LQG controller for the LEGO MINDSTORMS EV3 Gyroboy Segway robot

This is the final version. Available on open access from Elsevier via the DOI in this recordIFAC‑V 2020: 1st Virtual IFAC World Congress, 11 - 17 July 2020, Berlin, GermanyThis paper details the development of a Segway robot demonstrator for undergraduate and Masters level systems and control courses based on the LEGO MINDSTORMS EV3 robotics platform. The purpose of the demonstrator is to provide a physical and interactive device for explaining concepts that feature on many systems and control courses, notably: model-based control, linearisation, the Linear-Quadratic Regulator (LQR), pole placement, noise amplification due to differentiation, reference following, Kalman filtering, and the principle of separation of estimation and control. The demonstrator is designed using a standard LEGO MINDSTORMS model from the Education EV3 core set—the Gyroboy. This is interfaced with using the Simulink Support Package for LEGO MINDSTORMS EV3 Hardware. Reference inputs can be provided from either a keyboard or an Xbox One gamepad. To the best of our knowledge, this is the first example of the successful implementation of an observerbased reference-following feedback controller for a Segway robot built entirely using LEGO MINDSTORMS EV3 components, with previous designs being either not observer-based or based on the now outdated LEGO MINDSTORMS NXT platfor

Palaeoecological assessment of freshwaters in SACs and ASSIs in Northern Ireland

This is the final report to the Environment and Heritage Service (EHS) in Northern Ireland on the ‘Palaeoecological investigation of the past biological structure and function in Freshwaters in SACs and ASSIs

A Robust Solution Procedure for Hyperelastic Solids with Large Boundary Deformation

Compressible Mooney-Rivlin theory has been used to model hyperelastic solids, such as rubber and porous polymers, and more recently for the modeling of soft tissues for biomedical tissues, undergoing large elastic deformations. We propose a solution procedure for Lagrangian finite element discretization of a static nonlinear compressible Mooney-Rivlin hyperelastic solid. We consider the case in which the boundary condition is a large prescribed deformation, so that mesh tangling becomes an obstacle for straightforward algorithms. Our solution procedure involves a largely geometric procedure to untangle the mesh: solution of a sequence of linear systems to obtain initial guesses for interior nodal positions for which no element is inverted. After the mesh is untangled, we take Newton iterations to converge to a mechanical equilibrium. The Newton iterations are safeguarded by a line search similar to one used in optimization. Our computational results indicate that the algorithm is up to 70 times faster than a straightforward Newton continuation procedure and is also more robust (i.e., able to tolerate much larger deformations). For a few extremely large deformations, the deformed mesh could only be computed through the use of an expensive Newton continuation method while using a tight convergence tolerance and taking very small steps.Comment: Revision of earlier version of paper. Submitted for publication in Engineering with Computers on 9 September 2010. Accepted for publication on 20 May 2011. Published online 11 June 2011. The final publication is available at http://www.springerlink.co

Boundaries of Semantic Distraction: Dominance and Lexicality Act at Retrieval

Three experiments investigated memory for semantic information with the goal of determining boundary conditions for the manifestation of semantic auditory distraction. Irrelevant speech disrupted the free recall of semantic category-exemplars to an equal degree regardless of whether the speech coincided with presentation or test phases of the task (Experiment 1) and occurred regardless of whether it comprised random words or coherent sentences (Experiment 2). The effects of background speech were greater when the irrelevant speech was semantically related to the to-be-remembered material, but only when the irrelevant words were high in output dominance (Experiment 3). The implications of these findings in relation to the processing of task material and the processing of background speech is discussed

Overexpression of Mcl-1 exacerbates lymphocyte accumulation and autoimmune kidney disease in lpr mice

