CPG Control for Biped Hopping Robot in Unpredictable Environment

A CPG control mechanism is proposed for hopping motion control of biped robot in unpredictable environment.Based on analysis of robot motion and biological observation of animal's control mechanism,the motion control task is divided into two simple parts:motion sequence control and output force control.Inspired by a two-level CPG model,a two-level CPG control mechanism is constructed to coordinate the drivers of robot joint,while various feedback information are introduced into the control mechanism.Interneurons within the control mechanism are modeled to generate motion rhythm and pattern promptly for motion sequence control; motoneurons are modeled to control output forces of joint drivers in real time according to feedbacks.The control system can perceive changes caused by unknown perturbations and environment changes according to feedback information,and adapt to unpredictable environment by adjusting outputs of neurons.The control mechanism is applied to a biped hopping robot in unpredictable environment on simulation platform,and stable adaptive motions are obtained.     

Multi-Objective Evolutionary Optimization of Biological Pest Control with Impulsive Dynamics in Soybean Crops

The biological pest control in agriculture, an environment-friendly practice, maintains the density of pests below an economic injury level by releasing a suitable quantity of their natural enemies. This work proposes a multi-objective numerical solution to biological pest control for soybean crops, considering both the cost of application of the control action and the cost of economic damages. The system model is nonlinear with impulsive control dynamics, in order to cope more effectively with the actual control action to be applied, which should be performed in a finite number of discrete time instants. The dynamic optimization problem is solved using the NSGA-II, a fast and trustworthy multi-objective genetic algorithm. The results suggest a dual pest control policy, in which the relative price of control action versus the associated additional harvest yield determines the usage of either a low control action strategy or a higher one.     

The effects of environmental control on cognition in rats (Rattus norvegicus)

The aim of this study was to allow nonhuman animals to control their environment using operant conditioning procedures and to assess the effect of control on cognitive tasks. The study tested 4 predictions: (a) rats (Rattus norvegicus) will control a light stimulus; (b) animals will exhibit preferences for particular stimulus strengths; (c) animals who exert control over environmental stimuli will show improved performance on cognitive tasks compared with animals who lack control; and (d) at the end of the operant phase, experimental subjects will have lower corticosterone levels than animals who lack control. Experimental subjects did show control over a light stimulus and performed significantly better over time in a discrimination task compared with subjects who could not control their environment. There was no difference in corticosterone levels between control and experimental subjects. The results will both contribute to our understanding of how control of environmental stimuli affects the welfare of animals in captive environments and aid in designing experimental conditions that will increase validity and reliability in research.     

Long-term studies on the economic impact of ticks on Sanga cattle in Zambia

Three different tick control policies were tested in groups of traditionally managed Sanga cattle in the Central Province of Zambia over a period of 3 years. One group was given strategic tick control using 12 pyrethroid acaricide spray applications between the onset and the end of the wet season (October to March). The productivity of this herd was compared with that of a group with no tick control and a group under an intensive tick control regimen of spraying every week in the wet season and every 2 weeks in the dry season (36 applications per year). The highest output was associated with intensive tick control, followed by strategic control and then no tick control policies. However, when the costs of tick control were taken into account, the strategic tick control policy produced the best economic result, followed by the intensive and then the no tick control policies. Neither the strategic nor the intensive tick control policy was sufficient to prevent the transmission of East Coast fever (ECF) infection when this disease was introduced to the area.     

Defining control coefficients in non-ideal metabolic pathways

The extent to which an enzyme controls a flux has been defined as the effect on that flux of a small modulation of the activity of that enzyme divided by the magnitude of the modulation. We here show that in pathways with metabolic channelling or high enzyme concentrations and conserved moieties involving both enzymic and non-enzymic species, this definition is ambiguous; the magnitude of the corresponding flux control coefficient depends on how the enzyme activity is modulated. This is illustrated with two models of biochemically relevant pathways, one in which dynamic metabolite channelling plays a role, and one with a moiety-conserved cycle. To avoid such ambiguity, we view biochemical pathways in a more detailed manner, i.e., as a network of elemental steps. We define 'elemental control coefficients' in terms of the effect on a flux of an equal modulation of the forward and reverse rate constant of any such elemental step (which may correspond to transitions between enzyme states). This elemental control coefficient is independent of the method of modulation. We show how metabolic control analysis can proceed when formulated in terms of the elemental control coefficients and how the traditional control coefficients are related to these elemental control coefficients. An 'impact' control coefficient is defined which quantifies the effect of an activation of all elemental processes in which an enzyme is involved. It equals the sum of the corresponding elemental control coefficients. In ideal metabolic pathways this impact control coefficient reduces to the traditional flux control coefficient. Differences between the traditional control coefficients are indicative of non-ideality of a metabolic pathway, i.e. of channelling or high enzyme concentrations.     

