Task-Priority Control of Redundant Robotic Systems using Control Lyapunov and Control Barrier Function based Quadratic Programs

This paper presents a novel task-priority control framework for redundant robotic systems based on a hierarchy of control Lyapunov function (CLF) and control barrier function (CBF) based quadratic programs (QPs). The proposed method guarantees strict priority among different groups of tasks such as safety-related, operational and optimization tasks. Moreover, a soft priority measure in the form of penalty parameters can be employed to prioritize tasks at the same priority level. As opposed to kinematic control schemes, the proposed framework is a holistic approach to control of redundant robotic systems, which solves the redundancy resolution, dynamic control and control allocation problems simultaneously. Numerical simulations of a hyper-redundant articulated intervention autonomous underwater vehicle (AIAUV) is presented to validate the proposed framework.Comment: 21st IFAC World Congres

Differentiation of Human Embryonic Stem Cells into Cells with Corneal Keratocyte Phenotype

Corneal transparency depends on a unique extracellular matrix secreted by stromal keratocytes, mesenchymal cells of neural crest lineage. Derivation of keratocytes from human embryonic stem (hES) cells could elucidate the keratocyte developmental pathway and open a potential for cell-based therapy for corneal blindness. This study seeks to identify conditions inducing differentiation of pluripotent hES cells to the keratocyte lineage. Neural differentiation of hES cell line WA01(H1) was induced by co-culture with mouse PA6 fibroblasts. After 6 days of co-culture, hES cells expressing cell-surface NGFR protein (CD271, p75NTR) were isolated by immunoaffinity adsorption, and cultured as a monolayer for one week. Keratocyte phenotype was induced by substratum-independent pellet culture in serum-free medium containing ascorbate. Gene expression, examined by quantitative RT-PCR, found hES cells co-cultured with PA6 cells for 6 days to upregulate expression of neural crest genes including NGFR, SNAI1, NTRK3, SOX9, and MSX1. Isolated NGFR-expressing cells were free of PA6 feeder cells. After expansion as a monolayer, mRNAs typifying adult stromal stem cells were detected, including BMI1, KIT, NES, NOTCH1, and SIX2. When these cells were cultured as substratum-free pellets keratocyte markers AQP1, B3GNT7, PTDGS, and ALDH3A1 were upregulated. mRNA for keratocan (KERA), a cornea-specific proteoglycan, was upregulated more than 10,000 fold. Culture medium from pellets contained high molecular weight keratocan modified with keratan sulfate, a unique molecular component of corneal stroma. These results show hES cells can be induced to differentiate into keratocytes in vitro. Pluripotent stem cells, therefore, may provide a renewable source of material for development of treatment of corneal stromal opacities. © 2013 Chan et al

Instabilities and sensitivities in a flow over a rotationally flexible cylinder with a rigid splitter plate

This paper investigates the origin of flow-induced instabilities and their sensitivities in a flow over a rotationally flexible circular cylinder with a rigid splitter plate. A linear stability and sensitivity problem is formulated in the Eulerian frame by considering the geometric nonlinearity arising from the rotational motion of the cylinder which is not present in the stationary or purely translating stability methodology. This nonlinearity needs careful and consistent treatment in the linearised problem particularly when considering the Eulerian frame or reference adopted in this study and not so widely considered. Two types of instabilities arising from the fluid-structure interaction are found. The first type of the instabilities is the stationary symmetry-breaking mode, which was well reported in previous studies. This instability exhibits a strong correlation with the length of the recirculation zone. A detailed analysis of the instability mode and its sensitivity reveals the importance of the flow near the tip region of the plate for the generation and control of this instability mode. The second type is an oscillatory torsional flapping mode, which has not been well reported. This instability typically emerges when the length of the splitter plate is sufficiently long. Unlike the symmetry breaking mode, it is not so closely correlated with the length of the recirculation zone. The sensitivity analysis however also reveals the crucial role played by the flow near the tip region in this instability. Finally, it is found that many physical features of this instability are reminiscent of those of the flapping (or flutter instability) observed in a flow over a flexible plate or a flag, suggesting that these instabilities share the same physical origin

ZB−L′Z^{\prime}_{B-L} phenomenology at LHC

We study the $Z^\prime$ phenomenology for two extensions of the Electroweak Standard Model (SM) which have an extra $U(1)_{B-L}$ gauge factor. We show the capabilities of the LHC in distinguishing the signals coming from these two extensions and both of them from the Standard Model background. In order to compare the behavior of these $B-L$ models we consider the reaction $p + p\longrightarrow \mu^+ + \mu^- + X$ and compute some observables as the total cross sections, number of events, forward-backward asymmetry, final particle distributions like rapidity, transverse momentum, and dimuon invariant mass, for two LHC regimes: $\sqrt{s}\,({\cal L})=7$ TeV ($1\, \textrm{fb}^{-1}$) and $14$ TeV ($100\, \textrm{fb}^{-1}$) for $M_{Z^{\prime}}$ = 1000 GeV and 1500 GeV. We show that by using appropriate kinematic cuts some of the observables considered here are able to extract different properties of the $Z^\prime$ boson, and hence providing information about to which $B-L$ model it belongs to.Comment: 21 pages, 17 figures, 4 table

