Готові списки джерел за темами / Control Barrier Function

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Добірка наукової літератури з теми "Control Barrier Function"

Автор: Grafiati
Опубліковано: 29 березня 2025

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Статті в журналах з теми "Control Barrier Function"

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NAKAMURA, Hisakazu, Takao YOSHINAGA, Yu KOYAMA, and Jun ETOH. "Control Barrier Function Based Human Assist Control." Transactions of the Society of Instrument and Control Engineers 55, no. 5 (2019): 353–61. http://dx.doi.org/10.9746/sicetr.55.353.

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Wills, Adrian G., and William P. Heath. "Barrier function based model predictive control." Automatica 40, no. 8 (August 2004): 1415–22. http://dx.doi.org/10.1016/j.automatica.2004.03.002.

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HAYASHI, Yuka, and Hisakazu NAKAMURA. "Control Barrier Function Based Human Assist Control under Disturbance." Transactions of the Society of Instrument and Control Engineers 57, no. 8 (2021): 339–48. http://dx.doi.org/10.9746/sicetr.57.339.

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Hayashi, Y., M. Igarashi, and H. Nakamura. "Contact Assist Control Barrier Function for Human Assist Control." IFAC-PapersOnLine 52, no. 16 (2019): 741–46. http://dx.doi.org/10.1016/j.ifacol.2019.12.051.

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Obeid, Hussein, Leonid M. Fridman, Salah Laghrouche, and Mohamed Harmouche. "Barrier function-based adaptive sliding mode control." Automatica 93 (July 2018): 540–44. http://dx.doi.org/10.1016/j.automatica.2018.03.078.

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Tezuka, Issei, and Hisakazu Nakamura. "Strict Zeroing Control Barrier Function for Continuous Safety Assist Control." IEEE Control Systems Letters 6 (2022): 2108–13. http://dx.doi.org/10.1109/lcsys.2021.3138526.

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Li, Boqian, Shiping Wen, Zheng Yan, Guanghui Wen, and Tingwen Huang. "A Survey on the Control Lyapunov Function and Control Barrier Function for Nonlinear-Affine Control Systems." IEEE/CAA Journal of Automatica Sinica 10, no. 3 (March 2023): 584–602. http://dx.doi.org/10.1109/jas.2023.123075.

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Wang, Jian, He He, and Jiafeng Yu. "Stabilization with guaranteed safety using Barrier Function and Control Lyapunov Function." Journal of the Franklin Institute 357, no. 15 (October 2020): 10472–91. http://dx.doi.org/10.1016/j.jfranklin.2020.08.026.

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HAYASHI, Yuka, and Hisakazu NAKAMURA. "Human Assist Control of Electric Wheelchair by Using Control Barrier Function." Transactions of the Society of Instrument and Control Engineers 56, no. 3 (2020): 132–40. http://dx.doi.org/10.9746/sicetr.56.132.

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IGARASHI, Motoi, Maki TAKAI, and Hisakazu NAKAMURA. "Control Barrier Function Based Human Assist Control for Moving Obstacle Avoidance." Transactions of the Society of Instrument and Control Engineers 56, no. 9 (2020): 432–41. http://dx.doi.org/10.9746/sicetr.56.432.

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Дисертації з теми "Control Barrier Function"

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Wu, Guofan. "Safety-critical Geometric Control Design with Application to Aerial Transportation." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1108.

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Анотація:
Safety constraints are ubiquitous in many robotic applications. For instance, aerial robots such as quadrotors or hexcoptors need to realize fast collision-free flight, and bipedal robots have to choose their discrete footholds properly to gain the desired friction and pressure contact forces. In this thesis, we address the safety critical control problem for fully-actuated and under-actuated mechanical systems. Since many mechanical systems evolve on nonlinear manifolds, we extend the concept of Control Barrier Function to a new concept called geometric Control Barrier Function which is specifically designed to handle safety constraints on manifolds. This type of Control Barrier Function stems from geometric control techniques and has a coordinate free and compact representation. In a similar fashion, we also extend the concept of Control Lyapunov Function to the concept of geometric Control Lyapunov Function to realize tracking on the manifolds. Based on these new geometric versions of CLF and CBF, we propose a general control design method for fully-actuated systems with both state and input constraints. In this CBF-CLF-QP control design, the control input is computed based on a state-dependent Quadratic Programming (QP) where the safety constraints are strictly enforced using geometric CBF but the tracking constraint is imposed through a type of relaxation. Through this type of relaxation, the controller could still keep the system state safe even in the cases when the reference is unsafe during some time period. For a single quadrotor, we propose the concept of augmented Control Barrier Function specifically to let it avoid external obstacles. Using this augmented CBF, we could still utilize the idea of CBF-CLF-QP controller in a sequential QP control design framework to let this quadrotor remain safe during the flight. In meantime, we also apply the geometric control techniques to the aerial transportation problem where a payload is carried by multiple quadrotors through cable suspension. This type of transportation method allows multiple quadrotors to share the payload weight, but introduces internal safety constraints at the same time. By employing both linear and nonlinear techniques, we are able to carry the payload pose to follow a pre-defined reference trajectory.
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Ottoson, Jakob. "Comparative analysis of pathogen occurrence in wastewater : management strategies for barrier function and microbial control." Doctoral thesis, Stockholm, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-233.

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Kanso, Soha. "Contributions to Safe Reinforcement Learning and Degradation Tolerant Control Design." Electronic Thesis or Diss., Université de Lorraine, 2024. https://docnum.univ-lorraine.fr/ulprive/DDOC_T_2024_0261_KANSO.pdf.

