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Comments on ``Nonlinear Output Feedback Control of Dynamically Positioned Ships Using Vectorial observer Backstepping''

The decomposition of nonlinear output feedback control into an observer and a state feedback control is an open problem. A solution for dynamic positioning of ships has been proposed in the above paper (1) and by Grovlen and Fossen, where an observer-based backstepping method is used. This note points out that the observer design in the above-mentioned papers does not cover unstable ship dynamics

Solidarity with the powerful? Fieldwork and Ethnography with Elites

Anthropologists have a long history talking about what we should do when we research less powerful or subordinate groups. We build rapport, we give them voice, we describe their world to others, we show their problems and their solutions. We have a kind of solidarity with them. But more of us are now researching groups with autonomous resources and power. I myself have been with NGO elites, planne

Integrating Patterning Signals: Wnt/GSK3 Regulates the Duration of the BMP/Smad1 Signal.

BMP receptors determine the intensity of BMP signals via Smad1 C-terminal phosphorylations. Here we show that a finely controlled cell biological pathway terminates this activity. The duration of the activated pSmad1Cter signal was regulated by sequential Smad1 linker region phosphorylations at conserved MAPK and GSK3 sites required for its polyubiquitinylation and transport to the centrosome. Pro