Avoidance Performance Research Articles

능동 가상 임피던스를 이용한 이동 음원 추종 로봇의 장애물 회피

An active virtual impedance algorithm is newly proposed to track a sound source and to avoid obstacles while a mobile robot is following the sound source. The tracking velocity of a mobile robot to the sound source is determined by virtual repulsive and attraction forces to avoid obstacles and to follow the sound source, respectively. Active virtual impedance is defined as a function of distances and relative velocities to the sound source and obstacles from the mobile robot, which is used to generate the tracking velocity of the mobile robot. Conventional virtual impedance methods have fixed coefficients for the relative distances and velocities. However, in this research the coefficients are dynamically adjusted to elaborate the obstacle avoidance performance in multiple obstacle environments. The relative distances and velocities are obtained using a microphone array consisting of three microphones in a row. The geometrical relationships of the microphones are utilized to estimate the relative position and orientation of the sound source against the mobile robot which carries the microphone array. Effectiveness of the proposed algorithm has been demonstrated by real experiments.

CDLMGB CEO Workshop Series #1-Executive Emotion-Craft in Turbulent Times: Vuca and the Intuitive Artistry of Teamworking (Presentation Slides)

This set of slides is part of CDLMGB Series #1 CEO workshops in 2014. The slides address the outline of Emotional Intelligence (EI) and the importance of understanding of EI application in executive teamworking. The Emotional aspects of team conversations, tacit knowledge, trust building, conflict avoidance and team performance are introduced and foundations laid for the rest of the series.

Targeting Neural Synchrony Deficits is Sufficient to Improve Cognition in a Schizophrenia-Related Neurodevelopmental Model

Cognitive symptoms are core features of mental disorders but procognitive treatments are limited. We have proposed a “discoordination” hypothesis that cognitive impairment results from aberrant coordination of neural activity. We reported that neonatal ventral hippocampus lesion (NVHL) rats, an established neurodevelopmental model of schizophrenia, have abnormal neural synchrony and cognitive deficits in the active place avoidance task. During stillness, we observed that cortical local field potentials sometimes resembled epileptiform spike-wave discharges with higher prevalence in NVHL rats, indicating abnormal neural synchrony due perhaps to imbalanced excitation–inhibition coupling. Here, within the context of the hypothesis, we investigated whether attenuating abnormal neural synchrony will improve cognition in NVHL rats. We report that: (1) inter-hippocampal synchrony in the theta and beta bands is correlated with active place avoidance performance; (2) the anticonvulsant ethosuximide attenuated the abnormal spike-wave activity, improved cognitive control, and reduced hyperlocomotion; (3) ethosuximide not only normalized the task-associated theta and beta synchrony between the two hippocampi but also increased synchrony between the medial prefrontal cortex and hippocampus above control levels; (4) the antipsychotic olanzapine was less effective at improving cognitive control and normalizing place avoidance-related inter-hippocampal neural synchrony, although it reduced hyperactivity; and (5) olanzapine caused an abnormal pattern of frequency-independent increases in neural synchrony, in both NVHL and control rats. These data suggest that normalizing aberrant neural synchrony can be beneficial and that drugs targeting the pathophysiology of abnormally coordinated neural activities may be a promising theoretical framework and strategy for developing treatments that improve cognition in neurodevelopmental disorders such as schizophrenia.

Speed and Vibration Performance as well as Obstacle Avoidance Performance of Electric Wheel Chair Controlled by Human Eyes Only

Speed and vibration performance as well as obstacle avoidance performance of the previously proposed Electric Wheel Chair: EWC controlled by human eyes only is conducted. Experimental results show acceptable performances of speed vibration performance as well as obstacle avoidance performance for disabled persons. More importantly, disabled persons are satisfied with the proposed EWC because it works by their eyes only. Without hands and finger, they can control EWC freely.

Protective effects of Acanthopanax divaricatus extract in mouse models of Alzheimer's disease.