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Анотація:
Les systèmes dynamiques critiques pour la sécurité sont essentiels dans divers secteurs, tels que l'aérospatiale, les systèmes autonomes et les robots en santé, où des défaillances peuvent avoir des conséquences catastrophiques. Un défi majeur est la prise en compte de la dégradation des composants et des actionneurs, compromettant la sécurité et la stabilité des systèmes. Il est donc crucial d'intégrer l'état de santé du système dans la conception de la commande pour assurer une tolérance à la dégradation fonctionnelle. Ces systèmes impliquent souvent des incertitudes et des connaissances incomplètes, nécessitant des approches d'apprentissage pour assimiler les données disponibles. L'apprentissage par renforcement (RL) est une approche puissante capable de synthétiser des lois de commande optimales pour des systèmes dynamiques partiellement ou totalement inconnus. Cependant, le développement de ces approches présente des défis : la phase d'exploration nécessaire à l'apprentissage peut entraîner le système dans des régions non sûres, accélérant la dégradation des composants ; en outre, des garanties de sécurité pendant la phase opérationnelle sont cruciales pour assurer la sécurité continue du système. Le paradigme de l'apprentissage par renforcement sûr (Safe RL) vise à développer des approches RL prioritaires aux garanties de sécurité, ainsi qu'à la stabilité et l'optimalité des systèmes. Cette thèse aborde ces défis en synthétisant de nouvelles stratégies d'apprentissage de commande adaptatives aux incertitudes et à la dégradation fonctionnelle. Les contributions principales incluent :• garantir l'optimalité, la sécurité et la stabilité de la loi de commande pendant les phases d'exploration et d'exploitation du RL. En intégrant les fonctions de barrière de commande (CBFs) et les fonctions de Lyapunov de commande (CLFs) dans le cadre du RL, l'exploration sécurisée et l'exploitation stable sont assurées pour les problèmes de régulation et de suivi de trajectoire. Les CBFs définissent des régions de fonctionnement sûres, tandis que les CLFs assurent la stabilité du système. Ces fonctions guident le processus d'apprentissage, garantissant le respect des contraintes de sécurité et de stabilité;• ralentir la vitesse de dégradation en intégrant les taux de dégradation dans la conception de la commande, utilisant initialement une approche de contrôle optimal en temps discret pour les systèmes linéaires. Cela garantit que les actions de contrôle minimisent la dégradation des composants, prolongeant leur durée de vie. Pour les systèmes non linéaires, des méthodes RL sont utilisées pour résoudre le problème en temps discret et continu, fournissant des solutions adaptables aux dynamiques complexes;• proposer un nouvel algorithme de RL cyclique pour garantir la stabilité du système en cas de dégradation des actionneurs. Cet algorithme met à jour dynamiquement la loi de commande apprise, assurant une adaptation adéquate à mesure que les composants se dégradent. La nature cyclique de l'algorithme permet une réévaluation et un ajustement des lois de commande, garantissant une performance optimale continue malgré la dégradation. Ces approches ont été mises en œuvre à travers des simulations, démontrant leur efficacité dans des applications académiques
Safety-critical dynamical systems are essential in various industries, such as aerospace domain, autonomous systems, robots in healthcare area etc. where safety issues and structural or functional failure may lead to catastrophic consequences. A significant challenge in these systems is the degradation of components and actuators, which can compromise safety and stability of systems. As such, incorporating state of system's health within the control design framework is essential to ensure tolerance to functional degradation. Moreover, such system models often involve uncertainties and incomplete knowledge, especially as components degrade, altering system dynamics in a nonlinear manner, calling for development of learning approaches that envisage assimilation of available data within the control learning paradigm. However, assuring safety during the learning phase (exploration) as well as operational phase (exploitation) is of paramount importance when it comes to such dynamical systems. Traditional model-based control approaches, require precise system models, making them less effective under these conditions. In this context, Reinforcement Learning (RL) emerges as a powerful approach, capable of learning optimal control laws for partially or fully unknown dynamic systems, in the presence of input-output data (without the exact knowledge of system models). However, development and implementation of RL based approaches present their own challenges: the exploration phase, necessary for learning, can lead the system into unsafe regions and accelerate the speed of degradation; further, provable safety guarantees during the operational (exploitation) phase are equally important to ensure safety throughout the system operation. In this context, Safe Reinforcement Learning (Safe RL) paradigm targets development of RL based approaches that prioritize the safety guarantees, along with traditional stability, and optimality of systems. This thesis addresses these challenges by developing novel control learning strategies that adapt to system uncertainties and functional degradation. The main contributions of this thesis lie in proposition of novel approaches to addressing the challenges of system safety and stability, as well as decelerating the speed of degradation, thereby advancing the fields of safe RL and leading to proposition of Degradation-Tolerant Control (DTC). These contributions include:• ensuring the optimality, safety, and stability of control policy during both exploration and exploitation phases of RL. By integrating Control Barrier Functions (CBFs) and Control Lyapunov Functions (CLFs) within the RL framework, safe exploration and stable operation are ensured for both regulation and tracking problems. CBFs are used to define safe operating regions, while CLFs ensure that the system remains stable. These functions are incorporated into the RL algorithms to guide the learning process, ensuring that safety and stability constraints are respected;• decelerating the speed of degradation by incorporating degradation rates into control design, initially employing an optimal control approach in discrete time for linear systems. This ensures that control actions minimize the speed of degradation on system components, thereby extending their lifespan. For nonlinear systems, RL methods are employed to address the problem in both discrete and continuous time, providing adaptable solutions to complex dynamics;• proposal of a novel cyclic RL algorithm to ensure system stability under actuator degradation. This algorithm cyclically updates the learned control law, ensuring proper adaptation as system components degrade. The cyclic nature of the algorithm allows for reassessment and adjustment of control policies, ensuring continuous optimal performance despite ongoing degradation. These developed approaches were implemented through simulations, demonstrating their effectiveness in academic applications
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Tan, Xiao. "Partitioning and Control for Dynamical Systems Evolving on Manifolds." Licentiate thesis, KTH, Reglerteknik, 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-283672.

