Metabolic dysfunction and laminitis

Objective: This review focuses on laminitis that develops as a result of metabolic dysfunction and aims to provide a concise assessment of the current state of knowledge on this form of the disease. Outline: The most prevalent form of laminitis is associated with metabolic or endocrinopathic diseases, such as Equine Metabolic Syndrome and pituitary pars intermedia dysfunction, and the feeding of high-energy diets, particularly those rich in non-structural carbohydrates. Insulin dysregulation is the key hormonal imbalance implicated in causing this form of laminitis and hyperinsulinaemia is an important risk factor for the disease. Hyperinsulinaemia can occur in association with insulin resistance, obesity, regionalised adiposity, dysregulated cortisol metabolism and may also be related to other factors, such as breed and genetic predisposition. Recognition of hyperinsulinaemia is best achieved by using a dynamic oral glucose test that can be performed relatively easily under field conditions. Insulin produces a unique pathological lesion in the lamellae and the features of this lesion have informed investigations on the pathogenesis of the disease. Research into the mechanism of disease is continuing so that more targeted therapies than are currently available can be developed. However, dietary restriction and exercise remain effective management strategies for metabolic disease. Conclusions: Although the pathogenic mechanism/s of metabolic and endocrinopathic forms of laminitis remain the subject of intense research, ample data on risk factors for the disease are available. Efforts focussed on preventing the disease should aim to identify metabolic disease and reduce obesity and insulin resistance in at-risk individuals.

Energy-based motion control of marine vehicles using interconnection and damping assignment passivity-based control : a survey

This paper reviews some recent results in motion control of marine vehicles using a technique called Interconnection and Damping Assignment Passivity-based Control (IDA-PBC). This approach to motion control exploits the fact that vehicle dynamics can be described in terms of energy storage, distribution, and dissipation, and that the stable equilibrium points of mechanical systems are those at which the potential energy attains a minima. The control forces are used to transform the closed-loop dynamics into a port-controlled Hamiltonian system with dissipation. This is achieved by shaping the energy-storing characteristics of the system, modifying its interconnection structure (how the energy is distributed), and injecting damping. The end result is that the closed-loop system presents a stable equilibrium (hopefully global) at the desired operating point. By forcing the closed-loop dynamics into a Hamiltonian form, the resulting total energy function of the system serves as a Lyapunov function that can be used to demonstrate stability. We consider the tracking and regulation of fully actuated unmanned underwater vehicles, its extension to under-actuated slender vehicles, and also manifold regulation of under-actuated surface vessels. The paper is concluded with an outlook on future research.

Energy-based nonlinear control of ship roll gyro-stabiliser with precession angle constraints

In this paper, we consider a passivity-based approach for the design of a control law of multiple ship-roll gyro-stabiliser units. We extend previous work on control of ship roll gyro-stabilisation by considering the problem within a nonlinear framework. In particular, we derive an energy-based model using the port-Hamiltonian theory and then design an active precession controller using passivity-based control interconnection and damping assignment. The design considers the possibility of having multiple gyro-stabiliser units, and the desired potential energy of the system (in closed loop) is chosen to behave like a barrier function, which allows us to enforce constraints on the precession angle of the gyros.

Energy-based positioning control of underactuated vehicles using manifold regulation

In this paper, we consider the problem of position regulation of a class of underactuated rigid-body vehicles that operate within a gravitational field and have fully-actuated attitude. The control objective is to regulate the vehicle position to a manifold of dimension equal to the underactuation degree. We address the problem using Port-Hamiltonian theory, and reduce the associated matching PDEs to a set of algebraic equations using a kinematic identity. The resulting method for control design is constructive. The point within the manifold to which the position is regulated is determined by the action of the potential field and the geometry of the manifold. We illustrate the performance of the controller for an unmanned aerial vehicle with underactuation degree two-a quadrotor helicopter.