BACKGROUNDAcanthopanax divaricatus var. albeofructus (ADA) extract has been reported to have anti-oxidant, immunomodulatory, and anti-mutagenic activity.MATERIALS/METHODSWe investigated the effects of ADA extract on two mouse models of Alzheimer's disease (AD); intracerebroventricular injection of β-amyloid peptide (Aβ) and amyloid precursor protein/presenilin 1 (APP/PS1)-transgenic mice.RESULTSIntra-gastric administration of ADA stem extract (0.25 g/kg, every 12 hrs started from one day prior to injection of Aβ1-42 until evaluation) effectively blocked Aβ1-42-induced impairment in passive avoidance performance, and Aβ1-42-induced increase in immunoreactivities of glial fibrillary acidic protein and interleukin (IL)-1α in the hippocampus. In addition, it alleviated the Aβ1-42-induced decrease in acetylcholine and increase in malondialdehyde levels in the cortex. In APP/PS1-transgenic mice, chronic oral administration of ADA stem extract (0.1 or 0.5 g/kg/day for six months from the age of six to 12 months) resulted in significantly enhanced performance of the novel-object recognition task, and reduced amyloid deposition and IL-1β in the brain.CONCLUSIONSThe results of this study suggest that ADA stem extract may be useful for prevention and treatment of AD.

Active Control Method for Critical Cornering Range

It has been reported that steering systems with derivative terms have a heightened lateral acceleration and yaw rate response in the normal driving range. However, in ranges where the lateral acceleration is high, the cornering force of the front wheels decreases and hence becomes less effective. Therefore, we applied traction control for the inner and outer wheels based on the steering angle velocity to improve the steering effectiveness at high lateral accelerations. An experiment using a driving simulator showed that the vehicle’s yaw rate response improved for a double lane change to avoid a hazard; this improves hazard avoidance performance. Regarding improved vehicle control in the cornering margins, traction control for the inner and outer wheels is being developed further, and much research and development has been reported. However, in the total skid margin, where few margin remains in the forward and reverse drive forces on the tires, spinout is unavoidable. Therefore, we applied tire camber angle control to improve vehicle maneuverability in the total skid margin. An experiment using a driving simulator has confirmed that the vehicle’s lateral acceleration at the turning limit can be improved by controlling the camber angle. Because of this, camber angle control promises to be more effective than traction control for the inner and outer wheels. By applying this type of steering control, it is possible to increase maneuverability and stability in the cornering margins.

Hybrid system with an integrated CHP plant fueled by H2NG blends: Theoretical energy-environmental analysis and foreseeable optimizations

Every technological innovation aimed at improving energy efficiency needs a sustainable development approach contributing to the decoupling process between environmental pollution and economic growth.The main aim of this paper is to demonstrate how the use of the hydrogen enrichment in a CHP plant represents a valid alternative to the same commercial energy systems, regarding to CO2 emissions avoidance.The paper presents an energy-environmental analysis related to the use of renewable hydrogen (produced by a PV array) for eco fuels production. Analysis of different hybrid systems configurations, based on a demo CHP (internal combustion engine) fueled with hydrogen enriched methane blends, installed at the Sapienza University Sports Centre, were carried out.A theoretical energy analysis of these hybrid systems, with an integrated CHP plant, was developed in order to evaluate the energy penalty related to this carbon avoidance technique. Finally, an environmental comparison between conventional CHP system, hybrid system and hybrid system with separated electrical generation was performed.The results show that using blends with 20% of H2 content and tuning engine parameters, it is possible to minimize the hybrid system energy efficiency loss and to obtain the best carbon avoidance performances (about 32% respect to conventional CHP).

AKAPS Act in a Two-Step Mechanism of Memory Acquisition

Defining the molecular and neuronal basis of associative memories is based upon behavioral preparations that yield high performance due to selection of salient stimuli, strong reinforcement, and repeated conditioning trials. One of those preparations is the Drosophila aversive olfactory conditioning procedure where animals initiate multiple memory components after experience of a single cycle training procedure. Here, we explored the analysis of acquisition dynamics as a means to define memory components and revealed strong correlations between particular chronologies of shock impact and number experienced during the associative training situation and subsequent performance of conditioned avoidance. Analyzing acquisition dynamics in Drosophila memory mutants revealed that rutabaga (rut)-dependent cAMP signals couple in a divergent fashion for support of different memory components. In case of anesthesia-sensitive memory (ASM) we identified a characteristic two-step mechanism that links rut-AC1 to A-kinase anchoring proteins (AKAP)-sequestered protein kinase A at the level of Kenyon cells, a recognized center of olfactory learning within the fly brain. We propose that integration of rut-derived cAMP signals at level of AKAPs might serve as counting register that accounts for the two-step mechanism of ASM acquisition.

