Control Mechanisms Research Articles

Recent developments in autonomous floor-cleaning robots: a review

Purpose Autonomous floor-cleaning robots (AFCRs) have become increasingly popular due to their ability to provide efficient and effective cleaning without the need for human intervention. These robots can perform various cleaning tasks, such as vacuum cleaning, mopping, scrubbing or sweeping, in domestic or industrial setups. As the use of floor-cleaning robots continues to grow, this paper aims to document key technological advancements. Design/methodology/approach The structure of the present work relies on published research articles excavated from general online research databases such as Google Scholar, Web of Science and Scopus. The authors use a variety of keywords and titles to search for research papers. Finally, 93 research articles are selected for review based on abstracts and key results that match AFCRs. Findings According to market trends, floor-cleaning robots dominate other cleaning areas. This review mainly focuses on five attributes of floor-cleaning robots: design and development of AFCR, complete coverage path planning, the application of machine learning (ML)/deep learning (DL), optimisation strategies for qualitative output and ethnographic studies. It also consists of discussions based on the results of reported technical works. Hence, AFCRs have dominated the market in the past decade and are likely to be more aggressive in the coming years. Originality/value To the best of the authors’ knowledge, only a survey article based on US-granted patents published in 2013 constitutes a review work in the research domain on AFCRs. In 2021, another review conducted a survey on the latest technological advancements in window-cleaning robots. It reviewed in detail the locomotion aspects, control mechanisms, adhesion mechanisms, sensors and actuators required for window-cleaning robots. In 2019, a comprehensive review was published on cleaning robots from a control strategy perspective for domestic applications. Therefore, the authors have crafted this review to understand the evolution of floor-cleaning robots in the past decade.

LPS-induced neuroinflammation induces changes in the transcriptional profile of members of the CoRest repressive complex in the hippocampus.

The action of Corepressor for Element Silencing Transcription Factor 1 (CoREST) is primarily related to neural fate decisions. However, the molecular mechanisms linking neuroinflammation to the histone modifying complex remain unclear. CoREST is a hub for several cofactors that play important roles in epigenetic remodeling and transcriptional regulation. It allows us to question their functions during the inflammatory response in the Central Nervous System. The impact of LPS-induced neuroinflammation on the transcriptional epigenetic control of members with CoRest repressive complex in the hippocampus was investigated. Characterizing the basal transcriptional profile in the hippocampus of members with CoREST repressive complex showed that the Rcor3 is the most expressed gene, and the Rcor2 is the least expressed one. It was also demonstrated that the levels of Lsd1, CoREST1 (Rcor1), and CoREST2 (Rcor2) transcripts increased in the hippocampus after LPS i.p. administration, while for CoREST3 (Rcor3), no significant difference was observed. A significant increase was noticed in the percentages of the 5-meC mark (Hypermethylation) for the Rcor1 and Lsd1 genes with a positive Pearson correlation between methylation and expression. However, the correlation was directly proportional, ruling out DNA methylation as the main mechanism in transcriptional control.

Topological Metasurface for Spin‐Decoupled Wavefront Manipulation of Terahertz Surface Plasmons

AbstractOn‐chip wavefront manipulation of terahertz surface plasmons is crucial for the miniaturization and practical application of terahertz technology. Recently, topological metasurfaces have emerged as a promising avenue for spin‐decoupled wavefront manipulation, leveraging the unique topological properties of non‐Hermitian matrices near their singular points. Despite their innovative phase control mechanisms, topological metasurfaces have not yet been explored for surface plasmon devices. Here, spin‐decoupled wavefront manipulation of terahertz surface plasmons is experimentally achieved using freestanding topological metasurfaces. This approach promises to expand the control methods of surface plasmons and broaden the application scenarios of topological metasurfaces, providing a new paradigm for the design of integrated on‐chip terahertz devices.

The Effect of Cognitive and Motor Dual Tasks on the Synergy of Lower Limb Muscles During Walking.

