A Contraction Theory Approach to Stochastic Incremental Stability

We investigate the incremental stability properties of It\^o stochastic dynamical systems. Specifically, we derive a stochastic version of nonlinear contraction theory that provides a bound on the mean square distance between any two trajectories of a stochastically contracting system. This bound can be expressed as a function of the noise intensity and the contraction rate of the noise-free system. We illustrate these results in the contexts of stochastic nonlinear observers design and stochastic synchronization.Comment: 23 pages, 2 figure

Supplying Improved Seed to Farmers in Rural Kenya: The Case of Freshco Kenya Ltd.

Freshco, a small producer and distributor of hybrid maize seed and macadamia seedlings, was one of the first private companies to enter the Kenya seed market after its liberalization. Currently, the company produces and markets six high yielding maize varieties that are suited for diverse agro-ecological conditions. Despite the company’s encouraging growth in the local maize seed market, Freshco’s executives recognize the need to scale up operations to stay competitive. The company’s challenge is to recognize business opportunities and customer needs in an environment susceptible to ecological, political, and socioeconomic change.Kenya, seed industry, smallholder farmers, scenario planning, Crop Production/Industries, Farm Management, Research Methods/ Statistical Methods, Q10, Q12,

Analysis of chronic rejection and obliterative arteriopathy: Possible contributions of donor antigen-presenting cells and lymphatic disruption

Sequential analysis of changes that lead to chronic rejection was undertaken in an animal model of chronic rejection and obliterative arteriopathy. Brown Norway rats are pretreated with a Lewis bone marrow infusion or a Lewis orthotopic liver allograft and a short course of immunosuppression. They are challenged 100 days later with a Lewis heterotopic heart graft without immunosuppression. The heart grafts in both groups undergo a transient acute rejection, but all rats are operationally tolerant; the heart grafts are accepted and remain beating for more than 100 days. Early arterial remodeling, marked by arterial bromodeoxyuridine incorporation, occurred in both groups between 5 and 30 days during the transient acute rejection. It coincided with the presence of interstitial (but not arterial intimal) inflammation and lymphatic disruption and resulted in mild intimal thickening. Significant arterial narrowing occurred only in the bone-marrow-pretreated rats between 60 and 100 days. It was associated with T lymphocyte and macrophage inflammation of the heart graft that accumulated in the endocardium and arterial intima and adventitia near draining lymphatics. There also was loss of passenger leukocytes from the heart graft, up-regulation of cytokine mRNA and major histocompatibility class II on the endothelium, and focal disruption of lymphatics. In contrast, long-surviving heart grafts from the Lewis orthotopic liver allograft pretreated group are near normal and freedom from chronic rejection in this group was associated with persistence of donor major histocompatibility class-II-positive hematolymphoid cells, including OX62+ donor dendritic cells. This study offers insights into two different aspects of chronic rejection: 1) possible mechanisms underlying the persistent immunological injury and 2) the association between immunological injury and the development of obliterative arteriopathy. Based on the findings, it is not unreasonable to raise the testable hypothesis that direct presentation of alloantigen by donor antigen-presenting cells is required for long-term, chronic-rejection-free allograft acceptance. In addition, chronic intermittent lymphatic disruption is implicated as a possible mechanism for the association between chronic interstitial allograft inflammation and the development of obliterative arteriopathy

Where neuroscience and dynamic system theory meet autonomous robotics: A contracting basal ganglia model for action selection

International audienceAction selection, the problem of choosing what to do next, is central to any autonomous agent architecture. We use here a multidisciplinary approach at the convergence of neuro-science, dynamical systems theory and autonomous robotics, in order to propose an efficient action selection mechanism based on a new model of the basal ganglia. We first describe new developments of contraction theory regarding locally projected dynamical systems. We exploit these results to design a stable computational model of the cortico-baso-thalamo-cortical loops. Based on recent anatomical data, we include usually neglected neu-ral projections, which participate in performing accurate selection. Finally, the efficiency of this model as an autonomous robot action selection mechanism is assessed in a standard survival task. The model exhibits valuable dithering avoidance and energy-saving properties , when compared with a simple if-then-else decision rule

Making Industrial Robots Smarter with Adaptive Reasoning and Autonomous Thinking for Real-Time Tasks in Dynamic Environments: A Case Study

In order to extend the abilities of current robots in industrial applications towards more autonomous and flexible manufacturing, this work presents an integrated system comprising real-time sensing, path-planning and control of industrial robots to provide them with adaptive reasoning, autonomous thinking and environment interaction under dynamic and challenging conditions. The developed system consists of an intelligent motion planner for a 6 degrees-of-freedom robotic manipulator, which performs pick-and-place tasks according to an optimized path computed in real-time while avoiding a moving obstacle in the workspace. This moving obstacle is tracked by a sensing strategy based on machine vision, working on the HSV space for color detection in order to deal with changing conditions including non-uniform background, lighting reflections and shadows projection. The proposed machine vision is implemented by an off-board scheme with two low-cost cameras, where the second camera is aimed at solving the problem of vision obstruction when the robot invades the field of view of the main sensor. Real-time performance of the overall system has been experimentally tested, using a KUKA KR90 R3100 robot

Smart sensing and adaptive reasoning for enabling industrial robots with interactive human-robot capabilities in dynamic environments—a case study