Path Planning for Mobile Robot Based on Autoregressive Model

Proposed an uncertain environment path planning method for mobile robot in the presence of moving obstacles. Combining the global planning with the local planning, this dissertation presents a new approach to on-line real-time path planning with respect to the dynamic uncertain environment. With current sampling position, the autoregressive model predicts motion trajectories of moving obstacles. And the predicted positions are treated as instantaneously static. So moving obstacles in the predicted positions can be considered as static in the path planning process. Simulation examples demonstrated the effectiveness, feasibility, real-time capability, high stability and perfect performance of obstacle avoidance.

AMPA receptors mediate passive avoidance deficits induced by sleep deprivation

The present study addressed the effects of sleep deprivation (SD) on AMPA receptor (AMPAR) binding in brain regions associated with learning and memory, and investigated whether treatment with drugs acting on AMPAR could prevent passive avoidance deficits in sleep deprived animals. [3H]AMPA binding and GluR1 in situ hybridization signals were quantified in different brain regions of male Wistar rats either immediately after 96h of sleep deprivation or after 24h of sleep recovery following 96h of sleep deprivation. Another group of animals were sleep deprived and then treated with either the AMPAR potentiator, aniracetam (25, 50 and 100mg/kg, acute administration) or the AMPAR antagonist GYKI-52466 (5 and 10mg/kg, acute and chronic administration) before passive avoidance training. Task performance was evaluated 2h and 24h after training. A significant reduction in [3H]AMPA binding was found in the hippocampal formation of SD animals, while no alterations were observed in GluR1 mRNA levels. The highest dose of aniracetam (100mg/kg) reverted SD-induced impairment of passive avoidance performance in both retention tests, whereas GYKI-52466 treatment had no effect. Pharmacological enhancement of AMPAR function may revert hippocampal-dependent learning impairments produced after SD. We argue that such effects might be associated with reduced AMPAR binding in the hippocampus of sleep deprived animals.

Incentive loss and hippocampal gene expression in inbred Roman high- (RHA-I) and Roman low- (RLA-I) avoidance rats

Two recent microarray and qRT-PCR studies showed that inbred Roman high- (RHA-I, low anxiety and frustration vulnerability) and low-avoidance (RLA-I, high anxiety and frustration vulnerability) rats, psychogenetically selected on the basis of their divergence in two-way avoidance performance, differed in basal whole-brain and hippocampal expression of genes related to neurotransmission, emotion, stress, aversive learning, and drug seeking behavior. We have extended these studies by analyzing strain differences in hippocampal gene expression following a frustrative experience involving reward downshift, i.e. instrumental successive negative contrast (iSNC), a phenomenon in which the sudden reduction of an expected reward induces frustration/anxiety. Food-deprived male Roman rats were exposed to a reduction in the amount of solid food presented in the goal of a straight alley (from 12 pellets in “training” trials – i.e. preshift trials- to 2 pellets in “frustration testing” trials – i.e. postshift trials-). The iSNC effect, as measured by response latencies in the “postshift” trials, appeared only in RLA-I rats (i.e. higher response latencies in the 12-2 RLA-I group as compared to the 2-2 RLA-I control group in postshift trials). Two and a half hours after the “postshift” behavioral test, hippocampi were removed and stored (−80°C) until analysis. Microarray analysis of these hippocampi showed that four differentially-expressed, and qRT-PCR-validated genes (TAAR2, THAP1, PKD2L1, NANOS), have relevance for brain function and behavior, including schizophrenia, depression, anxiety, and drug addiction, thus showing the usefulness of Roman strains as a genetic model for research on the neurogenetic basis of frustration.

