Force-Moment decoupled actuation property analysis for a Generically Tilted Multirotor platform

openIl controllo di veicoli aerei autonomi è un argomento di crescente interesse, dovuto all’affascinante teoria che ha come protagonisti questi dispositivi e che può condurre a impegnative ed entusiasmanti sfide sia in campo teorico che pratico. Questo si riflette nel fatto che studi recenti sono mirati a studiare le proprietà strutturali di questi multi rotori, permettendo performance migliori rispetto ai droni standard con quattro eliche, anche in situazioni anomale e nel caso di possibili guasti. Per affrontare il problema, i momenti e le forze sono stati trattati in modo indipendente le une dagli atri, rendendo possibile lo studio di come un numero maggiore di eliche possa portare a maggior robustezza e manovrabilità del drone stesso. Questi punti vengono trattati in primo luogo disaccoppiando le dinamiche di traslazione e rotazione, che nel modello dinamico sono intrinsecamente accoppiate, successivamente viene massimizzata la capacità di attuazione delle forze che non generano momento angolare. Tutto questo viene usato per generare una traiettoria che tenga in considerazione tutti i vincoli dati e che sia immune dai guasti alle eliche.Unmanned Aerial Vehicles are a rising topic in the control theory research, due to their emerging theoretical and practical challenges. This translates into the fact that recent studies focused on the structural properties of these aerial platforms actuated by more than four rotors, arbitrarily oriented, to allow them to perform better than a standard quadrotor, even in harsh conditions and in case of possible failures. Typically, to face these problems, the forces and moments generated these platforms turn out to be decoupled and can be treated independently. In this thesis, the goal is to study the actuation and robustness properties of these multirotor platforms varying their physical construction parameters. The attention is first focused on the decoupling between the translational and rotational dynamics, that are intrinsically coupled in the original model, and then on the maximization of the force actuation capability that generates no angular momentum. Lastly all these studies are combined to plan a trajectory subject to all the given constraints, and that is not affected by propellers’ failure

Model-Independent Comparison Between Factorization Algebras and Algebraic Quantum Field Theory on Lorentzian Manifolds

This paper investigates the relationship between algebraic quantum field theories and factorization algebras on globally hyperbolic Lorentzian manifolds. Functorial constructions that map between these two types of theories in both directions are developed under certain natural hypotheses, including suitable variants of the local constancy and descent axioms. The main result is an equivalence theorem between (Cauchy constant and additive) algebraic quantum field theories and (Cauchy constant, additive and time-orderable) prefactorization algebras. A concept of 17-involution for the latter class of prefactorization algebras is introduced via transfer. This involves Cauchy constancy explicitly and does not extend to generic (time-orderable) prefactorization algebras

Categorical Aspects of Algebraic Quantum Field Theory

The aim of this work is to introduce and investigate 3 distinct problems in Algebraic Quantum Field Theory whose solution relies on (higher) multicategorical methods. More precisely, we will discuss a model-independent comparison between Algebraic Quantum Field Theory and Factorization Algebras, a 2-categorical notion of algebraic quantum field theory more sensitive to global aspects of gauge theories than previous approaches and a ``smoothness axiom'' for algebraic quantum field theories encoding ``smooth responses of observable algebras'' to ``smooth variations of spacetimes''

Categorical Aspects of Algebraic Quantum Field Theory

The aim of this work is to introduce and investigate 3 distinct problems in Algebraic Quantum Field Theory whose solution relies on (higher) multicategorical methods. More precisely, we will discuss a model-independent comparison between Algebraic Quantum Field Theory and Factorization Algebras, a 2-categorical notion of algebraic quantum field theory more sensitive to global aspects of gauge theories than previous approaches and a ``smoothness axiom'' for algebraic quantum field theories encoding ``smooth responses of observable algebras'' to ``smooth variations of spacetimes''

A randomized comparison of a sirolimus-eluting stent with a standard stent for coronary revascularization

BACKGROUND: The need for repeated treatment of restenosis of a treated vessel remains the main limitation of percutaneous coronary revascularization. Because sirolimus (rapamycin) inhibits the proliferation of lymphocytes and smooth-muscle cells, we compared a sirolimus-eluting stent with a standard uncoated stent in patients with angina pectoris. METHODS: We performed a randomized, double-blind trial to compare the two types of stents for revascularization of single, primary lesions in native coronary arteries. The trial included 238 patients at 19 medical centers. The primary end point was in-stent late luminal loss (the difference between the minimal luminal diameter immediately after the procedure and the diameter at six months). Secondary end points included the percentage of in-stent stenosis of the luminal diameter and the rate of restenosis (luminal narrowing of 50 percent or more). We also analyzed a composite clinical end point consisting of death, myocardial infarction, and percutaneous or surgical revascularization at 1, 6, and 12 months. RESULTS: At six months, the degree of neointimal proliferation, manifested as the mean (+/-SD) late luminal loss, was significantly lower in the sirolimus-stent group (-0.01+/-0.33 mm) than in the standard-stent group (0.80+/-0.53 mm, P<0.001). None of the patients in the sirolimus-stent group, as compared with 26.6 percent of those in the standard-stent group, had restenosis of 50 percent or more of the luminal diameter (P<0.001). There were no episodes of stent thrombosis. During a follow-up period of up to one year, the overall rate of major cardiac events was 5.8 percent in the sirolimus-stent group and 28.8 percent in the standard-stent group (P<0.001). The difference was due entirely to a higher rate of revascularization of the target vessel in the standard-stent group. CONCLUSIONS: As compared with a standard coronary stent, a sirolimus-eluting stent shows considerable promise for the prevention of neointimal proliferation, restenosis, and associated clinical events

