An Active Disturbance Rejection Approach to Leader‐Follower Controlled Formation

This article describes the design of a linearizing, observer‐based, robust dynamic feedback control scheme for output reference trajectory tracking tasks in a leader‐follower non‐holonomic car formation problem. The approach is based on the cars' kinematic models. A radical simplification in the form of a global ultra‐model is proposed on the follower's exact open loop position tracking error dynamics obtained via flatness considerations. This results in a system described by an additively disturbed set of two, second order integrators with non‐linear velocity dependent control input gain matrix. The unknown additive disturbances are modeled as absolutely uniformly bounded time signals which may be locally approximated by arbitrary elements of a sufficiently high degree family of Taylor polynomials. Linear high‐gain Luenberger observers of the generalized proportional integral (GPI) type may be readily designed. These observers include the self updating internal model of the unknown disturbance input vector components in the form of generic, instantaneous, time‐polynomial models. The proposed (GPI) observers, which are the dual counterpart of GPI controllers [17], achieve a simultaneous disturbance estimation and tracking error phase variables estimation. This on‐line gathered information is used to advantage on the follower's feedback controller thus allowing for a simple, yet efficient, disturbance and control input gain cancelation effort. The results are applied to have the follower track a time‐delayed version of the actual leader's trajectory. Experimental results are presented which illustrate the robustness and viability of the proposed approach.     

Biological Role of the Intercellular Transfer of Glycosylphosphatidylinositol-Anchored Proteins: Stimulation of Lipid and Glycogen Synthesis

Glycosylphosphatidylinositol-anchored proteins (GPI-APs), which are anchored at the outer leaflet of plasma membranes (PM) only by a carboxy-terminal GPI glycolipid, are known to fulfill multiple enzymic and receptor functions at the cell surface. Previous studies revealed that full-length GPI-APs with the complete GPI anchor attached can be released from and inserted into PMs in vitro. Moreover, full-length GPI-APs were recovered from serum, dependent on the age and metabolic state of rats and humans. Here, the possibility of intercellular control of metabolism by the intercellular transfer of GPI-APs was studied. Mutant K562 erythroleukemia (EL) cells, mannosamine-treated human adipocytes and methyl-ß-cyclodextrin-treated rat adipocytes as acceptor cells for GPI-APs, based on their impaired PM expression of GPI-APs, were incubated with full-length GPI-APs, prepared from rat adipocytes and embedded in micelle-like complexes, or with EL cells and human adipocytes with normal expression of GPI-APs as donor cells in transwell co-cultures. Increases in the amounts of full-length GPI-APs at the PM of acceptor cells as a measure of their transfer was assayed by chip-based sensing. Both experimental setups supported both the transfer and upregulation of glycogen (EL cells) and lipid (adipocytes) synthesis. These were all diminished by serum, serum GPI-specific phospholipase D, albumin, active bacterial PI-specific phospholipase C or depletion of total GPI-APs from the culture medium. Serum inhibition of both transfer and glycogen/lipid synthesis was counteracted by synthetic phosphoinositolglycans (PIGs), which closely resemble the structure of the GPI glycan core and caused dissociation of GPI-APs from serum proteins. Finally, large, heavily lipid-loaded donor and small, slightly lipid-loaded acceptor adipocytes were most effective in stimulating transfer and lipid synthesis. In conclusion, full-length GPI-APs can be transferred between adipocytes or between blood cells as well as between these cell types. Transfer and the resulting stimulation of lipid and glycogen synthesis, respectively, are downregulated by serum proteins and upregulated by PIGs. These findings argue for the (patho)physiological relevance of the intercellular transfer of GPI-APs in general and its role in the paracrine vs. endocrine (dys)regulation of metabolism, in particular. Moreover, they raise the possibility of the use of full-length GPI-APs as therapeutics for metabolic diseases.     

