46 research outputs found
Suspended Load Path Tracking Control Using a Tilt-rotor UAV Based on Zonotopic State Estimation
This work addresses the problem of path tracking control of a suspended load
using a tilt-rotor UAV. The main challenge in controlling this kind of system
arises from the dynamic behavior imposed by the load, which is usually coupled
to the UAV by means of a rope, adding unactuated degrees of freedom to the
whole system. Furthermore, to perform the load transportation it is often
needed the knowledge of the load position to accomplish the task. Since
available sensors are commonly embedded in the mobile platform, information on
the load position may not be directly available. To solve this problem in this
work, initially, the kinematics of the multi-body mechanical system are
formulated from the load's perspective, from which a detailed dynamic model is
derived using the Euler-Lagrange approach, yielding a highly coupled, nonlinear
state-space representation of the system, affine in the inputs, with the load's
position and orientation directly represented by state variables. A zonotopic
state estimator is proposed to solve the problem of estimating the load
position and orientation, which is formulated based on sensors located at the
aircraft, with different sampling times, and unknown-but-bounded measurement
noise. To solve the path tracking problem, a discrete-time mixed
controller with pole-placement constraints
is designed with guaranteed time-response properties and robust to unmodeled
dynamics, parametric uncertainties, and external disturbances. Results from
numerical experiments, performed in a platform based on the Gazebo simulator
and on a Computer Aided Design (CAD) model of the system, are presented to
corroborate the performance of the zonotopic state estimator along with the
designed controller
Set-based state estimation and fault diagnosis using constrained zonotopes and applications
This doctoral thesis develops new methods for set-based state estimation and
active fault diagnosis (AFD) of (i) nonlinear discrete-time systems, (ii)
discrete-time nonlinear systems whose trajectories satisfy nonlinear equality
constraints (called invariants), (iii) linear descriptor systems, and (iv)
joint state and parameter estimation of nonlinear descriptor systems. Set-based
estimation aims to compute tight enclosures of the possible system states in
each time step subject to unknown-but-bounded uncertainties. To address this
issue, the present doctoral thesis proposes new methods for efficiently
propagating constrained zonotopes (CZs) through nonlinear mappings. Besides,
this thesis improves the standard prediction-update framework for systems with
invariants using new algorithms for refining CZs based on nonlinear
constraints. In addition, this thesis introduces a new approach for set-based
AFD of a class of nonlinear discrete-time systems. An affine parametrization of
the reachable sets is obtained for the design of an optimal input for set-based
AFD. In addition, this thesis presents new methods based on CZs for set-valued
state estimation and AFD of linear descriptor systems. Linear static
constraints on the state variables can be directly incorporated into CZs.
Moreover, this thesis proposes a new representation for unbounded sets based on
zonotopes, which allows to develop methods for state estimation and AFD also of
unstable linear descriptor systems, without the knowledge of an enclosure of
all the trajectories of the system. This thesis also develops a new method for
set-based joint state and parameter estimation of nonlinear descriptor systems
using CZs in a unified framework. Lastly, this manuscript applies the proposed
set-based state estimation and AFD methods using CZs to unmanned aerial
vehicles, water distribution networks, and a lithium-ion cell.Comment: My PhD Thesis from Federal University of Minas Gerais, Brazil. Most
of the research work has already been published in DOIs
10.1109/CDC.2018.8618678, 10.23919/ECC.2018.8550353,
10.1016/j.automatica.2019.108614, 10.1016/j.ifacol.2020.12.2484,
10.1016/j.ifacol.2021.08.308, 10.1016/j.automatica.2021.109638,
10.1109/TCST.2021.3130534, 10.1016/j.automatica.2022.11042
Set-based state estimation and fault diagnosis of linear discrete-time descriptor systems using constrained zonotopes
This paper presents new methods for set-valued state estimation and active
fault diagnosis of linear descriptor systems. The algorithms are based on
constrained zonotopes, a generalization of zonotopes capable of describing
strongly asymmetric convex sets, while retaining the computational advantages
of zonotopes. Additionally, unlike other set representations like intervals,
zonotopes, ellipsoids, paralletopes, among others, linear static constraints on
the state variables, typical of descriptor systems, can be directly
incorporated in the mathematical description of constrained zonotopes.
