System identification and nonlinear model predictive control with collision avoidance applied in Hexacopters UAVs

Accurate trajectory tracking is a critical property of unmanned aerial vehicles (UAVs) due to system nonlinearities, under-actuated properties and constraints. Specifically, the use of unmanned rotorcrafts with accuracy trajectory tracking controllers in dynamic environments has the potential to improve the fields of environment monitoring, safety, search and rescue, border surveillance, geology and mining, agriculture industry, and traffic control. Monitoring operations in dynamic environments produce significant complications with respect to accuracy and obstacles in the surrounding environment and, in many cases, it is difficult to perform even with state-of-the-art controllers. This work presents a nonlinear model predictive control (NMPC) with collision avoidance for hexacopters’ trajectory tracking in dynamic environments, as well as shows a comparative study between the accuracies of the Euler–Lagrange formulation and the dynamic mode decomposition (DMD) models in order to find the precise representation of the system dynamics. The proposed controller includes limits on the maneuverability velocities, system dynamics, obstacles and the tracking error in the optimization control problem (OCP). In order to show the good performance of this control proposal, computational simulations and real experiments were carried out using a six rotary-wind unmanned aerial vehicle (hexacopter—DJI MATRICE 600). The experimental results prove the good performance of the predictive scheme and its ability to regenerate the optimal control policy. Simulation results expand the proposed controller in simulating highly dynamic environments that showing the scalability of the controller

Visual Servoing NMPC Applied to UAVs for Photovoltaic Array Inspection

The photovoltaic (PV) industry is seeing a significant shift toward large-scale solar plants, where traditional inspection methods have proven to be time-consuming and costly. Currently, the predominant approach to PV inspection using unmanned aerial vehicles (UAVs) is based on photogrammetry. However, the photogrammetry approach presents limitations, such as an increased amount of useless data during flights, potential issues related to image resolution, and the detection process during high-altitude flights. In this work, we develop a visual servoing control system applied to a UAV with dynamic compensation using a nonlinear model predictive control (NMPC) capable of accurately tracking the middle of the underlying PV array at different frontal velocities and height constraints, ensuring the acquisition of detailed images during low-altitude flights. The visual servoing controller is based on the extraction of features using RGB-D images and the Kalman filter to estimate the edges of the PV arrays. Furthermore, this work demonstrates the proposal in both simulated and real-world environments using the commercial aerial vehicle (DJI Matrice 100), with the purpose of showcasing the results of the architecture. Our approach is available for the scientific community in: https://github.com/EPVelasco/VisualServoing_NMPCComment: This paper is under review at the journal "IEEE Robotics and Automation Letters

A lattice model for the line tension of a sessile drop

Within a semi--infinite thre--dimensional lattice gas model describing the coexistence of two phases on a substrate, we study, by cluster expansion techniques, the free energy (line tension) associated with the contact line between the two phases and the substrate. We show that this line tension, is given at low temperature by a convergent series whose leading term is negative, and equals 0 at zero temperature

Lattice permutations and Poisson-Dirichlet distribution of cycle lengths

We study random spatial permutations on Z^3 where each jump x -> \pi(x) is penalized by a factor exp(-T ||x-\pi(x)||^2). The system is known to exhibit a phase transition for low enough T where macroscopic cycles appear. We observe that the lengths of such cycles are distributed according to Poisson-Dirichlet. This can be explained heuristically using a stochastic coagulation-fragmentation process for long cycles, which is supported by numerical data.Comment: 18 pages, 14 figure

Regulatory T Cells in the Pathogenesis and Healing of Chronic Human Dermal Leishmaniasis Caused by Leishmania (Viannia) Species

The immune inflammatory response is a double edged sword. During infectious diseases, regulatory T cells can prevent eradication of the pathogen but can also limit inflammation and tissue damage. We investigated the role of regulatory T cells in chronic dermal leishmaniasis caused by species of the parasite Leishmania that are endemic in South and Central America. We found that although individuals with chronic lesions have increased regulatory T cells in their blood and at skin sites where immune responses to Leishmania were taking place compared to infected individuals who do not develop disease, their capacity to control the inflammatory response to Leishmania was inferior. However, healing of chronic lesions at the end of treatment was accompanied by an increase in the number and capacity of regulatory T cells to inhibit the function of effector T cells that mediate the inflammatory response. Different subsets of regulatory T cells, defined by the expression of molecular markers, were identified during chronic disease and healing, supporting the participation of distinct regulatory T cells in the development of disease and the control of inflammation during the healing response. Immunotherapeutic strategies may allow these regulatory T cell subsets to be mobilized or mitigated to achieve healing

