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guidance, Navigation and Control for Autonomous Quadrotor Flight in an Agricultural Field: The Case of Vineyards

SENSORS 2022年第22期22卷 8865-8865页

作者： Mokrane, Adel Benallegue, Abdelaziz Choukchou-Braham, Amal El Hadri, Abdelhafid Cherki, Brahim Univ Paris Saday UVSQ LISV Lab Ingn Syst Versailles F-78124 Velizy Villacoublay France Univ Tlemcen Lab Automat Tlemcen Tilimsen 13000 Algeria

In this paper, we present a complete and efficient solution of guidance, navigation and control for a quadrotor platform to accomplish 3D coverage flight missions in mapped vineyard terrains. Firstly, an occupancy grid map of the terrain is used to generate a safe guiding coverage path using an Iterative Structured Orientation planning algorithm. Secondly, way-points are extracted from the generated path and added to them trajectory's velocities and accelerations constraints. The constrained way-points are fed into a Linear Quadratic Regulator algorithm so as to generate global minimum snap optimal trajectory while satisfying both the pointing and the corridor constraints. Then, when facing unexpected obstacles, the quadrotor tends to re-plan its path in real-time locally using an Improved Artificial Potential Field algorithm. Finally, a geometric trajectory tracking controller is developed on the Special Euclidean group SE (3). The aim of this controller is to track the generated trajectory while pointing towards predetermined direction using the vector measurements provided by the inertial unit. The performance of the proposed method is demonstrated through several simulation results. In particular, safe guiding paths are achieved. Obstacle-free optimal trajectories that satisfy the way-point position, the pointing direction, and the corridor constraints, are successfully generated with optimized platform snap. Besides, the implemented geometric controller can achieve higher trajectory tracking accuracy with an absolute value of the maximum error in the order of 10(-3) m.

关键词： guidance navigation trajectory generation quadrotor re-planning trajectory tracking controller

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guidance and Digital Attitude Control of Mini-satellites and Space Robots 20th

Guidance and Digital Attitude Control of Mini-satellites and...

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20th IFAC Conference on Technology, Culture, and International Stability (TECIS)

作者： Somov, Ye Butyrin, S. Rutkovsky, V Glumov, V Samara State Tech Univ Dept Nav Guidance & Control 244 Molodogvardeyskaya Str Samara 443100 Russia Russian Acad Sci Inst Control Sci Dept Control Moving Vehicles 65 Profsoyuznaya Str Moscow 117997 Russia

The information mini-satellites (for communication, geodesy, radio- and optoelectronic Earth-observing et al.) and the free-flying space robots (used for servicing both the minisatellites and manned orbital space stations as well as assembling the large space structures) have some principal problems with respect to their spatial attitude guidance and control. In the paper these problems are considered and obtained results are presented. Copyright (C) 2021 The Authors.

关键词： mini-satellite space robot guidance control

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guidance Scheme of Magnetic Nanoparticles with Artificial Potential Field 21

Guidance Scheme of Magnetic Nanoparticles with Artificial Po...

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21st International Conference on Control, Automation and Systems (ICCAS)

作者： Kim, Yong-gyu Park, Ji-ho Yoon, Jungwon Gwangju Inst Sci & Technol Sch Integrated Technol 123 Cheomdangwagi Ro Gwangju 61005 South Korea

ISBN: (纸本)9788993215212

Targeted drug delivery (TDD) is performed using various different technologies such as micro-robots, encapsulation and nanoparticles. Among them, magnetic drug targeting has been developed as a plausible approach to significantly improve the efficiency of drug delivery. Although there have been many researches on the guidance of nanoparticles to a target area, it is still difficult to control the nanoparticles using magnetic force due to their small size, which makes their movements highly dependent on the environmental factors such as fluid flow. Therefore, this paper proposes a guidance scheme for nanoparticles using the artificial potential field, which is a powerful method used for path planning of mobile robots. Through this method, if the particles' initial positions and velocities are randomized;we can obtain an optimized trajectory by updating each particle's position vector. Moreover, by implementing the potential field as a magnetic force, the particle trajectory obtained through the simulation can be implemented in a real experiment. In the current research we have presented only an open loop control scheme. However, if we use a feedback device with a high enough resolution, for instance Magnetic Particle Imaging (MPI), the suggested scheme can enhance significantly the efficiency of drug delivery.

关键词： guidance navigation and control

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guidance for Spacecraft Docking incorporating Model Uncertainties: A Linear Quadratic Tracking Approach 7

Guidance for Spacecraft Docking incorporating Model Uncertai...