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Анотація:
With the development and integration of cyber-physical and safety-critical systems, control systems are expected to achieve tasks that include logic rules, receptive decision-making, safety constraints, and so forth. For example, in a persistent surveillance application, an unmanned aerial vehicle might be required to "take photos of areas A and B infinitely often, always avoid unsafe region C, and return to the charging point when the battery level goes low." One possible design approach to achieve such complex specifications is automata-based planning using formal verification algorithms. Central to the existing formal verification of continuous-time systems is the notion of abstraction, which consists of partitioning the state space into cells, and then formulating a certain control problem on each cell. The control problem is characterized as finding a state feedback to make all the closed-loop trajectories starting from one cell reach and enter a consecutive cell in finite time without intruding any other cells. This essentially abstracts the continuous system into a finite-state transition graph. The complex specifications can thus be checked against the simple transition model using formal verification tools, which yields a sequence of cells to visit consecutively. While control algorithms have been developed in the literature for linear systems associated with a polytopic partitioning of the state space, the partitioning and control problem for systems on a curved space is a relatively unexplored research area. In this thesis, we consider $ SO (3) $ and $ \ mathbb {S} ^ 2 $, the two most commonly encountered manifolds in mechanical systems, and propose several approaches to address the partitioning and control problem that in principle could be generalized to other manifolds. Chapter 2 proposes a discretization scheme that consists of sampling point generation and cell construction. Each cell is constructed as a ball region around a sampling point with an identical radius. Uniformity measures for the sampling points are proposed. As a result, the $SO(3)$ manifold is discretized into interconnected cells whose union covers the whole space. A graph model is naturally built up based on the cell adjacency relations. This discretization method, in general, can be extended to any Riemannian manifold. To enable the cell transitions, two reference trajectories are constructed corresponding to the cell-level plan. We demonstrate the results by solving a constrained attitude maneuvering problem with arbitrary obstacle shapes. It is shown that the algorithm finds a feasible trajectory as long as it exists at that discretization level. In Chapter 3, the 2-sphere manifold is considered and discretized into spherical polytopes, an analog of convex polytopes in the Euclidean space. Moreover, with the gnomonic projection, we show that the spherical polytopes can be naturally mapped into Euclidean polytopes and the dynamics on the manifold locally transform to a simple linear system via feedback linearization. Based on this transformation, the control problems then can be solved in the Euclidean space, where many control schemes exist with safe cell transition guarantee. This method serves as a special case that solves the partition-and-control problem by transforming the states and dynamics on manifold to Euclidean space in local charts. In Chapter 4, we propose a notion of high-order barrier functions for general control affine systems to guarantee set forward invariance by checking their higher order derivatives. This notion provides a unified framework to constrain the transient behavior of the closed-loop trajectories, which is essential in the cell-transition control design. The asymptotic stability of the forward invariant set is also proved, which is highly favorable for robustness with respect to model perturbations. We revisit the cell transition problem in Chapter 2 and show that even with a simple stabilizing nominal controller, the proposed high-order barrier function framework provides satisfactory transient performance.

QC 20201012

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Zeferino, Cristiane Lionço. "Avaliação e controle de margem de carregamento em sistemas elétricos de potência." Universidade de São Paulo, 2011. http://www.teses.usp.br/teses/disponiveis/18/18154/tde-05052011-091651/.

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Neste trabalho é proposta a determinação do ponto de Máximo Carregamento (PMC) em sistemas elétricos de potência por meio do método da Função Lagrangiana Barreira Modificada (FLBM), uma variante do método de Pontos Interiores (PI). Também por meio do método da FLBM, busca-se determinar qual é a barra, para cada sistema, que apresenta a maior sensibilidade em relação ao fator de carregamento, ou seja, qual seria a primeira barra que deveria sofrer corte de carga a fim de aumentar a margem de carregamento do sistema e, assim, evitar o colapso de tensão. Para comprovação dos resultados obtidos por meio do método da FLBM utiliza-se a técnica de Análise de Sensibilidade (AS). A formulação do problema tem como restrições de igualdade as equações de balanço de potência do sistema elétrico e como restrições de desigualdade os limites de tensões nas barras, assim como os limites de geração de potência reativa nas barras com controle da referida potência. Estudos de casos foram realizados em um sistema de 3 barras e nos sistemas IEEE 14, 57, 118 e 300 barras; tais estudos demonstraram a robustez e a eficiência dos algoritmos propostos.
This work proposes the determination of the Maximum Loading Point (MLP) in electric power system via Lagrangian Modified Barrier Function (LMBF) method, a variant of Interior Point (IP). The LMBF method is also used to determine which bus, for each system, has the highest sensitivity of load factor, i.e., which bus would be the first to have load shedding in order to increase the loading margin system and thus prevent voltage collapse. To validate this approach, the Sensitivity Analysis (SA) technique was used for the confirmation of the results obtained by the LMBF method. The formulation of the problem considered the equations of power balance of the electrical system equality constraints, and the buses voltage magnitude limits, as well as the limits of reactive power control at the buses of that power inequality constraints. Case studies were conducted in a system of 3 buses and IEEE systems 14, 57, 118 and 300 buses, demonstrating the robustness and efficiency of the proposed algorithms.
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Carli, Nicola de. "Active perception and localization for multi-robot systems." Electronic Thesis or Diss., Université de Rennes (2023-....), 2024. http://www.theses.fr/2024URENS013.

