FeedNetBack-D04.03 - Design of Robust Variable Rate Controllers

A consequence of the execution of control algorithms on digital distributed platforms is inducing delays, jitter and various limitations in sampling rate from different sources in the control loops. These disturbances should be taken into account in the control algorithms design and tuning. Control systems are often cited as examples of "hard real-time systems" where jitter and deadline violations are strictly forbidden. In fact experiments show that this assumption may be false for closed-loop control. Any practical feedback system is designed to obtain some stability margin and robustness w.r.t. the plant parameters uncertainty. This also provides robustness w.r.t. timing uncertainties: closed-loop systems are able to tolerate some amount of sampling period and computing delays deviations, jitter and occasional data loss without loss of stability or integrity. Hence the design of dependable distributed control systems may rely on robust controllers, i.e. controllers which are slightly sensitive to both process model and execution resource uncertainties, or on controllers which are made adaptive w.r.t. the variations of the control intervals and other implementation induced disturbances. Section 2 provides new results concerning the control of systems with delays. A novel analysis of linear systems under asynchronous sampling is provided. This approach is based on the discrete-time Lyapunov Theorem applied to the continuous-time model of the sampled-data systems. Tractable conditions are derived to ensure asymptotic stability and also to obtain an estimate of the exponential rate of the solutions. Examples show the efficiency of the method and the reduction of the conservatism compared to other results from the literature. Moreover the methodology addresses the stability analysis of systems under several sampling periods. We show that a sampled-data system can be stable even if one of the sampling period leads to instability. This has been treated by a continuous-time approach and allows considering uncertain or time-varying systems. An extension of the method includes transmission delays in the control loop. As the variations of the control intervals can be both a consequence of network induced delays and a control variable to manage the CPU and/or network load, robust variable sampling control design is investigated in section 3. Here it is assumed that the control interval is itself a control parameter, e.g. which can be adapted at run-time by a feedback scheduler to cope with operating conditions in a varying environment. The control design is stated using the formulation of Linear Parameters Varying (LPV) systems, where the sampling interval is considered as a varying and measurable parameters of the system. Previous results using a polytopic model of a discretized plant are recalled. A new design using a Linear Fractional Transform (LFT) is developed, where the control interval is considered as a system's uncertainty. This new approach is expected to be more tractable that the polytopic one when the system has several varying parameters. Both designs are assessed and compared using as testbed the control of Autonomous Underwater Vehicles using scheduled ultrasonic sensors for control and navigation.

0087: Sleep apneas treatment during cardiac rehabilitation can improve heart failure prognosis? SATELIT-HF study: sleep apnea treatment during cardiac rehabilitation of CHF patients

BackgroundSleep-disordered breathing (SDB) is commonly in chronic heart failure (CHF) patients.Exercise training (ET) improves exercise tolerance and reduces cardiac decompensations in CHF population. Otherwise, ventilation therapy (VT) improves prognosis and exercise capacity in CHF patients with SDB. However, the effect of the combination therapy: ET and VT is still unexplored. The aim of our study is to evaluate the effects on hemodynamic status (cardiac decompensations) of ET and VT in stable CHF patients referred to cardiac rehabilitation (CR).MethodsWe included 118 stable CHF patients with an apnea-hypopnea index (AHI)>15/h diagnosed by polygraphy. They were randomized into exercise training (ET group n=58) or combined exercise and ventilation (ET+VT group n=60). The follow up period was the 8 weeks during which 20 exercise training sessions were scheduled. Severe episodes of cardiac decompensations were recorded.ResultsThe mean age was 62.6±10.3 years, 89% were males, 50% NYHA class II and 50% in class III, mean LVEF was 30%. 40% and 60% of patients had respectively obstructive and central and/or mixed apneas, with a mean AHI 34.4±14.3/h. Patients of ET+VT group had significantly fewer acute cardiovascular events than those of ET group (2/60 vs. 7/58; 3.3% vs. 15.5%, p<0.05).ConclusionVentilation therapy combined with ET in severe CHF patients seems to reinforce benefits of ET alone. Screening of SDB in CR could be proposed in order to optimize the global management of the heart disease

