14,601 research outputs found

    Model Parameter Identification via a Hyperparameter Optimization Scheme for Autonomous Racing Systems

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    In this letter, we propose a model parameter identification method via a hyperparameter optimization scheme (MI-HPO). Our method adopts an efficient explore-exploit strategy to identify the parameters of dynamic models in a data-driven optimization manner. We utilize our method for model parameter identification of the AV-21, a full-scaled autonomous race vehicle. We then incorporate the optimized parameters for the design of model-based planning and control systems of our platform. In experiments, MI-HPO exhibits more than 13 times faster convergence than traditional parameter identification methods. Furthermore, the parametric models learned via MI-HPO demonstrate good fitness to the given datasets and show generalization ability in unseen dynamic scenarios. We further conduct extensive field tests to validate our model-based system, demonstrating stable obstacle avoidance and high-speed driving up to 217 km/h at the Indianapolis Motor Speedway and Las Vegas Motor Speedway. The source code for our work and videos of the tests are available at https://github.com/hynkis/MI-HPO.Comment: 6 pages, 8 figures. Published in IEEE Control Systems Letters (L-CSS

    Likelihood Asymptotics in Nonregular Settings: A Review with Emphasis on the Likelihood Ratio

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    This paper reviews the most common situations where one or more regularity conditions which underlie classical likelihood-based parametric inference fail. We identify three main classes of problems: boundary problems, indeterminate parameter problems -- which include non-identifiable parameters and singular information matrices -- and change-point problems. The review focuses on the large-sample properties of the likelihood ratio statistic. We emphasize analytical solutions and acknowledge software implementations where available. We furthermore give summary insight about the possible tools to derivate the key results. Other approaches to hypothesis testing and connections to estimation are listed in the annotated bibliography of the Supplementary Material

    Теорія систем мобільних інфокомунікацій. Системна архітектура

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    Навчальний посібник містить опис логічних та фізичних структур, процедур, алгоритмів, протоколів, принципів побудови і функціонування мереж стільникового мобільного зв’язку (до 3G) і мобільних інфокомунікацій (4G і вище), приділяючи увагу розгляду загальних архітектур мереж операторів мобільного зв’язку, їх управління і координування, неперервності еволюції розвитку засобів функціонування і способів надання послуг таких мереж. Посібник структурно має сім розділів і побудований так, що складність матеріалу зростає з кожним наступним розділом. Навчальний посібник призначено для здобувачів ступеня бакалавра за спеціальністю 172 «Телекомунікації та радіотехніка», буде також корисним для аспірантів, наукових та інженерно-технічних працівників за напрямом інформаційно-телекомунікаційних систем та технологій.The manual contains a description of the logical and physical structures, procedures, algorithms, protocols, principles of construction and operation of cellular networks for mobile communications (up to 3G) and mobile infocommunications (4G and higher), paying attention to the consideration of general architectures of mobile operators' networks, their management, and coordination, the continuous evolution of the development of the means of operation and methods of providing services of such networks. The manual has seven structural sections and is structured in such a way that the complexity of the material increases with each subsequent chapter. The textbook is intended for applicants for a bachelor's degree in specialty 172 "Telecommunications and Radio Engineering", and will also be useful to graduate students, and scientific and engineering workers in the direction of information and telecommunication systems and technologies

    Characterization of the Dynamic RON of 600 V GaN Switches under Operating Conditions

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    High-voltage GaN switches can offer tremendous advantages over silicon counterparts for the development of high-efficiency switching-mode power converters at high commutation frequency. Nonetheless, GaN devices are prone to charge-trapping effects that can be particularly relevant in the early-stage development of new technologies. Charge-trapping mechanisms are responsible for the degradation of the dynamic ON-resistance (RON) with respect to its static value: this degradation is typically dependent on the blocking voltage, the commutation frequency and temperature, and is responsible for the reduction of power converter efficiency. The characterization of this phenomenon is very valuable for the development of a new process to compare different technological solutions or for the final assessment of performance. This characterization cannot be made with traditional static or small signal measurements since RON degradation is triggered by application-like dynamic device excitations. In this paper, we propose a technique for the characterization of the dynamic RON of high-voltage GaN switches under real operating conditions: this technique is based on the design of a half bridge switching leg in which the DUT is operated under conditions that resemble its operation in a power converter. With this setup, the characterization of a 600 V GaN switch dynamic RON is performed as a function of variable blocking voltages and commutation frequency. Additionally, this technique allows the separation of thermal and trapping effects, enabling the characterization of the dynamic RON at different temperature

