Integrated reconfigurable control and guidance based on evaluation of degraded performance

The present paper is focused on analysing an integrated reconfigurable control and guidance approach for recovering a small fixed-wing UAV from different actuator faults, which cover locked in place (stuck) and loss of effectiveness. The model of the UAV Aerosonde is used to develop a reconfigurable control system based on the control allocation technique for a variety of faults, such as locked-in-place control surfaces. It is shown through simulation that the developed technique is successful to recover the aircraft from various faults but cannot guarantee success on the planned mission. For mission scenarios where performance degradation is such that the prescribed trajectory cannot be achieved, a reconfigurable guidance system is developed, which is capable of adapting parameters such as the minimum turning radius and the look-ahead distance for obstacle avoidance, to allow the vehicle to dynamically generate a path which guides the aircraft around the no-fly zones taking into account the post-fault reduced performance. Path following is performed by means of a non-linear lateral guidance law and a collision avoidance algorithm is implemented as well. Finally, the integration of control reconfiguration and guidance adaptation is carried out to maximise probabilities of post-failure success in the mission. A methodology is developed, using an error based control allocation parameter, as a measure of performance degradation, which links both reconfiguration and guidance systems. The developed method, although approximate, is proven to be an efficient way of allocating the required degree of reconfiguration in guidance commands when an accurate prediction of the actual performance is not available

Variety and Volatility in Financial Markets

We study the price dynamics of stocks traded in a financial market by considering the statistical properties both of a single time series and of an ensemble of stocks traded simultaneously. We use the $n$ stocks traded in the New York Stock Exchange to form a statistical ensemble of daily stock returns. For each trading day of our database, we study the ensemble return distribution. We find that a typical ensemble return distribution exists in most of the trading days with the exception of crash and rally days and of the days subsequent to these extreme events. We analyze each ensemble return distribution by extracting its first two central moments. We observe that these moments are fluctuating in time and are stochastic processes themselves. We characterize the statistical properties of ensemble return distribution central moments by investigating their probability density functions and temporal correlation properties. In general, time-averaged and portfolio-averaged price returns have different statistical properties. We infer from these differences information about the relative strength of correlation between stocks and between different trading days. Lastly, we compare our empirical results with those predicted by the single-index model and we conclude that this simple model is unable to explain the statistical properties of the second moment of the ensemble return distribution.Comment: 10 pages, 11 figure

Long-range memory model of trading activity and volatility

Earlier we proposed the stochastic point process model, which reproduces a variety of self-affine time series exhibiting power spectral density S(f) scaling as power of the frequency f and derived a stochastic differential equation with the same long range memory properties. Here we present a stochastic differential equation as a dynamical model of the observed memory in the financial time series. The continuous stochastic process reproduces the statistical properties of the trading activity and serves as a background model for the modeling waiting time, return and volatility. Empirically observed statistical properties: exponents of the power-law probability distributions and power spectral density of the long-range memory financial variables are reproduced with the same values of few model parameters.Comment: 12 pages, 5 figure

Polinización y sistema reproductivo en Adesmia bijuga Phil. (Fabaceae), una especie en peligro crítico en Chile central

