An autonomous Unmanned Combat Aerial Vehicle (UCAV) carrying out a surveillance or strike mission must be able to handle situations where the different mission objectives are in conflict and a tradeoff must be made, e.g. when the time of arrival is in conflict with the prescribed safety distance to an enemy surface to air missile (SAM) site. This paper describes a framework called Behavior Control Lyapunov Functions (BCLF), to handle such tradeoffs. The framework combines the natural idea of different control behaviors for different mission objectives, suggested in the Behavior Based robotics approach, with the mathematical transparency of Control Lyapunov Functions (CLF) from control theory. First, each behavior is represented by a scalar function with certain CLF-like properties, describing to what extent that mission objective is satisfied. The operator then edits a priority table reflecting the order of importance between different objectives, as well as different levels of satisfaction. Based on the table and the current levels of satisfaction the algorithm decides which objectives should be focused on right now, and which should currently be ignored. Finally, the current high priority objectives are transformed into recommended subsets of the available control choices, and passed to the controller. The paper is concluded with simulation examples illustrating the approach.

The benefits of medical devices are often multifaceted and may have an important impact on patients’ and relatives’ physical, mental and/or social well-being. Diabetes is a metabolic disorder and a continuous subcutaneous glucose monitoring sensor can suggest increasing treatment satisfaction. The purpose of this study was to describe parents’ experiences during their daily lives and support needs when a child uses a Flash Glucose Monitoring system (FGM). Twenty parents (n = 3 men vs. n = 17 women) to children (age ranged between 22 months and 16 years) with diabetes disease type 1, treated with an FGM unit (used for an average of 7 months (range 1–72)) at home, participated in this study. A qualitative questionnaire survey with open questions including follow-up dialogues was distributed to the parents, and collected data were analysed using qualitative content analysis. Overall satisfaction with the Libre device was Md 10 (IQR 9.25–10). One main theme “Advances in technology significantly improved everyday life” emerged from 2 categories: Improvements in quality of life and Elements of challenges. In conclusion, this qualitative study determined that parents of children with DMT1 experience a great improvement in daily life when given the opportunity to use the Libre device.