D04.05 - Feasibility mock-ups of feedback schedulers

Control and computation co-design deals with the interaction between feedback control laws design and their implementation on a real execution resource. Control design is often carried out in the framework of continuous time, or under the assumption of ideal sampling with equidistant intervals and known delays. Implementation on a real-time execution platform introduces many timing uncertainties and distortions to the ideal timing scheme, e.g. due to variable computation durations, complex preemption patterns between concurrent activities, uncertain network induced communication delays or occasional data loss. Analyzing, prototyping, simulating and guaranteeing the safety of complex control systems are very challenging topics. Models are needed for the mechatronic continuous system, for the discrete controllers and diagnosers, and for network behavior. Real-time properties (task response times) and the network Quality of Service (QoS) influence the controlled system properties (Quality of Control, QoC). To reach effective and safe systems it is not enough to provide theoretic control laws and leave programmers and real-time systems engineers just do their best to implement the controllers. This report first describes, through the detailed design of a quadrotor drone controller, the main features of {\sc Orccad}, an integrated development environment aimed to bridge the gap between advanced control design and real-time implementation. Besides control design and implementation, a real-time (hardware-in-the-loop) simulation has been designed to assess the control design with a simulated target rather than with the real plant. Using this HIL structure, several experiments using flexible real-time control features are reported, namely Kalman filters subject to data loss, control under (m,k)-firm constraints, control with varying sampling rates and feedback scheduling using the MPC approach

Protective Contributions against Invasive Streptococcus pneumoniae Pneumonia of Antibody and Th17-Cell Responses to Nasopharyngeal Colonisation

The nasopharyngeal commensal bacteria Streptococcus pneumoniae is also a frequent cause of serious infections. Nasopharyngeal colonisation with S. pneumoniae inhibits subsequent re-colonisation by inducing Th17-cell adaptive responses, whereas vaccination prevents invasive infections by inducing antibodies to S. pneumoniae capsular polysaccharides. In contrast, protection against invasive infection after nasopharyngeal colonisation with mutant S. pneumoniae strains was associated with antibody responses to protein antigens. The role of colonisation-induced Th17-cell responses during subsequent invasive infections is unknown. Using mouse models, we show that previous colonisation with S. pneumoniae protects against subsequent lethal pneumonia mainly by preventing bacteraemia with a more modest effect on local control of infection within the lung. Previous colonisation resulted in CD4-dependent increased levels of Th17-cell cytokines during subsequent infectious challenge. However, mice depleted of CD4 cells prior to challenge remained protected against bacteraemia, whereas no protection was seen in antibody deficient mice and similar protection could be achieved through passive transfer of serum. Serum from colonised mice but not antibody deficient mice promoted phagocytosis of S. pneumoniae, and previously colonised mice were able to rapidly clear S. pneumoniae from the blood after intravenous inoculation. Thus, despite priming for a Th17-cell response during subsequent infection, the protective effects of prior colonisation in this model was not dependent on CD4 cells but on rapid clearance of bacteria from the blood by antibody-mediated phagocytosis. These data suggest that whilst nasopharyngeal colonisation induces a range of immune responses, the effective protective responses depend upon the site of subsequent infectio

Methylobacterium Genome Sequences: A Reference Blueprint to Investigate Microbial Metabolism of C1 Compounds from Natural and Industrial Sources

