Comparison of nonlinear dynamic inversion and inverse simulation

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A Comparison of Inverse Simulation-Based Fault Detection in a Simple Robotic Rover with a Traditional Model-Based Method

Robotic rovers which are designed to work in extra-terrestrial environments present a unique challenge in terms of the reliability and availability of systems throughout the mission. Should some fault occur, with the nearest human potentially millions of kilometres away, detection and identification of the fault must be performed solely by the robot and its subsystems. Faults in the system sensors are relatively straightforward to detect, through the residuals produced by comparison of the system output with that of a simple model. However, faults in the input, that is, the actuators of the system, are harder to detect. A step change in the input signal, caused potentially by the loss of an actuator, can propagate through the system, resulting in complex residuals in multiple outputs. These residuals can be difficult to isolate or distinguish from residuals caused by environmental disturbances. While a more complex fault detection method or additional sensors could be used to solve these issues, an alternative is presented here. Using inverse simulation (InvSim), the inputs and outputs of the mathematical model of the rover system are reversed. Thus, for a desired trajectory, the corresponding actuator inputs are obtained. A step fault near the input then manifests itself as a step change in the residual between the system inputs and the input trajectory obtained through inverse simulation. This approach avoids the need for additional hardware on a mass- and power-critical system such as the rover. The InvSim fault detection method is applied to a simple four-wheeled rover in simulation. Additive system faults and an external disturbance force and are applied to the vehicle in turn, such that the dynamic response and sensor output of the rover are impacted. Basic model-based fault detection is then employed to provide output residuals which may be analysed to provide information on the fault/disturbance. InvSim-based fault detection is then employed, similarly providing \textit{input} residuals which provide further information on the fault/disturbance. The input residuals are shown to provide clearer information on the location and magnitude of an input fault than the output residuals. Additionally, they can allow faults to be more clearly discriminated from environmental disturbances

Factors that influence delivery of tobacco cessation support in general dental practice: A narrative review

Objectives: To review the literature reporting factors that are associated with the delivery of lifestyle support in general dental practice. Methods: A systematic review of the quantitative observational studies describing activities to promote the general health of adults in primary care general dental practice. Behaviour change included tobacco cessation, alcohol reduction, diet, weight management and physical activity. Tooth brushing and oral hygiene behaviours were excluded as the focus of this review was on the common risk factors that affect general health as well as oral health. Results: Six cross sectional studies met the inclusion criteria. Five studies only reported activities to support tobacco cessation. As well as tobacco cessation one study also reported activities related to alcohol usage, physical activity and Body Mass Index. Perceptions of time availability consistently correlated with activities and beliefs about tobacco cessation, alongside the smoking status of the dental professional. Dentists who perceive having more available time were more likely to discuss smoking with patients, prescribe smoking cessation treatments and direct patients towards (signpost to) lifestyle support services. Dental professionals who smoke were less likely to give smoking cessation advice and counselling than non-smokers. Finally, the data showed that professional support may be relevant. Professionals who work in solo practices or those who felt a lack of support from the wider professional team (peer support) were more likely to report barriers to delivering lifestyle support. Conclusion: Organisational changes in dental practices to encourage more team working and professional time for lifestyle support may influence delivery. Dental professionals who are smokers may require training to develop their beliefs about the effectiveness of smoking cessation interventions

Inverse Simulation as a Tool for Fault Detection and Isolation in Planetary Rovers