Gallic acid prevents memory deficits and oxidative stress induced by intracerebroventricular injection of streptozotocin in rats

In the present study, we evaluated the effects of gallic acid (GA; 30mg/kg, orally, once daily for 26days starting from day 5 prior to streptozotocin injection) on cognitive impairment and cerebral oxidative stress induced by intracerebroventricular-streptozotocin (ICV-STZ; bilaterally, two doses of 3mg/kg) injection as an animal model of sporadic Alzheimers type (SDAT) in rats. The results showed that ICV-STZ-injection reduced the passive avoidance and spatial memory performance associated with decreased non-enzymatic [total thiol concentration, −58.5%, −50.7%] and enzymatic [superoxide dismutase (SOD, −30.2%, −32.9%), catalase (CAT, −43.5%, −50.7%), glutathione peroxidase (GPx, −57.1%, −61.7%)] activities and increased the level of thio-barbituric acid reactive species (TBARS, +103.5%, +82.5%) in the hippocampus and cerebral cortex, respectively. In contrast, chronic administration of GA significantly prevented cognitive deficits and biochemical alterations in the ICV-STZ rats. These findings highlight the beneficial role of GA in the ICV-STZ rats via enhancement of cerebral antioxidant defense system. Thus, it may have a therapeutic value for the treatment of SDAT.

Developmental Subchronic Exposure to Diphenylarsinic Acid Induced Increased Exploratory Behavior, Impaired Learning Behavior, and Decreased Cerebellar Glutathione Concentration in Rats

In Japan, people using water from the well contaminated with high-level arsenic developed neurological, mostly cerebellar, symptoms, where diphenylarsinic acid (DPAA) was a major compound. Here, we investigated the adverse effects of developmental exposure to 20mg/l DPAA in drinking water (early period [0–6 weeks of age] and/or late period [7–12]) on behavior and cerebellar development in male rats. In the open field test at 6 weeks of age, early exposure to DPAA significantly increased exploratory behaviors. At 12 weeks of age, late exposure to DPAA similarly increased exploratory behavior independent of the early exposure although a 6-week recovery from DPAA could reverse that change. In the passive avoidance test at 6 weeks of age, early exposure to DPAA significantly decreased the avoidance performance. Even at 12 weeks of age, early exposure to DPAA significantly decreased the test performance, which was independent of the late exposure to DPAA. These results suggest that the DPAA-induced increase in exploratory behavior is transient, whereas the DPAA-induced impairment of passive avoidance is long lasting. At 6 weeks of age, early exposure to DPAA significantly reduced the concentration of cerebellar total glutathione. At 12 weeks of age, late, but not early, exposure to DPAA also significantly reduced the concentration of cerebellar glutathione, which might be a primary cause of oxidative stress. Early exposure to DPAA induced late-onset suppressed expression of NMDAR1 and PSD95 protein at 12 weeks of age, indicating impaired glutamatergic system in the cerebellum of rats developmentally exposed to DPAA.

Enabling Human–Machine Interaction in Projected Virtual Environments Through Camera Tracking of Imperceptible Markers

Existing tracking methods designed for interacting with projection-based displays generally require visible artifacts to be introduced in the environment in order to guarantee effective stability and accuracy. For instance, in optical-oriented approaches, either the camera sensor or the reference pattern used for tracking are often located within the user's sight (or interfere with it), thus occluding portions of the scene or altering the perception of the virtual environment. Several ways to tackle these issues have been recently explored. Proposed approaches basically aim at making the presence of tracking references in the virtual space transparent to the user. However, such solutions introduce possibly critical constraints on required hardware or environment configuration. In this work, a novel tracking approach based on imperceptible fiducial markers is proposed. The approach relies on a hiding technique that allows digital images to be embedded in (and retrieved from) a projected scene by exploiting the properties of light polarization and additive color mixing. In particular, the virtual scene is obtained by overlapping the light beams of two projectors and by dealing with markers’ hiding via color compensation. A prototype setup has been deployed, where interaction with a flat surface projection environment has been evaluated in terms of tracking accuracy and artifacts avoidance performance by using a consumer camera equipped with a polarizing filter. Although the performed tests presented in this article represent only a preliminary and a partial evaluation of the proposed approach, they provided encouraging results indicating that the proposed technique could be possibly applied in more complex interaction scenarios still with limited hardware requirements.