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Dans cette thèse, nous nous attaquons aux défis de la localisation des systèmes multi-robots, en nous concentrant sur la localisation coopérative dans des formations non infiniment rigides avec des contraintes de détection. Nos contributions introduisent un cadre dans lequel les objectifs éventuellement conflictuels du maintien de la connectivité, de l'exécution des tâches et de l'acquisition d'informations sont "médiés" à l'aide d'un programme quadratique et des fonctions de barrière de contrôle et du formalisme de la fonction de Lyapunov de contrôle. Une autre contribution de cette thèse concerne la localisation active distribuée de cibles mobiles multiples par un groupe de robots volants utilisant des mesures basées sur des caméras, tout en accommodant d'autres tâches si la redondance du système le permet. Dans ce cas également, la formulation du problème utilise un programme quadratique et des fonctions de barrière de contrôle. En nous appuyant sur la fonction de barrière de contrôle et le cadre du programme quadratique, nous identifions et abordons les limites de l'état actuel de la technique, en particulier en ce qui concerne les fonctions de barrière de contrôle distribuées. Nos modifications aboutissent à un contrôleur qui converge vers la solution optimale centralisée. Enfin, nous présentons une méthodologie d'observation comme une nouvelle contribution, facilitant la localisation coopérative d'un système multi-robots dans un cadre commun en utilisant des mesures relatives au cadre du corps
In this thesis, we tackle challenges in the localization of multi-robot systems, focusing on cooperative localization in non-infinitesimally rigid formations with sensing constraints. Our contributions introduce a framework in which the possibly conflicting goals of connectivity maintenance, task execution and the information acquisition are "mediated" using a quadratic program and the control barrier functions and control Lyapunov function formalism. Another contribution of this thesis addresses distributed active localization of multiple moving targets by a group of flying robots using camera-based measurements, while accommodating other tasks if system redundancy permits. Also in this case, the problem formulation utilizes a quadratic program and control barrier functions. Building on the control barrier function and quadratic program framework, we identify and address limitations in the existing state of the art, particularly in distributed control barrier functions. Our modifications result in a controller that converges to the centralized optimal solution. Lastly, we present an observer methodology as a novel contribution, allowing cooperative localization of a multi-robot system in a common frame using body-frame relative measurements
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Zhang, Nan. "SCALE MODELS OF ACOUSTIC SCATTERING PROBLEMS INCLUDING BARRIERS AND SOUND ABSORPTION." UKnowledge, 2018. https://uknowledge.uky.edu/me_etds/119.

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Scale modeling has been commonly used for architectural acoustics but use in other noise control areas is nominal. Acoustic scale modeling theory is first reviewed and then feasibility for small-scale applications, such as is common in the electronics industry, is investigated. Three application cases are used to examine the viability. In the first example, a scale model is used to determine the insertion loss of a rectangular barrier. In the second example, the transmission loss through parallel tubes drilled through a cylinder is measured and results are compared to a 2.85 times scale model with good agreement. The third example is a rectangular cuboid with a smaller cylindrical well bored into it. A point source is placed above the cuboid. The transfer function was measured between positions on the top of the cylinder and inside of the cylindrical well. Treatments were then applied sequentially including a cylindrical barrier around the well, a membrane cover over the opening, and a layer of sound absorption over the well. Results are compared between the full scale and a 5.7 times scale model and correlation between the two is satisfactory.
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Lage, Guilherme Guimarães. "O fluxo de potência ótimo reativo com variáveis de controle discretas e restrições de atuação de dispositivos de controle de tensão." Universidade de São Paulo, 2013. http://www.teses.usp.br/teses/disponiveis/18/18154/tde-29042013-114259/.

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Este trabalho propõe um novo modelo e uma nova abordagem para resolução do problema de fluxo de potência ótimo reativo com variáveis de controle discretas e restrições de atuação de dispositivos de controle de tensão. Matematicamente, esse problema é formulado como um problema de programação não linear com variáveis contínuas e discretas e restrições de complementaridade, cuja abordagem para resolução proposta neste trabalho se baseia na resolução de uma sequência de problemas modificados pelo algoritmo da função Lagrangiana barreira modificada-penalidade-discreto. Nessa abordagem, o problema original é modificado da seguinte forma: 1) as variáveis discretas são tratadas como contínuas por funções senoidais incorporadas na função objetivo do problema original; 2) as restrições de complementaridade são transformadas em restrições de desigualdade equivalentes; e 3) as restrições de desigualdade são transformadas em restrições de igualdade a partir do acréscimo de variáveis de folga não negativas. Para resolver o problema modificado, a condição de não negatividade das variáveis de folga é tratada por uma função barreira modificada com extrapolação quadrática. O problema modificado é transformado em um problema Lagrangiano, cuja solução é determinada a partir da aplicação das condições necessárias de otimalidade. No algoritmo da função Lagrangiana barreira modificada-penalidade-discreto, uma sequência de problemas modificados é resolvida até que todas as variáveis do problema modificado associadas às variáveis discretas do problema original assumam valores discretos. Para demonstrar a eficácia do modelo proposto e a robustez dessa abordagem para resolução de problemas de fluxo de potência ótimo reativo, foram realizados testes com os sistemas elétricos IEEE de 14, 30, 57 e 118 barras e com o sistema equivalente CESP 440 kV de 53 barras. Os resultados mostram que a abordagem para resolução de problemas de programação não linear proposta é eficaz no tratamento de variáveis discretas e restrições de complementaridade.
This work proposes a novel model and a new approach for solving the reactive optimal power flow problem with discrete control variables and voltage-control actuation constraints. Mathematically, such problem is formulated as a nonlinear programming problem with continuous and discrete variables and complementarity constraints, whose proposed resolution approach is based on solving a sequence of modified problems by the discrete penalty-modified barrier Lagrangian function algorithm. In this approach, the original problem is modified in the following way: 1) the discrete variables are treated as continuous by sinusoidal functions incorporated into the objective function of the original problem; 2) the complementarity constraints are transformed into equivalent inequality constraints; and 3) the inequality constraints are transformed into equality constraints by the addition of non-negative slack variables. To solve the modified problem, the non-negativity condition of the slack variables is treated by a modified barrier function with quadratic extrapolation. The modified problem is transformed into a Lagrangian problem, whose solution is determined by the application of the first-order necessary optimality conditions. In the discrete penalty- modified barrier Lagrangian function algorithm, a sequence of modified problems is successively solved until all the variables of the modified problem that are associated with the discrete variables of the original problem assume discrete values. The efectiveness of the proposed model and the robustness of this approach for solving reactive optimal power flow problems were verified with the IEEE 14, 30, 57 and 118-bus test systems and the 440 kV CESP 53-bus equivalent system. The results show that the proposed approach for solving nonlinear programming problems successfully handles discrete variables and complementarity constraints.
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Barrera, Estevez Michael [Verfasser], Andreas Akademischer Betreuer] [Gutachter] Reichert, and Amparo [Gutachter] [Acker-Palmer. "Functional role of OPA1 in mitochondrial membrane structure and quality control / Michael Barrera Estevez. Betreuer: Andreas Reichert. Gutachter: Amparo Acker-Palmer ; Andreas Reichert." Frankfurt am Main : Universitätsbibliothek Johann Christian Senckenberg, 2016. http://d-nb.info/1112601430/34.

