Reactive direction control for a mobile robot: A locust-like control of escape direction emerges when a bilateral pair of model locust visual neurons are integrated

Locusts possess a bilateral pair of uniquely identifiable visual neurons that respond vigorously to the image of an approaching object. These neurons are called the lobula giant movement detectors (LGMDs). The locust LGMDs have been extensively studied and this has lead to the development of an LGMD model for use as an artificial collision detector in robotic applications. To date, robots have been equipped with only a single, central artificial LGMD sensor, and this triggers a non-directional stop or rotation when a potentially colliding object is detected. Clearly, for a robot to behave autonomously, it must react differently to stimuli approaching from different directions. In this study, we implement a bilateral pair of LGMD models in Khepera robots equipped with normal and panoramic cameras. We integrate the responses of these LGMD models using methodologies inspired by research on escape direction control in cockroaches. Using ‘randomised winner-take-all’ or ‘steering wheel’ algorithms for LGMD model integration, the khepera robots could escape an approaching threat in real time and with a similar distribution of escape directions as real locusts. We also found that by optimising these algorithms, we could use them to integrate the left and right DCMD responses of real jumping locusts offline and reproduce the actual escape directions that the locusts took in a particular trial. Our results significantly advance the development of an artificial collision detection and evasion system based on the locust LGMD by allowing it reactive control over robot behaviour. The success of this approach may also indicate some important areas to be pursued in future biological research

A Survey of Air-to-Ground Propagation Channel Modeling for Unmanned Aerial Vehicles

In recent years, there has been a dramatic increase in the use of unmanned aerial vehicles (UAVs), particularly for small UAVs, due to their affordable prices, ease of availability, and ease of operability. Existing and future applications of UAVs include remote surveillance and monitoring, relief operations, package delivery, and communication backhaul infrastructure. Additionally, UAVs are envisioned as an important component of 5G wireless technology and beyond. The unique application scenarios for UAVs necessitate accurate air-to-ground (AG) propagation channel models for designing and evaluating UAV communication links for control/non-payload as well as payload data transmissions. These AG propagation models have not been investigated in detail when compared to terrestrial propagation models. In this paper, a comprehensive survey is provided on available AG channel measurement campaigns, large and small scale fading channel models, their limitations, and future research directions for UAV communication scenarios

Fault Type Estimation in Power Systems

Abstract: This paper presents a novel approach for fault type estimation in power systems. The Fault type estimation is the first step to estimate instantaneous voltage, voltage sag magnitude and duration in a three-phase system at fault duration. The approach is based on time-domain state estimation where redundant measurements are available. The current based model allows a linear mapping between the measured variable and the states to be estimated. This paper shows a possible for fault instance detection, fault location identification and fault type estimation utilizing residual analysis and topology error processing. The idea is that the fault status does not change measurement matrix dimensions but changes some elements of the measurement matrix. The paper addresses how to rebuilt measurement matrix for each type of faults. The proposed algorithm is shown that the method has high effectiveness and high performance for forecasting fault type and for estimating instantaneous bus voltage. The performance of the novel approach is tested on IEEE 14-bus test system and the results are shown

Optimal Placement of Capacitor Banks Using a New Modified Version of Teaching-Learning- Based Optimization Algorithm

Meta-heuristics optimization methods are important techniques for optimal design of the engineering systems. Numerous Meta-heuristics methods, all inspired by different nature phenomena, have been introduced in the literature. A new modified version of Teaching-Learning-Based Optimization (TLBO) Algorithm is introduced in this paper. TLBO, as a parameter-free algorithm, is based on the learning procedure of students in a classroom. In the Conventional TLBO (CTLBO), the students enhance their grade in two phases known as teacher phase and student phase. In the former, the teacher tries to enhance the average of the class. In the latter, the students share their knowledge in the groups of two. In the proposed Modified TLBO (MTLBO), the students participate in the groups of several students and improve their knowledge based on the grade of these students. Participating in the meeting with more than two students increases the probability of enhancing the student marks. To testify the performance of the proposed algorithm, it is applied to the problem of optimal capacitor placement with the aim of annual net saving maximization and system stability enhancement. The test systems are 34-bus and 94- bus radial test systems. The comparison of the results with those from off-the-shelf algorithms clears the appropriate performance, fast convergence, and superiority of the proposed algorithm

A computational model of ureteral peristalsis and an investigation into ureteral reflux.

The aim of this study is to create a computational model of the human ureteral system that accurately replicates the peristaltic movement of the ureter for a variety of physiological and pathological functions. The objectives of this research are met using our in-house fluid-structural dynamics code (CgLes-Y code). A realistic peristaltic motion of the ureter is modelled using a novel piecewise linear force model. The urodynamic responses are investigated under two conditions of a healthy and a depressed contraction force. A ureteral pressure during the contraction shows a very good agreement with corresponding clinical data. The results also show a dependency of the wall shear stresses on the contraction velocity and it confirms the presence of a high shear stress at the proximal part of the ureter. Additionally, it is shown that an inefficient lumen contraction can increase the possibility of a continuous reflux during the propagation of peristalsis

DMRN+17: Digital Music Research Network One-day Workshop 2022

DMRN+17: Digital Music Research Network One-day Workshop 2022 Queen Mary University of London - Tuesday 20th December 2022. The Digital Music Research Network (DMRN) aims to promote research in the area of Digital Music, by bringing together researchers from UK and overseas universities and industry for its annual workshop. The workshop will include invited and contributed talks and posters. The workshop will be an ideal opportunity for networking with other people working in the area. Keynote speakers: Sander Dieleman Tittle: On generative modelling and iterative refinement. Bio: Sander Dieleman is a Research Scientist at DeepMind in London, UK, where he has worked on the development of AlphaGo and WaveNet. He obtained his PhD from Ghent University in 2016, where he conducted research on feature learning and deep learning techniques for learning hierarchical representations of musical audio signals. His current research interests include representation learning and generative modelling of perceptual signals such as speech, music and visual data. DMRN+17 is sponsored by The UKRI Centre for Doctoral Training in Artificial Intelligence and Music (AIM); a leading PhD research programme aimed at the Music/Audio Technology and Creative Industries, based at Queen Mary University of London

DMRN+16: Digital Music Research Network One-day Workshop 2021

DMRN+16: Digital Music Research Network One-day Workshop 2021 Queen Mary University of London Tuesday 21st December 2021 Keynote speakers Keynote 1. Prof. Sophie Scott -Director, Institute of Cognitive Neuroscience, UCL. Title: "Sound on the brain - insights from functional neuroimaging and neuroanatomy" Abstract In this talk I will use functional imaging and models of primate neuroanatomy to explore how sound is processed in the human brain. I will demonstrate that sound is represented cortically in different parallel streams. I will expand this to show how this can impact on the concept of auditory perception, which arguably incorporates multiple kinds of distinct perceptual processes. I will address the roles that subcortical processes play in this, and also the contributions from hemispheric asymmetries. Keynote 2: Prof. Gus Xia - Assistant Professor at NYU Shanghai Title: "Learning interpretable music representations: from human stupidity to artificial intelligence" Abstract Gus has been leading the Music X Lab in developing intelligent systems that help people better compose and learn music. In this talk, he will show us the importance of music representation for both humans and machines, and how to learn better music representations via the design of inductive bias. Once we got interpretable music representations, the potential applications are limitless