Nonlinear model predictive control for hexacopter with failed rotors based on quaternions —simulations and hardware experiments—

This work applies real-time nonlinear model predictive control (NMPC) to fault-tolerant control problems of an unmanned aerial vehicle (UAV) with failed rotors. In the control problem, a hexacopter with up to three failed rotors out of the six available rotors is considered. The NMPC approach includes a quaternion-based nonlinear model of the hexacopter as well as constraints in the thrusts to consider the inherent nonlinearities of UAVs. The proposed method aims to achieve real-time optimization of the NMPC in the on-board computers without any linearization. We explore all possible scenarios in up to three rotor failures and demonstrate control designs in the NMPC for these scenarios. The simulation results indicate that by using the quaternion model, the position and attitude of a hexacopter can be controlled from a large inclined initial state with a non-zero angular velocity and falling velocity. Moreover, the results reveal that the quaternion model is superior to the Euler angle model in terms of the computation time. We also conduct hardware experiments using an actual hexacopter with a failed rotor to demonstrate the real-time NMPC optimization. The results of the simulations and hardware experiments demonstrate that the NMPC can deal with various operation conditions of a hexacopter in a unified manner, with only minor modifications in the performance index

Fabrication of high strength PVA/SWCNT composite fibers by gel spinning

High-strength composite fibers were prepared from polyvinyl alcohol (PVA) (Degree of polymerization: 1500) reinforced by single-walled carbon nanotubes (SWCNTs) containing few defects. The SWCNTs were dispersed in a 10 wt.% PVA/dimethylsulfoxide solution using a mechanical homogenizer that reduced the size of SWCNT aggregations to smaller bundles. The macroscopically homogeneous dispersion was extruded into cold methanol to form fibers by gel spinning followed by a hot-drawing. The tensile strength of the well-oriented composite fibers with 0.3 wt.% SWCNTs was 2.2 GPa which is extremely high value among PVA composite fibers ever reported using a commercial grade PVA. The strength of neat PVA fibers prepared by the same procedure was 1.7 GPa. Structural analysis showed that the PVA component in the composite fibers possessed almost the same structure as that of neat PVA fibers. Hence a small amount of SWCNTs straightforward enhanced by 0.5 GPa the tensile strength of PVA fibers. The results of mechanical properties and Raman spectra for the SWCNT composites suggest the relatively good interfacial adhesion of the nanotubes and PVA that improves the load transfer from the polymer matrix to the reinforcing phase.ArticleCARBON. 48(7):1977-1984 (2010)journal articl

MicroRNAs in endometrial cancer

Endometrial cancer is a common malignant gynecological tumor, but there are few biomarkers that are useful for early and accurate diagnosis and few treatments other than surgery. However, use of microRNAs (miRNAs) that induces gene downregulation in cells may permit effective and minimally invasive diagnosis and treatment. In endometrial cancer cells, expression levels of miRNAs including miR-185, miR-210 and miR-423 are upregulated and those of miR-let7e, miR-30c and miR-221 are downregulated compared to normal tissues, and these miRNAs are involved in carcinogenesis, invasion and metastasis. miRNAs with expression changes such as miR-181b, miR-324-3p and miR-518b may be used as prognostic biomarkers and transfection of miR-152 may inhibit cancer growth. However, most current studies of miRNAs are at a basic level and further work is needed to establish clinical applications targeting miRNAs

Members of a novel gene family, Gsdm, are expressed exclusively in the epithelium of the skin and gastrointestinal tract in a highly tissue-specific manner

AbstractGasdermin (Gsdm) was originally identified as a candidate causative gene for several mouse skin mutants. Several Gsdm-related genes sharing a protein domain with DFNA5, the causative gene of human nonsyndromic hearing loss, have been found in the mouse and human genomes, and this group is referred to as the DFNA5–Gasdermin domain family. However, our current comparative genomic analysis identified several novel motifs distinct from the previously reported domain in the Gsdm-related genes. We also identified three new Gsdm genes clustered on mouse chromosome 15. We named these genes collectively the Gsdm family. Extensive expression analysis revealed exclusive expression of Gsdm family genes in the epithelium of the skin and gastrointestinal tract in a highly tissue-specific manner. Further database searching revealed the presence of other related genes with a similar N-terminal motif. These results suggest that the Gsdm family and related genes have evolved divergent epithelial expression profiles

Transition probabilities of near-infrared Ce III lines from stellar spectra: applications to kilonovae

Kilonova spectra provide us with information of r-process nucleosynthesis in neutron star mergers. However, it is still challenging to identify individual elements in the spectra mainly due to lack of experimentally accurate atomic data for heavy elements in the near-infrared wavelengths. Recently, Domoto et al. (2022) proposed the absorption features around 14500 A in the observed spectra of GW170817/AT2017gfo as Ce III lines. But they used theoretical transition probabilities (gf-values) whose accuracy is uncertain. In this paper, we derive the astrophysical gf-values of the three Ce III lines, aiming at verification of this identification. We model high resolution H-band spectra of four F-type supergiants showing the clear Ce III absorption features by assuming stellar parameters derived from optical spectra in literatures. We also test the validity of the derived astrophysical gf-values by estimating Ce III abundances in Ap stars. We find that the derived astrophysical gf-values of the Ce III lines are systematically lower by about 0.25 dex than those used in previous work of kilonovae, while they are still compatible within the uncertainty range. By performing radiative transfer simulations of kilonovae with the derived gf-values, we find that the identification of Ce III as a source of the absorption features in the observed kilonova spectra still stands, even considering the uncertainties in the astrophysical gf-values. This supports identification of Ce in the spectra of GW170817/AT2017gfo.Comment: 15 pages, 7 figures, 6 tables, accepted for publication in Ap