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Barrera, Estevez Michael Verfasser], Andreas [Akademischer Betreuer] [Gutachter] Reichert, and Amparo [Gutachter] [Acker-Palmer. "Functional role of OPA1 in mitochondrial membrane structure and quality control / Michael Barrera Estevez. Betreuer: Andreas Reichert. Gutachter: Amparo Acker-Palmer ; Andreas Reichert." Frankfurt am Main : Universitätsbibliothek Johann Christian Senckenberg, 2016. http://d-nb.info/1112601430/34.

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Книги з теми "Control Barrier Function"

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Xiao, Wei, Christos G. Cassandras, and Calin Belta. Safe Autonomy with Control Barrier Functions. Cham: Springer International Publishing, 2023. http://dx.doi.org/10.1007/978-3-031-27576-0.

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1952-, Woods David D., and United States. National Aeronautics and Space Administration., eds. Breaking down barriers in cooperative fault management: Temporal and functional information displays. [Washington, DC: National Aeronautics and Space Administration, 1994.

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Relaxed Barrier Function Based Model Predictive Control. Logos Verlag Berlin, 2017.

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Bonnet, Marie-Pierre, and Anne Alice Chantry. Placenta and uteroplacental perfusion. Oxford University Press, 2016. http://dx.doi.org/10.1093/med/9780198713333.003.0003.

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The placenta is a complex and changing organ necessary for normal fetal growth and development and for maintenance of a healthy pregnancy. It has three major functions: a protective function of the fetus, an endocrine function, and a metabolic function. The main functional unit of the placenta is the chorionic villous, responsible for the majority of the fetal–maternal exchanges. Migration of trophoblastic cells induces a remodelling of the uterine arteries, with vasodilatated and compliant vessels, unresponsive to maternal vasomotor control. Therefore, any significant change in maternal blood pressure, in particular in the context of general or regional anaesthesia, can directly impact on uteroplacental perfusion. Most anaesthetic drugs cross the placental barrier, but without significant consequences on the fetal well-being.
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Safe Autonomy with Control Barrier Functions: Theory and Applications. Springer International Publishing AG, 2023.

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Safe Autonomy with Control Barrier Functions: Theory and Applications. Springer International Publishing AG, 2024.

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Bouchard, Danielle R., ed. Exercise and Physical Activity for Older Adults. Human Kinetics, 2021. http://dx.doi.org/10.5040/9781718220942.

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Go beyond aging theories and examine the physiological and physical impacts of aging. Exercise and Physical Activity for Older Adults takes a close look at the physical implications of the aging process and how health, physical activity, and exercise interact in aging adults. With an international team of contributors composed of leading experts from across the field of gerontology, Exercise and Physical Activity for Older Adults delivers comprehensive, interdisciplinary coverage of the physical aging process and its effects on movement and exercise. Research on the physiological and physical implications of aging is presented, focusing on study outcomes and their practical application in optimizing healthy aging. Presented in an integrated and cohesive manner, this text is organized into four parts. Part I covers the theoretical foundations of biological aging, the implications of aging theories on medical research, and the social and economic impacts of demographic shifts due to population aging and global population size.Part II addresses age-related changes to the musculoskeletal, cardiovascular, pulmonary, and endocrine systems.Part III covers the physical effects of aging on other dimensions of life, including balance, motor control, and physical functions.Part IV focuses on exercise and older adults, taking an in-depth look at exercise measurements and the main barriers to regular exercise. One full chapter is devoted to recommendations for optimizing health for the general public, while another chapter is focused on performance by elite older athletes who exercise beyond functional fitness. Chapter objectives, end-of-chapter summaries, and review questions highlight key concepts and promote learning retention. Behavior Check sidebars look at the impacts of aging on behavior, how behavior affects physical health and activity, and how changes in behavior can improve everyday living. Functional Fitness Checkup sidebars focus on the performance of daily movements that are vital for older adults who want to maintain their physical independence. Putting It Into Practice elements provide examples of real-life application of the concepts presented, facilitating a practical understanding of how to use the content to benefit clients. A definitive resource for students and health care professionals who study physical aging, conduct clinical research, or work with older adults as clients and patients, Exercise and Physical Activity for Older Adults helps readers understand the aging process and its effects on movement, exercise, and other dimensions of life.
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Частини книг з теми "Control Barrier Function"

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Xu, Hao, Zhongjiao Shi, and Liangyu Zhao. "Control Barrier Function-Based Discrete-Time Adaptive Control for Uncertain Systems." In Lecture Notes in Electrical Engineering, 280–90. Singapore: Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-96-2216-0_27.