Walking is one of the most complex human movements that can be affected by various sources of attention. Dual tasks reduce attention, increase information processing, and may alter control mechanisms such as synergy. However, the effect of dual tasks on muscle synergy remains unknown. Therefore, this study aimed to investigate the effect of cognitive and motor dual tasks on the synergy of lower limb muscles during walking. Twenty-four participants were selected voluntarily. The activity of the eight lower limb muscles was recorded under three different conditions: normal walking without a dual task, walking with a cognitive dual task, and walking with a motor dual task. A nonnegative matrix factorization algorithm and the variance accounted for were used to extract muscle synergy. The repeated-measures analysis of variance test and Pearson's correlation coefficient were performed to analyze the data. In this study, five muscle synergies were extracted from electromyography data using the variance accounted for method under three different conditions. The pattern of muscle synergies showed moderate to strong correlations. Peaks of synergies changed, and a time shift in synergy peaks during walking was observed. However, the number of extracted synergies did not change. The number of recruited muscle synergies remained consistent across different conditions. Dual tasks affect the higher levels of the motor control system, causing interference in information processing that leads to a shift in the tendency of synergy and weight coefficients of the muscles, ultimately resulting in a change in walking mechanics.

Exploring mechanisms of gene expression control during Ustilago maydis teliospore germination

Fungal plant pathogens produce spores for survival and dispersion. Developing an understanding of the mechanisms involved in spore dormancy and germination will aid in mitigating the impact of diseases they cause. The thick-walled diploid teliospores of Ustilago maydis were used as a model for studying fungal spore dormancy and germination. These spores develop only in infected maize tissue and can remain dormant for long periods of time. Teliospores germinate under favourable conditions, resume meiosis, and produce basidiospores to initiate new rounds of infection. Previous research identified changing gene transcripts during teliospore germination, but analysis was hampered by asynchronous germination. The more comprehensive RNA-seq analysis of U. maydis teliospore germination presented here aimed to identify gene altered transcript levels detectable above the background of fluctuating changes resulting from asynchronous germination. The analyses identified 18 different patterns of gene transcript level changes. It also indicated that gene expression is controlled at the transcriptional and post-transcriptional levels. Gene ontology term enrichment analyses of these patterns revealed genes that are involved in cell morphogenesis, metabolism, and RNA metabolism.

Design of a Feedforward Decoupled Current Controller and an Optimized Voltage‐Oriented Control for Bi‐Directional Power Flow for V2G Application

ABSTRACTBi‐directional power exchange between the lithium‐ion battery and the grid can be achieved using vehicle‐to‐grid (V2G) technology. Bi‐directional battery chargers for V2G applications present opportunities and challenges, as the rapid growth of active components can compromise system reliability. This paper proposes an adaptive control mechanism for a three‐phase bi‐directional battery charging system to address this. The system integrates a bi‐directional active front‐end (AFE) converter (BAC) with an interleaved buck‐boost converter to enable adaptive constant current/constant voltage (CC/CV) mode operation and bi‐directional power flow. A feedforward decoupled current controller and pulse width modulation scheme optimize battery charging, while an optimized voltage‐oriented control (OVOC) model‐based controller ensures stable bi‐directional power exchange between the electric vehicle (EV) and the utility. Experimental results validate the effectiveness of the proposed approach, with findings demonstrating low total harmonic distortion (THD), unity power factor (UPF), and minimal DC voltage ripple. A 12.5 kW prototype further confirms the practical viability of the design, offering a promising solution for enhanced reliability and performance in V2G battery chargers.

