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We propose hybrid ensemble models for time series forecasting. A hybrid ensemble combines the output of several different models by a weighted mean that forms the final forecast. The final hybrid ensemble model consists of several individual models: A nearest neighbor/trajectory ensemble model, a feed-forward neural network ensemble, a trend cycle model, an autoregressive model and an ensemble model...
This paper proposes a leader-follower based target detection model for mobile molecular communication networks. The proposed model divides application functionalities of molecular communication networks over the two types of mobile bio-nanomachine: leader and follower bio-nanomachines. Leader bio-nanomachines distribute in the environment to detect a target and create an attractant gradient around...
Dynamic supply chain management is tackled, in this paper, using the concept of differential flatness. Such approach seems to be more adequate with supply chains, which are complex and meshed systems. The paper focuses on the operational activities of supply-chains, the main objective is to maintain the inventory level at a desired one according to the customer demand while synchronizing the flows...
Redirected walking algorithms require the prediction of human motion in order to effectively steer users away from the boundaries of the physical space. While a virtual walking trajectory may be represented using straight lines connecting waypoints of interest, this simple model does not accurately represent typical user behavior. In this poster we present a more realistic walking model for use in...
We present an experimental design method for choosing optimal experiments to reduce dynamics uncertainty in dynamical gene networks. The method, takes into account both the modeling objective and the experimental error.
Consensus formation in a social network is modeled by a dynamic game of a prescribed duration played by members of the network. Each member independently minimizes a cost function that represents his/her motive. An integral cost function penalizes a member's differences of opinion from the others as well as from his/her own initial opinion, weighted by influence and stubbornness parameters. Each member...
We conducted drift simulations of tsunami debris f1ushed out from the Tohoku district, Japan into the North Pacific in the wake of the catastrophic tsunami on March 11, 2011 to monitor and forecast the drift path over the entire North Pacific. The results showed that the tsunami debris was first transported eastward by both the intense Kuroshio Extension and westerly winds, spreading northward and...
In this paper, we first introduce a variational formulation of the Unit Commitment (UC) problem, in which generation and ramping trajectories of the generating units are continuous time signals and the generating units cost depends on the three signals: the binary commitment status of the units as well as their continuous-time generation and ramping trajectories. We assume such bids are piecewise...
Ricochetal Brachiation is a sophisticated locomotion for Bio-primate robot. It requires precise cooperation of three different types of locomotion. The tight coupling of locomotion and underactuated characteristics is the main difficulties for realizing ricochetal brachiation. Moreover, for the non-horizontal ricochetal brachiation, which refers brachiating among supporting bars with different heights,...
This paper is concerned with black-box identification of nonlinear state space models. By using a basis function expansion within the state space model, we obtain a flexible structure. The model is identified using an expectation maximization approach, where the states and the parameters are updated iteratively in such a way that a maximum likelihood estimate is obtained. We use recent particle methods...
When executing whole-body motions, humans are able to use a large variety of support poses which not only utilize the feet, but also hands, knees and elbows to enhance stability. While there are many works analyzing the transitions involved in walking, very few works analyze human motion where more complex supports occur. In this work, we analyze complex support pose transitions in human motion involving...
For energy-saving and improving ride comfort, this paper presents a novel development of the longitudinal motion control of intelligent vehicles based on two hierarchies optimal methods. The upper method is the Radau pseudo-spectral method (RPM), the lower method is the model predictive control (MPC). The RPM is used for energy consumption optimization algorithm. The MPC is used for the longitudinal...
In this paper, the problem of trajectory tracking of a nonlinear system with unknown but bounded model parameters uncertainties is addressed. The proposed control strategy combines a robust model predictive control law with a proportional-integral (PI) regulator. The predictive controller guarantees the tracking of the reference trajectory, whereas the PI regulator ensures a good tracking accuracy...
The special experimental setup for a study of the head-neck system dynamics during impulse acceleration, which arises in the case of the ground and air vehicle crushes, was elaborated. Based on experimental results the authors proposed the simple mechanical model of the “head-neck” system with eight degrees of freedom, which are the rotation angles of the head and seven cervical vertebrae. For the...
In order to solve the joints velocity jumping of reconfigurable manipulator caused by the state jump , a adaptive backstepping fast terminal fuzzy sliding mode controller based on the bio inspired strategies is designed. Fuzzy system is used to approximate the uncertain terms and the coupling terms among the subsystems, when the desired trajectory occurs big jump, in order to overcome the virtual...
Shared control is a promising approach for designing an Advanced Driver Assistance System, since it unifies the advantages of both manual control and full automation. However, for a true cooperative shared control ADAS the automation has to understand the human and thus a suitable model which describes the driver in the control loop is essential. Our gray-box approach bases on the biological concept...
This paper builds on a concept in our previous work that humans achieve efficient organization of guidance behavior by employing a hierarchical architecture that unifies planning, perceptual guidance and motor control. Human guidance behavior can be described as a motion planning problem subject to agent-environment constraints and constraints imposed by human biophysical limitations. This paper presents...
The Dual-SLIP model has been proposed as a walking template that inherently encodes a rich set of human-like features. Previous work has used the 3D Dual-SLIP with bio-inspired leg actuation to generate a human-like dynamic walking gait over a wide range of speeds. The work presented in this paper extends the 3D Dual-SLIP walking strategy to uneven terrain. With nonlinear optimization based on a multiple-shooting...
The paper presents a data mining technique for qualitative analysis of functional differential equations of compartmental type. As a result we get the decision tree able to classify the system behaviour depending on relations between initial conditions and between rate constants. Antitumour immunity example is presented.
Left atrial anatomy and myocardial architecture are known to influence rotor initiation and maintenance. However, identifying their relative contribution clinically is challenging. The present study aims to investigate in silico the effect of left atrial geometry in isolation on rotor generation and evolution through the spatiotemporal tracking of phase singularities. After meandering for a short...
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