Adesmia bijuga Phil. is an endemic shrub in central Chile, classified as a critically endangered species of plant. After more than 100 years since its original description by R. A. Philippi (1884), the species was rediscovered exclusively in two locations of the Maule Region. One of them, Fundo San Pedro-Las Cañas, is close to extinction with a low number of shrubs, occurring in a disturbed habitat due to plantations of Pinus radiata. This study examined the pollination biology and breeding system of A. bijuga in order to explain their small number of shrubs. We estimated composition of pollinator species attracted to flowers and visitation rates. In order to describe its breeding system in A. bijuga we used manipulated treatments to estimate autonomous self-pollination, level of reproductive assurance and pollen limitation. The results of this study indicate that only pollinators from the order Hymenoptera visit A. bijuga. The pollinator assemblage did not show temporary variation during the flowering season, with Bombus dahlbomii as its most frequent visitor. A. bijuga showed a mixed mating system that involves both cross- and self- pollination. The fruit set ranges from 20% to 60% in the absence or presence of pollinators, respectively. This selfing ability would provide reproductive assurance when pollinators fail. The taxon showed ability of asexual formation of seeds without the occurrence of fertilization by agamospermy. Supplemental outcross pollen did not increase female reproductive success, suggesting that the species is not pollen limited. All these factors may help to explain how this species has been able to survive over time in a small and isolated population. Finally, this work discusses how the results of our study can be applied to future A. bijuga conservation measures.Adesmia bijuga Phil. es una especie arbustiva endémica de Chile central, clasificada como especie en peligro crítico. Después de más de 100 años desde su descripción original por R.A. Philippi (1884), la especie fue redescubierta exclusivamente en dos localidades de la Región del Maule. Una de ellas, en el Fundo San Pedro-Las Cañas, se encuentra cercana a la extinción, en un hábitat perturbado debido a plantaciones de Pinus radiata. Este estudio examinó la biología de la polinización y el sistema reproductivo de A.bijuga, que podrían explicar su restringido número de plantas. Se estimó la composición de polinizadores atraídos por las flores y la tasa de visita. Con el objetivo de caracterizar el sistema reproductivo en A. bijuga se realizaron tratamientos manipulativos para cuantificar la capacidad de autofertilización, el nivel de aseguramiento reproductivo y la limitación de polen. Los resultados de este estudio indican que A. bijuga es visitada solamente por polinizadores que pertenecen al orden himenóptera. El ensamble de polinizadores no varió temporalmente durante el periodo de floración, siendo Bombus dahlbomii el visitador más frecuente. A. bijuga presentó un sistema reproductivo mixto, con polinización cruzada y autopolinización. El rango de fructificación varió entre 20% a 60% en ausencia y presencia de polinizadores, respectivamente. Esta capacidad de autopolinización podría proveer de aseguramiento reproductivo cuando los polinizadores fallan. Tratamientos con suplemento de polen no incrementaron el éxito reproductivo, sugiriendo que la especie no se encuentra limitada de polen. El taxon mostró capacidad de formar semillas asexualmente sin la ocurrencia de fertilización (agamospermia). Todos estos factores podrían ayudar a explicar cómo esta especie es capaz de persistir en el tiempo en una población pequeña y aislada. Finalmente, este trabajo discute cómo los resultados de este estudio pueden ser aplicados en futuras medidas para la conservación de A. bijuga

Scaling laws of strategic behaviour and size heterogeneity in agent dynamics

The dynamics of many socioeconomic systems is determined by the decision making process of agents. The decision process depends on agent's characteristics, such as preferences, risk aversion, behavioral biases, etc.. In addition, in some systems the size of agents can be highly heterogeneous leading to very different impacts of agents on the system dynamics. The large size of some agents poses challenging problems to agents who want to control their impact, either by forcing the system in a given direction or by hiding their intentionality. Here we consider the financial market as a model system, and we study empirically how agents strategically adjust the properties of large orders in order to meet their preference and minimize their impact. We quantify this strategic behavior by detecting scaling relations of allometric nature between the variables characterizing the trading activity of different institutions. We observe power law distributions in the investment time horizon, in the number of transactions needed to execute a large order and in the traded value exchanged by large institutions and we show that heterogeneity of agents is a key ingredient for the emergence of some aggregate properties characterizing this complex system.Comment: 6 pages, 3 figure

Discriminación racial y el principio de igualdad.

Incluye un Anexo con el Fallo de la CausaPor primera vez en nuestro país, un Tribunal sanciona una conducta discriminatoria basada en criterios racionales. En el texto que sigue, se intenta describir el razonamiento que, siguiendo los principios liberales y de la Doctrina de los Derechos Humanos, fundamentan el fallo judicial. Además se plantea el desafío y posibilidad que constituye el principio de la igualdad -pensado desde la filosofía moral de Kant- como aporte a la resolución del conficto interétnico.For the first time in Chile, a Court of law sanctioned against discriminatory behavior based on race. In this next it is intented to describe the reasoning of the judicial veredict, wich assumes the liberal principles and the human rights doctrine. Besides it is explained the inadequateness of the equality principIe from Kant's moral philosophy, facing the interethnic antagonism, although nowadays, the question of the indigenous rights, it is not consider on the no individual discrimination, but in the recognition of the political rights of the indigenous peoples

