the flapping tail is controlled within the range of 0.4～0.5.     

Prehensile control of a hand prosthesis by a microcontroller

The functional replacement of a natural hand and wrist is usually achieved by a split hook or an electrically powered and myoelectrically controlled artificial hand with one degree of freedom. In contrast to the commercial devices, this paper describes an experimental hand with four electric motors, nineteen sensors, and control algorithms which are written for a microcontroller. The hand significantly improves the prehension capabilities of an artificial device and leads to a design which is easily controlled by a user as it mimics the control system of the natural hand.     

Growth of a Bacterium Under a High-Pressure Oxy-Helium Atmosphere

Growth of a barotolerant marine organism, EP-4, in a glutamate medium equilibrated with an oxy-helium atmosphere at 500 atmospheres (atm; total pressure) (20°C) was compared with control cultures incubated at hydrostatic pressures of 1 and 500 atm. Relative to the 1-atm control culture, incubation of EP-4 at 500 atm in the absence of an atmosphere resulted in an approximately fivefold reduction in the growth rate and a significant but time variant reduction in the rate constants for the incorporation of substrate into cell material and respiration. Distinct from the pressurized control and separate from potential effects of dissolution of helium upon decompression of subsamples, exposure of the organism to high-pressure oxy-helium resulted in either a loss of viability of a large fraction of the cells or the arrest of growth for one-third of the experimental period. After these initial effects, however, the culture grew exponentially at a rate which was three times greater than the 500-atm control culture. The rate constant for the incorporation of substrate into cell material was also enhanced twofold in the presence of high-pressure oxy-helium. Dissolved oxygen was well controlled in all of the cultures, minimizing any potential toxic effects of this gas.     

EMG stability as a biofeedback control

Factors that may confound comparisons between electromyographic (EMG) biofeedback training and its control conditions include feedback quality and experience of success. We investigated the usefulness of a control procedure designed to overcome these potential sources of confounding. The procedure consisted of training muscle tension stability. We used it as a control for frontal EMG relaxation training in children with asthma. To equate the groups for feedback quality and experience of success, we gave each child in the control condition audio feedback decreasing in pitch when muscle tension was at or near baseline levels, and feedback increasing in pitch when muscle tension was either substantially above or below baseline levels. Children in both groups were instructed to decrease the pitch of the tone. In comparison to children in the relaxation condition, the children in the control condition exhibited stable levels of muscle tension throughout eight training sessions. We concluded that feedback for stable muscle tension may be a useful control procedure for EMG biofeedback training whenever experimental and control procedures differ in either feedback quality of degree to which they permit subjects to experience success.This research was supported by NIH-Grant HL 27402. We are grateful to Paul Schnitter who constructed the EMG stability feedback device.     

EMG stability as a biofeedback control.

Factors that may confound comparisons between electromyographic (EMG) biofeedback training and its control conditions include feedback quality and experience of success. We investigated the usefulness of a control procedure designed to overcome these potential sources of confounding. The procedure consisted of training muscle tension stability. We used it as a control for frontal EMG relaxation training in children with asthma. To equate the groups for feedback quality and experience of success, we gave each child in the control condition audio feedback decreasing in pitch when muscle tension was at or near baseline levels, and feedback increasing in pitch when muscle tension was either substantially above or below baseline levels. Children in both groups were instructed to decrease the pitch of the tone. In comparison to children in the relaxation condition, the children in the control condition exhibited stable levels of muscle tension throughout eight training sessions. We concluded that feedback for stable muscle tension may be a useful control procedure for EMG biofeedback training whenever experimental and control procedures differ in either feedback quality of degree to which they permit subjects to experience success.     

Real-time optimisation of a fermentation process

An adaptive on-line sub-optimal control system for yeast fermentation was developed. The control package is described with a brief history of progress. Results show the effect of the control package on process variables, and indicate present limitations and future development.     

Biological control of snail-borne diseases: a review

The need for alternatives to chemical control of snail-borne diseases and the growing interest in biological control methods are noted. Two groups of natural enemies of snails reviewed as especially promising for biological control are competing and predatory snails, and predatory fly larvae. Potentially useful natural enemies of the intramolluscan stages of trematodes include microsporidian infections and antagonistic trematode larvae. More unusual methods of biological control include the use of a toxic plant product (endod) and genetic manipulation of snails to decrease their susceptibility to trematode infection. The disappointing progress in biological control of snail-borne diseases in the past is attributed largely to delay in recognizing the need for alternatives to chemical control and to lack of interdisciplinary communication.     

