Continuous Uniform Finite Time Stabilization of Planar Controllable Systems

Continuous homogeneous controllers are utilized in a full state feedback setting for the uniform finite time stabilization of a perturbed double integrator in the presence of uniformly decaying piecewise continuous disturbances. Semiglobal strong $\mathcal{C}^1$ Lyapunov functions are identified to establish uniform asymptotic stability of the closed-loop planar system. Uniform finite time stability is then proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piecewise continuous nonhomogeneous disturbances. A finite upper bound on the settling time is also computed. The results extend the existing literature on homogeneity and finite time stability by both presenting uniform finite time stabilization and dealing with a broader class of nonhomogeneous disturbances for planar controllable systems while also proposing a new class of homogeneous continuous controllers

Planetary evolution with atmospheric photoevaporation II: Fitting the slope of the radius valley by combining boil-off and XUV-driven escape

The Kepler satellite has revealed a gap between sub-Neptunes and super-Earths that atmospheric escape models had predicted as an evaporation valley. We seek to contrast results from a simple XUV-driven energy-limited (ELIM) escape model against those from a direct hydrodynamic (HYDRO) model. Besides XUV-driven escape, the latter also includes the boil-off regime. We couple the two models to an internal structure model and follow the planets' temporal evolution over Gyr. To see the population-wide imprint of the two models, we first employ a rectangular grid in initial conditions. We then study the slope of the valley also for initial conditions derived from the Kepler planets. For the rectangular grid, we find that the power-law slope of the valley with respect to orbital period is -0.18 and -0.11 in the ELIM and HYDRO model, respectively. For the initial conditions derived from the Kepler planets, the results are similar (-0.16 and -0.10). While the slope found with the ELIM model is steeper than observed, the one of the HYDRO model is in excellent agreement with observations. The reason for the shallower slope is caused by the two regimes in which the ELIM model fails: First, puffy planets at low stellar irradiation. For them, boil-off dominates mass loss. However, boil-off is absent in the ELIM model, thus it underestimates escape relative to HYDRO. Second, massive compact planets at high XUV irradiation. For them, the ELIM approximation overestimates escape relative to the HYDRO case because of cooling by thermal conduction, neglected in the ELIM model. The two effects act together in concert to yield in the HYDRO model a shallower slope of the valley that agrees very well with observations. We conclude that an escape model that includes boil-off and a more realistic treatment of cooling mechanisms can reproduce one of the most important constraints, the valley slope.Comment: 20 pages, 11 figures, accepted to A&

Continuous second order sliding mode based finite time tracking of a fully actuated biped robot

International audienceA second order sliding mode controller is modified to form a continuous homogeneous controller. Uniform finite time stability is proved by extending the homogeneity principle of discontinuous systems to the continuous case with uniformly decaying piece-wise continuous nonhomogeneous disturbances. The modified controller is then utilised to track reference trajectories for all the joints of a fully actuated biped robot where the joint torque is modeled as the control input. The modified controller ensures the attainment of a finite settling time between two successive impacts. The main contribution of the paper is to provide straightforward and realizable engineering guidelines for reference trajectory generation and for tuning a robust finite time controller in order to achieve stable gait of a biped in the presence of an external force disturbance. Such a disturbance has destabilising effects in both continuous and impact phases. Numerical simulations of a biped robot are shown to support the theoretical results

Identifying mRNA targets of microRNA dysregulated in cancer: with application to clear cell Renal Cell Carcinoma

BACKGROUND. MicroRNA regulate mRNA levels in a tissue specific way, either by inducing degradation of the transcript or by inhibiting translation or transcription. Putative mRNA targets of microRNA identified from seed sequence matches are available in many databases. However, such matches have a high false positive rate and cannot identify tissue specificity of regulation. RESULTS. We describe a simple method to identify direct mRNA targets of microRNA dysregulated in cancers from expression level measurements in patient matched tumor/normal samples. The word "direct" is used here in a strict sense to: a) represent mRNA which have an exact seed sequence match to the microRNA in their 3'UTR, b) the seed sequence match is strictly conserved across mouse, human, rat and dog genomes, c) the mRNA and microRNA expression levels can distinguish tumor from normal with high significance and d) the microRNA/mRNA expression levels are strongly and significantly anti-correlated in tumor and/or normal samples. We apply and validate the method using clear cell Renal Cell Carcinoma (ccRCC) and matched normal kidney samples, limiting our analysis to mRNA targets which undergo degradation of the mRNA transcript because of a perfect seed sequence match. Dysregulated microRNA and mRNA are first identified by comparing their expression levels in tumor vs normal samples. Putative dysregulated microRNA/mRNA pairs are identified from these using seed sequence matches, requiring that the seed sequence be conserved in human/dog/rat/mouse genomes. These are further pruned by requiring a strong anti-correlation signature in tumor and/or normal samples. The method revealed many new regulations in ccRCC. For instance, loss of miR-149, miR-200c and mir-141 causes gain of function of oncogenes (KCNMA1, LOX), VEGFA and SEMA6A respectively and increased levels of miR-142-3p, miR-185, mir-34a, miR-224, miR-21 cause loss of function of tumor suppressors LRRC2, PTPN13, SFRP1, ERBB4, and (SLC12A1, TCF21) respectively. We also found strong anti-correlation between VEGFA and the miR-200 family of microRNA: miR-200a*, 200b, 200c and miR-141. Several identified microRNA/mRNA pairs were validated on an independent set of matched ccRCC/normal samples. The regulation of SEMA6A by miR-141 was verified by a transfection assay. CONCLUSIONS. We describe a simple and reliable method to identify direct gene targets of microRNA in any cancer. The constraints we impose (strong dysregulation signature for microRNA and mRNA levels between tumor/normal samples, evolutionary conservation of seed sequence and strong anti-correlation of expression levels) remove spurious matches and identify a subset of robust, tissue specific, functional mRNA targets of dysregulated microRNA.Cancer Institute of New Jersy; New Jersey Commission for Cacner Research; Lineberger Comprehensive Cancer Center Tissue Procurement and Genomics Core Facility; Crawford Fun