Stability of a class of discrete-time nonlinear recursive observers

This work provides a framework for nominal and robust stability analysis for a class of discrete-time nonlinear recursive observers (DNRO). Given that the system has linear output mapping, local observability and Jacobian matrices satisfying certain conditions, the nominal and robust stability of the DNRO is defined by the property of estimation error dynamics and is analyzed using Lyapunov theory. Moreover, a simultaneous state and parameter estimation scheme is shown to be Input-to-State Stable (ISS), and adaptively reduce plant-model mismatch on-line. Three design strategies of the DNRO that satisfy the stability results are given as examples, including the widely used extended Kalman filter, extended Luenberger observer, and the fixed gain observer.     

Proteome alterations induced in human white blood cells by consumption of Brussels sprouts: Results of a pilot intervention study

Epidemiological studies indicate a correlation of cruciferous vegetables consumption with reduced incidence of cancer. This study was designed to investigate molecular mechanisms, which may help to understand the beneficial effects of Brussels sprout consumption. In order to avoid the limitations of in vitro model systems, we performed a dietary intervention study with five participants. We investigated, whether sprout consumption affects the proteome profile of primary white blood cells. In order to achieve maximal sensitivity in detecting specific adaptive proteome alterations, we metabolically labelled freshly isolated cells in the presence of ³⁵S‐methionine/cysteine and performed autoradiographic quantification of protein synthesis. Proteins were separated by 2‐DE and spots of interest were cut out, digested and identified by MS. After the intervention, we found a significant up‐regulation of the synthesis of manganese superoxide dismutase (1.56‐fold) and significant down‐regulation of the synthesis of heat shock 70 kDa protein (hsp70; 2.27‐fold). Both proteins play a role in malignant transformation of cells. Hsp‐70 is involved in the regulation of apoptosis, which leads to elimination of cancer cells, while SOD plays a key role in protection against reactive oxygen species mediated effects. Our findings indicate that the alteration of the synthesis of these proteins may be involved in the anticarcinogenic effects of cruciferous vegetables, which was observed in earlier laboratory studies with animals.     

PIXHAWK: A micro aerial vehicle design for autonomous flight using onboard computer vision

We describe a novel quadrotor Micro Air Vehicle (MAV) system that is designed to use computer vision algorithms within the flight control loop. The main contribution is a MAV system that is able to run both the vision-based flight control and stereo-vision-based obstacle detection parallelly on an embedded computer onboard the MAV. The system design features the integration of a powerful onboard computer and the synchronization of IMU-Vision measurements by hardware timestamping which allows tight integration of IMU measurements into the computer vision pipeline. We evaluate the accuracy of marker-based visual pose estimation for flight control and demonstrate marker-based autonomous flight including obstacle detection using stereo vision. We also show the benefits of our IMU-Vision synchronization for egomotion estimation in additional experiments where we use the synchronized measurements for pose estimation using the 2pt+gravity formulation of the PnP problem.     

QPSchur: A dual, active-set, Schur-complement method for large-scale and structured convex quadratic programming

We describe an active-set, dual-feasible Schur-complement method for quadratic programming (QP) with positive definite Hessians. The formulation of the QP being solved is general and flexible, and is appropriate for many different application areas. Moreover, the specialized structure of the QP is abstracted away behind a fixed KKT matrix called K_o and other problem matrices, which naturally leads to an object-oriented software implementation. Updates to the working set of active inequality constraints are facilitated using a dense Schur complement, which we expect to remain small. Here, the dual Schur complement method requires the projected Hessian to be positive definite for every working set considered by the algorithm. Therefore, this method is not appropriate for all QPs. While the Schur complement approach to linear algebra is very flexible with respect to allowing exploitation of problem structure, it is not as numerically stable as approaches using a QR factorization. However, we show that the use of fixed-precision iterative refinement helps to dramatically improve the numerical stability of this Schur complement algorithm. The use of the object-oriented QP solver implementation is demonstrated on two different application areas with specializations in each area; large-scale model predictive control (MPC) and reduced-space successive quadratic programming (with several different representations for the reduced Hessian). These results demonstrate that the QP solver can exploit application-specific structure in a computationally efficient and fairly robust manner as compared to other QP solver implementations.     