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Wu, Zhe, and Panagiotis D. Christofides. "Operational Safety Via Control Lyapunov-Barrier Function-Based MPC." In Process Operational Safety and Cybersecurity, 59–94. Cham: Springer International Publishing, 2021. http://dx.doi.org/10.1007/978-3-030-71183-2_4.

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Liu, Shifeng, Xuemei Ren, and Dongdong Zheng. "Adaptive Barrier Lyapunov Function Control for Motion-Constrained Manipulator Systems." In Lecture Notes in Electrical Engineering, 347–56. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-8650-3_35.

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Schoer, Andrew, Helena Teixeira-Dasilva, Christian So, Makai Mann, and Roberto Tron. "Control Barrier Function Toolbox: An Extensible Framework for Provable Safety." In Lecture Notes in Computer Science, 352–58. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-60698-4_21.

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Wu, Bi, Junqi Wu, and Hongbin Deng. "Multi-agent Formation Optimization Obstacle Avoidance Tracking Control Based on Control Barrier Function." In Lecture Notes in Electrical Engineering, 83–93. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-3336-1_8.

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Johnston, Daniel G. W., and Sinéad C. Corr. "Toll-Like Receptor Signalling and the Control of Intestinal Barrier Function." In Methods in Molecular Biology, 287–300. New York, NY: Springer New York, 2016. http://dx.doi.org/10.1007/978-1-4939-3335-8_18.

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Wang, Xu, Yituo Song, Haoxuan Wei, Yanfang Liu, and Naiming Qi. "Safety Control of Quadrotor by Control Barrier Function Based-on Data-Driven Hamilton Dynamics Model." In Proceedings of 2022 International Conference on Autonomous Unmanned Systems (ICAUS 2022), 3467–78. Singapore: Springer Nature Singapore, 2023. http://dx.doi.org/10.1007/978-981-99-0479-2_320.

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Jiang, Chenhuan, Hanyu Gan, Illés Vörös, Dénes Takács, and Gábor Orosz. "Safety Filter for Lane-Keeping Control." In Lecture Notes in Mechanical Engineering, 371–77. Cham: Springer Nature Switzerland, 2024. http://dx.doi.org/10.1007/978-3-031-70392-8_53.

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AbstractA safe lane-keeping controller is designed using a control barrier function (CBF) which ensures that if the vehicle starts between the lane boundaries then it does not leave the lane. The safety filter is applied on the top of a nominal path-following controller of the kinematic single-track model in order to modify the control input when the vehicle gets close to the boundary of the safe set in state space. Numerical simulations and phase portraits are used to demonstrate the performance of the proposed safety-critical controller.
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Gao, Qingji, Junhu Feng, Gaowei Zhang, and Wenbo Cao. "Control Barrier Function Based Model Predictive Control to Safety Obstacle-Avoidance of Autonomous Manned Mobile Robots." In Lecture Notes in Electrical Engineering, 606–14. Singapore: Springer Nature Singapore, 2025. https://doi.org/10.1007/978-981-96-2216-0_58.

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Cai, Yun-song, Jing Xu, and Yu-gang Niu. "Model-Free Formation Control: Multi-input Adaptive Super-Twisting Approach Based on Barrier Function." In Lecture Notes in Electrical Engineering, 134–43. Singapore: Springer Nature Singapore, 2024. http://dx.doi.org/10.1007/978-981-97-3328-6_12.

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Тези доповідей конференцій з теми "Control Barrier Function"

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Won, Seung-Beom, and Hyo-Sung Ahn. "Vision-based Formation Control with Control Barrier Function." In 2024 24th International Conference on Control, Automation and Systems (ICCAS), 478–82. IEEE, 2024. https://doi.org/10.23919/iccas63016.2024.10773299.

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Wang, Weijia, Tao Meng, Xiaofeng Zhao, Jiakun Lei, and Kun Wang. "Warming up a Backup Control Barrier Function." In 2024 China Automation Congress (CAC), 2855–60. IEEE, 2024. https://doi.org/10.1109/cac63892.2024.10865595.

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Tang, Jian, Zhiyuan Deng, Hao Zhang, Tao Jiang, Chenyang Wang, and Zhiwu Ke. "Control Barrier Function-Based Quadrotor Interception Control Using Visual Servoing." In 2024 IEEE International Conference on Unmanned Systems (ICUS), 319–24. IEEE, 2024. https://doi.org/10.1109/icus61736.2024.10839921.

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Wang, Yulu. "Trajectory Tracking Control of Quadrotors via Robust Control Barrier Function." In 2024 43rd Chinese Control Conference (CCC), 2239–44. IEEE, 2024. http://dx.doi.org/10.23919/ccc63176.2024.10662043.

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Black, Mitchell, Georgios Fainekos, Bardh Hoxha, Hideki Okamoto, and Danil Prokhorov. "CBFkit: A Control Barrier Function Toolbox for Robotics Applications." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 12428–34. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801431.

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Xu, Lihao, Xiaogang Xiong, and Yang Bai. "Dynamic Control Barrier Function Based Trajectory Planning for Mobile Manipulator." In 2024 43rd Chinese Control Conference (CCC), 3815–20. IEEE, 2024. http://dx.doi.org/10.23919/ccc63176.2024.10662784.

