Search Results (7)

In this work, a Thau observer is designed based on a nonlinear third-order mathematical model described by ODEs, which captures the dynamics among insulin levels, $\beta$-cells, and glucose concentration. The novelty of this research lies in its interdisciplinary approach to understanding a complex biological system. The observer’s mathematical validation is established using the Localization of Compact Invariant Sets to determine the domain of attraction and global knowledge about the system’s dynamic bounds. These bounds are used to compute the Lipschitz constant and the elements of the free gain matrix that satisfy the constraints for designing a Thau observer, such as the stability matrix and asymptotic stability. This analysis provides insights into how insulin levels evolve over time at various glucose concentrations, an essential step toward hardware implementation due to the system’s chaotic behavior. It also establishes a mathematical background that could contribute to treatment planning in future Digital Twins studies. Numerical simulations demonstrate that the observer can accurately track the dynamic behavior of the Diabetes Mellitus model analyzed in this work through in silico methods. Full article

The abundances of 17 cytometric groups encompassing four groups of bacteria, three groups of cyanobacteria, six groups of eukaryotic picophytoplankton (<2–3 µm), and four groups of small eukaryotic nanophytoplankton (between 3 and 6 µm) were studied in the Thau Lagoon across different seasonal conditions. Among them, the growth (µ) and mortality rates due to grazing (g) of 12 groups of bacteria, cyanobacteria, and eukaryotic pico- and nanophytoplankton were simultaneously studied in the Thau Lagoon via four dilution experiments across different seasonal conditions. The abundances of heterotrophic flagellates and ciliates and their potential predators were studied and linked to prey mortality. Bacteria were more active than phytoplankton and displayed the highest growth and grazing mortality rates. Most studied groups had g:µ ratios > 1, suggesting that predators efficiently grazed and transferred these preys. Surprisingly, the observed variations in predator abundance across seasons did not necessarily correspond with changes in grazing pressure. The significant positive relationship found between water temperature and bacterial grazing mortality rates and the reverse trend observed for larger eukaryotic prey suggested that warmer water increases small prokaryote transfer to higher trophic levels but disadvantages larger eukaryotic prey transfer. Full article

The temperate Northwest Pacific brown alga Rugulopteryx okamurae (Dictyotales, Phaeophyceae) was first discovered in 2002 in the Mediterranean Sea in the Thau coastal lagoon (Occitania, France) and then again in 2015 along the southern side of the Strait of Gibraltar, where it was assigned with invasive status. We report here on the first occurrence of the species in the Northwest Mediterranean Sea in Calanques National Park (Marseille, France) in 2018. By 2020, a large population had developed, extending over 9.5 km of coastline, including highly protected no-take zones. The seafood trade, with R. okamurae used as packing material for sea urchin Paracentrotus lividus shipments from Thau Lagoon, could be the vector of its introduction into the Marseille area. As observed in the Strait of Gibraltar, R. okamurae is spreading rapidly along the Marseille coasts, suggesting an invasive pathway. The subtidal reefs are densely carpeted with R. okamurae, which overgrows most native algal species. Fragments of the alga are continuously detached by wave actions and currents, sedimenting on the seabed and potentially clogging fishing nets, and thus, impacting artisanal fishing or washing up on the beaches, where they rot and raise concern among local populations. Full article

In this paper, fault detection and fault-tolerant control strategies are proposed to handle the issues of both actuator faults and disturbances in a hexacopter. A dynamic model of a hexacopter is first derived to develop a model-based fault detection system. Secondly, the altitude control based on a sliding mode and disturbance observer is presented to tackle the disturbance issue. Then, a nonlinear Thau observer is applied to estimate the states of a hexacopter and to generate the residuals. Using a fault detection unit, the motor failure is isolated to address the one or two actuator faults. Finally, experimental results are tested on a DJI F550 hexacopter platform and Pixhawk2 flight controller to verify the effectiveness of the proposed approach. Unlike previous studies, this work can integrate fault detection and fault-tolerant control design as a single unit. Moreover, the developed fault detection and fault-tolerant control method can handle up to two actuator failures in presence of disturbances. Full article

Fault-tolerant control has drawn attention in recent years owning to its reliability and safe flight during missions. In this article, an active fault-tolerant control method is proposed to control a quadcopter in the presence of actuator faults and disturbances. Firstly, the dynamics of the quadcopter are presented. Secondly, a robust adaptive sliding mode Thau observer is presented to estimate the time-varying magnitudes of actuator faults. Thirdly, a fault-tolerant control scheme based on sliding mode control and reconfiguration technique is designed to maintain the quadcopter at the desired position despite the presence of faults. Unlike previous studies, the proposed method aims to integrate the fault diagnosis and a fault-tolerant control scheme into a single unit with total loss of actuator. Simulation results illustrate the efficiency of the suggested algorithm. Full article

Fault diagnosis (FD) is one of the main roles of fault-tolerant control (FTC) systems. An FD should not only identify the presence of a fault, but also quantify its magnitude and location. In this work, we present a robust fault diagnosis method for quadcopter unmanned aerial vehicle (UAV) actuator faults. The state equation of the quadcopter UAV is examined as a nonlinear system. An adaptive sliding mode Thau observer (ASMTO) method is proposed to estimate the fault magnitude through an adaptive algorithm. We then obtain the design matrices and parameters using the linear matrix inequalities (LMI) technique. Finally, experimental results are presented to show the advantages of the proposed algorithm. Unlike previous research on quadcopter UAV FD systems, our study is based on ASMTO and can, therefore, determine the time variability of a fault in the presence of external disturbances. Full article

β-N-methylamino-l-alanine (BMAA) is a neurotoxic non-protein amino acid suggested to be involved in neurodegenerative diseases. It was reported to be produced by cyanobacteria, but also found in edible aquatic organisms, thus raising concern of a widespread human exposure. However, the chemical analysis of BMAA and its isomers are controversial, mainly due to the lack of selectivity of the analytical methods. Using factorial design, we have optimized the chromatographic separation of underivatized analogues by a hydrophilic interaction chromatography coupled to tandem mass spectrometry (HILIC-MS/MS) method. A combination of an effective solid phase extraction (SPE) clean-up, appropriate chromatographic resolution and the use of specific mass spectral transitions allowed for the development of a highly selective and sensitive analytical procedure to identify and quantify BMAA and its isomers (in both free and total form) in cyanobacteria and mollusk matrices (LOQ of 0.225 and 0.15 µg/g dry weight, respectively). Ten species of cyanobacteria (six are reported to be BMAA producers) were screened with this method, and neither free nor bound BMAA could be found, while both free and bound DAB were present in almost all samples. Mussels and oysters collected in 2009 in the Thau Lagoon, France, were also screened, and bound BMAA and its two isomers, DAB and AEG, were observed in all samples (from 0.6 to 14.4 µg/g DW), while only several samples contained quantifiable free BMAA. Full article