AC brushless drive with low-resolution Hall-effect sensors for surface-mounted PM Machines

An ac brushless drive in which Hall-effect sensors are used as rotor position sensors is presented in this paper. Three different methods to obtain a high-resolution position estimation from the low-resolution sensors are described and compared through simulation and experimental testing. The proposed control algorithm's most innovative feature is its adaptability to the entire speed range, including startup, when using any of the three estimation algorithms. The control algorithm has been implemented and tested in order to drive a slotless axial-flux permanent-magnet (PM) machine for domestic appliance applications.     

Control topology options for single-phase UPS inverters

Four control topologies for single-phase uninterruptible power system (UPS) inverters are presented and compared, with the common objective of providing a dynamically stiff, low total harmonic distortion (THD), sinusoidal output voltage. Full-state feedback, full-state command controllers are shown, utilizing both filter inductor current and filter capacitor current feedback to augment output voltage control. All controllers presented include output voltage decoupling in a manner analogous to “back EMF” decoupling in DC motor drives. Disturbance input decoupling of the load current and its derivative is presented. An observer-based controller is additionally considered and is shown to be a technically viable, economically attractive option. The accuracy transfer function of the observer estimate is used to evaluate its measurement performance. Comparative disturbance rejection is evaluated by overlaying the dynamic stiffness (inverse of output impedance) frequency response of each controller on a single plot. Experimental results for one controller are presented     

Structure of the ion-rich phase in DVB cross-linked graft-copolymer proton-exchange membranes

We report on correlations between the proton conductivity, the water swelling and the dry-state morphology of ETFE-g-poly(sulfonated styrene-co-DVB) proton-exchange membranes (PEMs). We focus on the influence of the systematically varied monomer composition. Especially, the impact of the DVB cross-linker on the ion-rich phase aggregated in the dry PEM is studied by small-angle X-ray scattering. A modified hard-sphere fluid model describing the ion-rich phase is applied to interpret the observed scattering function. We find hereby that the size and number density of the ion-rich domains decrease with increasing cross-link level. Consequently, the distance between the ion-rich domains is proportional to the cross-link level. The total volume fraction of water in the hydrated membrane is proportional to the overall volume fraction of the ion-rich phase, and the number of water molecules per ion-rich aggregate is inversely proportional to the level of cross-linking. We show that there is a clear correlation between the structure of the ion-rich phase formed in the dry state and the proton conductivity of the hydrated membrane: beyond a threshold, indicating the onset of percolation of the aqueous network, the conductivity is proportional to the hydration level and inversely proportional to the mean distance between the ion-rich domains.     

Logical Geometries and Information in the Square of Oppositions

The Aristotelian square of oppositions is a well-known diagram in logic and linguistics. In recent years, several extensions of the square have been discovered. However, these extensions have failed to become as widely known as the square. In this paper we argue that there is indeed a fundamental difference between the square and its extensions, viz., a difference in informativity. To do this, we distinguish between concrete Aristotelian diagrams (such as the square) and, on a more abstract level, the Aristotelian geometry (a set of logical relations). We then introduce two new logical geometries (and their corresponding diagrams), and develop a formal, well-motivated account of their informativity. This enables us to show that the square is strictly more informative than many of the more complex diagrams.     

Using mobile media creation to structure museum interpretation with professional vision

Mobile technology plays an increasing role in museum and cultural heritage contexts. In most cases, these tools support the relatively passive consumption of expert interpretations, or the unguided generation of content by users. This paper explores the potential for technologies to help museum visitors, encountering unfamiliar objects, to engage with them as a skilled professional interpreter would, through structured mobile experiences that focus on creating multimedia content. We explore this concept in the area of artefact interpretation and specifically how to enact a structured process of interpretation, as would commonly be taught in courses dedicated to the analytical diagnostics of visual evidence, such as Classical Archaeology or Art History. We discuss two field trials of prototype systems through which the structured creation of multimedia forms a basis for learning to interpret historical artefacts conducted in contexts of both formal and informal learning. By describing, implementing, and evaluating this approach, we contribute understanding of a new way to conceptualise active engagement in museum contexts, through the effective use of scaffolding and user generation of multimedia. We identify issues around the properties and flexibilities of multiple media for this purpose, links between provision for procedural and factual learning, and the value of media creation-based structures in improving the skills and confidence to interpret.