Highly Active and Stereoselective Ring‐Opening Polymerization of Racemic Lactide Over HTGCP Catalysts

ABSTRACTDespite the extraordinary success has been achieved in metal catalyst‐promoted stereoselective ring‐opening polymerization (ROP) of rac‐lactide (rac‐LA), well‐controlled stereoselective rac‐LA ROP by organic catalyst still remains a scientific challenge. In this study, we showcase the remarkable ability of the phosphazene base 2,2,4,4,6,6‐hexa(tetramethyl‐guanidyl)‐1,3,5,2λ5,4λ5,6λ5‐cyclictri(phosphazene) (HTGCP) to facilitate the stereoselective ROP of rac‐LA at low temperatures, yielding isotactic stereoblock poly (lactic acid) (PLA) with a stereoselectivity index (Pm) up to 0.86. Furthermore, by harnessing the synergy between HTGCP and a (thio)urea, both high stereoselectivity (Pm up to 0.85) and remarkable catalytic activity (> 99% monomer conversion within an hour) can be achieved at ambient temperature. Notably, upon decreasing the temperature to −20°C, an even higher degree of regularity is attained (Pm up to 0.91). The direct linear correlation between molecular weights (Mn), monomer conversions, and the narrow dispersity (Đ) of the resulting polymers, coupled with their high end‐group fidelity, underscores the meticulous control exerted over the polymerization. Based on these findings, we propose that the chain end control mechanism underlies the synthesis of isotactic stereoblock PLA from rac‐LA in the presence of HTGCP, offering a novel and efficient pathway to produce high‐performance PLA materials.

Swarm Intelligence and Unmanned Systems: The Potentıal Impact of The Principles of Swarm Intelligence and Collective Behaviour in Nature On Unmanned Systems and Autonomous Organizational Structures

This paper examines the potential implications of the principles of swarm intelligence and collective behavior in nature for unmanned systems and autonomous organizational structures. Swarm intelligence is inspired by natural systems in which individual units interact according to simple rules to form a complex and organized whole. These principles can be observed in a wide range of situations, from the synchronized flight of flocks of birds to the harmonized swimming behavior of schools of fish. The study emphasizes that swarm intelligence principles have the potential to create more flexible, resilient and efficient systems with decentralized control mechanisms and autonomous decision-making processes. Furthermore, it is suggested that these approaches can find applications in many fields, from military operations to agricultural and environmental monitoring, from disaster response to urban planning. The study provides a detailed analysis of swarm behavior in nature and discusses how these behaviors can be emulated and optimized in unmanned systems. In this context, the potential impacts of swarm intelligence and collective behavior principles on unmanned systems are evaluated in terms of increasing their adaptability, optimizing energy efficiency and maximizing mission success. It is also argued that these principles can contribute to making unmanned systems more resilient to contingencies and changing environmental conditions. This theoretical study suggests that swarm intelligence principles can provide innovative solutions for future unmanned systems and autonomous organizational structures.

Regulation and functions of the DLC family of RhoGAP proteins: Implications for development and cancer.

The DLC (Deleted in Liver Cancer) family of RhoGAP (Rho GTPase-activating) proteins has been extensively studied since the identification of the first family member nearly 30 years ago. Rho GTPase signaling is essential for various cellular processes, including cytoskeletal dynamics, cell migration, and proliferation. Members of the DLC family are key regulators of this signaling pathway, with well-established roles in development and carcinogenesis. Here, we provide a comprehensive review of research into DLC regulation and cellular functions over the last three decades. In particular, we summarize control mechanisms of DLC gene expression at both the transcriptional and post-transcriptional level. Additionally, recent advances in understanding the post-translational regulation of DLC proteins that allow for tuning of protein activity and localization are highlighted. This detailed overview will serve as resource for future studies aimed at further elucidating the complex regulatory mechanisms of DLC family proteins and exploring their potential as targets for therapeutic applications.

Rational Design of Biocompatible Ir(III) Photosensitizer to Overcome Drug-Resistant Cancer via Oxidative Autophagy Inhibition.