Improvement of nitrogen removal and reduction of operating costs in an activated sludge process with feedforward–cascade control strategy

In this paper, a feedforward–cascade controller for dissolved oxygen concentration in an activated sludge process is designed in order to meet stricter effluent quality standards at a minimum cost. Conventional proportional and integral (PI) constant dissolved oxygen set-point control and feedforward–cascade dissolved oxygen set-point control are evaluated using the reduced model of activated sludge model no. 1 and reduced IWA simulation benchmark. The feedforward–cascade control has been based on a hierarchical structure where a high level or cascade control selects the set-point of the low level or conventional controller and low level directly control dissolved oxygen concentration. And feedforward control is introduced in the control system for preventing the influent loading from influencing the system. Simulation results show that feedforward–cascade control of the activated sludge process is more successful than conventional PI control in meeting the effluent standards and reducing operational costs. This control strategy can be expected to be accepted by the operating personnel in wastewater treatment plants.     

The Effects of Environmental Control on Cognition in Rats (Rattus norvegicus)

The aim of this study was to allow nonhuman animals to control their environment using operant conditioning procedures and to assess the effect of control on cognitive tasks. The study tested 4 predictions: (a) rats (Rattus norvegicus) will control a light stimulus; (b) animals will exhibit preferences for particular stimulus strengths; (c) animals who exert control over environmental stimuli will show improved performance on cognitive tasks compared with animals who lack control; and (d) at the end of the operant phase, experimental subjects will have lower corticosterone levels than animals who lack control. Experimental subjects did show control over a light stimulus and performed significantly better over time in a discrimination task compared with subjects who could not control their environment. There was no difference in corticosterone levels between control and experimental subjects. The results will both contribute to our understanding of how control of environmental stimuli affects the welfare of animals in captive environments and aid in designing experimental conditions that will increase validity and reliability in research.     

Biological control and sustainable food production

The use of biological control for the management of pest insects pre-dates the modern pesticide era. The first major successes in biological control occurred with exotic pests controlled by natural enemy species collected from the country or area of origin of the pest (classical control). Augmentative control has been successfully applied against a range of open-field and greenhouse pests, and conservation biological control schemes have been developed with indigenous predators and parasitoids. The cost-benefit ratio for classical biological control is highly favourable (1:250) and for augmentative control is similar to that of insecticides (1:2-1:5), with much lower development costs. Over the past 120 years, more than 5000 introductions of approximately 2000 non-native control agents have been made against arthropod pests in 196 countries or islands with remarkably few environmental problems. Biological control is a key component of a 'systems approach' to integrated pest management, to counteract insecticide-resistant pests, withdrawal of chemicals and minimize the usage of pesticides. Current studies indicate that genetically modified insect-resistant Bt crops may have no adverse effects on the activity or function of predators or parasitoids used in biological control. The introduction of rational approaches for the environmental risk assessment of non-native control agents is an essential step in the wider application of biological control, but future success is strongly dependent on a greater level of investment in research and development by governments and related organizations that are committed to a reduced reliance on chemical control.     

Systematic identification of cell size regulators in budding yeast

Cell size is determined by a complex interplay between growth and division, involving multiple cellular pathways. To identify systematically processes affecting size control in G1 in budding yeast, we imaged and analyzed the cell cycle of millions of individual cells representing 591 mutants implicated in size control. Quantitative metric distinguished mutants affecting the mechanism of size control from the majority of mutants that have a perturbed size due to indirect effects modulating cell growth. Overall, we identified 17 negative and dozens positive size control regulators, with the negative regulators forming a small network centered on elements of mitotic exit network. Some elements of the translation machinery affected size control with a notable distinction between the deletions of parts of small and large ribosomal subunit: parts of small ribosomal subunit tended to regulate size control, while parts of the large subunit affected cell growth. Analysis of small cells revealed additional size control mechanism that functions in G2/M, complementing the primary size control in G1. Our study provides new insights about size control mechanisms in budding yeast.     

