Auto-tuning for high performance autopilot design

A novel auto-tuning method for the RIDE controller algorithm is presented. The RIDE controller is applied to a high performance aircraft model. The tuner utilises a constrained genetic algorithm to automate the tuning process. The results of the tuner are compared with that of another tuning method which utilises unconstrained optimisation so as to highlight the efficacy of constrained optimisation for this application. It is shown from the results that the constrained genetic algorithm optimisation scheme offers a highly effective tuning solution which can be used to attain safe and high performance control with the RIDE control algorithm

Robust control of room temperature and relative humidity using advanced nonlinear inverse dynamics and evolutionary optimisation

A robust controller is developed, using advanced nonlinear inverse dynamics (NID) controller design and genetic algorithm optimisation, for room temperature control. The performance is evaluated through application to a single zone dynamic building model. The proposed controller produces superior performance when compared to the NID controller optimised with a simple optimisation algorithm, and classical PID control commonly used in the buildings industry. An improved level of thermal comfort is achieved, due to fast and accurate tracking of the setpoints, and energy consumption is shown to be reduced, which in turn means carbon emissions are reduced

Non-linear autopilot design using the philosophy of variable transient response

The novel non-linear controller design methodology of Variable Transient Response (VTR) is presented in this research. The performance of VTR is compared to that of successful non-linear controller designs (such as Robust Inverse Dynamics Estimation and a traditional autopilot design) by application to a non-linear missile model. The simulated results of this application demonstrate that the inclusion of VTR into the RIDE design results in a 50% improvement in response time and 100% improvement in settling time whilst achieving stable and accurate tracking of a command input. Analysis demonstrates that VTR dynamically alters the system's damping, resulting in a non-linear response. The system stability is analysed during actuator saturation using non-linear stability criteria. The results of this analysis show that the inclusion of VTR into the RIDE design does not compromise non-linear system stability

Modelling and simulation of advanced non-linear autopilot designs

This paper presents the simulation in ESL of a non-linear 6 degree-of-freedom missile model with an advanced, non-linear, multivariable autopilot designed using Rate Actuated Inverse Dynamics (RAID) methods. High performance control of non-linear systems requires the design of advanced, non-linear control systems, such as those used in autopilot design. Traditional linear control system design and analysis techniques are not sufficient for non-linear systems and current non-linear analysis methods are extremely limited. Therefore, the only method available to fully assess the performance of non-linear controller designs is simulation of the non-linear system. For this reason it is an essential part of the analysis and design process of these types of controllers. Non-linear dynamics can be continuous or discontinuous, the aerodynamics of a missile are non-linear but since they are continuous they do not represent a simulation challenge. However, there are multiple sets of discontinuous dynamics present in both the missile control surface model and the autopilot which can lead to multiple discontinuities being reached simultaneously, providing a challenging modeling exercise. The paper demonstrates how this kind of behavior can be successfully modeled and simulated within ESL using a simple switching logic

Nonlinear PI control for variable pitch wind turbine

Wind turbine uses a pitch angle controller to reduce the power captured above the rated wind speed and release the mechanical stress of the drive train. This paper investigates a nonlinear PI (N-PI) based pitch angle controller, by designing an extended-order state and perturbation observer to estimate and compensate unknown time-varying nonlinearities and disturbances. The proposed N-PI does not require the accurate model and uses only one set of PI parameters to provide a global optimal performance under wind speed changes. Simulation verification is based on a simplified two-mass wind turbine model and a detailed aero-elastic wind turbine simulator (FAST), respectively. Simulation results show that the N-PI controller can provide better dynamic performances of power regulation, load stress reduction and actuator usage, comparing with the conventional PI and gain-scheduled PI controller, and better robustness against of model uncertainties than feedback linearization control

Controllability of buildings : a multi-input multi-output stability assessment method for buildings with slow acting heating systems

The paper describes a methodology to assess the controllability of a building and its servicing systems, such as heating, lighting and ventilation. The knowledge for these methods has been transferred from design processes and methods used in the design of aircraft flight control systems to establish a modelling and design process for assessing the controllability of buildings. The paper describes a holistic approach to the modelling of the nonlinear and linear dynamics of the integrated building and its systems. This model is used to analyse the controllability of the building using Nonlinear Inverse Dynamics controller design methods used in the aerospace and robotics industry. The results show that this design approach can help the architects in their decisions on which building design and services to use. Furthermore, the results demonstrate how the same method can assist the control systems designer in developing complex control systems especially for buildings designed with a Climate Adaptive Building (CAB) philosophy

Effect of praziquantel treatment of Schistosoma mansoni during pregnancy on intensity of infection and antibody responses to schistosome antigens: results of a randomised, placebo-controlled trial

