Neuro-adaptive fast integral terminal sliding mode control design with variable gain robust exact differentiator for under-actuated quadcopter UAV.

In this paper, a robust global fast terminal attractor based full flight trajectory tracking control law has been developed for the available regular form which is operated under matched uncertainties. Based on the hierarchical control principle, the aforesaid model is first subdivided into two subsystems, i.e., a fully-actuated subsystem and an under-actuated subsystem. In other words, the under-actuated subsystem is further transformed into a regular form whereby the under-actuated characteristics are decoupled in terms of control inputs. In the proposed design, the nonlinear drift terms, which certainly varies in full flight, are estimated via functional link neural networks to improve the performance of the controller in full flight. Besides, a variable gain robust exact differentiator (VG-RED) is designed to provide us with estimated flight velocities. It has consequently reduced the noise in system's velocities and has mapped this controller as a practical one. The finite-time sliding mode enforcement and the states' convergence are shown, for all flight loops, i.e., forward flight and backward flight, via the Lyapunov approach. All these claims are verified via numerical simulations and experimental implementation of the quadcopter system in a Matlab environment. For a more impressive presentation, the developed simulation results are compared with standard literature.

Negative dielectrophoresis spectroscopy for rare analyte quantification in biological samples.

We propose the use of negative dielectrophoresis (DEP) spectroscopy as a technique to improve the detection limit of rare analytes in biological samples. We observe a significant dependence of the negative DEP force on functionalized polystyrene beads at the edges of interdigitated electrodes with respect to the frequency of the electric field. We measured this velocity of repulsion for 0% and 0.8% conjugation of avidin with biotin functionalized polystyrene beads with our automated software through real-time image processing that monitors the Rayleigh scattering from the beads. A significant difference in the velocity of the beads was observed in the presence of as little as 80 molecules of avidin per biotin functionalized bead. This technology can be applied in the detection and quantification of rare analytes that can be useful in the diagnosis and the treatment of diseases, such as cancer and myocardial infarction, with the use of polystyrene beads functionalized with antibodies for the target biomarkers.