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Shen, Xun, Akifumi Wachi, Wataru Hashimoto, Kazumune Hashimoto, and Shigemasa Takai. "Safe Reinforcement Learning Using Model Predictive Control with Probabilistic Control Barrier Function." In 2024 American Control Conference (ACC), 74–79. IEEE, 2024. http://dx.doi.org/10.23919/acc60939.2024.10644734.

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Dong, Zi-Yuan, Xin-Yi Yu, Lin-Lin Ou, and Yong-Qi Zhang. "Data-Driven Safety-Critical Control with High-Order Iterative Control Barrier Function." In 2024 IEEE 63rd Conference on Decision and Control (CDC), 4881–86. IEEE, 2024. https://doi.org/10.1109/cdc56724.2024.10886234.

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Wang, Yapeng, and Yunhai Geng. "Barrier Lypanunov Function-based Adaptive Control of an Ankle Exoskeleton." In 2024 9th International Conference on Automation, Control and Robotics Engineering (CACRE), 350–54. IEEE, 2024. http://dx.doi.org/10.1109/cacre62362.2024.10635073.

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Park, Younghwa, and Christoffer Sloth. "Differential-Algebraic Equation Control Barrier Function for Flexible Link Manipulator." In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 12408–13. IEEE, 2024. https://doi.org/10.1109/iros58592.2024.10801482.

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Звіти організацій з теми "Control Barrier Function"

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Hovakimyan, Naira, Hunmin Kim, Wenbin Wan, and Chuyuan Tao. Safe Operation of Connected Vehicles in Complex and Unforeseen Environments. Illinois Center for Transportation, August 2022. http://dx.doi.org/10.36501/0197-9191/22-016.

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Анотація:
Autonomous vehicles (AVs) have a great potential to transform the way we live and work, significantly reducing traffic accidents and harmful emissions on the one hand and enhancing travel efficiency and fuel economy on the other. Nevertheless, the safe and efficient control of AVs is still challenging because AVs operate in dynamic environments with unforeseen challenges. This project aimed to advance the state-of-the-art by designing a proactive/reactive adaptation and learning architecture for connected vehicles, unifying techniques in spatiotemporal data fusion, machine learning, and robust adaptive control. By leveraging data shared over a cloud network available to all entities, vehicles proactively adapted to new environments on the proactive level, thus coping with large-scale environmental changes. On the reactive level, control-barrier-function-based robust adaptive control with machine learning improved the performance around nominal models, providing performance and control certificates. The proposed research shaped a robust foundation for autonomous driving on cloud-connected highways of the future.
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Unzeta, Bruno Bueno, Jan de Boer, Ruben Delvaeye, Bertrand Deroisy, Marc Fontoynont, David Geisler-Moroder, Niko Gentile, et al. Survey on opportunities and barriers in lighting controls. Edited by Marc Fontoynont. IEA SHC Task 61, February 2021. http://dx.doi.org/10.18777/ieashc-task61-2021-0002.

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This report summarizes a survey performed in eight countries on the status quo of daylight and electric lighting control systems. Feedback from more than 100 international experts (building / facility managers and planers) was evaluated. The aim of the survey was to identify the perception of the different possibilities of the current lighting control solutions and the expectations about the control systems. The survey aims to provide a mapping of the current lighting control systems available at the market and an overview of which functions are perceived as most important and which areas are found to be improved. Participants of the survey had to rank each question in relation to the perceived importance and the need for improvement. The survey enclosed five general topics; energy, operational aspects, occupant control, occupant comfort and control functionality.
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Brandl, Maria T., Shlomo Sela, Craig T. Parker, and Victor Rodov. Salmonella enterica Interactions with Fresh Produce. United States Department of Agriculture, September 2010. http://dx.doi.org/10.32747/2010.7592642.bard.

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The emergence of food-borne illness outbreaks linked to the contamination of fruits and vegetables is a great concern in industrialized countries. The current lack of control measures and effective sanitization methods prompt the need for new strategies to reduce contamination of produce. Our ability to assess the risk associated with produce contamination and to devise innovative control strategies depends on the identification of critical determinants that affect the growth and the persistence of human pathogens on plants. Salmonella enterica, a common causal agent of illness linked to produce, has the ability to colonize and persist on plants. Thus, our main objective was to identify plant-inducible genes that have a role in the growth and/or persistence of S. enterica on postharvest lettuce. Our findings suggest that in-vitro biofilm formation tests may provide a suitable model to predict the initial attachment of Salmonella to cut-romaine lettuce leaves and confirm that Salmonella could persist on lettuce during shelf-life storage. Importantly, we found that Salmonella association with lettuce increases its acid-tolerance, a trait which might be correlated with an enhanced ability of the pathogen to pass through the acidic barrier of the stomach. We have demonstrated that Salmonella can internalize leaves of iceberg lettuce through open stomata. We found for the first time that internalization is an active bacterial process mediated by chemotaxis and motility toward nutrient produced in the leaf by photosynthesis. These findings may provide a partial explanation for the failure of sanitizers to efficiently eradicate foodborne pathogens in leafy greens and may point to a novel mechanism utilized by foodborne and perhaps plant pathogens to colonize leaves. Using resolvase in vivo expression technology (RIVET) we have managed to identify multiple Salmonella genes, some of which with no assigned function, which are involved in attachment to and persistence of Salmonella on lettuce leaves. The precise function of these genes in Salmonella-leaf interactions is yet to be elucidated. Taken together, our findings have advanced the understanding of how Salmonella persist in the plant environment, as well as the potential consequences upon ingestion by human. The emerging knowledge opens new research directions which should ultimately be useful in developing new strategies and approaches to reduce leaf contamination and enhance the safety of fresh produce.
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Chejanovsky, Nor, and Suzanne M. Thiem. Isolation of Baculoviruses with Expanded Spectrum of Action against Lepidopteran Pests. United States Department of Agriculture, December 2002. http://dx.doi.org/10.32747/2002.7586457.bard.