Cell death by apoptosis has a critical role during embryonic development and in maintaining tissue homeostasis. In mammals, there are two converging apoptosis pathways: the ‘extrinsic’ pathway, which is triggered by engagement of cell surface ‘death receptors’ such as Fas/APO-1; and the ‘intrinsic’ pathway, which is triggered by diverse cellular stresses, and is regulated by prosurvival and pro-apoptotic members of the Bcl-2 family of proteins. Pro-survival Mcl-1, which can block activation of the proapoptotic proteins, Bax and Bak, appears critical for the survival and maintenance of multiple haemopoietic cell types. To investigate the impact on haemopoiesis of simultaneously inhibiting both apoptosis pathways, we introduced the vavP-Mcl-1 transgene, which causes overexpression of Mcl-1 protein in all haemopoietic lineages, into Faslpr/lpr mice, which lack functional Fas and are prone to autoimmunity. The combined mutations had a modest impact on myelopoiesis, primarily an increase in the macrophage/monocyte population in Mcl-1tg/lpr mice compared with lpr or Mcl-1tg mice. The impact on lymphopoiesis was striking, with a marked elevation in all major lymphoid subsets, including the non-conventional double-negative (DN) T cells (TCRβ+ CD4– CD8– B220+ ) characteristic of Faslpr/lpr mice. Of note, the onset of autoimmunity was markedly accelerated in Mcl-1tg/lpr mice compared with lpr mice, and this was preceded by an increase in immunoglobulin (Ig)-producing cells and circulating autoantibodies. This degree of impact was surprising, given the relatively mild phenotype conferred by the vavP-Mcl-1 transgene by itself: a two- to threefold elevation of peripheral B and T cells, no significant increase in the non-conventional DN T-cell population and no autoimmune disease. Comparison of the phenotype with that of other susceptible mice suggests that the development of autoimmune disease in Mcl-1tg/lpr mice may be influenced not only by Ig-producing cells but also other haemopoietic cell types

Grout rheological properties for preplaced aggregate concrete production

yesThis paper investigates the effect of cement based grout rheology on the injection process through coarse aggregate for producing preplaced aggregate concrete. Four different sands were used in the grout production at different water-cement ratios and cement-sand ratios. Superplasticiers and pulverised fuel ash were also employed in the grout production. Coarse aggregate of known weight was compacted into 150 mm cubic forms, and then the grout was injected through a plastic pipe under self weight into the stone ‘skeleton’. It has been found that there are threshold values of the rheological parameters beyond which full injection is not possible. In particular, all grout mixes with and without additives and admixtures exhibited the same yield stress threshold value for full injection, whereas the threshold values for other rheological properties including the grout plastic viscosity, flow time and speed were different according to the materials added to the mix

A Complete ALMA Map of the Fomalhaut Debris Disk

© 2017. The American Astronomical Society. All rights reserved. We present ALMA mosaic observations at 1.3 mm (223 GHz) of the Fomalhaut system with a sensitivity of 14 μJy/beam. These observations provide the first millimeter map of the continuum dust emission from the complete outer debris disk with uniform sensitivity, enabling the first conclusive detection of apocenter glow. We adopt an MCMC modeling approach that accounts for the eccentric orbital parameters of a collection of particles within the disk. The outer belt is radially confined with an inner edge of 136.3 ± 0.9 au and width of 13.5 ± 1.8 au. We determine a best-fit eccentricity of 0.12 ± 0.01. Assuming a size distribution power-law index of q = 3.46 ± 0.09, we constrain the dust absorptivity power-law index β to be 0.9 < β < 1.5. The geometry of the disk is robustly constrained with inclination 65.°6 ± 0.°3, position angle 337.°9 ± 0.°3, and argument of periastron 22.°5 ± 4.°3. Our observations do not confirm any of the azimuthal features found in previous imaging studies of the disk with Hubble Space Telescope, SCUBA, and ALMA. However, we cannot rule out structures ≤10 au in size or that only affect smaller grains. The central star is clearly detected with a flux density of 0.75 ± 0.02 mJy, significantly lower than predicted by current photospheric models. We discuss the implications of these observations for the directly imaged Fomalhaut b and the inner dust belt detected at infrared wavelengths

A prospective study of chemotherapy-induced febrile neutropenia in the South West London Cancer Network. Interpretation of study results in light of NCAG/NCEPOD findings

BACKGROUND: Chemotherapy-induced febrile neutropenia is a medical emergency complicating the treatment of many cancer patients. It is associated with considerable morbidity and mortality, as well as impacting on healthcare resources. METHODS: A prospective study of all cases of chemotherapy-induced febrile neutropenia in the South West London Cancer Network was conducted over a 4-month period. Factors including demographics, treatment history, management of febrile neutropenia and outcome were recorded. RESULTS AND CONCLUSION: Our results reflect those of the recent National Chemotherapy Advisory Group (NCEPOD, 2008)/National Confidential Enquiry into Patient Outcomes and Death reports (NCAG, 2009) and highlight the need for network-wide c inical care pathways to improve outcomes in this area, British Journal of Cancer (2011) 104, 407-412. doi:10.1038/sj.bjc.6606059 www.bjcancer.com Published online 21 December 2010 (C) 2011 Cancer Research U