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7th Indian Control Conference (ICC)

作者： Jose, Annie Divina, D., V Thomas, Dona Malavika, S. Venkateswaran, J. Rajeev, U. P. Ahmed, Imthias T. P. TKM Coll Engn Kollam India Indian Space Res Org Vikram Sarabhai Space Ctr Trivandrum Kerala India

ISBN: (纸本)9781665409780

A robust guidance algorithm for docking with a target satellite in Low Earth Orbit is proposed in this work. An optimal control logic based design minimizes the fuel consumption thereby maximising the payload. A linear quadratic integral controller that can tackle model error as well as deviations from desired initial conditions that must be attained before initiation of docking procedures is designed. Practical considerations such as thruster capability is accounted for. An approach facilitating soft docking as well as one which gives non oscillatory results are considered separately and compared. The designed controller is tested against a variety of initial conditions and disturbances. The guidance algorithm can easily be interfaced with machine friendly languages like C or Python.

关键词： Rendezvous and docking/berthing linear quadratic tracking optimal control integral states guidance

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Integrated guidance for Enhancing the Care of Familial Hypercholesterolaemia in Australia

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HEART LUNG AND CIRCULATION 2021年第3期30卷 324-349页

作者： Watts, Gerald F. Sullivan, David R. Hare, David L. Kostner, Karam M. Horton, Ari E. Bell, Damon A. Brett, Tom Trent, Ronald J. Poplawski, Nicola K. Martin, Andrew C. Srinivasan, Shubha Justo, Robert N. Chow, Clara K. Pang, Jing Univ Western Australia Royal Perth Hosp Fac Hlth & Med Sci Sch Med Perth WA Australia Royal Perth Hosp Dept Cardiol Cardiometab Serv Lipid Disorders Clin Perth WA Australia Royal Perth Hosp Dept Internal Med Cardiometab Serv Lipid Disorders Clin Perth WA Australia Royal Prince Alfred Hosp Dept Chem Pathol Sydney NSW Australia Univ Sydney Fac Med & Hlth Sydney Med Sch Sydney NSW Australia Univ Melbourne Fac Med Dent & Hlth Sci Melbourne Vic Australia Austin Hlth Dept Cardiol Melbourne Vic Australia Univ Queensland Mater Hosp Dept Cardiol Brisbane Qld Australia Monash Hlth Monash Heart & Monash Childrens Hosp Melbourne Vic Australia Monash Cardiovasc Res Ctr Melbourne Vic Australia Monash Univ Dept Paediat Melbourne Vic Australia Royal Perth Hosp Dept Clin Biochem PathWest Lab Med WA Perth WA Australia Fiona Stanley Hosp Network Perth WA Australia Clinipath Pathol Dept Clin Biochem Perth WA Australia Son Pathol Son Genet Sydney NSW Australia Univ Notre Dame Australia Sch Med Gen Practice & Primary Hlth Care Res Fremantle WA Australia Royal Prince Alfred Hosp Dept Med Genom Sydney NSW Australia Univ Sydney Fac Med & Hlth Cent Clin Sch Sydney NSW Australia Royal Adelaide Hosp Adult Genet Unit Adelaide SA Australia Univ Adelaide Adelaide Med Sch Adelaide SA Australia Perth Childrens Hosp Dept Gen Paediat Perth WA Australia Univ Western Australia Fac Hlth & Med Sci Div Paediat Perth WA Australia Childrens Hosp Westmead Inst Endocrinol & Diabet Sydney NSW Australia Univ Sydney Fac Med & Hlth Discipline Child & Adolescent Hlth Sydney NSW Australia Queensland Childrens Hosp Dept Paediat Cardiol Brisbane Qld Australia Univ Queensland Sch Med Brisbane Qld Australia Univ Sydney Westmead Appl Res Ctr Sydney NSW Australia Westmead Hosp Dept Cardiol Sydney NSW Australia George Inst Global Hlth Sydney NSW Australia