Autophagy is a crucial quality control mechanism that degrades damaged cellular components through lysosomal fusion with autophagosomes. However, elevated autophagy levels can promote drug resistance in cancer cells, enhancing their survival. Downregulation of autophagy through oxidative stress is a clinically promising strategy to counteract drug resistance, yet precise control of oxidative stress in autophagic proteins remains challenging. Here, a molecular design strategy of biocompatible neutral Ir(III) photosensitizers is demonstrated, B2 and B4, for precise reactive oxygen species (ROS) control at lysosomes to inhibit autophagy. The underlying molecular mechanisms for the biocompatibility and lysosome selectivity of Ir(III) complexes are explored by comparing B2 with the cationic or the non-lysosome-targeting analogs. Also, the biological mechanisms for autophagy inhibition via lysosomal oxidation are explored. Proteome analyses reveal significant oxidation of proteins essential for autophagy, including lysosomal and fusion-mediator proteins. These findings are verified in vitro, using mass spectrometry, live cell imaging, and a model SNARE complex. The anti-tumor efficacy of the precise lysosomal oxidation strategy is further validated in vivo with B4, engineered for red light absorbance. This study is expected to inspire thetherapeutic use of spatiotemporal ROS control for sophisticated modulation of autophagy.

Legal understanding of the failures of international conventional arms control mechanisms

Conventional arms control appears today as an essential means to ensure peace in the world and sustainable development. Its international implementation is ensured by United Nations bodies, treaties and even programs. Despite these mechanisms, arms control is proving to be ineffective. Weapons continue to be the basis of several criminal acts, including scenes of violence, armed conflicts, and terrorist attacks. By resorting to research methods such as analysis and legal documentation, the author reaches the conclusion according to which these failures at the level of control have their sources in shortcomings within control mechanisms. These shortcomings include among other the failure to establish a Military Staff Committee whose role was to contribute with the Security Council to the implementation of a policy of reducing the budget dedicated to arms in accordance with Article 26 of the Charter of the United Nations; The non-compliance with the rules for reporting in the registers of conventional weapons, and the legalization of the right to carry weapons in the internal legislation of several countries.

ATP: Achieving Throughput Peak for DNN Training via Smart GPU Memory Management

Due to the limited GPU memory, the performance of large DNNs training is constrained by the unscalable batch size. Existing researches partially address the issue of GPU memory limit through tensor recomputation and swapping, but overlook the exploration of optimal performance. In response, we propose ATP, a recomputation and swapping based GPU memory management framework that aims to maximize training performance by breaking GPU memory constraints. ATP utilizes a throughput model we proposed to evaluate the theoretical peak performance achievable by DNN training on GPU, and provide the optimum memory size required for recomputation and swapping. We optimize the mechanisms for GPU memory pool and CUDA stream control, employs an optimization method to search for specific tensors requiring recomputation and swapping, thereby bringing the actual DNN training performance on ATP closer to theoretical values. Evaluations with different types of large DNN models indicate that ATP achieve throughput improvements ranging from 1.14 ∼ 1.49 ×, while support model training exceeding the GPU memory limit by up to 9.2 ×.

Experimental and numerical study on double wedge shock/shock interaction controlled by a single-pulse plasma synthetic jet

Abstract The phenomenon of shock/shock interaction (SSI) is widely observed in high-speed flow, and the double wedge SSI represents one of the typical problems encountered. The control effect of plasma synthetic jet (PSJ) on double wedge type-VI and type-V SSI was experimentally and numerically investigated, and the influence of discharge energy was also explored. The findings indicate that the interaction between PSJ and the high-speed freestream results in the formation of a plasma layer and a jet shock, which collectively governs the control of SSI. The control mechanism of single-pulse PSJ on SSI lies in its ability to attenuate shock and SSI. For type-VI SSI, under the control of PSJ, the original second-wedge oblique shock is eliminated, resulting in a new type-VI SSI formed by the jet shock and the first-wedge oblique shock. For type-V SSI, under the control of PSJ, Mach stem, supersonic jet and the reflected shocks are significantly attenuated, resulting in a transformation of type-V SSI into type-VI SSI. The numerical results indicate that the maximum reduction of peak pressure is approximately 32.26%. The development of PSJ also extends in the Z direction. The pressure decreases in the area affected by both PSJ and jet shock due to the attenuation of the SSI zone. The control effect of PSJ on SSI is gradually enhanced with increasing discharge energy.

