Guaranteed Cost Control of Polynomial Fuzzy Systems via a Sum of Squares Approach

This paper presents the guaranteed cost control of polynomial fuzzy systems via a sum of squares (SOS) approach. First, we present a polynomial fuzzy model and controller that are more general representations of the well-known Takagi-Sugeno (T-S) fuzzy model and controller, respectively. Second, we derive a guaranteed cost control design condition based on polynomial Lyapunov functions. Hence, the design approach discussed in this paper is more general than the existing LMI approaches (to T-S fuzzy control system designs) based on quadratic Lyapunov functions. The design condition realizes a guaranteed cost control by minimizing the upper bound of a given performance function. In addition, the design condition in the proposed approach can be represented in terms of SOS and is numerically (partially symbolically) solved via the recent developed SOSTOOLS. To illustrate the validity of the design approach, two design examples are provided. The first example deals with a complicated nonlinear system. The second example presents micro helicopter control. Both the examples show that our approach provides more extensive design results for the existing LMI approach

Development of a Flying Robot With a Pantograph-Based Variable Wing Mechanism

We develop a flying robot with a new pantograph-based variable wing mechanism for horizontal-axis rotorcrafts (cyclogyro rotorcrafts). A key feature of the new mechanism is to have a unique trajectory of variable wings that not only change angles of attack but also expand and contract according to wing positions. As a first step, this paper focuses on demonstrating the possibility of the flying robot with this mechanism. After addressing the pantograph-based variable wing mechanism and its features, a simulation model of this mechanism is constructed. Next, we present some comparison results (between the simulation model and experimental data) for a prototype body with the proposed pantograph-based variable wing mechanism. Both simulation and experimental results show that the flying robot with this new mechanism can generate enough lift forces to keep itself in the air. Furthermore, we construct a more precise simulation model by considering rotational motion of each wing. As a result of optimizing design parameters using the precise simulation model, flight performance experimental results demonstrate that the robot with the optimal design parameters can generate not only enough lift forces but a 155 gf payload as well

Sensor Reduction for Backing-Up Control of a Vehicle With Triple Trailers

This paper presents a cost-effective design based on sensor reduction for backing-up control of a vehicle with triple trailers. To realize a cost-effective design, we newly derive two linear-matrix-inequality (LMI) conditions for a discrete Takagi-Sugeno fuzzy system. One is an optimal dynamic output feedback design that guarantees desired control performance. The other is an avoidance of jackknife phenomenon for the use of the optimal dynamic output feedback controller. Our results demonstrate that the proposed LMI-based design effectively achieves the backing-up control of the vehicle with triple trailers while avoiding the jackknife phenomenon. More importantly, we demonstrate that the designed optimal control can achieve the backing-up control without, at least, two potentiometers that were employed to measure the relative angles (of a vehicle with triple trailers) in our previous experiments. Since the relative angles directly relate to the jackknife phenomenon, the successful control results without two potentiometers are very interesting and important from the cost-effective design point of view

Polynomial Fuzzy Observer Designs: A Sum-of-Squares Approach

This paper presents a simple passive attitude stabilizer (PAS) for vision-based stabilization of palm-size aerial vehicles. First, a mathematical dynamic model of a palm-size aerial vehicle with the proposed PAS is constructed. Stability analysis for the dynamics is carried out in terms of Lyapunov stability theory. The analysis results show that the proposed stabilizer guarantees passive stabilizing behavior, i.e., passive attitude recovering, of the aerial vehicle for small perturbations from a stability theory point of view. Experimental results demonstrate the utility of the proposed PAS for the aerial vehicle

Controllable Laser Ion Acceleration

In this paper a future laser ion accelerator is discussed to make the laser-based ion accelerator compact and controllable. Especially a collimation device is focused in this paper. The future laser ion accelerator should have an ion source, ion collimators, ion beam bunchers, and ion post acceleration devices [Laser Therapy 22, 103(2013)]: the ion particle energy and the ion energy spectrum are controlled to meet requirements for a future compact laser ion accelerator for ion cancer therapy or for other purposes. The energy efficiency from the laser to ions is improved by using a solid target with a fine sub-wavelength structure or a near-critical density gas plasma. The ion beam collimation is performed by holes behind the solid target or a multi-layered solid target. The control of the ion energy spectrum and the ion particle energy, and the ion beam bunching would be successfully realized by a multistage laser-target interaction

