Verifiable control of a swarm of unmanned aerial vehicles

This article considers the distributed control of a swarm of unmanned aerial vehicles (UAVs) investigating autonomous pattern formation and reconfigurability. A behaviour-based approach to formation control is considered with a velocity field control algorithm developed through bifurcating potential fields. This new approach extends previous research into pattern formation using potential field theory by considering the use of bifurcation theory as a means of reconfiguring a swarm pattern through a free parameter change. The advantage of this kind of system is that it is extremely robust to individual failures, is scalpable, and also flexible. The potential field consists of a steering and repulsive term with the bifurcation of the steering potential resulting in a change of the swarm pattern. The repulsive potential ensures collision avoidance and an equally spaced final formation. The stability of the system is demonstrated to ensure that desired behaviours always occur, assuming that at large separation distances the repulsive potential can be neglected through a scale separation that exists between the steering and repulsive potential. The control laws developed are applied to a formation of ten UAVs using a velocity field tracking approach, where it is shown numerically that desired patterns can be formed safely ensuring collision avoidance

Parallel spinors and holonomy groups

In this paper we complete the classification of spin manifolds admitting parallel spinors, in terms of the Riemannian holonomy groups. More precisely, we show that on a given n-dimensional Riemannian manifold, spin structures with parallel spinors are in one to one correspondence with lifts to Spin_n of the Riemannian holonomy group, with fixed points on the spin representation space. In particular, we obtain the first examples of compact manifolds with two different spin structures carrying parallel spinors.Comment: 10 pages, LaTeX2

Diabetic foot disease in the United Kingdom: about time to put feet first

Diabetes is now the biggest cause of amputation, stroke, blindness and end stage renal failure. It causes many deaths from cardiovascular disease. Foot ulcers and amputations reduce the quality of life, increase mortality and involve lengthy stay in hospital. Many people who have an ulcer eventually require surgery. The economic cost to the nation is spiralling out of control with estimates of 10% of the entire NHS budget spent on diabetes. This paper aims to explore the burden of diabetic complications and how policy, guidelines and audit highlight the discrepancies in the quality of diabetes care with particular reference to diabetes foot services. The findings suggest that the NICE guidelines for diabetes foot care are not being adhered to and that the variation in preventative amputations across England is unacceptable. Diabetes UK, the national charity for diabetes is leading a campaign to improve diabetic foot care in light of the available published health information

Crossing of the w=-1 barrier in viscous modified gravity

We consider a modified form of gravity in which the action contains a power alpha of the scalar curvature. It is shown how the presence of a bulk viscosity in a spatially flat universe may drive the cosmic fluid into the phantom region (w<-1) and thus into a Big Rip singularity, even if it lies in the quintessence region (w>-1) in the non-viscous case. The condition for this to occur is that the bulk viscosity contains the power (2 alpha-1) of the scalar expansion. Two specific examples are discussed in detail. The present paper is a generalization of the recent investigation dealing with barrier crossing in Einstein's gravity: I. Brevik and O. Gorbunova, Gen. Relativ. Grav. 37 (2005) 2039.Comment: 12 pages, latex, no figure

On-orbit assembly using superquadric potential fields

The autonomous on-orbit assembly of a large space structure is presented using a method based on superquadric artificial potential fields. The final configuration of the elements which form the structure is represented as the minimum of some attractive potential field. Each element of the structure is then considered as presenting an obstacle to the others using a superquadric potential field attached to the body axes of the element. A controller is developed which ensures that the global potential field decreases monotonically during the assembly process. An error quaternion representation is used to define both the attractive and superquadric obstacle potentials allowing the final configuration of the elements to be defined through both relative position and orientation. Through the use of superquadric potentials, a wide range of geometric objects can be represented using a common formalism, while collision avoidance can make use of both translational and rotation maneuvers to reduce total maneuver cost for the assembly process

