Geometric Active Disturbance Rejection Control for Autonomous Rotorcraft in Complex Atmospheric Environment

This dissertation presents several novel robust tracking control schemes of rotorcraft unmanned aerial vehicles under realistic atmospheric turbulence. To achieve fast converging and stable performance of the rotorcraft control scheme, a new H\ {o}lder-continuous differentiator, similar to the super-twisting algorithm used in the second-order sliding model control scheme, is proposed with guaranteed fast finite-time stability. Unlike the super-twisting algorithm, which uses a sliding-mode structure to achieve finite-time stability, the proposed differentiator maintains its fast finite-time stability with H\ {o}lder continuity, theoretically eliminating the harmful chattering phenomenon in practical control applications. Perturbation and noise robustness analyses are conducted for the proposed differentiator. The dissertation formulates the rotorcraft tracking control and disturbance estimation problems separately. The rotorcraft aerial vehicle is modeled as a rigid body with control inputs that actuate all degrees of freedom of rotational motion and only one degree of freedom of translational motion. The motion of the aircraft is globally represented on \TSE, which is the tangent bundle of the special Euclidean group \SE. The translational and attitude control schemes track the desired position and attitude on \SE. The disturbance estimation problem is formulated as an extended states observer on \TSE. Next, two rotorcraft control schemes on \SE with disturbance rejection mechanisms are presented. The proposed disturbance rejection control systems comprise two parts: an extended states observer for disturbance estimation and a tracking control scheme containing the disturbance rejection term to track the trajectory. The first disturbance rejection control scheme comprises an exponentially stable extended states observer and an asymptotically stable tracking control scheme. The second system comprises a fast finite-time stable extended state observer and a fast finite-time stable tracking control scheme. The fast finite-time stable extended state observer uses the \textup{H\ {o}}lder-continuous differentiator to estimate the resultant external disturbance force and disturbance torque acting on the vehicle. It ensures stable convergence of disturbance estimation errors in finite time when the disturbances are constant. Software-in-the-loop simulation is carried out for the active disturbance rejection control scheme with an open-source autopilot and a physics-based simulation tool. The simulation utilizes simulated wind gusts, propeller aerodynamics, actuator limitation, and measurement noise to validate the disturbance rejection control systems in a simulated environment with high fidelity. Two sets of flight experiments are conducted to investigate the autonomous rotorcraft flight control performance under turbulent income flows. A wind tunnel composed of fan arrays is involved in both experiments to provide different turbulent incoming flows by adjusting the duty of individual fans. The first set of experiments conducts income flow measurements for wind tunnel calibration. For the turbulent flows generated by different fan configurations, their steady velocity field and unsteady turbulence characteristics are measured by a pressure scanner and hot-wire anemometer. The second set of experiments involves flight tests of a rotorcraft within the turbulent environment measured and calibrated in the first experiment set. The proposed extended states observer is implemented onto a rotorcraft by customizing an open-source autopilot software. With this implementation, the flight control performance of the proposed disturbance rejection control schemes is presented and compared with the autopilot without customization. The experimental results show that the proposed disturbance rejection control scheme enhanced by the disturbance estimation schem

Structural and Functional Small Fiber Abnormalities in the Neuropathic Postural Tachycardia Syndrome

Objective: To define the neuropathology, clinical phenotype, autonomic physiology and differentiating features in individuals with neuropathic and non-neuropathic postural tachycardia syndrome (POTS). Methods: Twenty-four subjects with POTS and 10 healthy control subjects had skin biopsy analysis of intra-epidermal nerve fiber density (IENFD), quantitative sensory testing (QST) and autonomic testing. Subjects completed quality of life, fatigue and disability questionnaires. Subjects were divided into neuropathic and non-neuropathic POTS, defined by abnormal IENFD and abnormal small fiber and sudomotor function. Results: Nine of 24 subjects had neuropathic POTS and had significantly lower resting and tilted heart rates; reduced parasympathetic function; and lower phase 4 valsalva maneuver overshoot compared with those with non-neuropathic POTS (P<0.05). Neuropathic POTS subjects also had less anxiety and depression and greater overall self-perceived health-related quality of life scores than non-neuropathic POTS subjects. A sub-group of POTS patients (cholinergic POTS) had abnormal proximal sudomotor function and symptoms that suggest gastrointestinal and genitourinary parasympathetic nervous system dysfunction. Conclusions and Relevance POTS subtypes may be distinguished using small fiber and autonomic structural and functional criteria. Patients with non-neuropathic POTS have greater anxiety, greater depression and lower health-related quality of life scores compared to those with neuropathic POTS. These findings suggest different pathophysiological processes underlie the postural tachycardia in neuropathic and non-neuropathic POTS patients. The findings have implications for the therapeutic interventions to treat this disorder

