Fast terminal sliding mode control for gantry cranes

Cranes remain a vital tool for the construction of infrastructure such as buildings, bridges, etc. Recently, there has been renewed interest in crane automation in dealing with concerns on safety and possible performance degradation due to system uncertainties and disturbances. One potential solution to the problem is the use of robust techniques based on the Sliding Mode Control (SMC) methodology. Much research has been conducted to design controllers based on linear sliding surfaces, aiming at achieving the desired control performance in finite time. In this context, this paper proposes a control method, based on the Fast Terminal Sliding Mode (FTSM), to guarantee finite-time stability of the crane. To do that, we have derived a mathematical model of the crane using Lagrangian formulation with uncertainties as bounding functions. Then, sliding surfaces based on the hierarchical sliding mode are defined, and a control law is derived using the Lyapunov stability theory. The hierarchical sliding surfaces consist of two layers. The first layer include sliding functions based on FTSM to enable faster convergence of the system to equilibrium. This can have advantages in high precision tracking applications. In the second-layer, the sliding surface is designed from the linear combination of the first layer sliding functions. Also, we have given a proof of the stability of the system in finite time. Extensive simulation results show the proposed controller based on FTSM can achieve higher performance in stabilizing the swinging load of a gantry crane. Laboratorial experiments have been conducted to verify the obtained results in terms of the superior convergence time and improved performance over conventional SMC

Ultrafast nonlocal control of spontaneous emission

Solid-state cavity quantum electrodynamics systems will form scalable nodes of future quantum networks, allowing the storage, processing and retrieval of quantum bits, where a real-time control of the radiative interaction in the cavity is required to achieve high efficiency. We demonstrate here the dynamic molding of the vacuum field in a coupled-cavity system to achieve the ultrafast nonlocal modulation of spontaneous emission of quantum dots in photonic crystal cavities, on a timescale of ~200 ps, much faster than their natural radiative lifetimes. This opens the way to the ultrafast control of semiconductor-based cavity quantum electrodynamics systems for application in quantum interfaces and to a new class of ultrafast lasers based on nano-photonic cavities.Comment: 15 pages, 4 figure

Adaptive second-order sliding mode control of UAVs for civil applications

Quadcopters, as unmanned aerial vehicles (UAVs), have great potential in civil applications such as surveying, building monitoring, and infrastructure condition assessment. Quadcopters, however, are relatively sensitive to noises and disturbances so that their performance may be quickly downgraded in the case of inadequate control, system uncertainties and/or external disturbances. In this study, we deal with the quadrotor low-level control by proposing a robust scheme named the adaptive second-order quasi-continuous sliding mode control (adaptive 2-QCSM). The ultimate objective is for robust attitude control of the UAV in monitoring and inspection of built infrastructure. First, the mathematical model of the quadcopter is derived considering nonlinearity, strong coupling, uncertain dynamics and external disturbances. The control design includes the selection of the sliding manifold and the development of quasi-continuous second-order sliding mode controller with an adaptive gain. Stability of the overall control system is analysed by using a global Lyapunov function for convergence of both the sliding dynamics and adaptation scheme. Extensive simulations have been carried out for evaluation. Results show that the proposed controller can achieve robustness against disturbances or parameter variations and has better tracking performance in comparison with experimental responses of a UAV in a real-time monitoring task

‘Blue boats’ and ‘reef robbers’: A new maritime security threat for the Asia Pacific?

© 2019 The Authors. Asia Pacific Viewpoint published by Victoria University of Wellington and John Wiley & Sons Australia, Ltd Vietnamese ‘blue boats’ – small wooden-hulled fishing boats – are now entering the territorial waters of Pacific Island countries and illegally catching high-value species found on remote coastal reefs. Crossing several international boundaries and traversing a distance of over 5000 km, these intrusions have alarmed Oceanic countries, including Australia. Lacking administrative capacity as well as jurisdictional authority to effectively control the vast stretches of island coastlines individually, governments and intergovernmental bodies in the region have called for strengthened coordination of surveillance efforts while also pressuring Vietnam diplomatically. This paper reviews these latest developments and is the first to provide a focused assessment of the issue. Through the lens of Copenhagen School of securitisation theory, we analyse responses of national and regional actors and their portrayal in online media to understand how blue boats are constructed as a security threat within a narrative of maritime, food and human security. Arguably, Australia together with the Forum Fisheries Agency, who advise on the governance of offshore tuna resources, have so far acted most decisively – in a way that might see them extend their strategic role in the region. We propose a comprehensive empirical research agenda to better understand and manage this nascent, flammable and largely unpredictable inter-regional phenomenon