Domain-wall motion in random potential and hysteresis modeling

Two different approaches to hysteresis modeling are compared using a common ground based on energy relations, defined in terms of dissipated and stored energy. Using the Preisach model and assuming that magnetization is mainly due to domain-wall motion, one can derive the expression of magnetization along a major loop typical of the Jiles–Atherton model and then extend its validity to cases where mean-field effects and reversible contributions are present

Module networks revisited: computational assessment and prioritization of model predictions

The solution of high-dimensional inference and prediction problems in computational biology is almost always a compromise between mathematical theory and practical constraints such as limited computational resources. As time progresses, computational power increases but well-established inference methods often remain locked in their initial suboptimal solution. We revisit the approach of Segal et al. (2003) to infer regulatory modules and their condition-specific regulators from gene expression data. In contrast to their direct optimization-based solution we use a more representative centroid-like solution extracted from an ensemble of possible statistical models to explain the data. The ensemble method automatically selects a subset of most informative genes and builds a quantitatively better model for them. Genes which cluster together in the majority of models produce functionally more coherent modules. Regulators which are consistently assigned to a module are more often supported by literature, but a single model always contains many regulator assignments not supported by the ensemble. Reliably detecting condition-specific or combinatorial regulation is particularly hard in a single optimum but can be achieved using ensemble averaging.Comment: 8 pages REVTeX, 6 figure

Development of mirrors made of chemically tempered glass foils for future X-ray telescopes

Thin slumped glass foils are considered good candidates for the realization of future X-ray telescopes with large effective area and high spatial resolution. However, the hot slumping process affects the glass strength, and this can be an issue during the launch of the satellite because of the high kinematical and static loads occurring during that phase. In the present work we have investigated the possible use of Gorilla glass (produced by Corning), a chemical tempered glass that, thanks to its strength characteristics, would be ideal. The un-tempered glass foils were curved by means of an innovative hot slumping technique and subsequently chemically tempered. In this paper we show that the chemical tempering process applied to Gorilla glass foils does not affect the surface micro-roughness of the mirrors. On the other end, the stress introduced by the tempering process causes a reduction in the amplitude of the longitudinal profile errors with a lateral size close to the mirror length. The effect of the overall shape changes in the final resolution performance of the glass mirrors was studied by simulating the glass foils integration with our innovative approach based on glass reinforcing ribs. The preliminary tests performed so far suggest that this approach has the potential to be applied to the X-ray telescopes of the next generation.Comment: Accepted for publication in Experimental Astronomy. Author's accepted manuscript posted to arXiv.org as permitted by Springer's Self-Archiving Polic

Photosynthetic activity buffers ocean acidification in seagrass meadows

Macrophytes growing in shallow coastal zones characterised by intense metabolic activity have the capacity to modify pH within their canopy and beyond. We observed diel pH changes in shallow (5–12 m) seagrass (<i>Posidonia oceanica</i>) meadows spanning 0.06 pH units in September to 0.24 units in June. The carbonate system (pH, DIC, and aragonite saturation state (&Omega;_Ar)) and O₂ within the meadows displayed strong diel variability driven by primary productivity, and changes in chemistry were related to structural parameters of the meadow, in particular, the leaf surface area available for photosynthesis (LAI). LAI was positively correlated to mean, max and range pH_NBS and max and range &Omega;_Ar. In June, vertical mixing (as Turbulent Kinetic Energy) influenced max and min &Omega;_Ar, while in September there was no effect of hydrodynamics on the carbonate system within the canopy. Max and range &Omega;_Ar within the meadow showed a positive trend with the calcium carbonate load of the leaves, pointing to a possible link between structural parameters, &Omega;_Ar and carbonate deposition. <br></br> Calcifying organisms, e.g. epiphytes with carbonate skeletons, may benefit from the modification of the carbonate system by the meadow. There is, however, concern for the ability of seagrasses to provide modifications of similar importance in the future. The predicted decline of seagrass meadows may alter the scope for alteration of pH within a seagrass meadow and in the water column above the meadow, particularly if shoot density and biomass decline, on which LAI is based. Organisms associated with seagrass communities may therefore suffer from the loss of pH buffering capacity in degraded meadows

Multi-Regge kinematics and the moduli space of Riemann spheres with marked points

We show that scattering amplitudes in planar N = 4 Super Yang-Mills in multi-Regge kinematics can naturally be expressed in terms of single-valued iterated integrals on the moduli space of Riemann spheres with marked points. As a consequence, scattering amplitudes in this limit can be expressed as convolutions that can easily be computed using Stokes' theorem. We apply this framework to MHV amplitudes to leading-logarithmic accuracy (LLA), and we prove that at L loops all MHV amplitudes are determined by amplitudes with up to L + 4 external legs. We also investigate non-MHV amplitudes, and we show that they can be obtained by convoluting the MHV results with a certain helicity flip kernel. We classify all leading singularities that appear at LLA in the Regge limit for arbitrary helicity configurations and any number of external legs. Finally, we use our new framework to obtain explicit analytic results at LLA for all MHV amplitudes up to five loops and all non-MHV amplitudes with up to eight external legs and four loops.Comment: 104 pages, six awesome figures and ancillary files containing the results in Mathematica forma