Application of the Fuzzy Logic for the Development of Automnomous Robot with Obstacles Deviation

Lucas Alves Dias,Roger William de Oliveira Silva,Paulo César da Silva Emanuel,André Ferrus Filho,Rodrigo Teixeira Bento 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.2

This paper proposed to elaborate a navigation system for an autonomous mobile robot, able to deviate from obstacles, from the study and application of Fuzzy Logic. With the algorithm in operation, it was verified that the Fuzzy logic offers a smoother transition in the movements. In order to validate the efficiency of the navigation system created, simulations were performed with the robot according to the rules inserted in the Fuzzy controller, where the input values of the sensors and the output values in the PWM of the board were analyzed. The results obtained were consistent with the responses given by the simulation in MatLab, following the same trend of behavior. With the realization of this project, it was concluded that the Fuzzy methodology presents a solution to the problems of navigation in real environments, allowing to implement a controller for an autonomous robot that can deflect obstacles avoiding their collision. One of the problems encountered is the angle of actuation of the ultrasonic sensors. This type of sensor works with an angle of actuation of 15◦, which leaves the robot with a low vision area in the use of three sensors. As a result, there may be no reading on objects entering zones without detection, leading to a collision with these obstacles. The responses were satisfactory, following the same trend behavior of the simulations of the Fuzzy controller.

BEYOND LINEAR PROGRAMMING

Smith, Palmer W.,Phillips, J. Donald,Lucas, William H. 한국경영과학회 1978 한국경영과학회지 Vol.3 No.1

Decision models are an attempt to reduce uncertainty in the decision making process. The models describe the relationships of variables and given proper input data generate solutions to managerial problems. These solutions may not be answers to the problems for one of twom reasons. First, the data input into the model may not be conssiant with the underlying assumptions of the model being used. Frequently parameters are assumed to be deterministic when in fact they are probabilistic in nature. The second failure is that often the decision maker recognizes that the data available are not appropriate for the model being used and begins to collect the required data. By the time these data has been compiled the solution is no longer an answer to the problem. This relates to the timeliness of decision making. The authors point out through the use of an illustrative problem that stocastic models are well developed and that they do not suffer from any lack of mathematical exactiness. The primary problem is that generally accepted procedures for data generation are historical in nature and not relevant for probabilistic decision models. The authors advocate that management information system designers and accountants must become more familiar with these decision models and the input data required for their effective implementation. This will provide these professionals with the background necessary to generate data in a form that makes it relevant and timely for the decision making process.

The genome of the cucumber, Cucumis sativus L.

Huang, Sanwen,Li, Ruiqiang,Zhang, Zhonghua,Li, Li,Gu, Xingfang,Fan, Wei,Lucas, William J,Wang, Xiaowu,Xie, Bingyan,Ni, Peixiang,Ren, Yuanyuan,Zhu, Hongmei,Li, Jun,Lin, Kui,Jin, Weiwei,Fei, Zhangjun,Li Nature Publishing Group 2009 Nature genetics Vol.41 No.12

Cucumber is an economically important crop as well as a model system for sex determination studies and plant vascular biology. Here we report the draft genome sequence of Cucumis sativus var. sativus L., assembled using a novel combination of traditional Sanger and next-generation Illumina GA sequencing technologies to obtain 72.2-fold genome coverage. The absence of recent whole-genome duplication, along with the presence of few tandem duplications, explains the small number of genes in the cucumber. Our study establishes that five of the cucumber's seven chromosomes arose from fusions of ten ancestral chromosomes after divergence from Cucumis melo. The sequenced cucumber genome affords insight into traits such as its sex expression, disease resistance, biosynthesis of cucurbitacin and 'fresh green' odor. We also identify 686 gene clusters related to phloem function. The cucumber genome provides a valuable resource for developing elite cultivars and for studying the evolution and function of the plant vascular system.

Proteomic Analysis to Identify Tightly-Bound Cell Wall Protein in Rice Calli

조원경,현태경,Dhinesh Kumar,임영길,Xiong Yan Chen,조연화,김수화,이근우,박지용,William J. Lucas,김재연 한국분자세포생물학회 2015 Molecules and cells Vol.38 No.8

Rice is a model plant widely used for basic and applied research programs. Plant cell wall proteins play key roles in a broad range of biological processes. However, presently, knowledge on the rice cell wall proteome is rudimentary in nature. In the present study, the tightly-bound cell wall proteome of rice callus cultured cells using sequential extraction protocols was developed using mass spectrometry and bioinformatics methods, leading to the identification of 1568 candidate proteins. Based on bioinformatics analyses, 389 classical rice cell wall proteins, possessing a signal peptide, and 334 putative non-classical cell wall proteins, lacking a signal peptide, were identified. By combining previously established rice cell wall protein databases with current data for the classical rice cell wall proteins, a comprehensive rice cell wall proteome, comprised of 496 proteins, was constructed. A comparative analysis of the rice and Arabidopsis cell wall proteomes revealed a high level of homology, suggesting a predominant conservation between monocot and eudicot cell wall proteins. This study importantly increased information on cell wall proteins, which serves for future functional analyses of these identified rice cell wall proteins.

