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We describe here the agreed upon first development steps and priority objectives of a community engagement effort to address current challenges in quality assurance (QA) and quality control (QC) in untargeted metabolomic studies. This has included (1) a QA and QC questionnaire responded to by the metabolomics community in 2015 which recommended education of the metabolomics community, development of appropriate standard reference materials and providing incentives for laboratories to apply QA and QC; (2) a 2-day ‘Think Tank on Quality Assurance and Quality Control for Untargeted Metabolomic Studies’ held at the National Cancer Institute’s Shady Grove Campus and (3) establishment of the Metabolomics Quality Assurance and Quality Control Consortium (mQACC) to drive forward developments in a coordinated manner.

Abstract-A new adaptive controller is developed for wheeled mobile robots with parametric uncertainty in the dynamic model. The main theoretical contribution is the modular manner in which the control law and parameter update law are designed. This feature allows for design flexibility in the selection of the update law, and can be exploited to improve the transient response of the adaptive controller. The proposed controller also has the important feature of being applicable to both the tracking and regulation problems. The modularity of the adaptive controller is experimentally demonstrated on a K2A Cybermotion mobile robot that has been modified to allow for the implementation of torque-level control inputs. In particular, the adaptive controller with a gradient update law is evaluated vis-à-vis a least-squares update law.Index Terms-Adaptive control, input-output stability, Lyapunov methods, least squares methods, mobile robot dynamics.

In this note, a new observer is developed to determine range information (and, hence, the three-dimensional (3-D) coordinates) of an object feature moving with affine motion dynamics (or the more general Ricatti motion dynamics) with known motion parameters. The unmeasurable range information is determined from a single camera provided an observability condition is satisfied that has physical significance. To develop the observer, the perspective system is expressed in terms of the nonlinear feature dynamics. The structure of the proposed observer is inspired by recent disturbance observer results. The proposed technique facilitates a Lyapunov-based analysis that is less complex than the sliding-mode based analysis derived for recent observer designs. The analysis demonstrates that the 3-D task-space coordinates of the feature point can be asymptotically identified. Simulation results are provided that illustrate the performance of the observer in the presence of noise.

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