| 1. |
- Egerstedt, Anna, et al.
(författare)
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Profiling of the plasma proteome across different stages of human heart failure
- 2019
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Ingår i: Nature communications. - : Springer Science and Business Media LLC. - 2041-1723. ; 10:1, s. 5830-
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Tidskriftsartikel (refereegranskat)abstract
- Heart failure (HF) is a major public health problem characterized by inability of the heart to maintain sufficient output of blood. The systematic characterization of circulating proteins across different stages of HF may provide pathophysiological insights and identify therapeutic targets. Here we report application of aptamer-based proteomics to identify proteins associated with prospective HF incidence in a population-based cohort, implicating modulation of immunological, complement, coagulation, natriuretic and matrix remodeling pathways up to two decades prior to overt disease onset. We observe further divergence of these proteins from the general population in advanced HF, and regression after heart transplantation. By leveraging coronary sinus samples and transcriptomic tools, we describe likely cardiac and specific cellular origins for several of the proteins, including Nt-proBNP, thrombospondin-2, interleukin-18 receptor, gelsolin, and activated C5. Our findings provide a broad perspective on both cardiac and systemic factors associated with HF development.
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| 2. |
- Egerstedt, M, et al.
(författare)
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Toward Optimal Control of Switched Linear Systems
- 2000
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Konferensbidrag (refereegranskat)abstract
- We investigate the problem of driving the state of a switched linear control system between boundary states. We propose tight lower bounds for the minimum energy control problem. Furthermore, we show that the change of the system dynamics across the switching surface gives rise to phenomena that can be treated as a decidability problem of hybrid systems. Applying earlier results on controller synthesis for hybrid systems with linear continuous dynamics, we provide an algorithm for computing the minimum number of switchings of a trajectory from one state to another, and show that this algorithm is computable for a fairly wide class of linear switched systems
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| 3. |
- Ögren, Petter, et al.
(författare)
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A Control Lyapunov Function Approach to Multi-Agent Coordination
- 2001
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Konferensbidrag (refereegranskat)abstract
- In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method
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| 4. |
- Ögren, Petter, et al.
(författare)
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A control Lyapunov function approach to multi-agent coordination
- 2002
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Ingår i: IEEE transactions on robotics and automation. - : IEEE Robotics and Automation Society. - 1042-296X. ; 18:5, s. 847-851
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Tidskriftsartikel (refereegranskat)abstract
- In this paper, the multiagent coordination problem is studied. This problem is addressed for a class of robots for which control Lyapunov functions can be found. The main result is a suite of theorems about formation maintenance, task completion time, and formation velocity. It is also shown how to moderate the requirement that, for each individual robot, there exists a control Lyapunov function. An example is provided that illustrates the soundness of the method
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| 5. |
- Ögren, Petter, et al.
(författare)
-
Reactive mobile manipulation using dynamic trajectory tracking
- 2000
-
Konferensbidrag (refereegranskat)abstract
- A solution to the trajectory tracking problem for mobile manipulators is proposed, that allows for the base to be influenced by a reactive, obstacle avoidance behavior. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set and this can be achieved without introducing deadlocks into the system. The solution also ensures that the control effort, spent on slow base motions, is kept small
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| 6. |
- Ögren, Petter, et al.
(författare)
-
Reactive mobile manipulation using dynamic trajectory tracking: design and implementation
- 2000
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Konferensbidrag (refereegranskat)abstract
- A solution to the trajectory tracking problem for mobile manipulators is proposed and implemented on a real robotic system. Given a trajectory for the gripper to follow, a tracking algorithm for the manipulator is designed, and at the same time the base motions are generated in such a way that the base is coordinated with the gripper while reactively avoiding obstacles. Furthermore, it is shown that the method allows arbitrary upper and lower bounds on the gripper-base distance to be set, and this can be achieved without introducing deadlocks into the system
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