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Balance Control of a Biped Robot on a Rotating Platform Based on Efficient Reinforcement Learning

IEEE/CAA Journal of Automatica Sinica 2019年第4期6卷 938-951页

作者： Ao Xi Thushal Wijekoon Mudiyanselage Dacheng Tao Chao Chen the department of Mechanical and Aerospace Engineering Monash UniversityClaytonVIC 3800Australia IEEE Monash University ClaytonVIC 3800Australia the UBTECH Sydney Artificial Intelligence Centre and the School of Computer Science the Faculty of Engineeringthe University of SydneyNSW 2008Australia

In this work,we combined the model based reinforcement learning(MBRL)and model free reinforcement learning(MFRL)to stabilize a biped robot(NAO robot)on a rotating platform,where the angular velocity of the platform is unknown for the proposed learning algorithm and treated as the external *** Gaussian processes normally require a large number of training data points to deal with the discontinuity of the estimated *** some improved method such as probabilistic inference for learning control(PILCO)does not require an explicit global model as the actions are obtained by directly searching the policy space,the overfitting and lack of model complexity may still result in a large deviation between the prediction and the real ***,none of these approaches consider the data error and measurement noise during the training process and test process,*** propose a hierarchical Gaussian processes(GP)models,containing two layers of independent GPs,where the physically continuous probability transition model of the robot is *** to the physically continuous estimation,the algorithm overcomes the overfitting problem with a guaranteed model complexity,and the number of training data is also *** policy for any given initial state is generated automatically by minimizing the expected cost according to the predefined cost function and the obtained probability distribution of the ***,a novel Q(λ)based MFRL method scheme is employed to improve the *** results show that the proposed RL algorithm is able to balance NAO robot on a rotating platform,and it is capable of adapting to the platform with varying angular velocity.

关键词： Biped robot Gaussian processes(GP) reinforcement learning temporal difference

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Inhibition of enzymes associated with obesity by the polyphenol-rich extracts of Hibiscus sabdariffa

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Food Bioscience 2022年第6期50卷 150-160页

作者： Manisha Singh Thilini Thrimawithana Ravi Shukla Benu Adhikari School of Science RMIT UniversityMelbourneVIC3083Australia Discipline of Pharmacy School of Health and Biomedical SciencesRMIT UniversityMelbourneVIC3083Australia NanoBiotechnology Research Laboratory (NBRL) and Centre for Advanced Materials&Industrial Chemistry (CAMIC) RMIT UniversityMelbourneVIC3001Australia

Obesity is a prominent global public health *** study is aimed to explore the inhibition properties of organic and aqueous extracts of Hibiscus sabdariffa against the major enzymes associated with obesity(α-amylase,α-glucosidase,and pancreatic lipase).Extraction was carried out using water and organic solvents(methanol,ethanol and ethyl acetate)and inhibitory effect of these extracts on above-mentioned enzymes was carried out using in vitro *** four extracts showed different yet significant potential to inhibit these *** organic extracts showed much stronger inhibitory effect on the enzymes than aqueous extract as the former were richer in *** potassium hydroxycitrate,which is a salt of major organic acid of ***,did not hinhibit any of these *** combination of polyphenol-rich extract with potassium hydroxycitrate did not bring about additional inhibition indicating that inhibition potential of *** extract against the above-mentioned enzymes is due to the polyphenolic *** molecular docking approach showed that the phenolic compounds of ***,particularly catechin hydrate and rutin hydrate,have higher affnity to bind at the active sites of these enzymes,generate hydrogen bonds and thus inhibit their enzymatic activity.

关键词： Hibiscus sabdariffa Obesity Pancreatic lipase α-Amylase α-Glucosidase Molecular docking

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Lymphangiogenesis: A new player in the heart’s adaptive response to exercise

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Journal of Sport and Health Science 2022年第4期11卷 421-423页

作者： Sanela Dozic Johannes V.Janssens Kate L.Weeks Central Clinical School Monash UniversityMelbourneVIC 3004Australia department of Anatomy&Physiology The University of MelbourneParkvilleVIC 3010Australia Baker department of Cardiometabolic Health The University of MelbourneParkvilleVIC 3010Australia department of Diabetes Central Clinical SchoolMonash UniversityMelbourneVIC 3004Australia

The heart’s lymphatic network is essential for maintaining fluid and immune cell *** vessels return interstitial fluid to the bloodstream,transport macromolecules such as proteins and lipids,and clear the heart of inflammatory cells.1 Several studies have demonstrated the importance of cardiac lymphatics and lymphangiogenesis(the formation of new lymphatic vessels from pre-existing vessels)in settings of cardiac pathology.2-6 Blocking endogenous lymphangiogenesis during myocardial infarction exacerbates myocardial edema and cardiac inflammation and fibrosis,while enhancing lymphangiogenesis attenuates ischemia-induced heart failure and pressure overload-induced cardiac dysfunction.3-5 Collectively,these studies identify stimulation of lymphangiogenesis as a potential therapeutic strategy for the treatment of cardiovascular diseases and heart failure.