BACKGROUND: Praziquantel treatment of schistosomiasis during pregnancy was only recommended in 2002; hence the effects of treatment during pregnancy are not fully known. We have therefore evaluated the effects on infection intensity and the immunological effects of praziquantel treatment against Schistosoma mansoni during pregnancy, compared with treatment after delivery. METHODS: A nested cohort of 387 Schistosoma mansoni infected women was recruited within a larger trial of de-worming during pregnancy. Women were randomised to receive praziquantel or placebo during pregnancy. All women were treated after delivery. Infection intensity after treatment was assessed by a single Kato-Katz examination of stool samples with duplicate slides and categorised as undetected, light (1-99 eggs per gram (epg)), moderate (100-399 epg) or heavy (>or=400 epg). Antibodies against S. mansoni worm and egg antigens were measured by ELISA. Results were compared between women first treated during pregnancy and women first treated after delivery. RESULTS: At enrollment, 252 (65.1%) of the women had light infection (median (IQR) epg: 35 (11, 59)), 75 (19.3%) moderate (median (IQR) epg: 179(131, 227)) and 60 (15.5%) had heavy infection (median (IQR) epg: 749 (521, 1169)) with S. mansoni. At six weeks after praziquantel treatment during pregnancy S. mansoni infection was not detectable in 81.9% of the women and prevalence and intensity had decreased to 11.8% light, 4.7% moderate and 1.6% heavy a similar reduction when compared with those first treated after delivery (undetected (88.5%), light (10.6%), moderate (0.9%) and heavy (0%), p = 0.16). Parasite specific antibody levels were lower during pregnancy than after delivery. Praziquantel treatment during pregnancy boosted anti-worm IgG isotypes and to a lesser extent IgE, but these boosts were less pronounced than in women whose treatment was delayed until after delivery. Praziquantel had limited effects on antibodies against egg antigens. CONCLUSION: S mansoni antigen-specific antibody levels and praziquantel-induced boosts in antibody levels were broadly suppressed during pregnancy, but this was not associated with major reduction in the efficacy of praziquantel. Long-term implications of these findings in relation to resistance to re-infection remain to be explored

Antibody Responses to <i>Schistosoma mansoni</i> Schistosomula Antigens

While antigens from Schistosoma schistosomula have been suggested as potential vaccine candidates, the association between antibody responses with schistosomula antigens and infection intensity at reinfection is not well known. Schistosoma mansoni-infected individuals were recruited from a schistosomiasis endemic area in Uganda (n = 372), treated with 40 mg/kg praziquantel (PZQ) and followed up at five weeks and at one year post-treatment. Pre-treatment and five weeks post-treatment immunoglobulin (Ig) E, IgG1 and IgG4 levels against recombinant schistosomula antigens rSmKK7, rSmLy6A, rSmLy6B and rSmTSP7 were measured using ELISA. Factors associated with detectable pre-treatment or post-treatment antibody response against the schistosomula antigens and the association between five-week antibody responses and one year post-treatment reinfection intensity among antibody responders were examined. Being male was associated with higher pre-treatment IgG1 to rSmKK7, rSmLy6a and AWA. Five weeks post-treatment antibody responses against schistosomula antigens were not associated with one year post-treatment reinfection intensity among antibody responders' antibody levels against rSmKK7, rSmLy6B and rSmTSP7 dropped, but increased against rSmLy6A, AWA and SEA at five weeks post-treatment among antibody responders. S. mansoni-infected individuals exhibit detectable antibody responses to schistosomula antigens that are affected by treatment. These findings indicate that schistosomula antigens induce highly varied antibody responses and could have implications for vaccine development

Immunomics-guided antigen discovery for praziquantel-induced vaccination inurogenital human schistosomiasis

Despite the enormous morbidity attributed to schistosomiasis, there is still no vaccine to combat the disease for the hundreds of millions of infected people. The anthelmintic drug, praziquantel, is the mainstay treatment option, although its molecular mechanism of action remains poorly defined. Praziquantel treatment damages the outermost surface of the parasite, the tegument, liberating surface antigens from dying worms that invoke a robust immune response which in some subjects results in immunologic resistance to reinfection. Herein we term this phenomenon Drug-Induced Vaccination (DIV). To identify the antigenic targets of DIV antibodies in urogenital schistosomiasis, we constructed a recombinant proteome array consisting of approximately 1,000 proteins informed by various secretome datasets including validated proteomes and bioinformatic predictions. Arrays were screened with sera from human subjects treated with praziquantel and shown 18 months later to be either reinfected (chronically infected subjects, CI) or resistant to reinfection (DIV). IgG responses to numerous antigens were significantly elevated in DIV compared to CI subjects, and indeed IgG responses to some antigens were completely undetectable in CI subjects but robustly recognized by DIV subjects. One antigen in particular, a cystatin cysteine protease inhibitor stood out as a unique target of DIV IgG, so recombinant cystatin was produced, and its vaccine efficacy assessed in a heterologous Schistosoma mansoni mouse challenge model. While there was no significant impact of vaccination with adjuvanted cystatin on adult worm numbers, highly significant reductions in liver egg burdens (45-55%, P<0.0001) and intestinal egg burdens (50-54%, P<0.0003) were achieved in mice vaccinated with cystatin in two independent trials. This study has revealed numerous antigens that are targets of DIV antibodies in urogenital schistosomiasis and offer promise as subunit vaccine targets for a drug-linked vaccination approach to controlling schistosomiasis