Attributional beliefs of Singapore students: relations to self-construal, competence and achievement goals

This study investigates attributional beliefs of Singapore secondary students in their English study and how they can be predicted by self-construal, competence and achievement goals. A total of 1,496 students were administered surveys on seven attributions, independent and interdependent self-construals, previous achievement, self-efficacy, mastery approach and avoidance goals and performance approach and avoidance goals. We found that Singapore students attributed academic success mainly to internal regulation (effort, interest and study skills), followed by teachers’ help, ability, parents’ help and tuition classes. Hierarchical regression analyses showed that three predictors (self-construal, competence and achievement goals) explained 4.2–12.3% of the variances in students’ attributional beliefs. In particular, students with interdependent self-construal, high competence or mastery goals tended to attribute academic success to internal regulation (effort, interest and study skills) and support from teachers and parents. Students with low competence, high mastery avoidance goals or high performance goals were more likely to value tuition classes, and those with high performance avoidance goals also tended to ascribe academic success to ability and parent’s help. The findings are discussed in relation to the culture of Singapore.

Chronic unpredictable mild stress alters an anxiety-related defensive response, Fos immunoreactivity and hippocampal adult neurogenesis

Previous results show that elevated T-maze (ETM) avoidance responses are facilitated by acute restraint. Escape, on the other hand, was unaltered. To examine if the magnitude of the stressor is an important factor influencing these results, we investigated the effects of unpredictable chronic mild stress (UCMS) on ETM avoidance and escape measurements. Analysis of Fos protein immunoreactivity (Fos-ir) was used to map areas activated by stress exposure in response to ETM avoidance and escape performance. Additionally, the effects of the UCMS protocol on the number of cells expressing the marker of migrating neuroblasts doublecortin (DCX) in the hippocampus were investigated. Corticosterone serum levels were also measured. Results showed that UCMS facilitates ETM avoidance, not altering escape. In unstressed animals, avoidance performance increases Fos-ir in the cingulate cortex, hippocampus (dentate gyrus) and basomedial amygdala, and escape increases Fos-ir in the dorsolateral periaqueductal gray and locus ceruleus. In stressed animals submitted to ETM avoidance, increases in Fos-ir were observed in the cingulate cortex, ventrolateral septum, hippocampus, hypothalamus, amygdala, dorsal and median raphe nuclei. In stressed animals submitted to ETM escape, increases in Fos-ir were observed in the cingulate cortex, periaqueductal gray and locus ceruleus. Also, UCMS exposure decreased the number of DCX-positive cells in the dorsal and ventral hippocampus and increased corticosterone serum levels. These data suggest that the anxiogenic effects of UCMS are related to the activation of specific neurobiological circuits that modulate anxiety and confirm that this stress protocol activates the hypothalamus–pituitary–adrenal axis and decreases hippocampal adult neurogenesis.

Influence of the Green Tea Leaf Extract on Neurotoxicity of Aluminium Chloride in Rats

Aluminium may have an important role in the aetiology/pathogenesis/precipitation of Alzheimer's disease. Because green tea (Camellia sinensis L.) reportedly has health-promoting effects in the central nervous system, we evaluated the effects of green tea leaf extract (GTLE) on aluminium chloride (AlCl3 ) neurotoxicity in rats. All solutions were injected into the cornu ammonis region 1 hippocampal region. We measured the performance of active avoidance (AA) tasks, various enzyme activities and total glutathione content (TGC) in the forebrain cortex (FbC), striatum, basal forebrain (BFb), hippocampus, brain stem and cerebellum. AlCl3 markedly reduced AA performance and activities of cytochrome c oxidase (COX) and acetylcholinesterase (AChE) in all regions. It decreased TGC in the FbC, striatum, BFb, hippocampus, brain stem and cerebellum, and increased superoxide dismutase activity in the FbC, cerebellum and BFb. GTLE pretreatment completely reversed the damaging effects of AlCl3 on AA and superoxide dismutase activity, markedly corrected COX and AChE activities, and moderately improved TGC. GTLE alone increased COX and AChE activities in almost all regions. GTLE reduces AlCl3 neurotoxicity probably via antioxidative effects and improves mitochondrial and cholinergic synaptic functions through the actions of (-)-epigallocatechin gallate and (-)-epicatechin, compounds most abundantly found in GTLE. Our results suggest that green tea might be beneficial in Alzheimer's disease.