关键词： cardiac stimulation endogenous

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CFD-deM modelling of mixing and segregation of binary mixtures of ellipsoidal particles in liquid fluidizations

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Journal of Hydrodynamics 2019年第6期31卷 1190-1203页

作者： Esmaeil Abbaszadeh Molaei Aibing Yu Zongyan Zhou Laboratory for Simulation and Modelling of Particulate Systems Department of Chemical EngineeringMonash UniversityClaytonVic 3800Australia

Solid-liquid fluidized beds of binary mixtures are widely used in many *** segregation may occur as particles can differ in size,density,or *** studies have been conducted in the past to understand the effects of particlesize and density on the mixing and segregation,but the effect of particle shape has not been well ***,in the present work,CFD-deM approach is employed to perform a numerical analysis of the effect of particle shape on the particle mixing and segregation phenomenon in liquid fluidization *** particle shapes from oblate to prolate are produced by varying aspect ratio of ellipsoids from 0.25 to 3,and eight binary mixtures of spheres and ellipsoids are *** results show that when oblate or prolate particles are added to spheres,the segregation takes *** segregation degree increases with particle aspect ratio diverging from 1.0 and also liquid superficial *** relationship of mixing index with aspect ratio under different liquid velocities is established,and a detailed explanation is *** is revealed that increasing the projected area and hence the drag force results in the separation of ellipsoidal particles from spheres.

关键词： Mixing segregation binary mixture ellipsoids liquid fluidization CFD-deM

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Closed-form dynamics of a hexarot parallel manipulator by means of the principle of virtual work

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Acta Mechanica Sinica 2018年第5期34卷 883-895页

作者： Siamak Pedrammehr Saeid Nahavandi Hamid Abdi Institute for Intelligent Systems Research and Innovation Deakin UniversityWaurn Ponds CampusGeelongVIC 3217Australia

In this research,a systematic approach to solving the inverse dynamics of hexarot manipulators is addressed using the methodology of virtual *** the first time,a closed form of the mathematical formulation of the standard dynamic model is presented for this class of *** efficient algorithm for solving this closed-form dynamic model of the mechanism is developed and it is used to simulate the dynamics of the system for different *** of the proposed model is performed using SimMechanics and it is shown that the results of the proposed mathematical model match with the results obtained by the SimMechanics model.

关键词： Parallel mechanism Hexarot Simulator Dynamics Virtual work principle

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Editorial:Secure and Safe Meta Control for Cyber Physical Systems

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IEEE/CAA Journal of Automatica Sinica 2023年第12期10卷 2177-2178页

作者： Qing-Long Han IEEE the School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia

Welcome to the twelfth issue of 2023 in the IEEE/CAA Journal of Automatica Sinica(JAS).In the sixth issue of2023,I systematically addressed the latest development of Meta Vehicles,and sorted out some important contributions published in the IEEE/CAA JAS focusing on control,estimation,and optimization of automated vehicles with reliability,security,efficiency,and intelligence.

关键词： Secure automated estimation

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Equal Channel Angular deformation (ECAD) of As-Cast AM60 Magnesium Alloy

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Journal of Materials Science & Technology 2003年第6期19卷 513-515页

作者： PengLUO XiaolinWU KenongXIA SchoolofMechanicalEngineeringandAutomation GuizhouUniversityofTechnologyGuiyang550003China departmentofMechanicalandManufacturingEngineering UniversityofMelbourneVIC3010Australia

As-cast AM60 magnesium alloy ingot with grains coarser than those of as-extruded AZ series is more liable to produce cracks under ECAD with severe shear strain. A feasible scheme of equal channel angular deformation (ECAD) for as-cast AM60 magnesium alloy ingot was proposed in this paper. The tests were conducted on Instron machine with hydraulic back-force machine. Through analysing load us displacement curves, the effects of ECAD processing conditions on deformability and microstructure of as-cast magnesium AM60 billets were discussed. During testing, the back-force employment was helpful to keep ECAD processing more stable. And with back-force, it was observed that the number of ECAD passes in different routes could tremendously affect the deformability and microstructure of magnesium specimens. It was concluded that ECAD processing is entirely feasible for as-cast magnesium AM60 alloy under severe shear strain, and back-force employment, multi-passes deformation and lubrication of graphite paper are the factors primarily beneficial to improvement of deformability and refinement of grained structure. This work provides a way to produce magnesium alloy with fine-grained structure directly from casting ingot by ECAD technique.

