Modelling and robust controller design for an underactuated self-balancing robot with uncertain parameter estimation

A comprehensive literature review of self-balancing robot (SBR) provides an insight to the strengths and limitations of the available control techniques for different applications. Most of the researchers have not included the payload and its variations in their investigations. To address this problem comprehensively, it was realized that a rigorous mathematical model of the SBR will help to design an effective control for the targeted system. A robust control for a two-wheeled SBR with unknown payload parameters is considered in these investigations. Although, its mechanical design has the advantage of additional maneuverability, however, the robot's stability is affected by changes in the rider's mass and height, which affect the robot's center of gravity (COG). Conventionally, variations in these parameters impact the performance of the controller that are designed with the assumption to operate under nominal values of the rider's mass and height. The proposed solution includes an extended Kalman filter (EKF) based sliding mode controller (SMC) with an extensive mathematical model describing the dynamics of the robot itself and the payload. The rider's mass and height are estimated using EKF and this information is used to improve the control of SBR. Significance of the proposed method is demonstrated by comparing simulation results with the conventional SMC under different scenarios as well as with other techniques in literature. The proposed method shows zero steady state error and no overshoot. Performance of the conventional SMC is improved with controller parameter estimation. Moreover, the stability issue in the reaching phase of the controller is also solved with the availability of parameter estimates. The proposed method is suitable for a wide range of indoor applications with no disturbance. This investigation provides a comprehensive comparison of available techniques to contextualize the proposed method within the scope of self-balancing robots for indoor applications

Diffusion of the Cu monomer and dimer on Ag(111): Molecular dynamics simulations and density functional theory calculations

We present results of molecular dynamics (MD) simulations and density functional theory (DFT) calculations of the diffusion of Cu adatom and dimer on Ag(111). We have used potentials generated by the embedded-atom method for the MD simulations and pseudopotentials derived from the projected-augmented-wave method for the DFT calculations. The MD simulations (at three different temperatures: 300, 500, and 700 K) show that the diffusivity has an Arrhenius behavior. The effective energy barriers obtained from the Arrhenius plots are in excellent agreement with those extracted from scanning tunneling microscopy experiments. While the diffusion barrier for Cu monomers on Ag(111) is higher than that reported (both in experiment and theory) for Cu(111), the reverse holds for dimers [which, for Cu(111), has so far only been theoretically assessed]. In comparing our MD result with those for Cu islets on Cu(111), we conclude that the higher barriers for Cu monomers on Ag(111) results from the comparatively large Ag-Ag bond length, whereas for Cu dimers on Ag(111) the diffusivity is taken over and boosted by the competition in optimization of the Cu-Cu dimer bond and the five nearest-neighbor Cu-Ag bonds. Our DFT calculations confirm the relatively large barriers for the Cu monomer on Ag(111)-69 and 75 meV-compared to those on Cu(111) and hint a rationale for them. In the case of the Cu dimer, the relatively long Ag-Ag bond length makes available a diffusion route whose highest relevant energy barrier is only 72 meV and which is not favorable on Cu(111). This process, together with another involving an energy barrier of 83 meV, establishes the possibility of low-barrier intercell diffusion by purely zigzag mechanisms

Predicting the effect of voids on mechanical properties of woven composites.

An accurate yet easy to use methodology for determining the effective mechanical properties of woven fabric reinforced composites is presented. The approach involves generating a representative unit cell geometry based on randomly selected 2D orthogonal slices from a 3D X-ray micro-tomographic scan. Thereafter, the finite element mesh is generated from this geometry. Analytical and statistical micromechanics equations are then used to calculate effective input material properties for the yarn and resin regions within the FE mesh. These analytical expressions account for the effect of resin volume fraction within the yarn (due to infiltration during curing) as well as the presence of voids within the composite. The unit cell model is then used to evaluate the effective properties of the composite.DelPHE 780 Project funded by UK Department of International Development (DFID), through British Council managed DelPHE scheme

Identification of an effective nondestructive technique for bond defect determination in laminate composites—A technical review

Laminate composites are commonly used for the production of critical mechanical structures and components such as wind turbine blades, helicopter rotors, unmanned aerial vehicle wings and honeycomb structures for aircraft wings. During the manufacturing process of these composite structures, zones or areas with weak bond strength are always issues, which may affect the strength and performance of components. The identification and quantification of these zones are always challenging and necessary for the mass production. Non-destructive testing methods available, including ultrasonic A, B, and C-Scan, laser shearography, X-ray tomography, and thermography can be useful for the mentioned purposes. A comparison of these techniques concerning their capacity of identification and quantification of bond defects; however, still needs a comprehensive review. In this paper, a detailed comparison of several non-destructive testing techniques is provided. Emphasis is placed to institute a guideline to select the most suitable technique for the identification of zones with bond defects in laminated composites. Experimental tests on different composite based machined components are also discussed in detail. The discussion provides practical evidence about the effectiveness of different non-destructive testing techniques.N/

Serrate RNA effector molecule (SRRT) is associated with prostate cancer progression and is a predictor of poor prognosis in lethal prostate cancer