Candida albicans homologue of GGP1/GAS1 gene is functional in Saccharomyces cerevisiae and contains the determinants for glycosylphosphatidylinositol attachment

The GGP1/GAS1/CWH52 gene of Saccharomyces cerevisiae encodes a major exocellular 115 kDa glycoprotein (gp115) anchored to the plasma membrane through a glycosylphosphatidylinositol (GPI). The function of gp115 is still unknown but the analysis of null mutants suggests a possible role in the control of morphogenesis. PHR1 gene isolated from Candida alibicans is homologous to the GGP1 gene. In this report we have analysed the ability of PHR1 to complement a ggp1Δ mutation in S. cerevisiae. The expression of PHR1 controlled by its natural promoter or by the GGP1 promoter has been studied. In both cases we have observed a complete complementation of the mutant phenotype. Moreover, immunological analysis has revealed that PHR1 in budding yeast gives rise to a 75–80 kDa protein anchored to the membrane through a GPI, indicating that the signal for GPI attachment present in the C. albicans gene product is functional in S. cerevisiae.     

Robust sigma–delta generalised proportional integral observer based control of a ‘buck’ converter with uncertain loads

This article describes the design of an observer based robust linear output feedback controller for the regulation and output reference trajectory tracking tasks in switched ‘buck’ converter circuits feeding a completely unknown time-varying load. The state-dependent perturbation effects of the unknown load resistance are on-line estimated by means of a generalised proportional integral (GPI) observer, which represents the dual counterpart of GPI controllers introduced in Fliess, Márquez, Delaleau and Sira-Ramírez (Fliess, M., Márquez, R., Delaleau, E., and Sira-Ramírez, H. (2002), ‘Correcteurs Proportionnels-intégraux Géneralisés’, ESAIM: Control, Optimisation and Calculus of Variations, 7, 23–41). The reconstructed perturbation complements the controller in a cancellation effort which allows the core of the feedback controller to become a traditional proportional derivative (PD) controller. The designed average feedback controller is then implemented via a sigma–delta-modulator, which effectively translates the designed continuous average feedback control input signal into a discrete valued switched input signal driving the converter's input switch and preserving all relevant features of the average design. The Appendix collects some generalities about GPI observers.     

GPI based velocity/force observer design for robot manipulators

In many applications involving a robot in contact with a surface it is important to control the interaction between the manipulator and its environment, usually by employing force sensors. However, sometimes it is desirable to remove them due to a variety of reasons, e.g. high costs, noisy measurements and a narrow bandwidth. To overcome these drawbacks, in this work it is proposed as a velocity/force observer based on the Generalized Proportional Integral (GPI) technique. Joint velocities and contact forces are estimated with only position measurements and then used in a force/position control scheme. Ultimate boundedness of the observation errors is formally proven and an arbitrarily small ultimate bound is then achieved. Simulation results are used to validate the proposed approach.     

Dual effect of free and liposomal forms of phenolic lipids on the activity of GPI-anchor-deprived acetylcholinesterase from erythrocytes

The effect of free and liposomal forms of phenolic lipids isolated from rye grains, cashew nut-shell liquid (CNSL) from Anacardium occidentale, and Merrulius tremellosus fruit body on the glycosyl-phosphatidylinositol (GPI)-anchor-deprived erythrocyte-ghost acetylcholinesterase activity was studied. It was shown that the observed effect distinctly depends on the form of the phenolic lipids available for interaction with the enzyme. The free form of the phenolic lipids decreased the enzymatic activity of GPI-anchor-deprived acetylcholinesterase less than the acetylcholinesterase anchored in erythrocytes ghosts, whereas the same phenolic lipids present in the medium in liposomal form, increased it.     

基于扩展路径识别算法的水声OFDM系统低复杂度迭代稀疏信道估计

移动OFDM水声通信系统中,基于压缩感知的稀疏信道估计方法计算量较大,不适用于实时通信.针对这一问题,该文基于一致多普勒信道模型提出一种扩展路径识别(GPI)算法.该方法首先使用信道多普勒扩展矩阵构造等效发射序列,将多普勒信道转化为等效线性时不变信道.然后使用GPI算法估计信道多普勒及各路径的时延及幅度参数,实现低复杂...