With manned expeditions to planetary bodies beyond our own and the Moon currently intractable, the onus falls upon robotic systems to explore and analyse extraterrestrial environments such as Mars. These systems typically take the form of wheeled rovers, designed to navigate the difficult terrain of other worlds. Rovers have been used in this role since Lunokhod 1 landed on the Moon in 1970. While early rovers were remote controlled, communication latency with bodies beyond the Moon and the desire to improve mission effectiveness have resulted in increasing autonomy in planetary rovers. With an increase in autonomy, however, comes an increase in complexity. This can have a negative impact on the reliability of the rover system. With a fault-free system an unlikely prospect and human assistance millions of miles away, the rover must have a robust fault detection, isolation and recovery (FDIR) system. The need for comprehensive FDIR is demonstrated by the recent Chinese lunar rover, Yutu (or “Jade Rabbit”). Yutu was rendered immobile 42 days after landing and remained so for the duration of its operational life: 31 months. While its lifespan far exceeded its expected value, Yutu's inability to move severely impaired its ability to perform its mission. This clearly highlights the need for robust FDIR. A common approach to FDIR is through the generation and analysis of residuals. Output residuals may be obtained by comparing the outputs of the system with predictions of those outputs, obtained from a mathematical model of the system which is supplied with the system inputs. Output residuals allow simple detection and isolation of faults at the output of the system. Faults in earlier stages of the system, however, propagate through the system dynamics and can disperse amongst several of the outputs. This problem is exemplified by faults at the input, which can potentially excite every system state and thus manifest in every output residual. Methods exist for decoupling and analysing output residuals such that input faults may be isolated, however, these methods are complex and require comprehensive development and testing. A conceptually simpler approach is presented in this paper. Inverse simulation (InvSim) is a numerical method by which the inputs of a system are obtained for a desired output. It does so by using a Newton-Raphson algorithm to solve a non-linear model of the system for the input. When supplied with the outputs of a fault-afflicted system, InvSim produces the input required to drive a fault-free system to this output. The fault therefore manifests itself in this generated input signal. The InvSim-generated input may then be compared to the true system input to generate input residuals. Just as a fault at an output manifests itself in the residual for that output alone, a fault at an input similarly manifests itself only in the residual for that input. InvSim may also be used to generate residuals at other locations in the system, by considering distinct subsystems with their own inputs and outputs. This ability is tested comprehensively in this paper. Faults are applied to a simulated rover at a variety of locations within the system structure and residuals generated using both InvSim and conventional forward simulation. Residuals generated using InvSim are shown to facilitate detection and isolation of faults in several locations using simple analyses. By contrast, forward simulation requires the use of complex analytical methods such as structured residuals or adaptive thresholds

Effect of partial replacement of dietary fish meal and oil by pumpkin kernel cake and rapeseed oil on fatty acid composition and metabolism in Arctic charr (Salvelinus alpinus)

The aim of this 15-month feeding study was to investigate the effects of more sustainable feeds on specific growth rate, fatty acid composition and metabolism of Arctic charr (Salvelinus alpinus). A control feed, formulated with fish meal and fish oil (F1), was compared with feeds where the marine ingredients were increasingly replaced by pumpkin kernel cake and rapeseed oil (Feeds F2, F3, and F4). Arctic charr were randomly distributed into 12 tanks and fed one of the feeds in triplicate. The biomass of fish fed F1 and F2 diets was significantly higher compared to fish fed diet F4 with highest replacement level. However, the dorsal and ventral muscle tissues had very similar total saturated, monounsaturated, and polyunsaturated fatty acid (PUFA) contents, irrespective of dietary supply. Although diets F3 and F4 contained 6-fold less fish oil than diets F1 and F2, fish fed diets F3 and F4 retained only 2-fold less highly desired omega-3 (n-3) long-chain (LC)-PUFA in their dorsal and ventral muscle tissues. Incubating isolated hepatocytes with 14C-labeled -linolenic acid (18:3n-3) provided evidence that Arctic charr can bioconvert this essential dietary PUFA to n-3 LC-PUFA, including docosahexaenoic acid. The results suggested that tissue fatty acid compositions in Arctic charr are dependent, not only on dietary fatty acid supply, but also on their ability for endogenous synthesis of n-3 LC-PUFA. Finally, this long-term feeding study indicated that feeds containing pumpkinseed press cake and rapeseed oil produced fish with largely similar fatty acid composition to fish fed diets containing higher contents of fish meal and fish oil

