Robust stabilization for discrete-time Takagi-Sugeno fuzzy system based on N4SID models

Nonlinear systems identification from experimental data without any prior knowledge of the system parameters is a challenge in control and process diagnostic. It determines mathematical model pa-rameters that are able to reproduce the dynamic behavior of a system. This paper combines two fun-damental research areas: MIMO state space system identification and nonlinear control system. This combination produces a technique that leads to robust stabilization of a nonlinear Takagi-Sugeno fuzzy system (T-S). Design/methodology/approach The first part of this paper describes the identification based on the Numerical algorithm for Subspace State Space System IDentification (N4SID). The second part, from the identified models of first part, explains how we use the interpolation of Linear Time Invariants (LTI) models to build a nonlinear multiple model system, T-S model. For demonstration purposes, conditions on stability and stabiliza-tion of discrete time, Takagi-Sugeno (T-S) model were discussed. Findings Stability analysis based on the quadratic Lyapunov function to simplify implementation was ex-plained in this paper. The LMIs (Linear Matrix Inequalities) technique obtained from the linearization of the BMIs (Bilinear Matrix Inequalities) was computed. The suggested N4SID2 algorithm had the smallest error value compared to other algorithms for all estimated system matrices. Originality The stabilization of the closed-loop discrete time T-S system, using the improved PDC control law (Parallel Distributed Compensation), was discussed to reconstruct the state from nonlinear Luen-berger observers

MyBot: Cloud-Based Service Robot using Service-Oriented Architecture

This paper is an extended version of the conference paper presented in IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC 2016).This paper presents a viable solution for the development of service robots by leveraging cloud and Web services technologies, modular software architecture design, and Robot Operating System (ROS). The contributions of this paper are two- folded (1) Design of ROS Web services to provide new abstract interfaces to service robots that makes easier the interaction with and the development of service robots applications, and (2) Integration of the service robot to the cloud using the ROSLink protocol. We demonstrate through real-world implementation on the MyBot robot the effectiveness of these software abstraction layers in developing applications for service robots through the Internet and the cloud, and in accessing them through Internet. We believe that this work represents an important step towards a more popular use of service robots.info:eu-repo/semantics/publishedVersio

Turtlebot at Office: A Service-Oriented Software Architecture for Personal Assistant Robots using ROS

This paper presents the design of an assistive mobile robot to support people in their everyday activities in office and home environments. The contribution of this paper consists in the design of a modular component-based software architecture that provides different abstraction layers on top of Robot Operating System (ROS) to make easier the design and development of service robots with ROS. The first abstraction layer is the COROS framework composed of complementary software subsystems providing different interfaces between ROS and the client applications. The second abstraction layer is the integration of Web services into ROS to allow client applications to seamlessly and transparently interact with the robot while hiding all implementation details. The proposed software architecture was validated through a experimental prototype of Turtlebot deployed in University campus. Furthermore, we outline the challenges incurred during experimentation and focus on lessons learned throughout the implementation and deployment.info:eu-repo/semantics/publishedVersio

Cohort profile: the ESC EURObservational Research Programme Non-ST-segment elevation myocardial infraction (NSTEMI) Registry

Aims The European Society of Cardiology (ESC) EURObservational Research Programme (EORP) Non-ST-segment elevation myocardial infarction (NSTEMI) Registry aims to identify international patterns in NSTEMI management in clinical practice and outcomes against the 2015 ESC Guidelines for the management of acute coronary syndromes in patients presenting without ST-segment-elevation. Methods and results Consecutively hospitalised adult NSTEMI patients (n = 3620) were enrolled between 11 March 2019 and 6 March 2021, and individual patient data prospectively collected at 287 centres in 59 participating countries during a two-week enrolment period per centre. The registry collected data relating to baseline characteristics, major outcomes (inhospital death, acute heart failure, cardiogenic shock, bleeding, stroke/transient ischaemic attack, and 30-day mortality) and guideline-recommended NSTEMI care interventions: electrocardiogram pre- or in-hospital, prehospitalization receipt of aspirin, echocardiography, coronary angiography, referral to cardiac rehabilitation, smoking cessation advice, dietary advice, and prescription on discharge of aspirin, P2Y12 inhibition, angiotensin converting enzyme inhibitor (ACEi)/angiotensin receptor blocker (ARB), beta-blocker, and statin. Conclusion The EORP NSTEMI Registry is an international, prospective registry of care and outcomes of patients treated for NSTEMI, which will provide unique insights into the contemporary management of hospitalised NSTEMI patients, compliance with ESC 2015 NSTEMI Guidelines, and identify potential barriers to optimal management of this common clinical presentation associated with significant morbidity and mortality