H-Infinity Control for Pitch-Roll AR.Drone

This paper describes the design and implementation of H-infinity controller applied to the AR.Drone to follow a given trajectory. The trajectory will be achieved by using two control signals, pitch and roll. Pitch and roll of the AR.Drone models are obtained by assuming that the transfer function of internal control for pitch and roll is the second order system. Two schemes of H-infinity controller designed for pitch and roll. H-infinity control for x-position has exogenous input of the x-reference, xref, control input of pitch value, exogenous output in the form of x-position and process output as error x. While H-infinity control for y-position has exogenous input of y-reference, yref, control input in the form of roll value, exogenous output of y-position and process output as error y. The results of simulation and implementation show that drone can follow multiple references of trajectories given

Perancangan dan Analisa Performance H-Infinity Control untuk Trajectory Tracking AR Drone Quadrotor

Pada tugas akhir ini, dirancang h-infinity control untuk mengontrol trajectory tracking pada AR.Drone. Perancangan h-infinity control menghasilkan dua buah kontroler yang bertugas untuk mengatur nilai pitch dan roll yang digunakan untuk mengontrol pergerakan AR.Drone. Untuk menghasilkan nilai pitch dan roll, kontroler menerima input berupa error x dan error y selama pengujian. Error x dan error y merupakan selisih jarak antara titik referensi dengan titik posisi AR.Drone menurut sumbu x dan sumbu y. Langkah awal implementasi dilakukan dengan mendapatkan model pitch dan roll secara eksperimen. Perancangan h-infinity control dilakukan pada software Matlab dengan menggunakan model pitch dan roll yang diperoleh. Sebelum diimplementasikan pada AR.Drone, dilakukan simulasi terlebih dahulu pada Simulink Matlab. Setelah dilakukan simulasi, kontroler yang telah dirancang diimplementasikan pada AR.Drone menggunakan software LabVIEW. Pengujian terhadap kontroler dilaksanakan pada empat buah bentuk trajectory yaitu lurus, belok, kotak, dan melengkung. Untuk mengetahui performansi dari kontroler yang telah dibuat, digunakan teori RMSE. Berdasarkan pengujian yang telah dilakukan, AR.Drone terlihat mampu mengikuti trajectory berbentuk lurus, belok, kotak, dan melengkung dengan performansi yang cukup baik (rata-rata nilai RMSE berkisar pada 0.2)

H-Infinity Control For Pitch-Roll Ar.Drone

This paper describes the design and implementation of H-infinity controller applied to the AR.Drone to follow a given trajectory. The trajectory will be achieved by using two control signals, pitch and roll. Pitch and roll of the AR.Drone models are obtained by assuming that the transfer function of internal control for pitch and roll is the second order system. Two schemes of H-infinity controller designed for pitch and roll. H-infinity control for x-position has exogenous input of the x-reference, xref, control input of pitch value, exogenous output in the form of x-position and process output as error x. While H-infinity control for y-position has exogenous input of y-reference, yref, control input in the form of roll value, exogenous output of y-position and process output as error y. The results of simulation and implementation show that drone can follow multiple references of trajectories given

Translating from egg- to antigen-based indicators for Schistosoma mansoni elimination targets: A Bayesian latent class analysis study

This Document is Protected by copyright and was first published by Frontiers. All rights reserved. it is reproduced with permission.Schistosomiasis is a parasitic disease affecting over 240-million people. World Health Organization (WHO) targets for Schistosoma mansoni elimination are based on Kato-Katz egg counts, without translation to the widely used, urine-based, point-of-care circulating cathodic antigen diagnostic (POC-CCA). We aimed to standardize POC-CCA score interpretation and translate them to Kato-Katz-based standards, broadening diagnostic utility in progress towards elimination. A Bayesian latent-class model was fit to data from 210 school-aged-children over four timepoints pre- to six-months-post-treatment. We used 1) Kato-Katz and established POC-CCA scoring (Negative, Trace, +, ++ and +++), and 2) Kato-Katz and G-Scores (a new, alternative POC-CCA scoring (G1 to G10)). We established the functional relationship between Kato-Katz counts and POC-CCA scores, and the score-associated probability of true infection. This was combined with measures of sensitivity, specificity, and the area under the curve to determine the optimal POC-CCA scoring system and positivity threshold. A simulation parametrized with model estimates established antigen-based elimination targets. True infection was associated with POC-CCA scores of ≥ + or ≥G3. POC-CCA scores cannot predict Kato-Katz counts because low infection intensities saturate the POC-CCA cassettes. Post-treatment POC-CCA sensitivity/specificity fluctuations indicate a changing relationship between egg excretion and antigen levels (living worms). Elimination targets can be identified by the POC-CCA score distribution in a population. A population with ≤2% ++/+++, or ≤0.5% G7 and above, indicates achieving current WHO Kato-Katz-based elimination targets. Population-level POC-CCA scores can be used to access WHO elimination targets prior to treatment. Caution should be exercised on an individual level and following treatment, as POC-CCAs lack resolution to discern between WHO Kato-Katz-based moderate- and high-intensity-infection categories, with limited use in certain settings and evaluations