Familial hypercholesterolaemia (FH) is a dominant and highly penetrant monogenic disorder present from birth that markedly elevates plasma low-density lipoprotein (LDL)-cholesterol concentration and, if untreated, leads to premature atherosclerosis and coronary artery disease (CAD). There are approximately 100,000 people with FH in Australia. However, an overwhelming majority of those affected remain undetected and inadequately treated, consistent with FH being a leading challenge for public health genomics. To further address the unmet need, we provide an updated guidance, presented as a series of systematically collated recommendations, on the care of patients and families with FH. These recommendations have been informed by an exponential growth in published works and new evidence over the last 5 years and are compatible with a contemporary global call to action on FH. Recommendations are given on the detection, diagnosis, assessment and management of FH in adults and children. Recommendations are also made on genetic testing and risk notification of biological relatives who should undergo cascade testing for FH. guidance on management is based on the concepts of risk re-stratification, adherence to heart healthy lifestyles, treatment of non-cholesterol risk factors, and safe and appropriate use of LDL-cholesterol lowering therapies, including statins, ezetimibe, proprotein convertase subtilisin/kexin type 9 inhibitors and lipoprotein apheresis. Broad recommendations are also provided for the organisation and development of health care services. Recommendations on best practice need to be underpinned by good clinical judgment and shared decision making with patients and families. Models of care for FH need to be adapted to local and regional health care needs and available resources. A comprehensive and realistic implementation strategy, informed by further research, including assessments of cost-benefit, will be required to ensure that this new guidance benefits

关键词： Familial hypercholesterolaemia guidance Adults Children Diagnosis Assessment Genetic testing Cascade testing Management Organisation of care

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A review of reviews exploring patient and public involvement in population health research and development of tools containing best practice guidance

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BMC PUBLIC HEALTH 2023年第1期23卷 1271-1271页

作者： Vinnicombe, Soo Bianchim, Mayara S. Noyes, Jane Bangor Univ Sch Med & Hlth Sci Bangor Wales

IntroductionPatient and public involvement (PPI) is increasingly seen as something that is integral to research and of importance to research funders. There is general recognition that PPI is the right thing to do for both moral and practical reasons. The aim of this review of reviews is to examine how PPI can be done 'properly' by looking at the evidence that exists from published reviews and assessing it against the UK Standards for Public Involvement in Research, as well as examining the specific features of population health research that can make PPI more *** review of reviews and development of best practice guidance was carried out following the 5-stage Framework Synthesis *** total 31 reviews were included. There is a lack of current research or clarity around Governance and Impact when findings are mapped against UK Standards for Public Involvement in Research. It was also clear that there is little knowledge around PPI with under-represented groups. There are gaps in knowledge about how to ensure key specific attributes of population health research are addressed for PPI team members - particularly around how to deal with complexity and the data-driven nature of the research. Four tools were produced for researchers and PPI members to further improve their PPI activity within population health research and health research more generally, including a framework of recommended actions to address PPI in population health research, and guidance on integrating PPI based on the UK Standards for Public Involvement in *** PPI in population health research is challenging due to the nature of this type of research and there is far less evidence on how to do PPI well in this context. The tools can help researchers identify key aspects of PPI that can be integrated when designing PPI within projects. Findings also highlight specific areas where more research or discussion is needed.

关键词： Public and patient involvement Involvement PPI Population health research Review of reviews guidance

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Surgical site infections: guidance for elective surgery during the SARS-CoV-2 pandemic - international recommendations and clinical experience

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JOURNAL OF HOSPITAL INFECTION 2021年 111卷 189-199页

作者： Assadian, O. Golling, M. Krueger, C. M. Leaper, D. Mutters, N. T. Roth, B. Kramer, A. Reg Hosp Wiener Neustadt Wiener Neustadt Austria Univ Huddersfield Inst Skin Integr & Infect Prevent Huddersfield W Yorkshire England Diakonie Klinikum Schwabisch Hall gGmbH Surg Clin 1 Schwabisch Hall Germany Immanuel Klinikum Rudersdorf Dept Surg Ctr Robot Rudersdorf Germany Newcastle Univ Dept Surg Newcastle Upon Tyne Tyne & Wear England Univ Huddersfield Dept Clin Sci ISIaIP Huddersfield W Yorkshire England Bonn Univ Hosp Inst Hyg & Publ Hlth Bonn Germany Dist Hosp Belp Switzerland FMH Gen & Trauma Surg Surg Clin Wattenwil Switzerland Univ Med Greifswald Inst Hyg & Environm Med Greifswald Germany Natl Univ Med Res Network Covid 19 NUM CEOsys Network Greifswald Germany