The protein kinase TOUSLED facilitates RNAi in <i>Arabidopsis</i>

Uddin, Mohammad Nazim,Dunoyer, Patrice,Schott, Gregory,Akhter, Salina,Shi, Chunlin,Lucas, William J.,Voinnet, Olivier,Kim, Jae-Yean Oxford University Press 2014 Nucleic acids research Vol.42 No.12

<P>RNA silencing is an evolutionarily conserved mechanism triggered by double-stranded RNA that is processed into 21- to 24-nt small interfering (si)RNA or micro (mi)RNA by RNaseIII-like enzymes called Dicers. Gene regulations by RNA silencing have fundamental implications in a large number of biological processes that include antiviral defense, maintenance of genome integrity and the orchestration of cell fates. Although most generic or core components of the various plant small RNA pathways have been likely identified over the past 15 years, factors involved in RNAi regulation through post-translational modifications are just starting to emerge, mostly through forward genetic studies. A genetic screen designed to identify factors required for RNAi in <I>Arabidopsis</I> identified the serine/threonine protein kinase, TOUSLED (TSL). Mutations in <I>TSL</I> affect exogenous and virus-derived siRNA activity in a manner dependent upon its kinase activity. By contrast, despite their pleiotropic developmental phenotype, <I>tsl</I> mutants show no defect in biogenesis or activity of miRNA or endogenous <I>trans</I>-acting siRNA. These data suggest a possible role for TSL phosphorylation in the specific regulation of exogenous and antiviral RNA silencing in <I>Arabidopsis</I> and identify TSL as an intrinsic regulator of RNA interference.</P>

Auxin-Callose-Mediated Plasmodesmal Gating Is Essential for Tropic Auxin Gradient Formation and Signaling

Han, X.,Hyun, T.,Zhang, M.,Kumar, R.,Koh, E.j.,Kang, B.H.,Lucas, William J.,Kim, J.Y. Cell Press 2014 DEVELOPMENTAL CELL Vol.28 No.2

In plants, auxin functions as a master controller of development, pattern formation, morphogenesis, and tropic responses. A sophisticated transport system has evolved to allow the establishment of precise spatiotemporal auxin gradients that regulate specific developmental programs. A critical unresolved question relates to how these gradients can be maintained in the presence of open plasmodesmata that allow for symplasmic exchange of essential nutrients and signaling macromolecules. Here we addressed this conundrum using genetic, physiological, and cell biological approaches and identified the operation of an auxin-GSL8 feedback circuit that regulates the level of plasmodesmal-localized callose in order to locally downregulate symplasmic permeability during hypocotyl tropic response. This system likely involves a plasmodesmal switch that would prevent the dissipation of a forming gradient by auxin diffusion through the symplasm. This regulatory system may represent a mechanism by which auxin could also regulate symplasmic delivery of a wide range of signaling agents.

Analysis of Arabidopsis transcription factor families revealed extensive capacity for cell-to-cell movement as well as discrete trafficking patterns

Rim, Yeonggil,Huang, Lijun,Chu, Hyosub,Han, Xiao,Cho, Won Kyong,Jeon, Che Ok,Kim, Hye Jin,Hong, Jong-Chan,Lucas, William J.,Kim, Jae-Yean Springer-Verlag 2011 Molecules and cells Vol.32 No.6

Plasmodesmal receptor-like kinases identified through analysis of rice cell wall extracted proteins

Jo, Yeonhwa,Cho, Won Kyong,Rim, Yeonggil,Moon, Juyeon,Chen, Xiong-Yan,Chu, Hyosub,Kim, Cha Young,Park, Zee-Yong,Lucas, William J.,Kim, Jae-Yean Springer Vienna 2011 Protoplasma Vol.248 No.1

<P>In plants, plasmodesmata (PD) are intercellular channels that function in both metabolite exchange and the transport of proteins and RNAs. Currently, many of the PD structural and regulatory components remain to be elucidated. Receptor-like kinases (RLKs) belonging to a notably expanded protein family in plants compared to the animal kingdom have been shown to play important roles in plant growth, development, pathogen resistance, and cell death. In this study, cell biological approaches were used to identify potential PD-associated RLK proteins among proteins contained within cell walls isolated from rice callus cultured cells. A total of 15 rice RLKs were investigated to determine their subcellular localization, using an <I>Agrobacterium</I>-mediated transient expression system. Of these six PD-associated RLKs were identified based on their co-localization with a viral movement protein that served as a PD marker, plasmolysis experiments, and subcellular localization at points of wall contact between spongy mesophyll cells. These findings suggest potential PD functions in apoplasmic signaling in response to environmental stimuli and developmental inputs.</P><P><B>Electronic supplementary material</B></P><P>The online version of this article (doi:10.1007/s00709-010-0251-4) contains supplementary material, which is available to authorized users.</P>

Proteomic Analysis to Identify Tightly-Bound Cell Wall Protein in Rice Calli

Cho, Won Kyong,Hyun, Tae Kyung,Kumar, Dhinesh,Rim, Yeonggil,Chen, Xiong Yan,Jo, Yeonhwa,Kim, Suwha,Lee, Keun Woo,Park, Zee-Yong,Lucas, William J.,Kim, Jae-Yean Korean Society for Molecular and Cellular Biology 2015 Molecules and cells Vol.38 No.8

Rice is a model plant widely used for basic and applied research programs. Plant cell wall proteins play key roles in a broad range of biological processes. However, presently, knowledge on the rice cell wall proteome is rudimentary in nature. In the present study, the tightly-bound cell wall proteome of rice callus cultured cells using sequential extraction protocols was developed using mass spectrometry and bioinformatics methods, leading to the identification of 1568 candidate proteins. Based on bioinformatics analyses, 389 classical rice cell wall proteins, possessing a signal peptide, and 334 putative non-classical cell wall proteins, lacking a signal peptide, were identified. By combining previously established rice cell wall protein databases with current data for the classical rice cell wall proteins, a comprehensive rice cell wall proteome, comprised of 496 proteins, was constructed. A comparative analysis of the rice and Arabidopsis cell wall proteomes revealed a high level of homology, suggesting a predominant conservation between monocot and eudicot cell wall proteins. This study importantly increased information on cell wall proteins, which serves for future functional analyses of these identified rice cell wall proteins.