Therefore, the proposed methods lead to more accurate results in state
estimation in comparison to existing methods based on the previous sets without
requiring rank assumptions on the structure of the descriptor system and with a
fair trade-off between accuracy and efficiency. These advantages are
highlighted in two numerical examples.Comment: This paper was accepted and presented in the 1st IFAC Virtual World
Congress, 202
Joint state and parameter estimation based on constrained zonotopes
This note presents a new method for set-based joint state and parameter
estimation of discrete-time systems using constrained zonotopes. This is done
by extending previous set-based state estimation methods to include parameter
identification in a unified framework. Unlike in interval-based methods, the
existing dependencies between states and model parameters are maintained from
one time step to the next, thus providing a more accurate estimation scheme. In
addition, the enclosure of states and parameters is refined using measurements
through generalized intersections, which are properly captured by constrained
zonotopes. The advantages of the new approach are highlighted in two numerical
examples
Guaranteed methods based on constrained zonotopes for set-valued state estimation of nonlinear discrete-time systems
This paper presents new methods for set-valued state estimation of nonlinear
discrete-time systems with unknown-but-bounded uncertainties. A single time
step involves propagating an enclosure of the system states through the
nonlinear dynamics (prediction), and then enclosing the intersection of this
set with a bounded-error measurement (update). When these enclosures are
represented by simple sets such as intervals, ellipsoids, parallelotopes, and
zonotopes, certain set operations can be very conservative. Yet, using general
convex polytopes is much more computationally demanding. To address this, this
paper presents two new methods, a mean value extension and a first-order Taylor
extension, for efficiently propagating constrained zonotopes through nonlinear
mappings. These extend existing methods for zonotopes in a consistent way.
Examples show that these extensions yield tighter prediction enclosures than
zonotopic estimation methods, while largely retaining the computational
benefits of zonotopes. Moreover, they enable tighter update enclosures because
constrained zonotopes can represent intersections much more accurately than
zonotopes.Comment: This includes the supplement "Supplementary material for: Guaranteed
methods based on constrained zonotopes for set-valued state estimation of
nonlinear discrete-time systems
First-principles quantum transport modeling of thermoelectricity in single-molecule nanojunctions with graphene nanoribbon electrodes
We overview nonequilibrium Green function combined with density functional
theory (NEGF-DFT) modeling of independent electron and phonon transport in
nanojunctions with applications focused on a new class of thermoelectric
devices where a single molecule is attached to two metallic zigzag graphene
nanoribbons (ZGNRs) via highly transparent contacts. Such contacts make
possible injection of evanescent wavefunctions from ZGNRs, so that their
overlap within the molecular region generates a peak in the electronic
transmission. Additionally, the spatial symmetry properties of the transverse
propagating states in the ZGNR electrodes suppress hole-like contributions to
the thermopower. Thus optimized thermopower, together with diminished phonon
conductance through a ZGNR/molecule/ZGNR inhomogeneous structure, yields the
thermoelectric figure of merit ZT~0.5 at room temperature and 0.5<ZT<2.5 below
liquid nitrogen temperature. The reliance on evanescent mode transport and
symmetry of propagating states in the electrodes makes the
electronic-transport-determined power factor in this class of devices largely
insensitive to the type of sufficiently short conjugated organic molecule,
which we demonstrate by showing that both 18-annulene and C10 molecule
sandwiched by the two ZGNR electrodes yield similar thermopower. Thus, one can
search for molecules that will further reduce the phonon thermal conductance
(in the denominator of ZT) while keeping the electronic power factor (in the
nominator of ZT) optimized. We also show how often employed Brenner empirical
interatomic potential for hydrocarbon systems fails to describe phonon
transport in our single-molecule nanojunctions when contrasted with
first-principles results obtained via NEGF-DFT methodology.Comment: 20 pages, 6 figures; mini-review article prepared for the special
issue of the Journal of Computational Electronics on "Simulation of Thermal,
Thermoelectric, and Electrothermal Phenomena in Nanostructures", edited by I.
Knezevic and Z. Aksamij
Quantum thermal transport in nanostructures
In this colloquia review we discuss methods for thermal transport
calculations for nanojunctions connected to two semi-infinite leads served as
heat-baths. Our emphases are on fundamental quantum theory and atomistic
models. We begin with an introduction of the Landauer formula for ballistic
thermal transport and give its derivation from scattering wave point of view.
Several methods (scattering boundary condition, mode-matching, Piccard and
Caroli formulas) of calculating the phonon transmission coefficients are given.
