Output Regulation for Systems on Matrix Lie-group

This paper deals with the problem of output regulation for systems defined on matrix Lie-Groups. Reference trajectories to be tracked are supposed to be generated by an exosystem, defined on the same Lie-Group of the controlled system, and only partial relative error measurements are supposed to be available. These measurements are assumed to be invariant and associated to a group action on a homogeneous space of the state space. In the spirit of the internal model principle the proposed control structure embeds a copy of the exosystem kinematic. This control problem is motivated by many real applications fields in aerospace, robotics, projective geometry, to name a few, in which systems are defined on matrix Lie-groups and references in the associated homogenous spaces

On the Effective Metric of a Planck Star

Spacetime metrics describing `non-singular' black holes are commonly studied in the literature as effective modification to the Schwarzschild solution that mimic quantum gravity effects removing the central singularity. Here we point out that to be physically plausible, such metrics should also incorporate the 1-loop quantum corrections to the Newton potential and a non-trivial time delay between an observer at infinity and an observer in the regular center. We present a modification of the well-known Hayward metric that features these two properties. We discuss bounds on the maximal time delay imposed by conditions on the curvature, and the consequences for the weak energy condition, in general violated by the large transversal pressures introduced by the time delay.Comment: 10 pages, many figures; v2 added reference

Conservation tillage mitigates the negative effect of landscape simplification on biological control

Biological pest control is a key ecosystem service, and it depends on multiple factors acting from the local to the landscape scale. However, the effects of soil management on biological control and its potential interaction with landscape are still poorly understood. In a field exclusion experiment, we explored the relative effect of tillage system (conservation vs. conventional tillage) on aphid biological control in 15 pairs of winter cereal fields (barley and wheat) selected along a gradient of landscape complexity. We sampled the abundance of the main natural enemy guilds, and we evaluated their relative contribution to aphid predation and parasitism. Conservation tillage was found to support more abundant predator communities and higher aphid predation (16% higher than in the fields managed under conventional tillage). In particular, both the abundance and the aphid predation of vegetation- and ground-dwelling arthropods were increased under conservation tillage conditions. Conservation tillage also increased the parasitism rate of aphids. A high proportion of semi-natural habitats in the landscape enhanced both aphid parasitism and predation by vegetation-dwelling organisms but only in the fields managed under conventional tillage. The better local habitat quality provided by conservation tillage may compensate for a low-quality landscape. Synthesis and applications. Our study stresses the importance of considering both soil management and landscape composition when planning strategies to maximize biological control services in agro-ecosystems, highlighting the role played by conservation tillage in supporting natural enemy communities. In simple landscapes, the adoption of conservation tillage will locally improve biological control provided by both predators and parasitoids mitigating the negative effects of landscape simplification. Moreover, considering the small scale at which both predation and parasitism responded to landscape composition, a successful strategy to improve biological control would be to establish a fine mosaic of crop and non-crop areas such as hedgerows, tree lines and small semi-natural habitat patches. \ua9 2016 British Ecological Society

Perspectives on using remotely-sensed imagery in predictive veterinary epidemiology and global early warning systems

Recent disease epidemics and their spread around the world have illustrated the weaknesses of disease surveillance and early warning systems (EWS), both at national and international levels. These diseases continuously threaten the livestock sector on a worldwide basis, some with major public health impact. EWS and accurate forecasting of new outbreaks of epidemic livestock diseases that may also affect wildlife, and the capacity for spread of such diseases to new areas is an essential pre-requisite to their effective containment and control. Because both the geographical and seasonal distribution of many infectious diseases are linked to climate, the possibility of using climaterelated environmental factors as predictive indicators, in association with regular disease surveillance activities, has proven to be relevant when establishing EWS for climate-related diseases. This article reviews the growing importance of using geographical information systems in predictive veterinary epidemiology and its integration into EWS, with a special focus on Rift Valley fever. It shows that, once fully validated in a country or region, this technology appears highly valuable and could play an increasing role in forecasting major epidemics, providing lead time to national veterinary services to take action to mitigate the impact of the disease in a cost-effective manner

Perspectives on using remotely-sensed imagery in predictive veterinary epidemiology and global early warning systems