Synergistic effects between CA1 mu opioid and dopamine D1-like receptors in impaired passive avoidance performance induced by hepatic encephalopathy in mice

Numerous investigations have indicated that hepatic encephalopathy (HE) alters the levels of various neurotransmitters. However, comprehensive data regarding the effects of CA1 opioidergic and dopaminergic (DAergic) systems on HE-induced amnesia are still lacking. Following intra-dorsal hippocampal (CA1) injection of mu opioid and dopamine D1- and D2-like receptors antagonists in male mice, one-trial step-down and hole-board paradigms were used to assess memory and exploratory behaviors, respectively. Our data demonstrated that HE impairs memory 24days after bile duct ligation (BDL). Furthermore, while the higher dose of DA D1-like receptor antagonist (SCH23390, 0.5μg/mouse) induced amnesia and anxiogenic-like behaviors, mu receptor antagonist (naloxone: 0.0125, 0.025 and 0.05μg/mouse) and DA D2-like receptor antagonist (sulpiride: 0.0625, 0.125 and 0.25μg/mouse) by themselves, could not exert an effect on memory performance in passive avoidance task. On the other hand, pre-test injection of all drugs reversed the HE-induced amnesia 24days after BDL, while having no effect on exploratory behaviors. Pre-test co-administration of the subthreshold dose SCH23390 (0.25μg/mouse) and sulpiride (0.0625μg/mouse) or naloxone (0.0125μg/mouse) could likewise reverse the BDL-induced amnesia. However, when the subthreshold sulpiride plus naloxone were co-administered, BDL-induced amnesia was not blocked. Memory performance is impaired 24days post BDL and CA1 mu opioid and DA D1-like receptors antagonist synergistic effects are likely involved in this phenomenon.

The benefit of obligate versus facultative strategies in a shrimp–goby mutualism

Obligate mutualists are predicted to benefit more from mutualism than facultative mutualists and harbor traits that help derive this extra benefit. I tested these predictions with a shrimp–goby mutualism. Individual shrimp (Alpheus floridanus) construct burrows that are shared with individual gobiid fishes that warn shrimp when emergence from burrows is unsafe. The benefit to gobies is refuge from predation. I compared predator avoidance performance of obligate (Nes longus) and facultative (Ctenogobius saepepallens) shrimp-associated gobies with access to a shell, a shrimp burrow, or no shelter. The two gobies performed similarly with shells and no shelter, but N. longus outperformed C. saepepallens with shrimp burrows. Thus, N. longus benefits more from mutualism than C. saepepallens. Also, N. longus has four behavioral traits that likely allow it to benefit from mutualism more than does C. saepepallens: (1) diving into the nearest shrimp burrow when confronted with predators, (2) long flight initiation distance, (3) long time-until-re-emergence after taking refuge, and (4) remaining close to shelter. The latter three likely come with a cost to foraging or mate acquisition as they limit searching range outside the burrow and detract from time spent outside burrows. Thus, N. longus likely harbors traits that allow it to deal with these costs. I discuss a framework for determining whether traits crucial to obligate association with shrimp (both for reaping benefits and dealing with costs) are pre-adaptations or are created through coevolution with shrimp.

Evolutionary controller design for area search using multiple UAVs with minimum altitude maneuver

Simultaneous operation of multiple UAVs enables to enhance the mission accomplishment efficiency. In order to achieve this, easily scalable control algorithms are required, and swarm intelligence having such characteristics as flexibility, robustness, decentralized control, and self-organization based on behavioral model comes into the spotlight as a practical alternative. Recently, evolutionary robotics is applied to the control of UAVs to overcome the weakness of difficulties in the logical design of behavioral rules. In this paper, the neural net controller evolved by evolutionary robotics approach is applied to the control of multiple UAVs which have the mission of searching limited area as much as possible. By applying incremental evolution technique we could evolve a neural net controller which can minimize energy consumption without sacrificing the performance of area coverage and collision avoidance.