Verification of successive convexification algorithm

In this report, I describe a technique which allows a non-convex optimal control problem to be expressed and solved in a convex manner. I then verify the resulting solution to ensure its physical feasibility and its optimality. The original, non-convex problem is the fuel-optimal powered landing problem with aerodynamic drag. The non-convexities present in this problem include mass depletion dynamics, aerodynamic drag, and free final time. Through the use of lossless convexification and successive convexification, this problem can be formulated as a series of iteratively solved convex problems that requires only a guess of a final time of flight. The solution’s physical feasibility is verified through a nonlinear simulation built in Simulink, while its optimality is verified through the general nonlinear optimal control software GPOPS-II.Aerospace Engineerin

Control and Optimization for Aerospace Systems with Stochastic Disturbances, Uncertainties, and Constraints

The topic of this dissertation is the control and optimization of aerospace systems under the influence of stochastic disturbances, uncertainties, and subject to chance constraints. This problem is motivated by the uncertain operating environments of many aerospace systems, and the ever-present push to extract greater performance from these systems while maintaining safety. Explicitly accounting for the stochastic disturbances and uncertainties in the constrained control design confers the ability to assign the probability of constraint satisfaction depending on the level of risk that is deemed acceptable and allows for the possibility of theoretical constraint satisfaction guarantees. Along these lines, this dissertation presents novel contributions addressing four different problems: 1) chance-constrained path planning for small unmanned aerial vehicles in urban environments, 2) chance-constrained spacecraft relative motion planning in low-Earth orbit, 3) stochastic optimization of suborbital launch operations, and 4) nonlinear model predictive control for tracking near rectilinear halo orbits and a proposed stochastic extension. For the first problem, existing dynamic and informed rapidly-expanding random trees algorithms are combined with a novel quadratic programming-based collision detection algorithm to enable computationally efficient, chance-constrained path planning. For the second problem, a previously proposed constrained relative motion approach based on chained positively invariant sets is extended in this dissertation to the case where the spacecraft dynamics are controlled using output feedback on noisy measurements and are subject to stochastic disturbances. Connectivity between nodes is determined through the use of chance-constrained admissible sets, guaranteeing that constraints are met with a specified probability. For the third problem, a novel approach to suborbital launch operations is presented. It utilizes linear covariance propagation and stochastic clustering optimization to create an effective software-only method for decreasing the probability of a dangerous landing with no physical changes to the vehicle and only minimal changes to its flight controls software. For the fourth problem, the use of suboptimal nonlinear model predictive control (NMPC) coupled with low-thrust actuators is considered for station-keeping on near rectilinear halo orbits. The nonlinear optimization problems in NMPC are solved with time-distributed sequential quadratic programming techniques utilizing the FBstab algorithm. A stochastic extension for this problem is also proposed. The results are illustrated using detailed numerical simulations.PHDAerospace EngineeringUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/162992/1/awbe_1.pd

High-Temperature, Low-Cycle Fatigue Behavior of Tantalum

High temperature, low cycle fatigue tests of tantalum in inert argon atmospher

Computer-controlled characterization of high-voltage, high-frequency SiC devices?

A software-based high-voltage curve tracer application for SiC device characterization is presented. This flexible application interface is developed to define testing parameters needed to control the hardware of a custom-made 25 kV-capable SiC characterization test bed. Data acquisition is controlled for optimum resolution, and I-V characterization is computed by means of a user-defined time interval based on the shape of the applied power pulses. Both voltage and current waveforms are displayed for each data point captured to allow the user to observe transient effects. Additionally, the software allows archiving some or all of these transient waveforms. Acquired results are shown to demonstrate functionality and flexibility of the new system. ©2006 IEEE

In vivo STED microscopy visualizes morphological changes of large PSD95 assemblies over several hours in the mouse visual cortex

Abstract The post-synaptic density (PSD) is an electron dense region consisting of ~1000 proteins, found at the postsynaptic membrane of excitatory synapses, which varies in size depending upon synaptic strength. PSD95 is an abundant scaffolding protein in the PSD and assembles a family of supercomplexes comprised of neurotransmitter receptors, ion channels, as well as signalling and structural proteins. We use superresolution STED (STimulated Emission Depletion) nanoscopy to determine the size and shape of PSD95 in the anaesthetised mouse visual cortex. Adult knock-in mice expressing eGFP fused to the endogenous PSD95 protein were imaged at time points from 1 min to 6 h. Superresolved large assemblies of PSD95 show different sub-structures; most large assemblies were ring-like, some horse-shoe or figure-8 shaped, and shapes were continuous or made up of nanoclusters. The sub-structure appeared stable during the shorter (minute) time points, but after 1 h, more than 50% of the large assemblies showed a change in sub-structure. Overall, these data showed a sub-morphology of large PSD95 assemblies which undergo changes within the 6 hours of observation in the anaesthetised mouse

Mortality among patients with tuberculosis requiring intensive care: a retrospective cohort study

