Distributed Fault Detection Using Relative Information in Linear Multi-Agent Networks

This paper addresses the problem of fault detection in the context of a collection of agents performing a shared task and exchanging relative information over a communication network. We resort to techniques in the literature to construct a meaningful observable system and overcome the issue that the system of systems is not observable. A solution involving Set-Valued Observers (SVOs) is proposed to estimate the state in a distributed fashion and a proof of convergence of the estimates is given under mild assumptions. The performance of the proposed algorithm is assessed through simulations

Finite-time average consensus in a Byzantine environment using Set-Valued Observers

This paper addresses the problem of consensus in the presence of Byzantine faults, modeled by an attacker injecting a perturbation in the state of the nodes of a network. It is firstly shown that Set-Valued Observers (SVOs) attain finite-time consensus, even in the case where the state estimates are not shared between nodes, at the expenses of requiring large horizons, thus rendering the computation problem intractable in the general case. A novel algorithm is therefore proposed that achieves finite-time consensus, even if the aforementioned requirement is dropped, by intersecting the set-valued state estimates of neighboring nodes, making it suitable for practical applications and enabling nodes to determine a stopping time. This is in contrast with the standard iterative solutions found in the literature, for which the algorithms typically converge asymptotically and without any guarantees regarding the maximum error of the final consensus value, under faulty environments. The algorithm suggested is evaluated in simulation, illustrating, in particular, the finite-time consensus property

Fault detection for LPV systems using Set-Valued Observers: A coprime factorization approach

This paper addresses the problem of fault detection for linear parameter-varying systems in the presence of measurement noise and exogenous disturbances. The applicability of current methods is limited in the sense that, to increase accuracy, the detection requires a large number of past measurements and the boundedness of the set-valued estimates is only guaranteed for stable systems. In order to widen the class of systems to be modeled and also to reduce the associated computational cost, the aforementioned issues must be addressed. A solution involving left-coprime factorization and deadbeat observers is proposed in order to reduce the required number of past measurements without compromising accuracy and allowing the design of Set-Valued Observers (SVOs) for fault detection of unstable systems by using the resulting stable subsystems of the coprime factorization. The algorithm is shown to produce bounded set-valued estimates and an example is provided. Performance is assessed through simulations, illustrating, in particular that small-magnitude faults (compared to exogenous disturbances) can be detected under mild assumptions

Self-Triggered and Event-Triggered Set-Valued Observers

This paper addresses the problem of reducing the required network load and computational power for the implementation of Set-Valued Observers (SVOs) in Networked Control System (NCS). Event- and self-triggered strategies for NCS, modeled as discrete-time Linear Parameter-Varying (LPV) systems, are studied by showing how the triggering condition can be selected. The methodology provided can be applied to determine when it is required to perform a full (``classical'') computation of the SVOs, while providing low-complexity state overbounds for the remaining time, at the expenses of temporarily reducing the estimation accuracy. As part of the procedure, an algorithm is provided to compute a suitable centrally symmetric polytope that allows to find hyper-parallelepiped and ellipsoidal overbounds to the exact set-valued state estimates calculated by the SVOs. By construction, the proposed triggering techniques do not influence the convergence of the SVOs, as at some subsequent time instants, set-valued estimates are computed using the \emph{conventional} SVOs. Results are provided for the triggering frequency of the self-triggered strategy and two interesting cases: distributed systems when the dynamics of all nodes are equal up to a reordering of the matrix; and when the probability distribution of the parameters influencing the dynamics is known. The performance of the proposed algorithm is demonstrated in simulation by using a time-sensitive example

Broad application of a simple and affordable protocol for isolating plant RNA

BACKGROUND: Standard molecular biological methods involve the analysis of gene expression in living organisms under diverse environmental and developmental conditions. One of the most direct approaches to quantify gene expression is the isolation of RNA. Most techniques used to quantify gene expression require the isolation of RNA, usually from a large number of samples. While most published protocols, including those for commercial reagents, are either labour intensive, use hazardous chemicals and/or are costly, a previously published protocol for RNA isolation in Arabidopsis thaliana yields high amounts of good quality RNA in a simple, safe and inexpensive manner. FINDINGS: We have tested this protocol in tomato and wheat leaves, as well as in Arabidopsis leaves, and compared the resulting RNA to that obtained using a commercial phenol-based reagent. Our results demonstrate that this protocol is applicable to other plant species, including monocots, and offers yield and purity at least comparable to those provided by commercial phenol-based reagents. CONCLUSIONS: Here, we show that this previously published RNA isolation protocol can be easily extended to other plant species without further modification. Due to its simplicity and the use of inexpensive reagents, this protocol is accessible and affordable and can be easily implemented to work on different plant species in laboratories worldwide

Ocorrência de xenótimo em amostras aluvionares da região centro-leste de Portugal, Zona Centro Ibérica-Zona de Ossa Morena

Foi identificado, possivelmente pela primeira vez em Portugal, xenótimo aluvionar em concentrados de bateia colhidos numa campanha de prospecção de terras raras desenvolvida pelo ex-IGM no centro-leste deste país. O xenótimo ocorre em grãos sub-rolados de dimensão média =250um, em concentrações mais significativas em Nisa, Stº António das Areias e Marvão. A geologia regional e o cortejo mineral das amostras sugerem proveniência do xenótimo dos maciços graníticos de Penamacor e Nisa e ainda das Arcoses da Beira Baixa e níveis de cascalheiras plio-plistocénicas com intercalações argilo-arenosas