Dynamic autonomous intelligent control of an asteroid lander

One of the future flagship missions of the European Space Agency (ESA) is the asteroid sample return mission Marco-Polo. Although there have been a number of past missions to asteroids, a sample has never been successfully returned. The return of asteroid regolith to the Earth's surface introduces new technical challenges. This paper develops attitude control algorithms for the descent phase onto an asteroid in micro-gravity conditions and draws a comparison between the algorithms considered. Two studies are also performed regarding the Fault Detection Isolation and Recovery (FDIR) of the control laws considered. The potential of using Direct Adaptive Control (DAC) as a controller for the surface sampling process is also investigated. Use of a DAC controller incorporates increased levels of robustness by allowing realtime variation of control gains. This leads to better response to uncertainties encountered during missions

Control of solar sail periodic orbits in the elliptic three-body problem

A solar sail essentially consists of a large mirror that uses the momentum change due to photons reflecting off the sail for its impulse. Solar sails are therefore unique spacecraft, as they do not require fuel for propulsion [1]. In this Note we consider using the solar sail to continuously maintain a periodic orbit above the ecliptic plane using variations in the sail's orientation. Positioning a spacecraft continuously above the ecliptic would allow continuous observation and communication with the poles

Graph-Embedding Empowered Entity Retrieval

In this research, we improve upon the current state of the art in entity retrieval by re-ranking the result list using graph embeddings. The paper shows that graph embeddings are useful for entity-oriented search tasks. We demonstrate empirically that encoding information from the knowledge graph into (graph) embeddings contributes to a higher increase in effectiveness of entity retrieval results than using plain word embeddings. We analyze the impact of the accuracy of the entity linker on the overall retrieval effectiveness. Our analysis further deploys the cluster hypothesis to explain the observed advantages of graph embeddings over the more widely used word embeddings, for user tasks involving ranking entities

Invariant manifolds and orbit control in the solar sail three-body problem

In this paper we consider issues regarding the control and orbit transfer of solar sails in the circular restricted Earth-Sun system. Fixed points for solar sails in this system have the linear dynamical properties of saddles crossed with centers; thus the fixed points are dynamically unstable and control is required. A natural mechanism of control presents itself: variations in the sail's orientation. We describe an optimal controller to control the sail onto fixed points and periodic orbits about fixed points. We find this controller to be very robust, and define sets of initial data using spherical coordinates to get a sense of the domain of controllability; we also perform a series of tests for control onto periodic orbits. We then present some mission strategies involving transfer form the Earth to fixed points and onto periodic orbits, and controlled heteroclinic transfers between fixed points on opposite sides of the Earth. Finally we present some novel methods to finding periodic orbits in circumstances where traditional methods break down, based on considerations of the Center Manifold theorem

Elevated ACKR2 expression is a common feature of inflammatory arthropathies

Objectives. Chemokines are essential contributors to leucocyte accumulation at sites of inflammatory pathology. Interfering with chemokine or chemokine receptor function therefore represents a plausible therapeutic option. However, our currently limited understanding of chemokine orchestration of inflammatory responses means that such therapies have not yet been fully developed. We have a particular interest in the family of atypical chemokine receptors that fine-tune, or resolve, chemokine-driven responses. In particular we are interested in atypical chemokine receptor 2 (ACKR2), which is a scavenging receptor for inflammatory CC-chemokines and that therefore helps to resolve in vivo inflammatory responses. The objective of the current study was to examine ACKR2 expression in common arthropathies. Methods. ACKR2 expression was measured by a combination of qPCR and immuno-histochemistry. In addition, circulating cytokine and chemokine levels in patient plasma were assessed using multiplexing approaches. Results. Expression of ACKR2 was elevated on peripheral blood cells as well as on leucocytes and stromal cells in synovial tissue. Expression on peripheral blood leucocytes correlated with, and could be regulated by, circulating cytokines with particularly strong associations being seen with IL-6 and hepatocyte growth factor. In addition, expression within the synovium was coincident with aggregates of lymphocytes, potentially atopic follicles and sites of high inflammatory chemokine expression. Similarly increased levels of ACKR2 have been reported in psoriasis and SSc. Conclusion. Our data clearly show increased ACKR2 in a variety of arthropathies and taking into account our, and others’, previous data we now propose that elevated ACKR2 expression is a common feature of inflammatory pathologies