关键词： ECAD AM60 magnesium alloy deformability Metallography

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Impaired glymphatic function in the early stages of disease in a TDP-43 mouse model of amyotrophic lateral sclerosis

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Translational Neurodegeneration 2022年第1期11卷 707-717页

作者： Akram Zamani Adam K.Walker Ben Rollo Katie L.Ayers Raysha Farah Terence J.O’Brien David K.Wright department of Neuroscience Central Clinical SchoolMonash UniversityMelbourneVIC 3004Australia Queensland Brain Institute The University of QueenslandSt LuciaQLD 4072Australia The Murdoch Children’s Research Institute The Royal Children’s HospitalParkvilleVIC 3052Australia department of Pediatrics The University of MelbourneParkvilleVIC 3052Australia department of Medicine The Royal Melbourne HospitalThe University of MelbourneParkvilleVIC 3052Australia

Background: Multiple lines of evidence suggest possible impairment of the glymphatic system in amyotrophic lateral sclerosis (ALS). To investigate this, we used in vivo magnetic resonance imaging (MRI) to assess glymphatic func-tion early in the course of disease in a transgenic mouse with doxycycline (Dox)-controlled expression of cytoplasmic human TDP-43 (hTDP-43ΔNLS), mimicking the key pathology implicated in ALS. Methods: Adult TDP-43 transgenic and littermate monogenic control mice underwent longitudinal multimodal MRI one and three weeks after the cessation of Dox feed, together with weekly rotarod assessments of motor per-formance. Glymphatic function was assessed using dynamic contrast-enhanced MRI to track the clearance of an MR contrast agent injected into the cisterna magna. Results: Compared to their littermate controls, TDP-43 mice exhibited progressive neurodegeneration including that within the primary motor cortex, primary somatosensory cortex and corticospinal tract, significant weight loss includ-ing gastrocnemius atrophy, and shortened telomere length. Furthermore, in the presence of this ALS-like phenotype, these mice have significantly disrupted glymphatic function. Conclusions: Although the relationship between glymphatic clearance and ALS disease progression remains to be elucidated, these changes occurred very early in the disease course. This provides initial evidence to suggest that the glymphatic system might be a potential therapeutic target in the treatment of ALS.

关键词： Magnetic resonance imaging Diffusion-weighted imaging Neurodegeneration Cerebrospinal fluid Telomere

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Distributed Secondary Control of AC Microgrids With External Disturbances and Directed Communication Topologies:A Full-Order Sliding-Mode Approach

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IEEE/CAA Journal of Automatica Sinica 2021年第3期8卷 554-564页

作者： Boda Ning Qing-Long Han Lei Ding Center for Smart Infrastructure and Digital Construction Swinburne University of TechnologyMelbourneVIC 3122Australia School of Software and Electrical Engineering Swinburne University of TechnologyMelbourneVIC 3122Australia Institute of Advanced Technology Nanjing University of Posts and TelecommunicationsNanjing 210023China

This paper addresses the problem of distributed secondary control for islanded AC microgrids with external *** using a full-order sliding-mode(FOSM)approach,voltage regulation and frequency restoration are achieved in finite *** voltage regulation,a distributed observer is proposed for each distributed generator(DG)to estimate a reference voltage *** from some conventional observers,the reference voltage level in this paper is accurately estimated under directed communication *** on the observer,a new nonlinear controller is designed in a backstepping manner such that an FOSM surface is reached in finite *** the surface,the voltages of DGs are regulated to the reference level in finite *** frequency restoration,a distributed controller is further proposed such that a constructed FOSM surface is reached in finite time,on which the frequencies of DGs are restored to a reference level in finite time under directed communication ***,case studies on a modified IEEE 37-bus test system are conducted to demonstrate the effectiveness,the robustness against load changes,and the plug-and-play capability of the proposed controllers.

关键词： Directed communication topologies distributed secondary control external disturbances full-order sliding-mode control microgrids

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Effect of Composition and Processing Parameters on the Formation of Nano-Bainite in Advanced High Strength Steels

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Journal of Iron and Steel Research International 2011年第S1期18卷 238-241页

作者： Ilana Timokhina Hossein Beladi Peter Hodgson Centre for Material and Fibre Innovation Deakin UniversityGeelongVIC 3217

The nano-bainitic microstructures were compared in a 0.79C-1.5Si-1.98Mn-0.24Mo-1.06Al (wt%) steel after isothermal heat-treatment and a Fe-0.2C-1.5Mn-1.2Si-0.3Mo-0.6Al-0.02Nb (wt%) steel after controlled thermomechanical *** microstructure for both steels consisted of *** microstructural characteristics of bainite,such as the morphology of the nano-bainite and thicknesses of bainitic ferrite and retained austenite layers,as a function of steel composition and processing was studied using transmission electron microscopy (TEM).It was found that the nano-bainitic structure can be formed in the low alloy steel through thermomechanical *** probe tomography (APT) was employed as a powerful technique to determine local composition distributions in three dimensions with atomic *** important conclusions from the APT research were that the carbon content of bainitic ferrite is higher than expected from paraequilibrium level of carbon in ferrite for both steels and that Fe-C clusters and fine particles are formed in the bainitic ferrite in both steels despite the high level of Si.

关键词： nano-bainite transmission electron microscopy atom probe tomography carbon content

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