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Our long-term goal is to learn to control (expand and restrict) the host range of baculoviruses. In this project our aim was to expand the host range of the prototype baculovirus Autographa cali/arnica nuclear polyhedrosis virus (AcMNPV) towards American and Israeli pests. To achieve this objective we studied AcMNPV infection in the non-permissive hosts L. dispar and s. littoralis (Ld652Y and SL2 cells, respectively) as a model system and the major barriers to viral replication. We isolated recombinant baculoviruses with expanded infectivity towards L. dispar and S. littoralis and tested their infectivity towards other Lepidopteran pests. The restricted host range displayed by baculoviruses constitutes an obstacle to their further implementation in the control of diverse Lepidopteran pests, increasing the development costs. Our work points out that cellular defenses are major role blocks to AcMNPV replication in non- and semi-permissive hosts. Therefore a major determinant ofbaculovirus host range is the ability of the virus to effectively counter cellular defenses of host cells. This is exemplified by our findings showing tliat expressing the viral gene Ldhrf-l overcomes global translation arrest in AcMNPV -infected Ld652Y cells. Our data suggests that Ld652Y cells have two anti-viral defense pathways, because they are subject to global translation arrest when infected with AcMNPV carrying a baculovirus apoptotic suppressor (e.g., wild type AcMNPV carryingp35, or recombinant AcMNPV carrying Opiap, Cpiap. or p49 genes) but apoptose when infected with AcMNPV-Iacking a functional apoptotic suppressor. We have yet to elucidate how hrf-l precludes the translation arrest mechanism(s) in AcMNPV-infected Ld652Y cells. Ribosomal profiles of AcMNPV infected Ld652Y cells suggested that translation initiation is a major control point, but we were unable to rule-out a contribution from a block in translation elongation. Phosphorylation of eIF-2a did not appear to playa role in AcMNPV -induced translation arrest. Mutagenesis studies ofhrf-l suggest that a highly acidic domain plays a role in precluding translation arrest. Our findings indicate that translation arrest may be linked to apoptosis either through common sensors of virus infection or as a consequence of late events in the virus life-cycle that occur only if apoptosis is suppressed. ~ AcMNPV replicates poorly in SL2 cells and induces apoptosis. Our studies in AcMNPV - infected SL2ceils led us to conclude that the steady-state levels of lEI (product of the iel gene, major AcMNPV -transactivator and multifunctional protein) relative to those of the immediate early viral protein lEO, playa critical role in regulating the viral infection. By increasing the IEl\IEO ratio we achieved AcMNPV replication in S. littoralis and we were able to isolate recombinant AcMNPV s that replicated efficiently in S. lifforalis cells and larvae. Our data that indicated that AcMNPV - infection may be regulated by an interaction between IE 1 and lED (of previously unknown function). Indeed, we showed that IE 1 associates with lED by using protein "pull down" and immunoprecipitation approaches High steady state levels of "functional" IE 1 resulted in increased expression of the apoptosis suppressor p35 facilitating AcMNPV -replication in SL2 cells. Finally, we determined that lED accelerates the viral infection in AcMNPV -permissive cells. Our results show that expressing viral genes that are able to overcome the insect-pest defense system enable to expand baculovirus host range. Scientifically, this project highlights the need to further study the anti-viral defenses of invertebrates not only to maximi~e the possibilities for manipulating baculovirus genomes, but to better understand the evolutionary underpinnings of the immune systems of vertebrates towards virus infection.
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de Brauw, Alan, Daniel Gilligan, Laura Leavens, Fekadu Moges, Shalini Roy, and Mulugeta Tefera. Impact Evaluation of the SHARPE Programme in Ethiopia: Academic Report. Centre for Excellence and Development Impact and Learning (CEDIL), March 2023. http://dx.doi.org/10.51744/crpp6.

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The Strengthening Host and Refugee Populations in Ethiopia (SHARPE) programme uses a market systems development approach to promote increased self-reliance and economic opportunities for refugees and host communities through the piloting and scaling of interventions across different sectors. This approach is based upon understanding the economic barriers that refugee and host communities face, and working with key stakeholders – including businesses, government, and service providers – to improve market function for people in these regions. This report focuses on evaluating the impacts of investments SHARPE has made in the financial market system, which have focused on developing markets for digital financial services in refugee hosting areas. A highlight of the evaluation are two co-developed randomized control trials, designed to help SHARPE and its partners overcome constraints found while implementing the programme. The report finds evidence that robust markets for digital financial services are emerging in refugee hosting areas near Jijiga and are a little farther behind in Dollo Ado. Enrolment in the mobile money product, HelloCash, has been quite robust, though lower among women and refugees. HelloCash users are more likely to report financial inclusion (beyond inclusion through Hello Cash); they are 8.8 percentage points more likely to report being self-employed; they are 6.1 percentage points more likely to report typically having enough income; and they appear less food insecure than non-users. To try to enrol more women and refugees and catalyse HelloCash use among those groups, we conducted two randomized trials, one which allowed high volume customers to refer customers and receive a small bonus for doing so, and one which provided inactive customers with small incentives to start using the system. The former trial led to increased enrolment, but the share of women and refugees enrolling did not change; the latter led to increased use among women, but not refugees. We conclude with some ideas about further experiments to catalyse more use among refugees.
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