Background: The COVID-19 pandemic not only had an impact on public life and healthcare facilities in general, but also affected established surgical workflows for elective procedures. The strategy to protect patients and healthcare workers from infection by SARS-CoV-2 in surgical departments has needed step-by-step development. Based on the evaluation of international recommendations and guidelines, as well as personal experiences in a clinical 'hot spot' and in a 450-bed surgical clinic, an adapted surgical site infection (SSI) prevention checklist was needed to develop concise instructions, which described roles and responsibilities of healthcare professionals that could be used for wider guidance in pandemic conditions. Method: Publications of COVID-19-related recommendations and guidelines, produced by health authorities and organizations, such as WHO, US-CDC, ECDC, the American College of Surgery and the Robert Koch Institute, were retrieved, assessed and referenced up to 31st January 2020. Additionally, clinical personal experiences in Germany were evaluated and considered. Results: Part 1 of this guidance summarizes the experience of a tertiary care, surgical centre which utilized redundant hospital buildings for immediate spatial separation in a 'hot spot' COVID-19 area. Part 2 outlines the successful screening and isolation strategy in a surgical clinic in a region of Germany with outbreaks in surrounding medical centres. Part 3 provides the synopsis of personal experiences and international recommendations suggested for implementation during the COVID-19 pandemic. Conclusion: Understanding of COVID-19, and SARS-CoV-2-related epidemiology, is constantly and rapidly changing, requiring continuous adaptation and re-evaluation of recommendations. Established national and local guidelines for continuation of surgical services and prevention of SSI require ongoing scrutiny and focused implementation. This manuscript presents a core facility checklist to support

关键词： COVID-19 Surgical site infections guidance Core checklist Outbreak prevention Triage

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A qualitative exploration of food portion size practices and awareness of food portion size guidance in first-time parents of one- to two-year-olds living in the UK

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BMC PUBLIC HEALTH 2023年第1期23卷 1779-1779页

作者： Porter, Alice Langford, Rebecca Summerbell, Carolyn Tinner, Laura Kipping, Ruth Univ Bristol Bristol Med Sch Populat Hlth Sci Bristol England NIHR Sch Publ Hlth Res London England Univ Durham Dept Sport & Exercise Sci Durham England

BackgroundFood portion size guidance resources aimed at parents of young children in the UK are freely available from a number of credible sources. However, little is known about whether parents are aware of, and use, any of these resources to guide their food portioning *** aimed to explore the food portion size practices used by first-time parents living in the UK when feeding their one- to two-year-old child, and their awareness of and views on six food portion size guidance *** were recruited via parent Facebook groups and online parent forums. Online 1-1 semi-structured interviews were conducted, during which parents were shown images of six food portion size guidance resources to facilitate discussion. Data was analysed in NVivo 11 using a Reflexive Thematic Analysis *** the 27 participants, most were women (n = 25), white (n = 18), and educated to first degree level or higher (n = 24). First-time parents mostly relied on their own judgement and "instinct" to portion foods, based on their learned experience of how much their child ate on a day-to-day basis. This experience was used alongside physical indicators of food portion size, such as the size of children's dishware and food packaging. Most participants were unaware of any of the six food portion size guidance resources we showed them;only four had read any of the resources. Parents suggested they had previously sought advice about weaning from a range of sources (e.g. online, friends, community groups) but would be unlikely to seek out specific food portion size guidance. Parents suggested recommendations on food portion size should acknowledge and highlight parents' perception that "every child is different".ConclusionsExisting food portion size guidance resources for parents of young children in the UK are ineffective as they have poor reach and impact. We suggest parents should be involved in developing novel strategies to promote age-approp

关键词： Portion size Preschool children guidance Portioning practices Qualitative

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Early evaluation of the Food and Drug Administration (FDA) guidance on antimicrobial use in food animals on antimicrobial resistance trends reported by the National Antimicrobial Resistance Monitoring System (2012-2019)

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ONE HEALTH 2023年 17卷 100580-100580页

作者： Deb, Liton Chandra Jara, Manuel Lanzas, Cristina North Carolina State Univ Coll Vet Med Dept Populat Hlth & Pathobiol Raleigh NC USA North Carolina State Univ Raleigh NC 27695 USA