Balance of a multijoint biomechanical system in natural and artificial environments: a simulation model

The paper is devoted to a neurobionic simulation model for controlling balance in a biomechanical pendulum. The model is realized by a complex of fuzzy regulators and an artificial neural network. Fuzzy regulators are used for simulating the physiological characteristics of the motor system and the functions of the sensory systems. The second level of control is the central integrator. It is realized as an artificial neural network (ANN), which simulates a real process of analysis and synthesis of afferent signals, formation of the model of action, etc.Equilibrium control in a multijoint biomechanical object is a specific example of a self-developing multilevel system of movement control. In the course of elaboration of the model and further examination of its behavior we have received model results which revealed correspondence with the results demonstrated by real subjects in stabilographic tests performed after long-term space flights. We concluded that the model permits us to simulate the peculiarities of human movement control and can be used for creating individual plans of recovery and rehabilitation of patients after long-term motionless or learning movement control in unknown environments.     

Motion control of the ankle joint with a multiple contact nerve cuff electrode: a simulation study

The flat interface nerve electrode (FINE) has demonstrated significant capability for fascicular and subfascicular stimulation selectivity. However, due to the inherent complexity of the neuromuscular skeletal systems and nerve–electrode interface, a trajectory tracking motion control algorithm of musculoskeletal systems for functional electrical stimulation using a multiple contact nerve cuff electrode such as FINE has not yet been developed. In our previous study, a control system was developed for multiple-input multiple-output (MIMO) musculoskeletal systems with little prior knowledge of the system. In this study, more realistic computational ankle/subtalar joint model including a finite element model of the sciatic nerve was developed. The control system was tested to control the motion of ankle/subtalar joint angles by modulating the pulse amplitude of each contact of a FINE placed on the sciatic nerve. The simulation results showed that the control strategy based on the separation of steady state and dynamic properties of the system resulted in small output tracking errors for different reference trajectories such as sinusoidal and filtered random signals. The proposed control method also demonstrated robustness against external disturbances and system parameter variations such as muscle fatigue. These simulation results under various circumstances indicate that it is possible to take advantage of multiple contact nerve electrodes with spatial selectivity for the control of limb motion by peripheral nerve stimulation even with limited individual muscle selectivity. This technology could be useful to restore neural function in patients with paralysis.     

Adaptive predictive control of a multistage fermentation process

Theoretical and experimental studies concerning the application of modern adaptive techniques for the control of continuous alcoholic fermentation of glucose by a yeast strain conducted in a multistage reactor are reported. The practical control objective was the regulation of the substrate concentration in the process effluent. Mathematical expressions for the control scheme are given, with the underlying control engineering argumentation. Suitable feeding of sugar for stage 2 was controlled to minimize the effluent sugar concentration.     

Fuzzy logic control of a fed-batch fermentor

A rule-based fuzzy logic control is developed for control of penicillin concentration in a fed-batch bioreactor. The membership functions, fuzzy ranges for the error and for the controller output are defined. A fuzzy rule base is constructed relating error to the control output based on operators' knowledge. The performance of the fuzzy-logic controller is evaluated by simulating a mathematical model of the fed-batch bioreactor.     

Electrochemical biofilm control: a review

One of the methods of controlling biofilms that has widely been discussed in the literature is to apply a potential or electrical current to a metal surface on which the biofilm is growing. Although electrochemical biofilm control has been studied for decades, the literature is often conflicting, as is detailed in this review. The goals of this review are: (1) to present the current status of knowledge regarding electrochemical biofilm control; (2) to establish a basis for a fundamental definition of electrochemical biofilm control and requirements for studying it; (3) to discuss current proposed mechanisms; and (4) to introduce future directions in the field. It is expected that the review will provide researchers with guidelines on comparing datasets across the literature and generating comparable datasets. The authors believe that, with the correct design, electrochemical biofilm control has great potential for industrial use.     

Effects of floral resources on the efficacy of a primary parasitoid and a facultative hyperparasitoid

Resources added to agroecosystems to enhance biological control are potentially available to multiple members of the resident insect community—not only the biological control agents for which the resources are intended. Many studies have examined the effects of sugar feeding on the efficacy of biological control agents. However, such information is lacking for other, interacting species such as facultative hyperparasitoids, which may contribute to pest suppression but can also interfere with introduced biological control agents. Under greenhouse conditions, we tested the direct effects of sugar and nectar provisioning on the longevity, host‐killing impact and offspring production of two pupal parasitoids associated with leek moth, Acrolepiopsis assectella: the introduced biological control agent, Diadromus pulchellus, and the native facultative hyperparasitoid, Conura albifrons. Adding sucrose, buckwheat or a combination of buckwheat and common vetch to a sugar‐deprived system (potted leek plants in cages) increased parasitoid longevity and resulted in higher leek moth parasitism and mortality compared to water or common vetch treatments. However, the two parasitoid species exhibited a distinct temporal response to the treatments, likely influenced by differences in their life histories. This study provides insight into how integrating conservation biological control techniques could affect the success of a classical biological control programme.     