Arsenite-resistance protein 2, also known as serrate RNA effector molecule (ARS2/SRRT), is known to be involved in cellular proliferation and tumorigenicity. However, its role in prostate cancer (PCa) has not yet been established. We investigated the potential role of SRRT in 496 prostate samples including benign, incidental, advanced, and castrate-resistant patients treated by androgen deprivation therapy (ADT). We also explored the association of SRRT with common genetic aberrations in lethal PCa using immunohistochemistry (IHC) and performed a detailed analysis of SRRT expression using The Cancer Genome Atlas (TCGA PRAD) by utilizing RNA-seq, clinical information (pathological T category and pathological Gleason score). Our findings indicated that high SRRT expression was significantly associated with poor overall survival (OS) and cause-specific survival (CSS). SRRT expression was also significantly associated with common genomic aberrations in lethal PCa such as PTEN loss, ERG gain, mutant TP53, or ATM. Furthermore, TCGA PRAD data revealed that high SRRT mRNA expression was significantly associated with higher Gleason scores, PSA levels, and T pathological categories. Gene set enrichment analysis (GSEA) of RNAseq data from the TCGA PRAD cohort indicated that SRRT may play a potential role in regulating the expression of genes involved in prostate cancer aggressiveness. Conclusion: The current data identify the SRRT's potential role as a prognostic for lethal PCa, and further research is required to investigate its potential as a therapeutic target.Prostate Cancer Foundation Young Investigator Award ; Prostate Cancer Canada ; Canadian Cancer Society (CCS

An Energy Performance Evaluation of Commercially Available Window Glazing in Darwin’s Tropical Climate

A total of 40% of the world’s energy produced is utilized to maintain thermal comfort for the occupants of the building. Governments are taking measures collectively to regulate energy efficient buildings to reduce carbon emissions globally. Windows account for more than half of total energy losses in the buildings. The employment of energy efficient glazing in the construction industry is not common in Australia. This paper investigates several types of commercially available windows and their effectiveness in the hot and humid climate of Darwin. Although extensive literature is available for cold regions, these windows have not been studied in hot and humid climates such as the climate in Darwin. Building cooling loads of an academic building were calculated using Autodesk Revit Architecture and Carrier HAP. Double glazed variants offered approximately a 5% reduction in cooling loads and had a payback period of nearly 7 to 9 years, depending on the type of gas used to fill the pane cavity. The results indicate that triple glazed, or aerogel-based windows will provide about 11–12 % of energy saving in cooling loads. These can be a viable alternative and have a payback period of 11 years, while their average service life expectancy is 30 years. It was found that the feasibility of efficient glazing depends on market price, building usage, and energy efficiency of an overall building envelope

Factor Structure of Urdu Version of the Flourishing Scale

Background: A great deal of research has been carried out on the assessment of the eudaimonic perspective of psychological well-being and the hedonic perspective of subjective well-being. The Flourishing Scale (FS) has been extensively used in research and practice, as it assesses the fundamental aspects of social psychological functioning. Nevertheless, the psychometric properties of Urdu versions of eudaimonic measures, such as the FS, have not yet been ascertained. The translation and validation of the FS in the Urdu language was not available, and hence this study was planned with the aim to validate the Urdu version of the FS.Methods: We assessed the psychometric properties of the FS in a sample of adults aged 18 years and above in Pakistan (N = 130) using exploratory factor analysis based on principal component analysis with varimax rotation and confirmatory factor analysis.Results: The exploratory factor analysis confirmed the unidimensional nature of the 8-item FS. We assessed that the Urdu version of the FS showed a high internal consistency reliability (α = 0.914) with a significant intraclass correlation coefficient (ICC), p < 0.001). In our study, the Kaiser–Mayer–Olkin value was 0.915 with a chi-square test value (χ2) of 637.687, and Bartlett's test of sphericity was significant (df = 28, p < 0.001). The intraclass correlation coefficients (ICCs) at test–retest for all domains were statistically significant (p < 0.001) and showed excellent agreement for all the items. The revised confirmatory factor analysis revealed a good-fit model, but with item 8—“People respect me”—removed due to its lower factor loading.Conclusions: The findings suggest that the FS is a psychometrically sound instrument for assessing social psychological functioning among adults in Pakistan. Therefore, the validated Urdu version of the FS may be used in future studies of well-being in clinical psychology and positive psychology

Micromechanical modeling of 8-harness satin weave glass fiber-reinforced composites.

This study introduces a unit cell (UC) based finite element (FE) micromechanical model that accounts for correct post cure fabric geometry, in-situ material properties and void content within the composite to accurately predict the effective elastic orthotropic properties of 8-harness satin weave glass fiber reinforced phenolic (GFRP) composites. The micromechanical model utilizes a correct post cure internal architecture of weave, which was obtained through X-ray microtomography (XMT) tests. Moreover, it utilizes an analytical expression to up-date the input material properties to account for in-situ effects of resin distribution within yarn (the yarn volume fraction) and void content on yarn and matrix properties. This is generally not considered in modeling approaches available in literature and in particular, it has not been demonstrated before for FE micromechanics models of 8-harness satin weave composites. The UC method is used to obtain the effective responses by applying periodic boundary conditions. The outcome of the analysis based on the proposed model is validated through experiments. After validation, the micromechanical model was further utilized to predict the unknown effective properties of the same composite.DFID UK through DELPHE 78

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London

Global wealth disparities drive adherence to COVID-safe pathways in head and neck cancer surgery

Peer reviewe