Methylotrophy describes the ability of organisms to grow on reduced organic compounds without carbon-carbon bonds. The genomes of two pink-pigmented facultative methylotrophic bacteria of the Alpha-proteobacterial genus Methylobacterium, the reference species Methylobacterium extorquens strain AM1 and the dichloromethane-degrading strain DM4, were compared. Methodology/Principal Findings The 6.88 Mb genome of strain AM1 comprises a 5.51 Mb chromosome, a 1.26 Mb megaplasmid and three plasmids, while the 6.12 Mb genome of strain DM4 features a 5.94 Mb chromosome and two plasmids. The chromosomes are highly syntenic and share a large majority of genes, while plasmids are mostly strain-specific, with the exception of a 130 kb region of the strain AM1 megaplasmid which is syntenic to a chromosomal region of strain DM4. Both genomes contain large sets of insertion elements, many of them strain-specific, suggesting an important potential for genomic plasticity. Most of the genomic determinants associated with methylotrophy are nearly identical, with two exceptions that illustrate the metabolic and genomic versatility of Methylobacterium. A 126 kb dichloromethane utilization (dcm) gene cluster is essential for the ability of strain DM4 to use DCM as the sole carbon and energy source for growth and is unique to strain DM4. The methylamine utilization (mau) gene cluster is only found in strain AM1, indicating that strain DM4 employs an alternative system for growth with methylamine. The dcm and mau clusters represent two of the chromosomal genomic islands (AM1: 28; DM4: 17) that were defined. The mau cluster is flanked by mobile elements, but the dcm cluster disrupts a gene annotated as chelatase and for which we propose the name “island integration determinant” (iid).Conclusion/Significance These two genome sequences provide a platform for intra- and interspecies genomic comparisons in the genus Methylobacterium, and for investigations of the adaptive mechanisms which allow bacterial lineages to acquire methylotrophic lifestyles.Organismic and Evolutionary Biolog

Rhinitis associated with asthma is distinct from rhinitis alone: TARIA‐MeDALL hypothesis

Asthma, rhinitis, and atopic dermatitis (AD) are interrelated clinical phenotypes that partly overlap in the human interactome. The concept of “one-airway-one-disease,” coined over 20 years ago, is a simplistic approach of the links between upper- and lower-airway allergic diseases. With new data, it is time to reassess the concept. This article reviews (i) the clinical observations that led to Allergic Rhinitis and its Impact on Asthma (ARIA), (ii) new insights into polysensitization and multimorbidity, (iii) advances in mHealth for novel phenotype definitions, (iv) confirmation in canonical epidemiologic studies, (v) genomic findings, (vi) treatment approaches, and (vii) novel concepts on the onset of rhinitis and multimorbidity. One recent concept, bringing together upper- and lower-airway allergic diseases with skin, gut, and neuropsychiatric multimorbidities, is the “Epithelial Barrier Hypothesis.” This review determined that the “one-airway-one-disease” concept does not always hold true and that several phenotypes of disease can be defined. These phenotypes include an extreme “allergic” (asthma) phenotype combining asthma, rhinitis, and conjunctivitis.info:eu-repo/semantics/publishedVersio

Mortality and pulmonary complications in patients undergoing surgery with perioperative SARS-CoV-2 infection: an international cohort study