A Single-Rate Context-Dependent Learning Process Underlies Rapid Adaptation to Familiar Object Dynamics

Motor learning has been extensively studied using dynamic (force-field) perturbations. These induce movement errors that result in adaptive changes to the motor commands. Several state-space models have been developed to explain how trial-by-trial errors drive the progressive adaptation observed in such studies. These models have been applied to adaptation involving novel dynamics, which typically occurs over tens to hundreds of trials, and which appears to be mediated by a dual-rate adaptation process. In contrast, when manipulating objects with familiar dynamics, subjects adapt rapidly within a few trials. Here, we apply state-space models to familiar dynamics, asking whether adaptation is mediated by a single-rate or dual-rate process. Previously, we reported a task in which subjects rotate an object with known dynamics. By presenting the object at different visual orientations, adaptation was shown to be context-specific, with limited generalization to novel orientations. Here we show that a multiple-context state-space model, with a generalization function tuned to visual object orientation, can reproduce the time-course of adaptation and de-adaptation as well as the observed context-dependent behavior. In contrast to the dual-rate process associated with novel dynamics, we show that a single-rate process mediates adaptation to familiar object dynamics. The model predicts that during exposure to the object across multiple orientations, there will be a degree of independence for adaptation and de-adaptation within each context, and that the states associated with all contexts will slowly de-adapt during exposure in one particular context. We confirm these predictions in two new experiments. Results of the current study thus highlight similarities and differences in the processes engaged during exposure to novel versus familiar dynamics. In both cases, adaptation is mediated by multiple context-specific representations. In the case of familiar object dynamics, however, the representations can be engaged based on visual context, and are updated by a single-rate process

Cause of Death and Predictors of All-Cause Mortality in Anticoagulated Patients With Nonvalvular Atrial Fibrillation : Data From ROCKET AF

M. Kaste on työryhmän ROCKET AF Steering Comm jäsen.Background-Atrial fibrillation is associated with higher mortality. Identification of causes of death and contemporary risk factors for all-cause mortality may guide interventions. Methods and Results-In the Rivaroxaban Once Daily Oral Direct Factor Xa Inhibition Compared with Vitamin K Antagonism for Prevention of Stroke and Embolism Trial in Atrial Fibrillation (ROCKET AF) study, patients with nonvalvular atrial fibrillation were randomized to rivaroxaban or dose-adjusted warfarin. Cox proportional hazards regression with backward elimination identified factors at randomization that were independently associated with all-cause mortality in the 14 171 participants in the intention-to-treat population. The median age was 73 years, and the mean CHADS(2) score was 3.5. Over 1.9 years of median follow-up, 1214 (8.6%) patients died. Kaplan-Meier mortality rates were 4.2% at 1 year and 8.9% at 2 years. The majority of classified deaths (1081) were cardiovascular (72%), whereas only 6% were nonhemorrhagic stroke or systemic embolism. No significant difference in all-cause mortality was observed between the rivaroxaban and warfarin arms (P=0.15). Heart failure (hazard ratio 1.51, 95% CI 1.33-1.70, P= 75 years (hazard ratio 1.69, 95% CI 1.51-1.90, P Conclusions-In a large population of patients anticoagulated for nonvalvular atrial fibrillation, approximate to 7 in 10 deaths were cardiovascular, whereasPeer reviewe

Mean field analysis of large-scale interacting populations of stochastic conductance-based spiking neurons using the Klimontovich method

20 pagesInternational audienceWe investigate the dynamics of large-scale interacting neural populations, composed of conductance based, spiking model neurons with modifiable synaptic connection strengths, which are possibly also subjected to external noisy currents. The network dynamics is controlled by a set of neural population probability distributions ($\mathrm{PPD}$)which are constructed along the same lines as in the Klimontovich approach to the kinetic theory of plasmas. An exact non-closed, nonlinear, system of integro-partial differential equations is derived for the $\mathrm{PPD}$s. As is customary, a closing procedure leads to a mean field limit. The equations we have obtained are of the same type as those which have been recently derived using rigorous techniques of probability theory. The numerical solutions of these so called McKean-Vlasov-Fokker-Planck equations, which are only valid in the limit of infinite size networks, actually shows that the statistical measures as obtained from $\mathrm{PPD}$s are in good agreement with those obtained through direct integration of the stochastic dynamical system for large but finite size networks. Although numerical solutions have been obtained in the case of Fitzhugh-Nagumo model neurons, the theory can be readily applied to systems of Hodgkin-Huxley type model neurons of arbitrary dimension