Conservative kidney management and kidney supportive care:core components of integrated care for people with kidney failure

Integrated kidney care requires synergistic linkage between preventative care for people at risk for chronic kidney disease and health services providing care for people with kidney disease, ensuring holistic and coordinated care as people transition between acute and chronic kidney disease and the 3 modalities of kidney failure management: conservative kidney management, transplantation, and dialysis. People with kidney failure have many supportive care needs throughout their illness, regardless of treatment modality. Kidney supportive care is therefore a vital part of this integrated framework, but is nonexistent, poorly developed, and/or poorly integrated with kidney care in many settings, especially in low- and middle-income countries. To address this, the International Society of Nephrology has (i) coordinated the development of consensus definitions of conservative kidney management and kidney supportive care to promote international understanding and awareness of these active treatments; and (ii) identified key considerations for the development and expansion of conservative kidney management and kidney supportive care programs, especially in low resource settings, where access to kidney replacement therapy is restricted or not available. This article presents the definitions for conservative kidney management and kidney supportive care; describes their core components with some illustrative examples to highlight key points; and describes some of the additional considerations for delivering conservative kidney management and kidney supportive care in low resource settings.</p

Assessing cardiovascular risk in chronic kidney disease patients prior to kidney transplantation: clinical usefulness of a standardised cardiovascular assessment protocol.

BACKGROUND: Despite pre-kidney-transplant cardiovascular (CV) assessment being routine care to minimise perioperative risk, the utility of such assessment is not well established. The study reviewed the evaluation and outcome of a standardised CV assessment protocol. METHODS: Data were analysed for 231 patients (age 53.4 ± 12.9 years, diabetes 34.6%) referred for kidney transplantation between 1/2/2012-31/12/2014. One hundred forty-three patients were high-risk (age > 60 years, diabetes, CV disease, heart failure, peripheral vascular disease) and offered dobutamine stress echocardiography (DSE); 88 patients were low-risk and offered ECG and echocardiography with/without exercise treadmill test. RESULTS: At the end of follow-up (579 ± 289 days), 35 patients underwent kidney transplantation and 50 were active on the waitlist. There were 24 events (CV or death), none were perioperative. One hundred fifteen patients had DSE with proportionally more events in DSE-positive compared to DSE-negative patients (6/34 vs. 7/81, p = 0.164). In 42 patients who underwent coronary angiography due to a positive DSE or ischaemic heart disease symptoms, 13 (31%) had events, 6 were suspended, 11 removed from waitlist, 3 wait-listed, 1 transplanted and 17 still undergoing assessment. Patients with significant coronary artery disease requiring intervention had poorer event-free survival compared to those without intervention (56% vs. 83% at 2 years, p = 0.044). However, the association became non-significant after correction for CV risk factors (HR = 3.17, 95% CI 0.51-19.59, p = 0.215). CONCLUSIONS: The stratified CV risk assessment protocol using DSE in all high-risk patients was effective in identifying patients with coronary artery disease. The coronary angiograms identified the event-prone patients effectively but coronary interventions were not associated with improved survival

Characterization of the Fungal Microbiota (Mycobiome) in Healthy and Dandruff-Afflicted Human Scalps

The human scalp harbors a vast community of microbial mutualists, the composition of which is difficult to elucidate as many of the microorganisms are not culturable using current culture techniques. Dandruff, a common scalp disorder, is known as a causative factor of a mild seborrheic dermatitis as well as pityriasis versicolor, seborrheic dermatitis, and atopic dermatitis. Lipophilic yeast Malassezia is widely accepted to play a role in dandruff, but relatively few comprehensive studies have been reported. In order to investigate fungal biota and genetic resources of dandruff, we amplified the 26S rRNA gene from samples of healthy scalps and dandruff-afflicted scalps. The sequences were analyzed by a high throughput method using a GS-FLX 454 pyrosequencer. Of the 74,811 total sequence reads, Basidiomycota (Filobasidium spp.) was the most common phylum associated with dandruff. In contrast, Ascomycota (Acremonium spp.) was common in the healthy scalps. Our results elucidate the distribution of fungal communities associated with dandruff and provide new avenues for the potential prevention and treatment of dandruff