A minimal longitudinal dynamic model of a tailless flapping wing robot for control design.

Recently, several insect- and hummingbird-inspired tailless flapping wing robots have been introduced. However, their flight dynamics, which are likely to be similar to that of their biological counterparts, remain yet to be fully understood. We propose a minimal dynamic model that is not only validated with experimental data, but also able to predict the consequences of various important design changes. Specifically, the model captures the flapping-cycle-averaged longitudinal dynamics, considering the main aerodynamic effects. We validated the model with flight data captured with a tailless flapping wing robot, the DelFly Nimble, for air speeds from near-hover flight up to 3.5 m s-1. Moreover, the model succeeds in predicting the effects of changes to the center of mass location, and to the control system gains. Hence, the model is suitable even for the initial control design phase. To demonstrate this, we have used the simulation model to tune the robot's control system for higher speeds. Using the new control parameters on the real robot improved its maximal stable speed from 4 m s-1 to 7 m s-1.

Neural network output optimization using interval analysis.

The problem of output optimization within a specified input space of neural networks (NNs) with fixed weights is discussed in this paper. The problem is (highly) nonlinear when nonlinear activation functions are used. This global optimization problem is encountered in the reinforcement learning (RL) community. Interval analysis is applied to guarantee that all solutions are found to any degree of accuracy with guaranteed bounds. The major drawbacks of interval analysis, i.e., dependency effect and high-computational load, are both present for the problem of NN output optimization. Taylor models (TMs) are introduced to reduce these drawbacks. They have excellent convergence properties for small intervals. However, the dependency effect still remains and is even made worse when evaluating large input domains. As an alternative to TMs, a different form of polynomial inclusion functions, called the polynomial set (PS) method, is introduced. This new method has the property that the bounds on the network output are tighter or at least equal to those obtained through standard interval arithmetic (IA). Experiments show that the PS method outperforms the other methods for the NN output optimization problem.

Influence of diltiazem on the behavior of zolpidem-treated mice in the elevated-plus maze test.

The present study was undertaken to investigate the effect of diltiazem, a L-type calcium channel blocker (CCB), on the behavior of zolpidem-treated mice in the elevated plus-maze (EPM). Atypical benzodiazepine zolpidem significantly increased the percentage of open arm entries without influencing the total entries and total distance and average speed at the dose of 5 mg/kg (p.o.). Co-administration of zolpidem (2 mg/kg, p.o.) and diltiazem (5, 10 and 20 mg/kg, p.o.) significantly increased both the time spent and arm entries in the open arms without influencing the total entries and spontaneous activity notwithstanding that zolpidem at dose up to 2 mg/kg (p.o.) and diltiazem at dose up to 20 mg/kg (p.o.) did not show any effects on mice behavior in EPM. Zolpidem also attenuated the anxiogenic effect of 1-(3-Chlorophenyl)piperazine (mCPP, 0.7 mg/kg, i.p.) and 5-hydroxytryptophan (5-HTP, 30 mg/kg, i.p.). Even though the zolpidem at 1 mg/kg and diltiazem at 5 mg/kg were ineffective on mCPP-induced anxiety, respectively, the co-administration of zolpidem (1 mg/kg, i.p.) and diltiazem (5 mg/kg, p.o.) showed inhibitory effect on mCPP-induced anxiety in mice. These results suggested that diltiazem, a L-type CCB may augment the anxiolytic-like effect of zolpidem and also indicated that calcium channel modulation maybe involved in the anxiolytic-like properties of zolpidem.

Potentiating effects of L-type Ca(2+) channel blockers on pentobarbital-induced hypnosis are influenced by serotonergic system.

In order to elucidate the mechanism(s) behind the interactions between barbiturates and Ca(2+) antagonists, the effects of three structurally diverse types of Ca(2+) antagonists combined or not with 5-HT on pentobarbital-induced hypnosis in mice were investigated. The results showed that dihydropyridine derivative nifedipine (10.0 and 20.0 mg/kg, p.o.) and other types of Ca(2+) antagonist, verapamil (5.0 and 10.0 mg/kg, p.o.) and diltiazem (2.5, 5.0 and 10.0 mg/kg, p.o.) increased both the sleeping time in hypnotic dosage of pentobarbital (45 mg/kg, i.p.) treated mice and the rate of sleep onset in the sub-hypnotic dosage of pentobarbital (28 mg/kg, i.p.) treated mice in a dose-dependent manner, respectively, and these effects were significantly augmented by 5-hydroxytryptophan (5-HTP), the immediate precursor of 5-hydroxytryptamine (5-HT). Pretreatment with p-chlorophenylalanine (PCPA, 300 mg/kg, s.c.), an inhibitor of tryptophan hydroxylase, significantly decreased pentobarbital-induced sleeping time and nifedipine (10.0 mg/kg, p.o.), verapamil (5.0 mg/kg, p.o.) and diltiazem (2.5 mg/kg, p.o.) abolished this effect. From these results, it should be presumed that the augmentative effect of L-type Ca(2+) channel blockers on pentobarbital-induced sleep may be influenced by serotonergic system.