Non-Markovian temporal networks with auto- and cross-correlated link dynamics

Many of the biological, social and man-made networks around us are inherently dynamic, with their links switching on and off over time. The evolution of these networks is often observed to be non-Markovian, and the dynamics of their links are often correlated. Hence, to accurately model these networks, predict their evolution, and understand how information and other relevant quantities propagate over them, the inclusion of both memory and dynamical dependencies between links is key. In this article we introduce a general class of models of temporal networks based on discrete autoregressive processes for link dynamics. As a concrete and useful case study, we then concentrate on a specific model within this class, which allows to generate temporal networks with a specified underlying structural backbone, and with precise control over the dynamical dependencies between links and the strength and length of their memories. In this network model the presence of each link is influenced not only by its past activity, but also by the past activities of other links, as specified by a coupling matrix, which directly controls the causal relations, and hence the correlations, among links. We propose a maximum likelihood method for estimating the model's parameters from data, showing how the model allows a more realistic description of real-world temporal networks and also to predict their evolution. Due to the flexibility of maximum likelihood inference, we illustrate how to deal with heterogeneity and time-varying patterns, possibly including also nonstationary network dynamics. We then use our network model to investigate the role that, both the features of memory and the type of correlations in the dynamics of links have on the properties of processes occurring over a temporal network. Namely, we study the speed of a spreading process, as measured by the time it takes for diffusion to reach equilibrium. Through both numerical simulations and analytical results, we are able to separate the roles of autocorrelations and neighborhood correlations in link dynamics, showing that not only is the speed of diffusion nonmonotonically dependent on the memory length, but also that correlations among neighboring links help to speed up the spreading process, while autocorrelations slow it back down. Our results have implications in the study of opinion formation, the modeling of social networks, and the spreading of epidemics through mobile populations

Edwards-Wilkinson surface over a spherical substrate: 1/f1/f noise in the height fluctuations

We study the steady state fluctuations of an Edwards-Wilkinson type surface with the substrate taken to be a sphere. We show that the height fluctuations on circles at a given latitude has the effective action of a perfect Gaussian $1/f$ noise, just as in the case of fixed radius circles on an infinite planar substrate. The effective surface tension, which is the overall coefficient of the action, does not depend on the latitude angle of the circles.Comment: 6 page

Long-term prediction of adherence to continuous positive air pressure therapy for the treatment of moderate/severe obstructive sleep apnea syndrome

BACKGROUND: Continuous positive airway pressure (CPAP) therapy is a highly effective treatment for obstructive sleep apnea syndrome (OSAS). However, poor adherence is a limiting factor, and a significant proportion of patients are unable to tolerate CPAP. The aim of this study was to determine predictors of long-term non-compliance with CPAP. METHODS: CPAP treatment was prescribed to all consecutive patients with moderate or severe OSAS (AHI ≥15 events/h) (n = 295) who underwent a full-night CPAP titration study at home between February 1, 2002 and December 1, 2016. Adherence was defined as CPAP use for at least 4 h per night and five days per week. Subjects had periodical follow-up visits including clinical and biochemical evaluation and assessment of adherence to CPAP. RESULTS: Median follow-up observation was 74.8 (24.2/110.9) months. The percentage of OSAS patients adhering to CPAP was 41.4% (42.3% in males and 37.0% in females), and prevalence was significantly higher in severe OSAS than in moderate (51.8% vs. 22.1%; p < 0.001; respectively). At multivariate analysis, lower severity of OSAS (HR = 0.66; CI 95 0.46-0.94) p < 0.023), cigarette smoking (HR = 1.72; CI 95 1.13-2.61); p = 0.011), and previous cardiovascular events (HR = 1.95; CI 95 1.03-3.70; p = 0.04) were the only independent predictors of long-term non-adherence to CPAP after controlling for age, gender, and metabolic syndrome. CONCLUSIONS: In our cohort of patients with moderate/severe OSAS who were prescribed CPAP therapy, long-term compliance to treatment was present in less than half of the patients. Adherence was positively associated with OSAS severity and negatively associated with cigarette smoking and previous cardiovascular events at baseline