Elusive control

The concept of a single rate-limiting step was proven to be too simplistic for understanding control and regulation of metabolism. Consequently, searches have identified relatively few steps with high control. Here we review a number of such searches and indicate what mechanisms may be responsible for this elusiveness of control. It turns out that this elusiveness of control has itself led to increased understanding of the roles played in metabolic control and regulation of such diverse factors as distributiveness of control, condition dependence, enzyme elasticity, homeostasis, control hierarchies, the input into a pathway, coenzyme sequestration, and redundancy and diversity of control function.     

A knowledge-based system for the strategic control level of robots in flexible manufacturing cells

The strategic control level synthesis for robots is related to a hierarchical robot control problem. The main control problem at the strategic control level is to select the model and algorithm to be used by the lower control level to execute the given robot task. Usually there are several lower control level models and algorithms that can be used by the robot control system for every robot task. Strategic control level synthesis depends on the particular robot system application. In a typical application, when the robot system is used in a flexible manufacturing system for manipulating various part types, the robot tasks executed by the robot system depend on the manufacturing processes in the system. If the robot system is applied in another flexible manufacturing system, dedicated to other manufacturing processes, another set of robot tasks might be needed to perform the necessary operations. Therefore, the quantity and the kind of knowledge required in the system for the strategic control level differ from one application to another. Such a fact creates the appropriate conditions for employing some artificial intelligence techniques. This article describes a knowledge-based system approach to the strategic control level synthesis problem.     

Optimal risk management of human alveolar echinococcosis with vermifuge

In this study, we develop a bioeconomic model of human alveolar echinococcosis (HAE) and formulate the optimal strategies for managing the infection risks in humans by applying optimal control theory. The model has the following novel features: (i) the complex transmission cycle of HAE has been tractably incorporated into the framework of optimal control problems and (ii) the volume of vermifuge spreading to manage the risk is considered a control variable. With this model, we first obtain the stability conditions for the transmission dynamics under the condition of constant control. Second, we explicitly introduce a control variable of vermifuge spreading into the analysis by considering the associated control costs. In this optimal control problem, we have successfully derived a set of conditions for a bang-bang control and singular control, which are mainly characterized by the prevalence of infection in voles and foxes and the remaining time of control. The analytical results are demonstrated by numerical analysis and we discuss the effects of the parameter values on the optimal strategy and the transmission cycle. We find that when the prevalence of infection in foxes is low and the prevalence of infection in voles is sufficiently high, the optimal strategy is to expend no effort in vermifuge spreading.     

Proactive and Reactive Response Inhibition across the Lifespan

One expression of executive control involves proactive preparation for future events, and this contrasts with stimulus driven reactive control exerted in response to events. Here we describe findings from a response inhibition task, delivered using a smartphone-based platform, that allowed us to index proactive and reactive inhibitory self-control in a large community sample (n = 12,496). Change in stop-signal reaction time (SSRT) when participants are provided with advance information about an upcoming trial, compared to when they are not, provides a measure of proactive control while SSRT in the absence of advance information provides a measure of reactive control. Both forms of control rely on overlapping frontostriatal pathways known to deteriorate in healthy aging, an age-related decline that occurs at an accelerated rate in men compared to women. Here we ask whether these patterns of age-related decline are reflected in similar changes in proactive and reactive inhibitory control across the lifespan. As predicted, we observed a decline in reactive control with natural aging, with a greater rate of decline in men compared to women (~10 ms versus ~8 ms per decade of adult life). Surprisingly, the benefit of preparation, i.e. proactive control, did not change over the lifespan and women showed superior proactive control at all ages compared to men. Our results suggest that reactive and proactive inhibitory control partially rely on distinct neural substrates that are differentially sensitive to age-related change.     

Comparing apples and oranges--model-based assessment of different tsetse-transmitted trypanosomosis control strategies

The current control strategies for tsetse-transmitted trypanosomosis in cattle (trypanocidal drugs, tsetse control and trypanotolerant cattle) are briefly reviewed and their adoption rates in different geographic regions of sub-Saharan Africa are presented. The impact of these control strategies and the potential use of vaccines, should they be developed, on trypanosomosis transmission were compared using a mathematical model. The relative trypanosomosis prevalence compared with no control was estimated across a range of control coverages (from none to complete control coverage) by varying the change in specific model parameters influenced by individual control measures. Based on this comparison, the relative rankings of the effect of control strategies on reducing disease prevalence were: vector control, vaccination, and drug use, in that order. In this model, trypanotolerance was assumed to decrease disease prevalence, but not to influence transmission. Differences in the predicted impact of control measures on the transmission of human sleeping sickness are discussed. Finally, the role of transmission model outputs as inputs for economic models to guide investment decisions for trypanosomosis control is emphasised.     