Background: The impact of severe acute respiratory syndrome coronavirus 2 (SARS-CoV-2) on postoperative recovery needs to be understood to inform clinical decision making during and after the COVID-19 pandemic. This study reports 30-day mortality and pulmonary complication rates in patients with perioperative SARS-CoV-2 infection. Methods: This international, multicentre, cohort study at 235 hospitals in 24 countries included all patients undergoing surgery who had SARS-CoV-2 infection confirmed within 7 days before or 30 days after surgery. The primary outcome measure was 30-day postoperative mortality and was assessed in all enrolled patients. The main secondary outcome measure was pulmonary complications, defined as pneumonia, acute respiratory distress syndrome, or unexpected postoperative ventilation. Findings: This analysis includes 1128 patients who had surgery between Jan 1 and March 31, 2020, of whom 835 (74·0%) had emergency surgery and 280 (24·8%) had elective surgery. SARS-CoV-2 infection was confirmed preoperatively in 294 (26·1%) patients. 30-day mortality was 23·8% (268 of 1128). Pulmonary complications occurred in 577 (51·2%) of 1128 patients; 30-day mortality in these patients was 38·0% (219 of 577), accounting for 81·7% (219 of 268) of all deaths. In adjusted analyses, 30-day mortality was associated with male sex (odds ratio 1·75 [95% CI 1·28–2·40], p\textless0·0001), age 70 years or older versus younger than 70 years (2·30 [1·65–3·22], p\textless0·0001), American Society of Anesthesiologists grades 3–5 versus grades 1–2 (2·35 [1·57–3·53], p\textless0·0001), malignant versus benign or obstetric diagnosis (1·55 [1·01–2·39], p=0·046), emergency versus elective surgery (1·67 [1·06–2·63], p=0·026), and major versus minor surgery (1·52 [1·01–2·31], p=0·047). Interpretation: Postoperative pulmonary complications occur in half of patients with perioperative SARS-CoV-2 infection and are associated with high mortality. Thresholds for surgery during the COVID-19 pandemic should be higher than during normal practice, particularly in men aged 70 years and older. Consideration should be given for postponing non-urgent procedures and promoting non-operative treatment to delay or avoid the need for surgery. Funding: National Institute for Health Research (NIHR), Association of Coloproctology of Great Britain and Ireland, Bowel and Cancer Research, Bowel Disease Research Foundation, Association of Upper Gastrointestinal Surgeons, British Association of Surgical Oncology, British Gynaecological Cancer Society, European Society of Coloproctology, NIHR Academy, Sarcoma UK, Vascular Society for Great Britain and Ireland, and Yorkshire Cancer Research

Commande à échantillonnage variable pour les systèmes LPV : application à un sous-marin autonome

Discrete time controller using variable sampling can ba interesting in several cases, for axample when the measure, even if send periodically, is received with a variable interval. This is the case in submarine environement, when the altitude measurement is done using an ultrasonic sensor. Discrete control laws synthesis with variable sampling period have already been studied for LTI systems. The results are here extended to Linear Parameter Varying systems, that allow to keep some non-linearities as parameters of a linear system. In particular, two approaches are investigated : the polytopic and the LFR. The proposed method is applied for the altitude control of an autonomous underwater vehicle (AUV). Simulations results will show the interest of the method, in particular how results are improved by adding some parameters coming from the non linear model.L'utilisation de correcteur discret à période d'échantillonnage variable peut être intéressante dans plusieurs cas, par exemple lorsque la mesure, bien qu'envoyée de façon périodique, est reçue à intervalle variable. C'est le cas en milieu marin lorsque la mesure d'altitude est effectuée avec un capteur à ultrason (la durée du trajet du signal dans l'eau dépend de la distance par rapport au fond). Le délai variable entre deux réceptions de mesures, peut être vu comme une variation de période d'échantillonnage pour le contrôleur. La synthèse de lois de commande discrète à période d'échantillonnage variable a déjà été étudiée pour des systèmes stationnaires. On se propose ici d'étendre cette méthode pour des systèmes Linéaires à Paramètres Variants (LPV), qui permettent de conserver des paramètres importants d'un système non-linéaire en temps que paramètres d'un système linéaires. La synthèse de contrôleur repose sur le méthodologie H∞, appliquée aux systèmes LPV. En particulier, on s'intéressera à deux approches existantes dans la littérature : l'approche polytopique (où le paramètre variant évolue dans un volume convexe) et la Représentation Linéaire Fractionnelle (LFR). La méthode proposée est appliquée au contrôle d'un AUV (Autonomous Underwater Vehicle), qui est système difficile à contrôler du fait d'importantes non-linéarités. Des résultats de simulations permettront de montrer l'intérêt de la méthode pour le contrôle d'altitude d'un AUV, et notamment les améliorations apportées par l'ajout de paramètres issus du système non-linéaire au modèle utilisé pour la synthèse des régulateurs