    Electrically-evoked responses for retinal prostheses are differentially altered depending on ganglion cell types in outer retinal neurodegeneration caused by Crb1 gene mutation

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    BackgroundMicroelectronic prostheses for artificial vision stimulate neurons surviving outer retinal neurodegeneration such as retinitis pigmentosa (RP). Yet, the quality of prosthetic vision substantially varies across subjects, maybe due to different levels of retinal degeneration and/or distinct genotypes. Although the RP genotypes are remarkably diverse, prosthetic studies have primarily used retinal degeneration (rd) 1 and 10 mice, which both have Pde6b gene mutation. Here, we report the electric responses arising in retinal ganglion cells (RGCs) of the rd8 mouse model which has Crb1 mutation.MethodsWe first investigated age-dependent histological changes of wild-type (wt), rd8, and rd10 mice retinas by H&E staining. Then, we used cell-attached patch clamping to record spiking responses of ON, OFF and direction selective (DS) types of RGCs to a 4-ms-long electric pulse. The electric responses of rd8 RGCs were analyzed in comparison with those of wt RGCs in terms of individual RGC spiking patterns, populational characteristics, and spiking consistency across trials.ResultsIn the histological examination, the rd8 mice showed partial retinal foldings, but the outer nuclear layer thicknesses remained comparable to those of the wt mice, indicating the early-stage of RP. Although spiking patterns of each RGC type seemed similar to those of the wt retinas, correlation levels between electric vs. light response features were different across the two mouse models. For example, in comparisons between light vs. electric response magnitudes, ON/OFF RGCs of the rd8 mice showed the same/opposite correlation polarity with those of wt mice, respectively. Also, the electric response spike counts of DS RGCs in the rd8 retinas showed a positive correlation with their direction selectivity indices (r = 0.40), while those of the wt retinas were negatively correlated (r = −0.90). Lastly, the spiking timing consistencies of late responses were largely decreased in both ON and OFF RGCs in the rd8 than the wt retinas, whereas no significant difference was found across DS RGCs of the two models.ConclusionOur results indicate the electric response features are altered depending on RGC types even from the early-stage RP caused by Crb1 mutation. Given the various degeneration patterns depending on mutation genes, our study suggests the importance of both genotype- and RGC type-dependent analyses for retinal prosthetic research

    Norsk rå kumelk, en kilde til zoonotiske patogener?