The nonequilibrium Green's function (NEGF) method is reviewed and the Caroli
formula is derived. We also give iterative methods and an algorithm based on a
generalized eigenvalue problem for the calculation of surface Green's
functions, which are starting point for an NEGF calculation. A systematic
exposition for the NEGF method is presented, starting with the fundamental
definitions of the Green's functions, and ending with equations of motion for
the contour ordered Green's functions and Feynman diagrammatic expansion. In
the later part, we discuss the treatments of nonlinear effects in heat
conduction, including a phenomenological expression for the transmission, NEGF
for phonon-phonon interactions, molecular dynamics (generalized Langevin) with
quantum heat-baths, and electron-phonon interactions. Some new results are also
shown. We also briefly review the experimental status of the thermal transport
measurements in nanostructures.Comment: 24 pages, 10 figures, over 200 reference
Sarilumab in patients admitted to hospital with severe or critical COVID-19: a randomised, double-blind, placebo-controlled, phase 3 trial
Background: Elevated proinflammatory cytokines are associated with greater COVID-19 severity. We aimed to assess safety and efficacy of sarilumab, an interleukin-6 receptor inhibitor, in patients with severe (requiring supplemental oxygen by nasal cannula or face mask) or critical (requiring greater supplemental oxygen, mechanical ventilation, or extracorporeal support) COVID-19. Methods: We did a 60-day, randomised, double-blind, placebo-controlled, multinational phase 3 trial at 45 hospitals in Argentina, Brazil, Canada, Chile, France, Germany, Israel, Italy, Japan, Russia, and Spain. We included adults (≥18 years) admitted to hospital with laboratory-confirmed SARS-CoV-2 infection and pneumonia, who required oxygen supplementation or intensive care. Patients were randomly assigned (2:2:1 with permuted blocks of five) to receive intravenous sarilumab 400 mg, sarilumab 200 mg, or placebo. Patients, care providers, outcome assessors, and investigators remained masked to assigned intervention throughout the course of the study. The primary endpoint was time to clinical improvement of two or more points (seven point scale ranging from 1 [death] to 7 [discharged from hospital]) in the modified intention-to-treat population. The key secondary endpoint was proportion of patients alive at day 29. Safety outcomes included adverse events and laboratory assessments. This study is registered with ClinicalTrials.gov, NCT04327388; EudraCT, 2020-001162-12; and WHO, U1111-1249-6021. Findings: Between March 28 and July 3, 2020, of 431 patients who were screened, 420 patients were randomly assigned and 416 received placebo (n=84 [20%]), sarilumab 200 mg (n=159 [38%]), or sarilumab 400 mg (n=173 [42%]). At day 29, no significant differences were seen in median time to an improvement of two or more points between placebo (12·0 days [95% CI 9·0 to 15·0]) and sarilumab 200 mg (10·0 days [9·0 to 12·0]; hazard ratio [HR] 1·03 [95% CI 0·75 to 1·40]; log-rank p=0·96) or sarilumab 400 mg (10·0 days [9·0 to 13·0]; HR 1·14 [95% CI 0·84 to 1·54]; log-rank p=0·34), or in proportions of patients alive (77 [92%] of 84 patients in the placebo group; 143 [90%] of 159 patients in the sarilumab 200 mg group; difference −1·7 [−9·3 to 5·8]; p=0·63 vs placebo; and 159 [92%] of 173 patients in the sarilumab 400 mg group; difference 0·2 [−6·9 to 7·4]; p=0·85 vs placebo). At day 29, there were numerical, non-significant survival differences between sarilumab 400 mg (88%) and placebo (79%; difference +8·9% [95% CI −7·7 to 25·5]; p=0·25) for patients who had critical disease. No unexpected safety signals were seen. The rates of treatment-emergent adverse events were 65% (55 of 84) in the placebo group, 65% (103 of 159) in the sarilumab 200 mg group, and 70% (121 of 173) in the sarilumab 400 mg group, and of those leading to death 11% (nine of 84) were in the placebo group, 11% (17 of 159) were in the sarilumab 200 mg group, and 10% (18 of 173) were in the sarilumab 400 mg group. Interpretation: This trial did not show efficacy of sarilumab in patients admitted to hospital with COVID-19 and receiving supplemental oxygen. Adequately powered trials of targeted immunomodulatory therapies assessing survival as a primary endpoint are suggested in patients with critical COVID-19. Funding: Sanofi and Regeneron Pharmaceuticals
The histology of ovarian cancer: worldwide distribution and implications for international survival comparisons (CONCORD-2)