The Hubbard model within the equations of motion approach

The Hubbard model has a special role in Condensed Matter Theory as it is considered as the simplest Hamiltonian model one can write in order to describe anomalous physical properties of some class of real materials. Unfortunately, this model is not exactly solved except for some limits and therefore one should resort to analytical methods, like the Equations of Motion Approach, or to numerical techniques in order to attain a description of its relevant features in the whole range of physical parameters (interaction, filling and temperature). In this manuscript, the Composite Operator Method, which exploits the above mentioned analytical technique, is presented and systematically applied in order to get information about the behavior of all relevant properties of the model (local, thermodynamic, single- and two- particle ones) in comparison with many other analytical techniques, the above cited known limits and numerical simulations. Within this approach, the Hubbard model is shown to be also capable to describe some anomalous behaviors of the cuprate superconductors.Comment: 232 pages, more than 300 figures, more than 500 reference

Search for Gravitational Waves from Primordial Black Hole Binary Coalescences in the Galactic Halo

We use data from the second science run of the LIGO gravitational-wave detectors to search for the gravitational waves from primordial black hole (PBH) binary coalescence with component masses in the range 0.2--$1.0 M_\odot$. The analysis requires a signal to be found in the data from both LIGO observatories, according to a set of coincidence criteria. No inspiral signals were found. Assuming a spherical halo with core radius 5 kpc extending to 50 kpc containing non-spinning black holes with masses in the range 0.2--$1.0 M_\odot$, we place an observational upper limit on the rate of PBH coalescence of 63 per year per Milky Way halo (MWH) with 90% confidence.Comment: 7 pages, 4 figures, to be submitted to Phys. Rev.

Cryptosporidium Priming Is More Effective than Vaccine for Protection against Cryptosporidiosis in a Murine Protein Malnutrition Model

Cryptosporidium is a major cause of severe diarrhea, especially in malnourished children. Using a murine model of C. parvum oocyst challenge that recapitulates clinical features of severe cryptosporidiosis during malnutrition, we interrogated the effect of protein malnutrition (PM) on primary and secondary responses to C. parvum challenge, and tested the differential ability of mucosal priming strategies to overcome the PM-induced susceptibility. We determined that while PM fundamentally alters systemic and mucosal primary immune responses to Cryptosporidium, priming with C. parvum (106 oocysts) provides robust protective immunity against re-challenge despite ongoing PM. C. parvum priming restores mucosal Th1-type effectors (CD3+CD8+CD103+ T-cells) and cytokines (IFNγ, and IL12p40) that otherwise decrease with ongoing PM. Vaccination strategies with Cryptosporidium antigens expressed in the S. Typhi vector 908htr, however, do not enhance Th1-type responses to C. parvum challenge during PM, even though vaccination strongly boosts immunity in challenged fully nourished hosts. Remote non-specific exposures to the attenuated S. Typhi vector alone or the TLR9 agonist CpG ODN-1668 can partially attenuate C. parvum severity during PM, but neither as effectively as viable C. parvum priming. We conclude that although PM interferes with basal and vaccine-boosted immune responses to C. parvum, sustained reductions in disease severity are possible through mucosal activators of host defenses, and specifically C. parvum priming can elicit impressively robust Th1-type protective immunity despite ongoing protein malnutrition. These findings add insight into potential correlates of Cryptosporidium immunity and future vaccine strategies in malnourished children

Host Cell Transcriptome Profile during Wild-Type and Attenuated Dengue Virus Infection

10.1371/journal.pntd.0002107PLoS Neglected Tropical Diseases73

Human and murine clonal CD8+ T cell expansions arise during tuberculosis because of TCR selection

The immune system can recognize virtually any antigen, yet T cell responses against several pathogens, including Mycobacterium tuberculosis, are restricted to a limited number of immunodominant epitopes. The host factors that affect immunodominance are incompletely understood. Whether immunodominant epitopes elicit protective CD8+ T cell responses or instead act as decoys to subvert immunity and allow pathogens to establish chronic infection is unknown. Here we show that anatomically distinct human granulomas contain clonally expanded CD8+ T cells with overlapping T cell receptor (TCR) repertoires. Similarly, the murine CD8+ T cell response against M. tuberculosis is dominated by TB10.44-11-specific T cells with extreme TCRß bias. Using a retro genic model of TB10.44-11-specific CD8+ Tcells, we show that TCR dominance can arise because of competition between clonotypes driven by differences in affinity. Finally, we demonstrate that TB10.4-specific CD8+ T cells mediate protection against tuberculosis, which requires interferon-? production and TAP1-dependent antigen presentation in vivo. Our study of how immunodominance, biased TCR repertoires, and protection are inter-related, provides a new way to measure the quality of T cell immunity, which if applied to vaccine evaluation, could enhance our understanding of how to elicit protective T cell immunity.This work was supported by the Portuguese Foundation for Science and Technology individual fellowship (CNA) www.fct.pt, a National Institutes of Health Grant R01 AI106725 (SMB) www.nih.gov, and a Center for AIDS Research Grant P30 AI 060354 (SMB) www.nih.gov. The funders had no role in study design, data collection and analysis, decision to publish, or preparation of the manuscript