Design and simulation of a smart master switch system based on multi-input XOR logic gate

AbstractMechanical switches have been the conventional way of controlling electrical energy in different electrical systems such as: lighting systems, socket systems, and circuit breakers, especially in domestic, hospital, and industrial applications. Mechanical switches often require physical access to control different electrical devices that are connected to the power sources. The work presented in this paper aimed at designing and simulating a multi-input based Exclusive-Or master switch system that remotely controls the lighting and socket systems using the wireless switching mechanisms of Global System for Mobile communication and Bluetooth. The system therefore limits physical interaction that require use of the single pole double throw and keypad mechanical switches that are however included to act as fall-back mechanism in control of electrical devices. Within the recommended electrical safety measures, the design can be streamlined and integrated to remotely control lighting systems and sockets alongside the conventional mechanical switches in the consumer control unit.

Prediction-based controller radial neural network for the traction control system

One of the systems needed to improve vehicle safety is the traction control system (TCS). This control mechanism keeps the wheels from slipping too much when the car accelerates, especially when it moves quickly. Because of the significant nonlinear behavior of the tire during acceleration and the unknown impacts of the road surface, it might be difficult to maintain wheel slip in an acceptable range, especially in bad weather. However, some uncertainties, such as unmodeled dynamics and vehicle parameter uncertainty, should be taken into account when designing the controller. Consequently, TCS requires the existence of a strong nonlinear control law. In this study, an analytical design for a TCS controller is made using the method of nonlinear predictive control. The control system’s resistance is then increased by employing an adaptive radial basis neural network (RFNN) to predict the system’s unknown uncertainties. In this study, the controller was designed using half car and quarter car models, respectively. The behavior of the suggested control system for tracking the reference wheel’s slip in the face of uncertainty for various movements is examined in the simulation results that follow. The resulting results have been compared with the simulation results generated from the nonlinear sliding mode controller response used in valid articles in order to provide a more thorough examination of the suggested control system. The findings demonstrate the effective performance of the suggested control mechanism against nonlinear effects and uncertainties.

Monitoring Hazards in Dam Environments Using Remote Sensing Techniques: Case of Kulekhani-I Reservoir in Nepal

Maintaining the operability of a hydroelectric power station at a scale originally designed is being compromised by continuous reservoir sedimentation. The underlying factors include a complex mix of landscape alterations owing to natural and anthropogenic activities around dam areas, such as gully erosion, landslides, floods triggered by heavy rainfall, climate change, and construction activities. The hydropower projects in the low-to-mid mountain regions of Nepal are witnessing a combination of these phenomena, affecting their optimal performance in meeting long-term sustainable power supply targets. This paper presents a combination of geo-spatial analysis and field evaluations to identify the trends from Kulekhani-I, one of the oldest storage-type hydropower projects in Nepal, using long-term time series remote sensing satellite imagery from 1988 to 2020. Our analysis shows an expansion of the surface water content area over time, attributed mainly to high sedimentation deposition owing to multiple factors. This study has identified an urgent need for addressing the following two key contributory factors through an effective control mechanism to avoid rapid sedimentation in the reservoirs: natural—landslides and floods leading to mainly silt deposition during heavy rainfalls; and anthropogenic—road construction materials dumped directly in the reservoir. Effective implementation of a remote sensing monitoring scheme can safeguard future damages to dam environments of more recently built storage-type hydropower projects.

Copper Efficacy Field Trials for Control of Pseudomonas syringae pv. tabaci in Nicotiana tabacum Production

