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Approaches for stochastic nonlinear model predictive control (SNMPC) typically make restrictive assumptions about the system dynamics and rely on approximations to characterize the evolution of the underlying uncertainty distributions. For this reason, they are often unable to capture more complex distributions (e.g., non-Gaussian or multi-modal) and cannot provide accurate guarantees of performance. In this letter, we present a sampling-based SNMPC approach that leverages recently derived sample complexity bounds to certify the performance of a feedback policy without making assumptions about the system dynamics or underlying uncertainty distributions. By parallelizing our approach, we are able to demonstrate real-time receding-horizon SNMPC with statistical safety guarantees in simulation and on hardware using a 1/10th scale rally car and a 24-inch wingspan fixed-wing unmanned aerial vehicle (UAV). 

This paper reports a novel Random Sample Consensus (RANSAC) algorithm for robust identification of second-order plant dynamical model parameters in the presence of unmodeled plant dynamics and noisy experimental data. Accurate plant dynamical models are essential to model-based control system design and for accurate numerical simulation of plant response. Studies of RANSAC approaches for plant model identification have been extremely limited and have not explored performance improvements in the presence of unmodeled dynamics. The performance of the proposed approach, evaluated in a preliminary simulation study of a planar aerial rotorcraft model, is found to be significantly more robust to the effects of unmodeled vehicle dynamics and outlier noise than conventional least squares parameter identification. We conjecture that the proposed approach may be broadly applicable to robust model parameter identification for a wide variety of plants that exhibit noisy sensor data and/or unmodeled dynamics. 

Abstract Background Microbial colonization of subsurface shales following hydraulic fracturing offers the opportunity to study coupled biotic and abiotic factors that impact microbial persistence in engineered deep subsurface ecosystems. Shale formations underly much of the continental USA and display geographically distinct gradients in temperature and salinity. Complementing studies performed in eastern USA shales that contain brine-like fluids, here we coupled metagenomic and metabolomic approaches to develop the first genome-level insights into ecosystem colonization and microbial community interactions in a lower-salinity, but high-temperature western USA shale formation. Results We collected materials used during the hydraulic fracturing process (i.e., chemicals, drill muds) paired with temporal sampling of water produced from three different hydraulically fractured wells in the STACK ( S ooner T rend A nadarko Basin, C anadian and K ingfisher) shale play in OK, USA. Relative to other shale formations, our metagenomic and metabolomic analyses revealed an expanded taxonomic and metabolic diversity of microorganisms that colonize and persist in fractured shales. Importantly, temporal sampling across all three hydraulic fracturing wells traced the degradation of complex polymers from the hydraulic fracturing process to the production and consumption of organic acids that support sulfate- and thiosulfate-reducing bacteria. Furthermore, we identified 5587 viral genomes and linked many of these to the dominant, colonizing microorganisms, demonstrating the key role that viral predation plays in community dynamics within this closed, engineered system. Lastly, top-side audit sampling of different source materials enabled genome-resolved source tracking, revealing the likely sources of many key colonizing and persisting taxa in these ecosystems. Conclusions These findings highlight the importance of resource utilization and resistance to viral predation as key traits that enable specific microbial taxa to persist across fractured shale ecosystems. We also demonstrate the importance of materials used in the hydraulic fracturing process as both a source of persisting shale microorganisms and organic substrates that likely aid in sustaining the microbial community. Moreover, we showed that different physicochemical conditions (i.e., salinity, temperature) can influence the composition and functional potential of persisting microbial communities in shale ecosystems. Together, these results expand our knowledge of microbial life in deep subsurface shales and have important ramifications for management and treatment of microbial biomass in hydraulically fractured wells.