<p>Abstract</p> <p>Background</p> <p>To describe the characteristics of patients with tuberculosis (TB) requiring intensive care and to identify the factors that predicts in-hospital mortality in a city of a developing country with intermediate-to-high TB endemicity.</p> <p>Methods</p> <p>We conducted a retrospective, cohort study, between November 2005 and November 2007. The patients with TB requiring intensive care were included. Predictors of mortality were assessed. The primary outcome was the in-hospital mortality.</p> <p>Results</p> <p>During the study period, 67 patients with TB required intensive care. Of them, 62 (92.5%) had acute respiratory failure and required mechanical ventilation. Forty-four (65.7%) patients died. Coinfection with human immunodeficiency virus was present in 46 (68.7%) patients. Early intensive care unit admission and ventilator-associated pneumonia were independently associated with the in-hospital mortality.</p> <p>Conclusions</p> <p>In this study we found a high mortality rate in TB patients requiring intensive care, especially in those with an early ICU admission.</p

Cardiac tumours in children

Cardiac tumours are benign or malignant neoplasms arising primarily in the inner lining, muscle layer, or the surrounding pericardium of the heart. They can be primary or metastatic. Primary cardiac tumours are rare in paediatric practice with a prevalence of 0.0017 to 0.28 in autopsy series. In contrast, the incidence of cardiac tumours during foetal life has been reported to be approximately 0.14%. The vast majority of primary cardiac tumours in children are benign, whilst approximately 10% are malignant. Secondary malignant tumours are 10–20 times more prevalent than primary malignant tumours. Rhabdomyoma is the most common cardiac tumour during foetal life and childhood. It accounts for more than 60% of all primary cardiac tumours. The frequency and type of cardiac tumours in adults differ from those in children with 75% being benign and 25% being malignant. Myxomas are the most common primary tumours in adults constituting 40% of benign tumours. Sarcomas make up 75% of malignant cardiac masses. Echocardiography, Computing Tomography (CT) and Magnetic Resonance Imaging (MRI) of the heart are the main non-invasive diagnostic tools. Cardiac catheterisation is seldom necessary. Tumour biopsy with histological assessment remains the gold standard for confirmation of the diagnosis. Surgical resection of primary cardiac tumours should be considered to relieve symptoms and mechanical obstruction to blood flow. The outcome of surgical resection in symptomatic, non-myxomatous benign cardiac tumours is favourable. Patients with primary cardiac malignancies may benefit from palliative surgery but this approach should not be recommended for patients with metastatic cardiac tumours. Surgery, chemotherapy and radiotherapy may prolong survival. The prognosis for malignant primary cardiac tumours is generally extremely poor

Subjective health legacy of the Chornobyl accident: a comparative study of 19-year olds in Kyiv

<p>Abstract</p> <p>Background</p> <p>Since the Chornobyl accident in 1986, the physical health of exposed children in Ukraine has been monitored, but their perceived health has not been studied. This study examines health perceptions of Ukrainian adolescents exposed to radioactive fallout <it>in utero </it>or as infants, and the epidemiologic and Chornobyl-related influences on self-reported health.</p> <p>Method</p> <p>We assessed three groups of 19-year olds in Kyiv: 262 evacuees from contaminated areas near the plant; 261 classmate controls; and 325 population-based controls. The evacuees and classmates were previously assessed at age 11. Structured interviews were conducted with the adolescents and their mothers (N = 766), followed by general physical examinations (N = 722) and blood tests (N = 707). Proportional odds logistic regression and multi-group path analysis were the major statistical tests.</p> <p>Results</p> <p>The examination and blood test results were similar across groups except for a significantly elevated rate of thyroid enlargement found by palpation in evacuees (17.8%) compared former classmates (8.7%) and population-based controls (8.0%). In addition, four evacuees and one population control had had a thyroidectomy. Compared to controls, the evacuees rated their health the least positively and reported more medically diagnosed illnesses during the 5 years preceding the interview, particularly thyroid disease, migraine headache, and vascular dystony. The consistent risk factors (p < 0.001) for these subjective health reports were evacuee status, female gender, multiple hospitalizations, and health risk perception regarding Chornobyl. All three groups of mothers rated their children's health more negatively than the adolescents themselves, and maternal ratings were uniquely associated with the adolescents' health reports in the adjusted models. In the longitudinal evacuee and classmate subsamples, path analysis showed that mothers' health ratings when the children were age 11 predicted their later evaluations which in turn were associated with the adolescent self-reports.</p> <p>Conclusion</p> <p>The more negative self-evaluations of the evacuees were linked to a number of risk factors, including multiple hospitalizations, health risk perceptions, and epidemiologic risk factors. The increased rate of thyroid cancer and other diagnoses no doubt contributed to the evacuees' less positive subjective health. The strong effect of the mothers' perceptions argues in favor of developing risk communication programs for families rather than for mothers or adolescents as separate target groups.</p