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    The worldwide emerging trend of eating “natural” foods, that has not been processed, also applies for beverages. According to Norwegian legislation, all milk must be pasteurized before commercial sale but drinking milk that has not been heat-treated, is gaining increasing popularity. Scientist are warning against this trend and highlights the risk of contracting disease from milkborne microorganisms. To examine potential risks associated with drinking unpasteurized milk in Norway, milk- and environmental samples were collected from dairy farms located in south-east of Norway. The samples were analyzed for the presence of specific zoonotic pathogens; Listeria monocytogenes, Campylobacter spp., and Shiga toxin-producing Escherichia coli (STEC). Cattle are known to be healthy carriers of these pathogens, and Campylobacter spp. and STEC have a low infectious dose, meaning that infection can be established by ingesting a low number of bacterial cells. L. monocytogenes causes one of the most severe foodborne zoonotic diseases, listeriosis, that has a high fatality rate. All three pathogens have caused milk borne disease outbreaks all over the world, also in Norway. During this work, we observed that the prevalence of the three examined bacteria were high in the environment at the examined farms. In addition, 7% of the milk filters were contaminated by STEC, 13% by L. monocytogenes and 4% by Campylobacter spp. Four of the STEC isolates detected were eaepositive, which is associated with the capability to cause severe human disease. One of the eae-positive STEC isolates were collected from a milk filter, which strongly indicate that Norwegian raw milk may contain potential pathogenic STEC. To further assess the possibilities of getting ill by STEC after consuming raw milk, we examined the growth of the four eae-positive STEC isolates in raw milk at different temperatures. All four isolates seemed to have ability to multiply in raw milk at 8°C, and one isolate had significant growth after 72 hours. Incubation at 6°C seemed to reduce the number of bacteria during the first 24 hours before cell death stopped. These findings highlight the importance of stable refrigerator temperatures, preferable < 4°C, for storage of raw milk. The L. monocytogenes isolates collected during this study show genetic similarities to isolates collected from urban and rural environmental locations, but different clones were predominant in agricultural environments compared to clinical and food environments. However, the results indicate that the same clone can persist in a farm over time, and that milk can be contaminated by L. monocytogenes clones present in farm environment. Despite testing small volumes (25 mL) of milk, we were able to isolate both STEC and Campylobacter spp. directly from raw milk. A proportion of 3% of the bulk tank milk and teat milk samples were contaminated by Campylobacter spp. and one STEC was isolated from bulk tank milk. L monocytogenes was not detected in bulk tank milk, nor in teat milk samples. The agricultural evolvement during the past decades have led to larger production units and new food safety challenges. Dairy cattle production in Norway is in a current transition from tie-stall housing with conventional pipeline milking systems, to modern loose housing systems with robotic milking. The occurrence of the three pathogens in this project were higher in samples collected from farms with loose housing compared to those with tiestall housing. Pasteurization of cow’s milk is a risk reducing procedure to protect consumers from microbial pathogens and in most EU countries, commercial distribution of unpasteurized milk is legally restricted. Together, the results presented in this thesis show that the animal housing may influence the level of pathogenic bacteria in the raw milk and that ingestion of Norwegian raw cow’s milk may expose consumers to pathogenic bacteria which can cause severe disease, especially in children, elderly and in persons with underlying diseases. The results also highlight the importance of storing raw milk at low temperatures between milking and consumption.Å spise mat som er mindre prosessert og mer «naturlig» er en pågående trend i Norge og i andre deler av verden. Interessen for å drikke melk som ikke er varmebehandlet, såkalt rå melk, er også økende. I Norge er det påbudt å pasteurisere melk før kommersielt salg for å beskytte forbrukeren mot sykdomsfremkallende mikroorganismer. Fagfolk advarer mot å drikke rå melk, og påpeker risikoen for å bli syk av patogene bakterier som kan finnes i melken. I denne avhandlingen undersøker vi den potensielle risikoen det medfører å drikke upasteurisert melk fra Norge. I tillegg til å samle inn tankmelk- og speneprøver fra melkegårder i sørøst Norge, samlet vi også miljøprøver fra de samme gårdene for å kartlegge forekomst og for å identifisere potensielle mattrygghetsrisikoer i melkeproduksjonen. Alle prøvene ble analysert for de zoonotiske sykdomsfremkallende bakteriene Listeria monocytogenes, Campylobacter spp., og Shiga toksin-produserende Escherichia coli (STEC). Kyr kan være friske smittebærere av disse bakteriene, som dermed kan etablere et reservoar på gårdene. Bakteriene kan overføres fra gårdsmiljøet til melkekjeden og dermed utfordre mattryggheten. Disse bakteriene har forårsaket melkebårne sykdomsutbrudd over hele verden, også i Norge. Campylobacter spp. og STEC har lav infeksiøs dose, som vil si at man kan bli syk selv om man bare inntar et lavt antall bakterieceller. L. monocytogenes kan gi sykdommen listeriose, en av de mest alvorlige matbårne zoonotiske sykdommene vi har i den vestlige verden. Resultater fra denne oppgaven viser en høy forekomst av de tre patogenene i gårdsmiljøet. I tillegg var 7% av melkefiltrene vi testet positive for STEC, 13% positive for L. monocytogenes og 4% positive for Campylobacter spp.. Fire av STEC isolatene bar genet for Intimin, eae, som er ansett som en viktig virulensfaktor som øker sjansen for alvorlig sykdom. Ett av de eae-positive isolatene ble funnet i et melkefilter, noe som indikerer at norsk rå melk kan inneholde patogene STEC. For å videre vurdere risikoen for å bli syk av STEC fra rå melk undersøkte vi hvordan de fire eae-positive isolatene vokste i rå melk lagret ved forskjellige temperaturer. For alle isolatene økte antall bakterier etter lagring ved 8°C, og for et isolat var veksten signifikant. Etter lagring ved 6°C ble antallet bakterier redusert de første 24 timene, deretter stoppet reduksjonen i antall bakterier. Disse resultatene viser hvor viktig det er å ha stabil lav lagringstemperatur for rå melk, helst < 4°C. L. monocytogenes isolatene som ble samlet inn fra melkegårdene viste genetiske likheter med isolater samlet inn fra urbane og rurale miljøer rundt omkring i Norge. Derimot var kloner som dominerte i landbruksmiljøet forskjellige fra kliniske isolater og isolater fra matproduksjonslokaler. Videre så man at en klone kan persistere på en gård over tid og at melk kan kontamineres av L. monocytogenes kloner som er til stede i gårdsmiljøet. Til tross for små testvolum av tankmelken (25 mL) fant vi både STEC og Campylobacter spp. i melkeprøvene. 3% av tankmelkprøvene og speneprøvene var positive for Campylobacter spp. og ett STEC isolat ble funnet i tankmelk. L. monocytogenes ble ikke funnet direkte i melkeprøvene. Landbruket i Norge er i stadig utvikling der besetningene blir større, men færre. Melkebesetningene er midt i en overgang der tradisjonell oppstalling med melking på bås byttes ut med løsdriftssystemer og melkeroboter. Forekomsten av de tre patogenene funnet i denne studien var høyere i besetningene med løsdrift sammenliknet med besetningene som hadde melkekyrne oppstallet på bås. Pasteurisering er et viktig forebyggende tiltak for å beskytte konsumenter fra mikrobielle patogener, og i de fleste EU-land er kommersielt salg av rå melk juridisk begrenset. Denne studien viser at oppstallingstype kan påvirke nivåene av patogene bakterier i gårdsmiljøet og i rå melk. Inntak av rå melk kan eksponere forbruker for patogene bakterier som kan gi alvorlig sykdom, spesielt hos barn, eldre og personer med underliggende sykdommer. Resultatene underbygger viktigheten av å pasteurisere melk for å sikre mattryggheten, og at det er avgjørende å lagre rå melk ved kontinuerlig lave temperaturer for å forebygge vekst av zoonotiske patogener