Predictive Value of Tumor Ki-67 Expression in Two Randomized Trials of Adjuvant Chemoendocrine Therapy for Node-Negative Breast Cancer

Several small studies have reported that having a high percentage of breast tumor cells that express the proliferation antigen Ki-67 (ie, a high Ki-67 labeling index) predicts better response to neoadjuvant chemotherapy. However, the predictive value of a high Ki-67 labeling index for response to adjuvant chemotherapy is unclear. To investigate whether Ki-67 labeling index predicts response to adjuvant chemoendocrine therapy, we assessed Ki-67 expression in tumor tissue from 1924 (70%) of 2732 patients who were enrolled in two randomized International Breast Cancer Study Group trials of adjuvant chemoendocrine therapy vs endocrine therapy alone for node-negative breast cancer. A high Ki-67 labeling index was associated with other factors that predict poor prognosis. Among the 1521 patients with endocrine-responsive tumors, a high Ki-67 labeling index was associated with worse disease-free survival but the Ki-67 labeling index did not predict the relative efficacy of chemoendocrine therapy compared with endocrine therapy alone. Thus, Ki-67 labeling index was an independent prognostic factor but was not predictive of better response to adjuvant chemotherapy in these studie

Categorification of algebraic quantum field theories

This paper develops a concept of 2-categorical algebraic quantum field theories (2AQFTs) that assign locally presentable linear categories to spacetimes. It is proven that ordinary AQFTs embed as a coreflective full 2-subcategory into the 2-category of 2AQFTs. Examples of 2AQFTs that do not come from ordinary AQFTs via this embedding are constructed by a local gauging construction for finite groups, which admits a physical interpretation in terms of orbifold theories. A categorification of Fredenhagen's universal algebra is developed and also computed for simple examples of 2AQFTs

Pan-Cancer Analysis of lncRNA Regulation Supports Their Targeting of Cancer Genes in Each Tumor Context

Long noncoding RNAs (lncRNAs) are commonly dys-regulated in tumors, but only a handful are known toplay pathophysiological roles in cancer. We inferredlncRNAs that dysregulate cancer pathways, onco-genes, and tumor suppressors (cancer genes) bymodeling their effects on the activity of transcriptionfactors, RNA-binding proteins, and microRNAs in5,185 TCGA tumors and 1,019 ENCODE assays.Our predictions included hundreds of candidateonco- and tumor-suppressor lncRNAs (cancerlncRNAs) whose somatic alterations account for thedysregulation of dozens of cancer genes and path-ways in each of 14 tumor contexts. To demonstrateproof of concept, we showed that perturbations tar-geting OIP5-AS1 (an inferred tumor suppressor) andTUG1 and WT1-AS (inferred onco-lncRNAs) dysre-gulated cancer genes and altered proliferation ofbreast and gynecologic cancer cells. Our analysis in-dicates that, although most lncRNAs are dysregu-lated in a tumor-specific manner, some, includingOIP5-AS1, TUG1, NEAT1, MEG3, and TSIX, synergis-tically dysregulate cancer pathways in multiple tumorcontexts

Genomic, Pathway Network, and Immunologic Features Distinguishing Squamous Carcinomas

This integrated, multiplatform PanCancer Atlas study co-mapped and identified distinguishing molecular features of squamous cell carcinomas (SCCs) from five sites associated with smokin

Pan-cancer Alterations of the MYC Oncogene and Its Proximal Network across the Cancer Genome Atlas

Although theMYConcogene has been implicated incancer, a systematic assessment of alterations ofMYC, related transcription factors, and co-regulatoryproteins, forming the proximal MYC network (PMN),across human cancers is lacking. Using computa-tional approaches, we define genomic and proteo-mic features associated with MYC and the PMNacross the 33 cancers of The Cancer Genome Atlas.Pan-cancer, 28% of all samples had at least one ofthe MYC paralogs amplified. In contrast, the MYCantagonists MGA and MNT were the most frequentlymutated or deleted members, proposing a roleas tumor suppressors.MYCalterations were mutu-ally exclusive withPIK3CA,PTEN,APC,orBRAFalterations, suggesting that MYC is a distinct onco-genic driver. Expression analysis revealed MYC-associated pathways in tumor subtypes, such asimmune response and growth factor signaling; chro-matin, translation, and DNA replication/repair wereconserved pan-cancer. This analysis reveals insightsinto MYC biology and is a reference for biomarkersand therapeutics for cancers with alterations ofMYC or the PMN