Antimicrobial resistance (AMR) is one of the biggest challenges to global public health. To address this issue in the US, governmental agencies have implemented system-wide guidance frameworks and recommendations aimed at reducing antimicrobial use. In particular, the Food and Drug Administration (FDA) prohibited the extralabel use of cephalosporins in food animals in 2012 and issued the guidance for industry (GFI) #213 about establishing a framework to phase out the use of all medically relevant drugs for growth promotion in 2012. Also in 2015, the FDA implemented veterinary feed directive (VFD) drug regulations (GFI# 120) to control the use of certain antimicrobials. To assess the potential early effects of these FDA actions and other concurrent antimicrobial stewardship actions on AMR in the food chain, we compared the patterns of the phenotypic (minimum inhibitory concentration (MIC) and percentage of resistance) and genotypic resistances for selected antimicrobials before and after 2016 across different enteric pathogen species, as reported by the National Antimicrobial Resistance Monitoring System (NARMS). Most of the antimicrobials analyzed at the phenotypic level followed a downward trend in MIC after implementing the guidance. Although, most of those changes were less than one 1fold dilution. On the other hand, compared to MIC results, the results based on phenotypic resistance prevalence evidenced higher differences in both directions between the pre- and post-guidance implementation period. Also, we did not find relevant differences in the presence of AMR genes between pre- and post-VFD drug regulations. We concluded that the FDA guidance on antimicrobial use has not led to substantial reductions in antimicrobial drug resistance yet.

关键词： Antimicrobial resistance FDA Growth promotion guidance NARMS

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English version of Japanese guidance for use of biologics for psoriasis (the 2022 version)

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JOURNAL OF DERMATOLOGY 2023年第2期50卷 e41-e68页

作者： Saeki, Hidehisa Mabuchi, Tomotaka Asahina, Akihiko Abe, Masatoshi Igarashi, Atsuyuki Imafuku, Shinichi Okubo, Yukari Komine, Mayumi Sano, Shigetoshi Torii, Hideshi Morita, Akimichi Yotsuyanagi, Hiroshi Watanabe, Akira Ohtsuki, Mamitaro Nippon Med Sch Dept Dermatol Tokyo Japan Tokai Univ Dept Dermatol Sch Med Isehara Kanagawa Japan Jikei Univ Dept Dermatol Sch Med Tokyo Japan Kojinkai Sapporo Skin Clin Sapporo Hokkaido Japan NTT Med Ctr Tokyo Dept Dermatol Tokyo Japan Fukuoka Univ Fac Med Dept Dermatol Fukuoka Japan Tokyo Med Univ Dept Dermatol Tokyo Japan Jichi Med Univ Dept Dermatol Shimotsuke Tochigi Japan Kochi Univ Kochi Med Sch Dept Dermatol Kochi Kerala India Tokyo Yamate Med Ctr Div Dermatol Tokyo Japan Nagoya City Univ Dept Geriatr & Environm Dermatol Grad Sch Med Sci Nagoya Aichi Japan Univ Tokyo Adv Clin Res Ctr Inst Med Sci Div Infect Dis Tokyo Japan Tohoku Bunka Gakuen Univ Fac Med Sci & Welf Res Div Dev Antiinfect Agents Sendai Miyagi Japan

This is the English version of Japanese guidance for use of biologics for psoriasis (the 2022 version). As the first biologics for psoriasis in Japan, infliximab and adalimumab, anti-tumor necrosis factor-alpha antibodies, became available in the field of dermatology in 2010, followed by ustekinumab, an anti-interleukin (IL)-12/IL-23p40 antibody, which was launched in Japan in 2011. Moreover, after 2015, three IL-17 inhibitors, the IL-17A antibody preparations secukinumab and ixekizumab, and an anti-IL-17 receptor antibody preparation brodalumab were marketed. Furthermore, after 2018, the anti-IL23p19 antibody preparations guselkumab and risankizumab, the TNF inhibitor certolizumab pegol, the IL-23 inhibitor tildrakizumab, and the anti-IL-17A/F antibody bimekizumab were marketed. It is important for physicians to select appropriate biologic therapy for each psoriatic patient after due consideration of disease factors, treatment factors, and patient background factors, sharing such information with patients. The followings can be listed as points to be considered for the selection of biologics: drug effects (e.g., strength of effectiveness, time to onset of effectiveness, effectiveness against arthritis, primary failure, secondary failure), safety (e.g., infections, administration-related reactions, and relationships with other comorbidities), convenience for patients (e.g., hospital visit intervals, self-injection, maintenance therapy at clinics, feasibility of drug discontinuation/re-administration), and payment (medical costs) borne by patients. This guidance has been prepared with the aim of allowing dermatologists experienced in the treatment of psoriasis to use biologics appropriately according to the circumstances of individual patients after consideration of the above-mentioned factors.

关键词： biologics guidance interleukin 17 interleukin 23 psoriasis tumor necrosis factor alpha

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