Interplay of tRNA-Derived Fragments and T Cell Activation in Breast Cancer Patient Survival

Effector CD8+ T cell activation and its cytotoxic function are positively correlated with improved survival in breast cancer. tRNA-derived fragments (tRFs) have recently been found to be involved in gene regulation in cancer progression. However, it is unclear how interactions between expression of tRFs and T cell activation affect breast cancer patient survival. We used Kaplan–Meier survival and multivariate Cox regression models to evaluate the effect of interactions between expression of tRFs and T cell activation on survival in 1081 breast cancer patients. Spearman correlation analysis and weighted gene co-expression network analysis were conducted to identify genes and pathways that were associated with tRFs. tRFdb-5024a, 5P_tRNA-Leu-CAA-4-1, and ts-49 were positively associated with overall survival, while ts-34 and ts-58 were negatively associated with overall survival. Significant interactions were detected between T cell activation and ts-34 and ts-49. In the T cell exhaustion group, patients with a low level of ts-34 or a high level of ts-49 showed improved survival. In contrast, there was no significant difference in the activation group. Breast cancer related pathways were identified for the five tRFs. In conclusion, the identified five tRFs associated with overall survival may serve as therapeutic targets and improve immunotherapy in breast cancer

High-throughput functional analysis of autism genes in zebrafish identifies convergence in dopaminergic and neuroimmune pathways

Advancing from gene discovery in autism spectrum disorders (ASDs) to the identification of biologically relevant mechanisms remains a central challenge. Here, we perform parallel in vivo functional analysis of 10 ASD genes at the behavioral, structural, and circuit levels in zebrafish mutants, revealing both unique and overlapping effects of gene loss of function. Whole-brain mapping identifies the forebrain and cerebellum as the most significant contributors to brain size differences, while regions involved in sensory-motor control, particularly dopaminergic regions, are associated with altered baseline brain activity. Finally, we show a global increase in microglia resulting from ASD gene loss of function in select mutants, implicating neuroimmune dysfunction as a key pathway relevant to ASD biology

Single-cell multi-omics reveals dyssynchrony of the innate and adaptive immune system in progressive COVID-19.

Dysregulated immune responses against the SARS-CoV-2 virus are instrumental in severe COVID-19. However, the immune signatures associated with immunopathology are poorly understood. Here we use multi-omics single-cell analysis to probe the dynamic immune responses in hospitalized patients with stable or progressive course of COVID-19, explore V(D)J repertoires, and assess the cellular effects of tocilizumab. Coordinated profiling of gene expression and cell lineage protein markers shows that S100

Geometric Integral Attitude Control on SO(3)

This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4&rsquo;s original attitude controller

Geometric Integral Attitude Control on SO(3)

This article proposes a novel integral geometric control attitude tracking scheme, utilizing a coordinate-free representation of attitude on the Lie group of rigid body rotations, SO(3). This scheme exhibits almost global asymptotic stability in tracking a reference attitude profile. The stability and robustness properties of this integral tracking control scheme are shown using Lyapunov stability analysis. A numerical simulation study, utilizing a Lie Group Variational Integrator (LGVI), verifies the stability of this tracking control scheme, as well as its robustness to a disturbance torque. In addition, a numerical comparison study shows the effectiveness of the proposed geometric integral term, when compared to other state-of-the-art attitude controllers. In addition, software-in-the-loop (SITL) simulations show the advantages of utilizing the proposed attitude controller in PX4 autopilot compared to using PX4’s original attitude controller

Geometric Extended State Observer on SE(3) with Fast Finite-Time Stability: Theory and Validation on a Rotorcraft Aerial Vehicle

This article presents an extended state observer for vehicle modeled as a rigid body in three-dimensional translational and rotational motions. The extended state observer is applicable to a rotorcraft aerial vehicle with a fixed plane of rotors, modeled as an under-actuated system on the tangent bundle of the six-dimensional Lie group of rigid body motions, SE(3). The extended state observer is designed to estimate the resultant external disturbance force and disturbance torque acting on the vehicle. It guarantees stable convergence of disturbance estimation errors in finite time when the disturbances are constant and finite time convergence to a bounded neighborhood of zero errors for time-varying disturbances. This extended state observer design is based on a H\"{o}lder-continuous fast finite time stable differentiator that is similar to the super-twisting algorithm, to obtain fast convergence. Numerical simulations are conducted to validate the proposed extended state observer. The proposed extended state observer is compared with other existing research to show its advantages. A set of experimental results implementing disturbance rejection control using feedback of disturbance estimates from the extended state observer is also presented.Comment: arXiv admin note: substantial text overlap with arXiv:2306.0809