Acute kidney injury and extrarenal organ dysfunction - A randomized experimental study

Indexación: Web of Science; ScieloIntroducción: La insuficiencia renal aguda (IRA) es una enfermedad grave y causante de disfunciones de órganos distantes que incrementan su mortalidad. Objetivo: Identificar disfunción hemodinámica y respiratoria gatillada por IRA en un modelo pediátrico animal de isquemia-reperfusión renal. Método: Doce cerdos anestesiados (11,9 ± 1,0 kg). En seis animales se indujo lesión renal bilateral por isquemia-reperfusión: 45 min de isquemia y 240 min de reperfusión, mientras que los seis animales restantes fueron grupo control. En condiciones basales y posterior a lesión renal se realizó monitorización hemodinámica convencional y termodilución transpulmonar. Paralelamente se midió gasometría arterial y análisis de mecánica pulmonar. Resultados: Hubo un incremento de la precarga volumétrica en 29% (221 ± 22 ml/m2 vs 286 ± 16 ml/m2, p = 0,04) y de la presión arterial media en 58% (71 ± 6 mmHg vs 112 ± 17 mmHg, p = 0,04) respecto a controles, sin cambios en frecuencia cardíaca, presión venosa central ni gasto cardíaco. Además ocurrió un aumento del agua extravascular pulmonar en 86% (7,6 ± 0,6 ml/kg vs 14,1 ± 1,4 ml/kg, p = 0,02), sin cambios en intercambio gaseoso ni mecánica pulmonar. Simultáneamente hubo un leve deterioro de la creatinina sérica (1,12 ± 0,07 mg/dL vs 1,45 ± 0,10 mg/dL, p = 0,03). Discusión: En este modelo experimental se pudo apreciar el desarrollo temprano de disfunción hemodinámica y pulmonar. Se evidenció un aumento de la precarga volumétrica y de la presión arterial, asociado a un incremento substancial del agua extravascular pulmonar. Creemos que es fundamental monitorizar de forma seriada la función hemodinámica y respiratoria en sujetos con una lesión renal aguda, aún sin una IRA urémica.Acute kidney injury (AKI) is a serious disease that can cause distant organ injuries and is associated with high mortality rates. Objective: To identify the hemodynamic and respiratory dysfunction triggered by AKI, in an animal model of renal ischemia-reperfusion. Method: Twelve anesthetized juvenile pigs (11.9 ± 1.0 kg). Six animals underwent ischemia/reperfusion-induced AKI: 45 min of ischemia and 240 minutes of reperfusion, while the remaining six animals were the control group. In basal conditions and after AKI, a conventional hemodynamic monitoring and transpulmonary thermodilution were performed. At the same time, arterial blood gases and lung mechanics were measured. Results: There was a 29% increase in volumetric preload (221 ± 22 ml/m2 vs 286 ± 16 ml/m2, p = 0.04) and a 58% mean arterial pressure increase (71 ± 6 mmHg vs 112 ± 17 mmHg, p = 0.04) compared to controls, without changes in heart rate, central venous pressure and cardiac output. In addition, an increase of 86% in extravascular lung water (7.6 ± 0.6 ml/kg vs 14.1 ± 1.4 ml/ kg, p = 0.02) was reported, without changes in gas exchange and lung mechanics. Simultaneously, a slight increase in serum creatinine (1.12 ± 0.07 mg/dl vs 1.45 ± 0.10 mg/dl, p = 0.03) was described. Discussion: An early development of hemodynamic and pulmonary dysfunction was observed in this experimental reperfusion model. An increase in volumetric preload and blood pressure associated with a substantial increase in the extravascular lung water were also reported. It is essential serially monitor the hemodynamic and respiratory functions in AKI, including nonuremic subjects.http://www.scielo.cl/pdf/rcp/v84n3/art04.pd