Traditional industry is seeing an increasing demand for more autonomous and flexible manufacturing in unstructured settings, a shift away from the fixed, isolated workspaces where robots perform predefined actions repetitively. This work presents a case study in which a robotic manipulator, namely a KUKA KR90 R3100, is provided with smart sensing capabilities such as vision and adaptive reasoning for real-time collision avoidance and online path planning in dynamically-changing environments. A machine vision module based on low-cost cameras and color detection in the hue, saturation, value (HSV) space is developed to make the robot aware of its changing environment. Therefore, this vision allows the detection and localization of a randomly moving obstacle. Path correction to avoid collision avoidance for such obstacles with robotic manipulator is achieved by exploiting an adaptive path planning module along with a dedicated robot control module, where the three modules run simultaneously. These sensing/smart capabilities allow the smooth interactions between the robot and its dynamic environment, where the robot needs to react to dynamic changes through autonomous thinking and reasoning with the reaction times below the average human reaction time. The experimental results demonstrate that effective human-robot and robot-robot interactions can be realized through the innovative integration of emerging sensing techniques, efficient planning algorithms and systematic designs

3D Quantification of Ultrasound Images: Application to Mouse Embryo Imaging In Vivo

International audienceHigh frequency ultrasound imaging has become an effective tool for anatomical mice studies. This work is focused on 3D quantification of mouse embryo development to extract pertinent information of its evolution. A series of B-Scan ultrasound images was acquired at different spatial positions along the embryo. A 3D deformable model was used to segment the images. A pregnant female mouse at embryonic day 14.5 was imaged with an ATL HDI 5000, 7-15MHz linear array. The probe was moved by a step by step motor along the abdomen of the mouse. 3D segmentation results are presented including volume quantification of the embryo

The Distribution of Dengue Virus Serotype in Quang Nam Province (Vietnam) during the Outbreak in 2018

Objectives: Quang Nam province in the Centre of Vietnam has faced an outbreak of dengue hemorrhagic fever (DHF) in 2018. Although DHF is a recurrent disease in this area, no epidemiological and microbiological reports on dengue virus serotypes have been conducted mainly due to lack of facilities for such a kind of advanced surveillance. The aim of this study was to detect different dengue virus serotypes in patients’ blood samples. Design and Methods: Suspected cases living in Quang Nam province (Vietnam) and presenting clinical and hematological signs of dengue hemorrhagic fever were included in the study. The screening was performed, and the results were compared by using two methodologies: RT real-time PCR (RT-rPCR) and the Dengue NS1 rapid test. Results: From December 2018 to February 2019, looking both at RT-rPCR [+] and NS1 [+] methodologies, a total of 488 patients were screened and 336 were positive for dengue virus detection (74 children and 262 adults); 273 of these patients (81.3%) underwent viral serotype identification as follows: 12.82% (35/273) D1 serotype, 17.95% (49/273) D2, 0.37% (1/273) D3, 68.50 (187/283) D4, and 0.37% (1/273) D2+D4 serotypes. The RT-rPCR outcomes showed higher sensitivity during the first three days of infection compared to NS1 (92.3% vs. 89.7%). The NS1 increased sensitivity after the first 3 days whilst the RT-rPCR decreased. Conclusions: Advanced surveillance with dengue virus serotypes identification, if performed routinely, may help to predict and prevent further DHF epidemics based on the exposure of the different serotypes during different periods that lead to the intensification of disease severity as a consequence of antibody-dependent enhancement (ADE)

One-loop flavor changing electromagnetic transitions

We discuss the effect of the external fermion masses in the flavor-changing radiative transitions of a heavy fermion (quark or lepton) to a lighter fermion at the one-loop level, and point out an often overlooked crucial difference in the sign of a charge factor between transitions of the down type $s\to d\gamma$ and the up type $c\to u\gamma$. We give formulas for the $F\to f\gamma$ effective vertex in various approximations and the exact formula for $t\to c\gamma$ and $\tau \to \mu \gamma$.Comment: LaTeX 16 pages + 4 postscript figures. Misprints corrected, some Comments adde

Flexural-strengthening efficiency of cfrp sheets for unbonded post-tensioned concrete T-beams

There has been a limited number of studies about the flexural behavior of unbonded post-tensioned concrete (UPC) beams strengthened with carbon fibre reinforced polymer (CFRP) and these studies have not systematically examined the effect of CFRP sheets on the tendon strain as well as the strengthening efficiency. Moreover, current design guides for the FRP strengthening techniques have not provided any design procedure for UPC structures. This study, thus, investigates the influence of CFRP sheet ratio on the flexural behavior of CFRP-strengthened UPC T-beams and quantifies its effect upon tendon behavior in this kind of UPC beams. The testing program consisted of nine large-scale UPC T-beams strengthened by different layers of CFRP sheets with or without CFRP U-wrapped anchors. The experimental results have shown that the use of CFRP sheets and CFRP U-wrapped anchors significantly affected the tendon strain. The FRP reinforcement ratio governed the flexural capacity, the crack width, the mid-span displacement, and the ductility of the beams in which the strengthening efficiency reduces with the increased number of CFRP layers. The configuration of the CFRP U-wrapped anchors affected the strain of the CFRP sheets, the failure mode and thus the beam behavior. In addition, semi-empirical equations were proposed to estimate the actual strain of unbonded tendons in which the effect of the CFRP sheets and CFRP U-wrapped anchors have been taken into consideration. The proposed equations, which are simple to use, yield reliable predictions with a small variation