Since 2015, Pseudomonas syringae pv. tabaci tox− has become the most significant foliar disease in the dark tobacco growing regions of Kentucky and Tennessee. Streptomycin sulfate, the main control mechanism that growers utilize to combat this bacterial disease, has evidence of resistance at 200 ppm. Field trials were established to evaluate the efficacy of copper-based products for control of angular leaf spot compared with streptomycin sulfate. Field trials were conducted from 2020 to 2022 at the West Farm of Murray State University in Murray, KY, to evaluate the efficacy of streptomycin sulfate, cuprous oxide, copper sulfate pentahydrate, and copper octanoate. In all years, the moderately susceptible dark tobacco variety KT D8LC was planted and inoculated with a streptomycin-sensitive isolate of P. syringae pv. tabaci. Tobacco treated with five applications of copper octanoate had a lower area under the disease progress curve (AUDPC) than tobacco treated with streptomycin sulfate in 2020 and 2022. Data analysis showed that in one of the three years, tobacco treated with cuprous oxide had a higher yield compared with tobacco treated with streptomycin sulfate. Tobacco treated with cuprous oxide had a higher quality grade index compared with streptomycin sulfate in 2020. Although no treatment eliminated this bacterial disease, copper products, particularly cuprous oxide and copper octanoate, are suitable alternatives to streptomycin sulfate for management of angular leaf spot.

Root cap cell corpse clearance limits microbial colonization in Arabidopsis thaliana.

Programmed cell death occurring during plant development (dPCD) is a fundamental process integral for plant growth and reproduction. Here, we investigate the connection between developmentally controlled PCD and fungal accommodation in Arabidopsis thaliana roots, focusing on the root cap-specific transcription factor ANAC033/SOMBRERO (SMB) and the senescence-associated nuclease BFN1. Mutations of both dPCD regulators increase colonization by the beneficial fungus Serendipita indica, primarily in the differentiation zone. smb-3 mutants additionally exhibit hypercolonization around the meristematic zone and a delay of S. indica-induced root-growth promotion. This demonstrates that root cap dPCD and rapid post-mortem clearance of cellular corpses represent a physical defense mechanism restricting microbial invasion of the root. Additionally, reporter lines and transcriptional analysis revealed that BFN1 expression is downregulated during S. indica colonization in mature root epidermal cells, suggesting a transcriptional control mechanism that facilitates the accommodation of beneficial microbes in the roots.

Root cap cell corpse clearance limits microbial colonization in Arabidopsis thaliana

Programmed cell death occurring during plant development (dPCD) is a fundamental process integral for plant growth and reproduction. Here, we investigate the connection between developmentally controlled PCD and fungal accommodation in Arabidopsis thaliana roots, focusing on the root cap-specific transcription factor ANAC033/SOMBRERO (SMB) and the senescence-associated nuclease BFN1. Mutations of both dPCD regulators increase colonization by the beneficial fungus Serendipita indica, primarily in the differentiation zone. smb-3 mutants additionally exhibit hypercolonization around the meristematic zone and a delay of S. indica-induced root-growth promotion. This demonstrates that root cap dPCD and rapid post-mortem clearance of cellular corpses represent a physical defense mechanism restricting microbial invasion of the root. Additionally, reporter lines and transcriptional analysis revealed that BFN1 expression is downregulated during S. indica colonization in mature root epidermal cells, suggesting a transcriptional control mechanism that facilitates the accommodation of beneficial microbes in the roots.

Quantitative EEG and its relationship with attentional control in patients with anxiety disorders

IntroductionAttentional control is crucial in the development and maintenance of anxiety disorders. Understanding the underlying mechanisms of attentional control can help to shed light on the neuropathological processes in anxiety disorders (ANX). Quantitative electroencephalography (QEEG) offers a cost-effective, noninvasive method for examining the neuropathological mechanisms of mental disorders.MethodsIn this study, 67 patients with ANX and 45 healthy controls (HC) were recruited. EEG recordings were obtained for 5 minutes in an eyes-closed condition. QEEG was employed to evaluate the mechanisms of attentional control in ANX.ResultsNeurophysiological measures indicated that anxiety patients exhibited a more frontal topographic pattern of theta/beta ratio (TBR) compared to HC. Additionally, a significant decrease in temporal beta power was observed in the ANX group. Correlation analysis revealed that decreased beta power and increased TBR were significant association between attentional control deficits in ANX.DiscussionThese findings provide electrophysiological evidence of impaired attentional control processing in anxiety patients, characterized by decreased temporal beta power and increased frontal TBR. Temporal beta power and frontal TBR may serve as promising biomarkers for attentional control in ANX.