Some results on the improvement of adaptation transients

A technique to improve the adaptation transient in discrete-time model reference adaptive control (MRAC) systems is given on the basis of applying classical optimization techniques to an equivalent near-linear system to the whole adaptive scheme. The resulting optimization is finally translated into modifications of one of the parameters entering the adaptation algorithm. This permits computation of a posteriori values of the adaptive controller parameters before generation of the input to the plant.     

Compensation of uncertain continuous systems by using the internal model control principle

In this paper the design of compensators for uncertain continuous plants is investigated. The standard derived compensators are based on the application of the internal model control (IMC) method. The required a priori knowledge on the plant is rather weak, namely, an upper bound of the plant relative order, the numbers of the strictly unstable and critically unstable plant poles being integrators and upper and lower bounds of the amplitude-versus-frequency plot over the low frequency band in the case of minimum-phase open-loop systems. If the open-loop system has unstable zeros and/or poles then the above bounds are required to be known for a modified magnitude plot which substitutes the unstable zeros (poles) by stable poles (zeros) which are their complex-conjugate reflections on the left-hand plane. An absolute upper bound of the open-loop phase plot is obtained on a finite frequency interval which allows the closed-loop system to guarantee a prescribed relative stability in many practical situations. The method is dependent on the alternative design of phase lead/lag classical compensators and to indirect adaptive control situations where the adaptive identifier is used for the parametrization of the adaptive controller.     

Continuous mobile robot localization by using structured light and a geometric map

A mobile robot needs to know its position and orientation with accuracy in order to decide the control actions that permit it to finish the entrusted tasks successfully. To obtain this information, dead-reckoning-based systems have been used, and more recently inertial navigation systems. However, these systems have some errors that grow bigger as time goes by, therefore a moment comes when the information provided is useless. Because of this, there should be a periodic process that updates the robot position and orientation of the vehicle. The process to determine the robot position and orientation by using information originated from the external sensors is defined as the mobile robot relocalization. It is obvious that the greater the frequency of this process, the better the knowledge of its position the robot will have, and therefore its movements will be better directed to the point it must reach. The algorithm to achieve this can be classified in two large groups: relocalization through an a priori map of the environment and relocalization through the detection of landmarks present in that environment. The algorithm presented in the paper belongs to the first case. The sensor used is a combination of a laser diode and a CCD camera. The sensorial information is modelled as straight lines that will be matched with an a priori map of the environment. With this, the position of the mobile robot is estimated. The matching process is accomplished within an extended Kalman filter. The algorithm is able to work in real time, and it actualizes the position of the robot in a continuous way.     

Application of iterative suboptimal strategies for improving adaptation transients in adaptive systems

Some solutions which involve iterative optimization techniques are given to improve adaptation transients in adaptive systems. Two suboptimal controllers are developed and applied to an equivalent discrete-time system valid for describing the behaviour of a recent adaptive control scheme when one of the (time-varying) parameters entering the adaptation algorithm varies within a closed domain admissible from a convergence point of view. The resulting suboptimal control strategies are translated into corrections of this parameter in order to recompute the adaptation algorithm over a finite horizon. Some numerical simulations illustrate the usefulness of the proposed scheme.     

Differences in Diffusion Charging of Dielectric and Conducting Ultrafine Aerosols

The effect of the dielectric constant on unipolar and bipolar charging rates is investigated. This effect is manifested through the image potential. Bulk dielectric constants of aerosol materials range from 2.5 to 50. The corresponding image potentials range from about 40% to about 96% of the image potential for a perfect conductor. Charging simulations were carried out for this parameter range and typical results are presented. For dielectric constants greater than 2.5 the charging behavior shows a strong image potential effect, and may be approximated by calculations for a perfect conductor. This suggests that charging models that do not allow for image potential effects are likely to be inaccurate except, perhaps, for larger particles, where the Coulomb potential dominates the image potential. The simulations are compared with unipolar charging data from recent experiments, which tend also to support this conclusion.     

Structure of CheA, a signal-transducing histidine kinase

BACKGROUND/AIMS: After liver transplantation for autoimmune hepatitis, the long-term results and the incidence of recurrence of primary disease are unknown. METHODS: In this retrospective study we reviewed the clinical course of 25 patients transplanted for autoimmune hepatitis and followed for a mean of 5.3 years (2-8.5 years). RESULTS: The actuarial 5-year patient and graft survival rates were 91% (+/-6%) and 83% (+/-8%). The actuarial 1-year rate of acute rejection was 50% (+/-10.2%), which was comparable to that of patients transplanted for primary biliary cirrhosis and primary sclerosing cholangitis. Autoantibodies persisted in 77% of patients, at a lower titer than before liver transplantation. Ten patients were excluded from the study of autoimmune hepatitis recurrence, one because of an early postoperative death and nine because of hepatitis C virus infection acquired before or after liver transplantation. In the remaining 15 patients, who were free of hepatitis C virus infection, 5-year patient and graft survivals were 100% and 87%, respectively. Despite triple immunosuppressive therapy, three patients (20%) developed chronic hepatitis with histological and serological features of autoimmune hepatitis in the absence of any other identifiable cause. The disease was severe in two patients, leading to graft failure and asymptomatic in another, despite marked histological abnormalities. In one of these three patients, autoimmune hepatitis recurred on the second liver graft as well. CONCLUSIONS: Patients undergoing liver transplantation for autoimmune hepatitis have an excellent survival rate although severe primary disease may recur, suggesting the need for stronger post-operative immunosuppressive therapy.     

High J Pure Inversion Spectrum of ND3 in the v2 = 1 State

OBJECTIVE: The authors examined the efficacy of intramuscular flunitrazepam compared with intramuscular haloperidol for the immediate control of agitated or aggressive behavior in acutely psychotic patients. METHOD: Twenty-eight actively psychotic inpatients, aged 20-60 years, who were under treatment with neuroleptic agents were selected for the study. Each was randomly assigned on a double-blind basis to receive either 5 mg i.m. of haloperidol (N=13) or 1 mg i.m. of flunitrazepam (N=15) during an aggressive event. Verbal and physical aggression was measured over time with the Overt Aggression Scale. Patients were also rated with the Brief Psychiatric Rating Scale and the Clinical Global Impression scale. RESULTS: Both flunitrazepam and haloperidol exhibited acute antiaggressive activity. This beneficial effect, as assessed by the Overt Aggression Scale, was obtained within 30 minutes. CONCLUSIONS: Intramuscular flunitrazepam may serve as a convenient, rapid, safe, and effective adjunct to neuroleptics in reducing aggressive behavior in emergency psychiatric settings.