Docosahexaenoic acid in Arctic charr (Salvelinus alpinus): The importance of dietary supply and physiological response during the entire growth period

The aim of this 14-month feeding study was to investigate the effects of dietary docosahexaenoic acid (DHA) on tissue fatty acid composition, DHA retention and DHA content per biomass accrual in muscle tissues of Arctic charr (Salvelinus alpinus). A control feed, formulated with a relatively high DHA inclusion level (F1), was compared with feeds containing gradually reduced amounts of DHA (Feeds F2, F3, and F4). Arctic charr were randomly distributed among 12 tanks and fed one of the feeds in triplicate. The DHA content within muscle tissues of fish fed diets F1 and F2 was generally higher compared to fish fed diets F3 and F4. However, there was an interaction between dietary DHA treatment and season, which resulted in fish muscle tissues having similar DHA contents irrespective of dietary supply during specific sampling periods. Although diets F3 and F4 contained ~4-fold less DHA compared to diets F1 and F2, retention of DHA in dorsal and ventral muscle tissue was up to 5-fold higher relative to the diet content in fish fed diets F3 and F4. However, the difference among treatments was dependent on the month sampled. In addition, younger fish retained DHA more efficiently compared to older fish. DHA (µg DHA/g/day) accrual in muscle tissue was independent of somatic growth, and there was no difference among treatments. The results suggested that dietary DHA may be essential throughout the lifecycle of Arctic charr and that the DHA content of muscle tissues was influenced by diet and metabolic/physiological factors, such as specific DHA retention during the entire growth cycle . Finally, this long-term feeding study in Arctic charr indicated a non-linear function in DHA retention in dorsal and ventral muscle tissues throughout the lifecycle, which varied in its relationship to dietary DHA

Composition Operators and Endomorphisms

If $b$ is an inner function, then composition with $b$ induces an endomorphism, $\beta$, of $L^\infty(\mathbb{T})$ that leaves $H^\infty(\mathbb{T})$ invariant. We investigate the structure of the endomorphisms of $B(L^2(\mathbb{T}))$ and $B(H^2(\mathbb{T}))$ that implement $\beta$ through the representations of $L^\infty(\mathbb{T})$ and $H^\infty(\mathbb{T})$ in terms of multiplication operators on $L^2(\mathbb{T})$ and $H^2(\mathbb{T})$. Our analysis, which is based on work of R. Rochberg and J. McDonald, will wind its way through the theory of composition operators on spaces of analytic functions to recent work on Cuntz families of isometries and Hilbert $C^*$-modules

Iron Deficiency is Related to Depressive Symptoms in United States Nonpregnant Women of Reproductive Age : A Cross-Sectional Analysis of NHANES 2005-2010

This study was supported by the John L. Beard Program Endowment Fund.Peer reviewedPublisher PD

Long-Term Stability of Horseshoe Orbits

Unlike Trojans, horseshoe coorbitals are not generally considered to be long-term stable (Dermott and Murray, 1981; Murray and Dermott, 1999). As the lifetime of Earth's and Venus's horseshoe coorbitals is expected to be about a Gyr, we investigated the possible contribution of late-escaping inner planet coorbitals to the lunar Late Heavy Bombardment. Contrary to analytical estimates, we do not find many horseshoe objects escaping after first 100 Myr. In order to understand this behaviour, we ran a second set of simulations featuring idealized planets on circular orbits with a range of masses. We find that horseshoe coorbitals are generally long lived (and potentially stable) for systems with primary-to-secondary mass ratios larger than about 1200. This is consistent with results of Laughlin and Chambers (2002) for equal-mass pairs or coorbital planets and the instability of Jupiter's horseshoe companions (Stacey and Connors, 2008). Horseshoe orbits at smaller mass ratios are unstable because they must approach within 5 Hill radii of the secondary. In contrast, tadpole orbits are more robust and can remain stable even when approaching within 4 Hill radii of the secondary.Comment: Accepted for MNRA