A new parameter estimation method is proposed in the framework of composite model reference adaptive control for improved parameter convergence without persistent excitation. The regressor filtering scheme is adopted to perform the parameter estimation with signals that can be obtained easily. A new framework for residual signal construction is proposed. The incoming data is first accumulated to build the information matrix, and then its quality is evaluated with respect to a chosen measure to select and store the best one. The information matrix is built to have full rank after sufficient but not persistent excitation. In this way, the exponential convergence of both tracking error and parameter estimation error can be guaranteed without persistent oscillation in the external command which drives the system. Numerical simulations are performed to verify the theoretical findings and to demonstrate the advantages of the proposed adaptation law over the standard direct adaptation law.

No abstract

No abstract

No abstract

No abstract

A reactive three-dimensional maneuver strategy for a multirotor Unmanned Aerial Vehicle (UAV) is proposed based on the collision cone approach to avoid potential collision with a single moving obstacle detected by an onboard sensor. A Light Detection And Ranging (LiDAR) system is assumed to be mounted on a hexacopter to obtain the obstacle information from the collected point clouds. The collision cone approach is enhanced to appropriately deal with the moving obstacle with the help of a Kalman filter. The filter estimates the position, velocity, and acceleration of the obstacle by using the LiDAR data as the associated measurement. The obstacle state estimate is utilized to predict the future trajectories of the moving obstacle. The collision detection and obstacle avoidance maneuver decisions are made considering the predicted trajectory of the obstacle. Numerical simulations, including a Monte Carlo campaign, are conducted to verify the performance of the proposed collision avoidance algorithm.

Placenta increta is an uncommon and life-threatening complication of pregnancy characterized by complete or partial absence of the decidua basalis. Placenta increta usually presents with vaginal bleeding during difficult placental removal in the third-trimester. Although placenta increta may complicate first and early second-trimester pregnancy loss, the diagnosis can be very difficult during early pregnancy and thus the lesion is difficult to identify. We encountered with a woman who was diagnosed with placenta increta after receiving emergency hysterectomy due to intraperitoneal bleeding 2 months after an uncomplicated dilatation and curettage in the first trimester. Therefore, we report this case with a brief review of the literature.

Primary ovarian hepatoid carcinomas (POHC) are extremely rare. Especially rare are those with phenotypic properties of hepatocellular carcinoma (HCC) and an absence of clinical evidence of hepatic tumor. We report a case of a POHC with a common microscopic, immunophenotypic, and ultrastructural property of HCC in the absence of a liver mass. It is extremely difficult to differentiate POHC from metastatic HCC using any kinds of ancillary studies, with the exception of clinical identification of a hepatic tumor.