Recent disease epidemics and their spread around the world have illustrated the weaknesses of disease surveillance and early warning systems (EWS), both at national and international levels. These diseases continuously threaten the livestock sector on a worldwide basis, some with major public health impact. EWS and accurate forecasting of new outbreaks of epidemic livestock diseases that may also affect wildlife, and the capacity for spread of such diseases to new areas is an essential pre-requisite to their effective containment and control. Because both the geographical and seasonal distribution of many infectious diseases are linked to climate, the possibility of using climaterelated environmental factors as predictive indicators, in association with regular disease surveillance activities, has proven to be relevant when establishing EWS for climate-related diseases. This article reviews the growing importance of using geographical information systems in predictive veterinary epidemiology and its integration into EWS, with a special focus on Rift Valley fever. It shows that, once fully validated in a country or region, this technology appears highly valuable and could play an increasing role in forecasting major epidemics, providing lead time to national veterinary services to take action to mitigate the impact of the disease in a cost-effective manner

Spatial coherence of light inside three dimensional media

Speckle is maybe the most fundamental interference effect of light in disordered media, giving rise to fascinating physical phenomena and enabling applications in imaging, spectroscopy or cryptography, to name a few. While speckle formed outside a sample is easily measured and analysed, true bulk speckle, as formed inside random media, is difficult to investigate directly due to the obvious issue of physical access. Furthermore, its proper theoretical description poses enormous challenges. Here we report on the first direct measurements of intensity correlations of light inside a disordered medium, using embedded DNA strings decorated with emitters separated by a controlled nanometric distance. Our method provides in situ access to fundamental properties of bulk speckles as their size and polarization degrees of freedom, both of which are found to deviate significantly from theoretical predictions. The deviations are explained, by comparison with rigorous numerical calculations, in terms of correlations among polarization components and non-universal near-field contributions at the nanoscale

Virtual reality navigation system for prostate biopsy

Prostate cancer is the most common non-cutaneous cancer in America. Tumor detection involves non-invasive screening tests, but positive results must be confirmed by a prostate biopsy. About twelve random samples are obtained during the biopsy, which is a systematic procedure traditionally performed with trans-rectal ultrasound (TRUS) guidance to determine prostate location. Recently, methods of fusion between TRUS and preoperative MRI have been introduced in order to perform targeted biopsies aimed to reduce the number of samples to few suspicious areas. Since the TRUS displaces the prostate during the procedure, the preoperative MRI does not match patient anatomy. Therefore, complex MRI deformation algorithms are needed. However, despite the substantial increase in complexity and cost, there is no strong evidence that the TRUS-MRI fusion actually improves accuracy and surgical outcomes. This paper presents an innovative virtual reality surgical navigation system for performing targeted prostate biopsies, without the need of the uncomfortable TRUS. Both biopsy needle and patient anatomy are constantly tracked by an electromagnetic tracking system that provides their 3D position and orientation with respect to the surgical bed. Multiple fiducial markers are placed on the patient skin (at the iliac crest and pubic bone) during MRI scanning. Once in the operative room, the surgeon is presented a stereoscopic 3D volumetric rendering and multiple orthogonal views of the patient anatomy, as well as a virtual representation of the tracked needle. After a simple registration process between the MRI and the tracker coordinate system, the navigation system guides the needle insertion in the patient perineum through several anatomical layers towards the biopsy targets

Usefulness of Ultrasound Imaging in Detecting Psoriatic Arthritis of Fingers and Toes in Patients with Psoriasis

Background. Given that clinical evaluation may underestimate the joint damage and that early treatment can slow down psoriatic arthritis (PsA) progression, screening psoriasis patients with imaging tools that can depict early PsA changes would entail clear benefits. Objective. To compare the ability of X-ray and ultrasound (US) examination in detecting morphological abnormalities consistent with early PsA in patients with psoriasis, using rheumatological evaluation as the gold standard for diagnosis. Methods. Patients with chronic plaque psoriasis and no previous PsA diagnosis attending our outpatient dermatology clinic and reporting finger/toe joint and/or tendon pain underwent X-ray and US evaluation; they were subsequently referred to a rheumatologist for clinical examination and review of imaging findings. Results. Abnormal US and/or X-ray findings involving at least one finger and/or toe (joints and/or tendons) were seen in 36/52 patients: 11 had one or more X-ray abnormalities, including erosion, joint space narrowing, new bone formation, periarticular soft tissue swelling, and periarticular osteoporosis; 36 had suspicious changes on US. Conclusion. US proved valuable in detecting joint and/or tendon abnormalities in the fingers and toes of patients with suspicious changes. The dermatologist should consider US to obtain an accurate assessment of suspicious findings