Parallel Explicit and Implicit Control of Reaching

Background

Human movement can be guided automatically (implicit control) or attentively (explicit control). Explicit control may be engaged when learning a new movement, while implicit control enables simultaneous execution of multiple actions. Explicit and implicit control can often be assigned arbitrarily: we can simultaneously drive a car and tune the radio, seamlessly allocating implicit or explicit control to either action. This flexibility suggests that sensorimotor signals, including those that encode spatially overlapping perception and behavior, can be accurately segregated to explicit and implicit control processes.

Methodology/Principal Findings

We tested human subjects'' ability to segregate sensorimotor signals to parallel control processes by requiring dual (explicit and implicit) control of the same reaching movement and testing for interference between these processes. Healthy control subjects were able to engage dual explicit and implicit motor control without degradation of performance compared to explicit or implicit control alone. We then asked whether segregation of explicit and implicit motor control can be selectively disrupted by studying dual-control performance in subjects with no clinically manifest neurologic deficits in the presymptomatic stage of Huntington''s disease (HD). These subjects performed successfully under either explicit or implicit control alone, but were impaired in the dual-control condition.

Conclusion/Significance

The human nervous system can exert dual control on a single action, and is therefore able to accurately segregate sensorimotor signals to explicit and implicit control. The impairment observed in the presymptomatic stage of HD points to a possible crucial contribution of the striatum to the segregation of sensorimotor signals to multiple control processes.     

Modeling biological motor control for human locomotion with functional electrical stimulation

This paper develops a novel control system for functional electrical stimulation (FES) locomotion, which aims to generate normal locomotion for paraplegics via FES. It explores the possibility of applying ideas from biology to engineering. The neural control mechanism of the biological motor system, the central pattern generator, has been adopted in the control system design. Some artificial control techniques such as neural network control, fuzzy logic, control and impedance control are incorporated to refine the control performance. Several types of sensory feedback are integrated to endow this control system with an adaptive ability. A musculoskeletal model with 7 segments and 18 muscles is constructed for the simulation study. Satisfactory simulation results are achieved under this FES control system, which indicates a promising technique for the potential application of FES locomotion in future.     

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.     

The current status of biological control of weeds in southern China and future options

China has become one of the countries most seriously affected by invasive alien weeds in the world. Weeds impact agriculture, the environment and human health, and conventional control methods such as herbicides are expensive, damaging to human health and unsustainable. As the impacts and costs of weed control in China increase, there is an urgent need to manage some of the more important weeds through more sustainable methods. Classical biological control of invasive alien weeds is environmentally-friendly and sustainable. Biological control in China began in the 1930s with the introduction of two agents into Hong Kong for the control of Lantana camara. Since then, a further seven biological control agents have been introduced into China to control four weed species. In addition, 11 biological control agents targeting seven weed species have naturally spread into China. Together, these biological control agents are helping to control some of China's worst weeds. However, these efforts are only a small portion of the weeds that could be targeted for weed biological control. This paper reviews the current status of weed biological control efforts against introduced weeds in ten provinces and regions in southern China and provides a platform to identify the most effective and appropriate weed biological control opportunities and programmes to pursue in the future. Introducing additional safe and effective biological control agents into China to help manage some of the worst weeds in the region should reduce the use of herbicides and impacts on human health and the environment, while increasing productivity and food security.     

The state of commercial augmentative biological control: plenty of natural enemies,but a frustrating lack of uptake

Augmentative biological control concerns the periodical release of natural enemies. In commercial augmentative biological control, natural enemies are mass-reared in biofactories for release in large numbers to obtain an immediate control of pests. The history of commercial mass production of natural enemies spans a period of roughly 120 years. It has been a successful, environmentally and economically sound alternative for chemical pest control in crops like fruit orchards, maize, cotton, sugar cane, soybean, vineyards and greenhouses. Currently, augmentative biological control is in a critical phase, even though during the past decades it has moved from a cottage industry to professional production. Many efficient species of natural enemies have been discovered and 230 are commercially available today. The industry developed quality control guidelines, mass production, shipment and release methods as well as adequate guidance for farmers. However, augmentative biological control is applied on a frustratingly small acreage. Trends in research and application are reviewed, causes explaining the limited uptake are discussed and ways to increase application of augmentative biological control are explored.