Novel model reference adaptive control laws for improved transient dynamics and guaranteed saturation constraints

In classical model reference adaptive control (MRAC), the adaptive rates must be tuned to meet multiple competing objectives. Large adaptive rates guarantee rapid convergence of the trajectory tracking error to zero. However, large adaptive rates may also induce saturation of the actuators and excessive overshoots of the closed-loop system’s trajectory tracking error. Conversely, low adaptive rates may produce unsatisfactory trajectory tracking performances. To overcome these limitations, in the classical MRAC framework, the adaptive rates must be tuned through an iterative process. Alternative approaches require to modify the plant’s reference model or the reference command input. This paper presents the first MRAC laws for nonlinear dynamical systems affected by matched and parametric uncertainties that constrain both the closed-loop system’s trajectory tracking error and the control input at all times within user-defined bounds, and enforce a user-defined rate of convergence on the trajectory tracking error. By applying the proposed MRAC laws, the adaptive rates can be set arbitrarily large and both the plant’s reference model and the reference command input can be chosen arbitrarily. The user-defined rate of convergence of the closed-loop plant’s trajectory is enforced by introducing a user-defined auxiliary reference model, which converges to the trajectory tracking error obtained by applying the classical MRAC laws before its transient dynamics has decayed, and steering the trajectory tracking error to the auxiliary reference model at a rate of convergence that is higher than the rate of convergence of the plant’s reference model. The ability of the proposed MRAC laws to prescribe the performance of the closed-loop system’s trajectory tracking error and control input is guaranteed by barrier Lyapunov functions. Numerical simulations illustrate both the applicability of our theoretical results and their effectiveness compared to other techniques such as prescribed performance control, which allows to constrain both the rate of convergence and the maximum overshoot on the trajectory tracking error of uncertain systems.     

The Credential Question: Attitudes of Teaching Artists in Dance and Theatre Arts

How do teaching artists perceive the need and usefulness of a credential program specifically designed for teaching artists in dance and theatre arts?     

A Content Analysis of Sex Trafficking Instruments

International Journal for the Advancement of Counselling - This content analysis examined assessments available for the screening of sex trafficking to provide professional counselors further...     

Untangling Trustworthiness and Uncertainty in Science

Science & Education - This article focuses on uncertainty—ways in which scientists recognize and analyze limits in their studies and conclusions. We distinguish uncertainty from...     

Association between prenatal maternal anxiety and/or stress and offspring's cognitive functioning: A meta-analysis

This meta-analysis examined the relationship between prenatal maternal stress and/or anxiety and the outcomes of children aged 3 months to 9 years. Of the 8754 studies published before June 2021 that were synthesized, 17 conducted in Western countries were included in the meta-analysis (N_total = 23,307; M_males 54%; M_ethnicity White 77%, Pacific 15%, African American/Black 10%, Middle Eastern 7%, Eastern 8%). Effect sizes ranged from −0.41 to 0.15. A weak negative association was found between prenatal stress and/or anxiety exposure and children's general intellectual development. Associations varied based on the type of exposure. Findings are limited to developed counties and cannot be generalized to low- and middle-income countries. Directions for maternal prenatal intervention and future studies are discussed.     

Instructional practices in secondary science: How teachers achieve local and standards-based success

This article reports on analyses of the instructional practices of six middle- and high-school science teachers in the United States who participated in a research-practice partnership that aims to support reform science education goals at scale. All six teachers were well qualified, experienced, and locally successful—respected by students, parents, colleagues, and administrators—but they differed in their success in supporting students' three-dimensional learning. Our goal is to understand how the teachers' instructional practices contributed to their similarities in achieving local success and to differences in enabling students' learning, and to consider the implications of these findings for research-practice partnerships. Data sources included classroom videos supplemented by interviews with teachers and focus students and examples of student work. We also compared students' learning gains by teacher using pre–post assessments that elicited three-dimensional performances. Analyses of classroom videos showed how all six teachers achieved local success—they led effectively managed classrooms, covered the curriculum by teaching almost all unit activities, and assessed students' work in fair and efficient ways. There were important differences, however, in how teachers engaged students in science practices. Teachers in classrooms where students achieved lower learning gains followed a pattern of practice we describe as activity-based teaching, in which students completed investigations and hands-on activities with few opportunities for sensemaking discussions or three-dimensional science performances. Teachers whose students achieved higher learning gains combined the social stability characteristic of local classroom success with more demanding instructional practices associated with scientific sensemaking and cognitive apprenticeship. We conclude with a discussion of implications for research-practice partnerships, highlighting how partnerships need to support all teachers in achieving both local and standards-based success.     

Association between self-reported health and physical and/or sexual abuse experienced before age 18

OBJECTIVE: The present study evaluated the association between women's health and physical and sexual abuse suffered before age 18. METHODS: A total of 3,568 randomly sampled insured women ages 18-64 completed a telephone interview to assess history of physical only, sexual only, or both physical and sexual abuse before age 18 (Behavioral Risk Factor Surveillance System); and current health (Short Form-36, Center for Epidemiologic Studies-Depression, Presence of Symptoms surveys). Adjusted analyses compared the health of women with physical abuse only, sexual abuse only, or physical and sexual abuse to the health of women without these abuse histories. RESULTS: Poorest health status was observed in women with a history of both physical and sexual child abuse compared to women without these abuse histories. In models that adjusted for age and income, women with both abuse types had increased prevalence of depression (prevalence ratio, 2.16), severe depression (PR, 2.84), physical symptoms (PR range, 1.33 for joint pain to 2.78 for nausea/vomiting), fair/poor health (PR, 1.84), and lower SF-36 scores (3.15-5.40 points lower). Women with physical abuse only or sexual abuse only also had higher prevalence of symptoms and lower SF-36 scores but the associations were not as strong. CONCLUSIONS: This study adds to the literature showing a graded association between multiple adverse events in childhood and adult health.