Down syndrome-recent progress and future prospects

Down syndrome (DS) is caused by trisomy of chromosome 21 (Hsa21) and is associated with a number of deleterious phenotypes, including learning disability, heart defects, early-onset Alzheimer's disease and childhood leukaemia. Individuals with DS are affected by these phenotypes to a variable extent; understanding the cause of this variation is a key challenge. Here, we review recent research progress in DS, both in patients and relevant animal models. In particular, we highlight exciting advances in therapy to improve cognitive function in people with DS and the significant developments in understanding the gene content of Hsa21. Moreover, we discuss future research directions in light of new technologies. In particular, the use of chromosome engineering to generate new trisomic mouse models and large-scale studies of genotype-phenotype relationships in patients are likely to significantly contribute to the future understanding of DS

Translating From Egg- to Antigen-Based Indicators for Schistosoma mansoni Elimination Targets: A Bayesian Latent Class Analysis Study

From Frontiers via Jisc Publications RouterHistory: received 2021-11-30, collection 2022, accepted 2022-01-12, epub 2022-02-18Publication status: PublishedSchistosomiasis is a parasitic disease affecting over 240-million people. World Health Organization (WHO) targets for Schistosoma mansoni elimination are based on Kato-Katz egg counts, without translation to the widely used, urine-based, point-of-care circulating cathodic antigen diagnostic (POC-CCA). We aimed to standardize POC-CCA score interpretation and translate them to Kato-Katz-based standards, broadening diagnostic utility in progress towards elimination. A Bayesian latent-class model was fit to data from 210 school-aged-children over four timepoints pre- to six-months-post-treatment. We used 1) Kato-Katz and established POC-CCA scoring (Negative, Trace, +, ++ and +++), and 2) Kato-Katz and G-Scores (a new, alternative POC-CCA scoring (G1 to G10)). We established the functional relationship between Kato-Katz counts and POC-CCA scores, and the score-associated probability of true infection. This was combined with measures of sensitivity, specificity, and the area under the curve to determine the optimal POC-CCA scoring system and positivity threshold. A simulation parametrized with model estimates established antigen-based elimination targets. True infection was associated with POC-CCA scores of ≥ + or ≥G3. POC-CCA scores cannot predict Kato-Katz counts because low infection intensities saturate the POC-CCA cassettes. Post-treatment POC-CCA sensitivity/specificity fluctuations indicate a changing relationship between egg excretion and antigen levels (living worms). Elimination targets can be identified by the POC-CCA score distribution in a population. A population with ≤2% ++/+++, or ≤0.5% G7 and above, indicates achieving current WHO Kato-Katz-based elimination targets. Population-level POC-CCA scores can be used to access WHO elimination targets prior to treatment. Caution should be exercised on an individual level and following treatment, as POC-CCAs lack resolution to discern between WHO Kato-Katz-based moderate- and high-intensity-infection categories, with limited use in certain settings and evaluations

Diagnosis and management of Cornelia de Lange syndrome:first international consensus statement

Cornelia de Lange syndrome (CdLS) is an archetypical genetic syndrome that is characterized by intellectual disability, well-defined facial features, upper limb anomalies and atypical growth, among numerous other signs and symptoms. It is caused by variants in any one of seven genes, all of which have a structural or regulatory function in the cohesin complex. Although recent advances in next-generation sequencing have improved molecular diagnostics, marked heterogeneity exists in clinical and molecular diagnostic approaches and care practices worldwide. Here, we outline a series of recommendations that document the consensus of a group of international experts on clinical diagnostic criteria, both for classic CdLS and non-classic CdLS phenotypes, molecular investigations, long-term management and care planning

Open Data Policies and Management in Eugene

22 pagesThis report covers the City of Eugene’s current data management process with an emphasis on parking policies, including recommendations to improve the way the City collects, uses, and stores data. Upon interviewing department managers, students discovered that the City currently has no open data plan to engage the public and local businesses in orchestrating the kind of changes the City would like to see. The interview uncovered that City management desires to move into a co-production and citizen science-based process. The City is currently trying something similar to this type of data collection, called Vision Zero. Vision Zero was made available to the public in October 2016, but it has collected only forty-three data points to date. The program was launched without a marketing campaign, and appears to go unused by most citizens. Factors that contributed to the lack of an open data management plan included the overwhelming amount of data being collected monthly, incompatibility between legacyfrom not having a clear way to handle the sharing of data with potential stakeholders, to not having an easy way to respond to public records requests, to not having a clear understanding of what citizens want to see regarding changes in how they navigate and use space within the city. After concluding a literature review, assessing the implementation of Vision Zero, and considering the desire of city management to move toward an open data plan, it is our recommendation that the City consider launching a major marketing campaign highlighting Vision Zero. It is also the opinion of this workgroup that the City move toward a more structured data management system using an informal records request system where data is freely available for download on a City website. This data should be processed to remove any private information prior to being made available for download. Finally, this workgroup recommends that the City consider expanding its workforce to accommodate the needs of this new platform. systems and current systems, and no uniform system or protocol for storing and sharing data in a meaningful way. Problems that have resulted from not having an open data plan varie

Limited role for the thymus in SIV pathogenesis

The role of the thymus in the pathogenesis of AIDS is a frequently discussed and controversial topic. Tuttleton Arron et al. studied the role of thymic output in SIV infection directly, by comparing the dynamics of TCR excision circles and CD4+ and CD8+ T cell numbers in healthy and in SIV‐infected euthymic and thymectomized rhesus macaques. In this issue of the European Journal of Immunology, they report that complete abrogation of thymic output in juvenile rhesus macaques has very little impact on the peripheral T cell compartment, both in healthy and in SIV‐infected macaques. Their data therefore suggest that the main cause of CD4+ T cell loss during SIV infection is the peripheral effect of SIV, and not its effect on thymic output