Intermittent control: a computational theory of human control

The paradigm of continuous control using internal models has advanced understanding of human motor control. However, this paradigm ignores some aspects of human control, including intermittent feedback, serial ballistic control, triggered responses and refractory periods. It is shown that event-driven intermittent control provides a framework to explain the behaviour of the human operator under a wider range of conditions than continuous control. Continuous control is included as a special case, but sampling, system matched hold, an intermittent predictor and an event trigger allow serial open-loop trajectories using intermittent feedback. The implementation here may be described as ??continuous observation, intermittent action??. Beyond explaining unimodal regulation distributions in common with continuous control, these features naturally explain refractoriness and bimodal stabilisation distributions observed in double stimulus tracking experiments and quiet standing, respectively. Moreover, given that human control systems contain significant time delays, a biological-cybernetic rationale favours intermittent over continuous control: intermittent predictive control is computationally less demanding than continuous predictive control. A standard continuous-time predictive control model of the human operator is used as the underlying design method for an event-driven intermittent controller. It is shown that when event thresholds are small and sampling is regular, the intermittent controller can masquerade as the underlying continuous-time controller and thus, under these conditions, the continuous-time and intermittent controller cannot be distinguished. This explains why the intermittent control hypothesis is consistent with the continuous control hypothesis for certain experimental conditions.     

一种适于家蚕细胞激素研究的双荧光素酶报告基因系统的内参质粒的构建

双荧光素酶报告基因系统能够提供灵敏的读数,但该系统需要依赖组成型表达的内参对读数进行归一化。然而,大多数内参并不是在所有条件下都组成型表达。为此,文中建立了一个有效的方法制备适于家蚕细胞双荧光素酶报告基因系统的内参质粒。首先,突变BmV gP78启动子上的激素应答相关元件,获得了在家蚕细胞中稳定表达的组成型启动子BmV gP78M;然后,用BmV gP78M替换pRL-SV40质粒上的SV40启动子和嵌合内含子序列,成功构建了pRL-V gP78M内参质粒;最后,通过细胞转染实验证实pRL-V gP78M内参在家蚕细胞系中稳定表达,并且pRL-V gP78M内参的表达活性不受蜕皮激素、保幼激素及激素相关转录因子的影响。最终,获得了在家蚕细胞中稳定表达且表达量适中的内参质粒pRL-V gP78M。该内参可以有效地作为双荧光素酶报告基因系统的内参质粒用于家蚕细胞系中激素的研究。同时,该内参质粒的构建方法也为构建适于其他物种细胞系的双荧光素酶报告基因系统的内参质粒提供了参考。     

Continuous three-dimensional control of a virtual helicopter using a motor imagery based brain-computer interface

Brain-computer interfaces (BCIs) allow a user to interact with a computer system using thought. However, only recently have devices capable of providing sophisticated multi-dimensional control been achieved non-invasively. A major goal for non-invasive BCI systems has been to provide continuous, intuitive, and accurate control, while retaining a high level of user autonomy. By employing electroencephalography (EEG) to record and decode sensorimotor rhythms (SMRs) induced from motor imaginations, a consistent, user-specific control signal may be characterized. Utilizing a novel method of interactive and continuous control, we trained three normal subjects to modulate their SMRs to achieve three-dimensional movement of a virtual helicopter that is fast, accurate, and continuous. In this system, the virtual helicopter's forward-backward translation and elevation controls were actuated through the modulation of sensorimotor rhythms that were converted to forces applied to the virtual helicopter at every simulation time step, and the helicopter's angle of left or right rotation was linearly mapped, with higher resolution, from sensorimotor rhythms associated with other motor imaginations. These different resolutions of control allow for interplay between general intent actuation and fine control as is seen in the gross and fine movements of the arm and hand. Subjects controlled the helicopter with the goal of flying through rings (targets) randomly positioned and oriented in a three-dimensional space. The subjects flew through rings continuously, acquiring as many as 11 consecutive rings within a five-minute period. In total, the study group successfully acquired over 85% of presented targets. These results affirm the effective, three-dimensional control of our motor imagery based BCI system, and suggest its potential applications in biological navigation, neuroprosthetics, and other applications.     

Developing a computer control system for a flexible manufacturing cell

This article focuses on the development of a computer control system for a flexible manufacturing cell. The paper outlines the various modules that are required for a computer control system and elaborates on the development of some of these modules. This is part of an ongoing research project at the University of the Witwatersrand. The aim of the project is to demonstrate the viability of flexible manufacturing systems to South African industry. Thus the main constraints of the project were cost, ease of implementation, and ease of maintainability. This necessitated the use of existing machinery and of computer systems and software that were readily available and already familiar to industry.