Objective Ovarian cancers comprise several histologically distinct tumour groups with widely different prognosis. We aimed to describe the worldwide distribution of ovarian cancer histology and to understand what role this may play in international variation in survival. Methods The CONCORD programme is the largest population-based study of global trends in cancer survival. Data on 681,759 women diagnosed during 1995â\u80\u932009 with cancer of the ovary, fallopian tube, peritoneum and retroperitonum in 51 countries were included. We categorised ovarian tumours into six histological groups, and explored the worldwide distribution of histology. Results During 2005â\u80\u932009, type II epithelial tumours were the most common. The proportion was much higher in Oceania (73.1%), North America (73.0%) and Europe (72.6%) than in Central and South America (65.7%) and Asia (56.1%). By contrast, type I epithelial tumours were more common in Asia (32.5%), compared with only 19.4% in North America. From 1995 to 2009, the proportion of type II epithelial tumours increased from 68.6% to 71.1%, while the proportion of type I epithelial tumours fell from 23.8% to 21.2%. The proportions of germ cell tumours, sex cord-stromal tumours, other specific non-epithelial tumours and tumours of non-specific morphology all remained stable over time. Conclusions The distribution of ovarian cancer histology varies widely worldwide. Type I epithelial, germ cell and sex cord-stromal tumours are generally associated with higher survival than type II tumours, so the proportion of these tumours may influence survival estimates for all ovarian cancers combined. The distribution of histological groups should be considered when comparing survival between countries and regions
Lancet
BACKGROUND: In 2015, the second cycle of the CONCORD programme established global surveillance of cancer survival as a metric of the effectiveness of health systems and to inform global policy on cancer control. CONCORD-3 updates the worldwide surveillance of cancer survival to 2014. METHODS: CONCORD-3 includes individual records for 37.5 million patients diagnosed with cancer during the 15-year period 2000-14. Data were provided by 322 population-based cancer registries in 71 countries and territories, 47 of which provided data with 100% population coverage. The study includes 18 cancers or groups of cancers: oesophagus, stomach, colon, rectum, liver, pancreas, lung, breast (women), cervix, ovary, prostate, and melanoma of the skin in adults, and brain tumours, leukaemias, and lymphomas in both adults and children. Standardised quality control procedures were applied; errors were rectified by the registry concerned. We estimated 5-year net survival. Estimates were age-standardised with the International Cancer Survival Standard weights. FINDINGS: For most cancers, 5-year net survival remains among the highest in the world in the USA and Canada, in Australia and New Zealand, and in Finland, Iceland, Norway, and Sweden. For many cancers, Denmark is closing the survival gap with the other Nordic countries. Survival trends are generally increasing, even for some of the more lethal cancers: in some countries, survival has increased by up to 5% for cancers of the liver, pancreas, and lung. For women diagnosed during 2010-14, 5-year survival for breast cancer is now 89.5% in Australia and 90.2% in the USA, but international differences remain very wide, with levels as low as 66.1% in India. For gastrointestinal cancers, the highest levels of 5-year survival are seen in southeast Asia: in South Korea for cancers of the stomach (68.9%), colon (71.8%), and rectum (71.1%); in Japan for oesophageal cancer (36.0%); and in Taiwan for liver cancer (27.9%). By contrast, in the same world region, survival is generally lower than elsewhere for melanoma of the skin (59.9% in South Korea, 52.1% in Taiwan, and 49.6% in China), and for both lymphoid malignancies (52.5%, 50.5%, and 38.3%) and myeloid malignancies (45.9%, 33.4%, and 24.8%). For children diagnosed during 2010-14, 5-year survival for acute lymphoblastic leukaemia ranged from 49.8% in Ecuador to 95.2% in Finland. 5-year survival from brain tumours in children is higher than for adults but the global range is very wide (from 28.9% in Brazil to nearly 80% in Sweden and Denmark). INTERPRETATION: The CONCORD programme enables timely comparisons of the overall effectiveness of health systems in providing care for 18 cancers that collectively represent 75% of all cancers diagnosed worldwide every year. It contributes to the evidence base for global policy on cancer control. Since 2017, the Organisation for Economic Co-operation and Development has used findings from the CONCORD programme as the official benchmark of cancer survival, among their indicators of the quality of health care in 48 countries worldwide. Governments must recognise population-based cancer registries as key policy tools that can be used to evaluate both the impact of cancer prevention strategies and the effectiveness of health systems for all patients diagnosed with cancer. FUNDING: American Cancer Society; Centers for Disease Control and Prevention; Swiss Re; Swiss Cancer Research foundation; Swiss Cancer League; Institut National du Cancer; La Ligue Contre le Cancer; Rossy Family Foundation; US National Cancer Institute; and the Susan G Komen Foundation