    Assessment of Arctic seasonal snow cover rates of change

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    Arctic snow cover extent (SCE) trends and rates of change reported across recent climate assessments vary due to the time period of available data, the selection of snow products, and methodological considerations. While all reported trends are strongly negative during spring, more uncertainty exists in autumn. Motivated to increase the confidence in SCE trends reported in climate assessments, we quantify the impact of (1) year-over-year increases in time series length over the past 2 decades, (2) the choice of reference period, (3) the application of a statistical methodology to improve inter-dataset agreement, (4) the dataset ensemble size, and (5) product version changes. Results show that the rate of change during May and June has remained consistent over the past decade as time series length has increased and is largely insensitive to the choice of reference period. Although new product versions have increased spatial resolution, use more advanced reanalysis meteorology to force snow models, and include improved remote sensing retrieval algorithms, these enhancements do not result in any notable changes in the observed rate of Arctic SCE change in any month compared to a baseline set of older products. The most impactful analysis decision involves the scaling of dataset climatologies using an updated version of the NOAA snow chart climate data record as the baseline. While minor for most months, this adjustment can influence the calculated rate of change for June by a factor of 2 relative to different climatological baselines.</p

    Surface-sampling mass spectrometry to study proteins and protein complexes

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    This review aims to summarise the current capabilities of surface mass spectrometry (MS) approaches that offer intact protein analysis, and that of non-covalent complexes. Protein analysis is largely achieved via matrix-assisted laser desorption/ionisation (MALDI), which is in itself a surface analysis approach or solvent-based electrospray ionisation (ESI). Several surface sampling approaches have been developed based on ESI, and those that have been used for intact protein analysis will be discussed below. The extent of protein coverage, top-down elucidation, and probing of protein structure for native proteins and non-covalent complexes will be discussed for each approach. Strategies for improving protein analysis, ranging from sample preparation, and sampling methods to instrument modifications and the inclusion of ion mobility separation in the workflow will also be discussed. The relative benefits and drawbacks of each approach will be summarised, providing an overview of current capabilities

    Testing Electron-phonon Coupling for the Superconductivity in Kagome Metal CsV3Sb5\rm{CsV_3Sb_5}

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    In crystalline materials, electron-phonon coupling (EPC) is a ubiquitous many-body interaction that drives conventional Bardeen-Cooper-Schrieffer superconductivity. Recently, in a new kagome metal CsV3Sb5\rm{CsV_3Sb_5}, superconductivity that possibly intertwines with time-reversal and spatial symmetry-breaking orders is observed. Density functional theory calculations predicted weak EPC strength,λ\lambda, supporting an unconventional pairing mechanism in CsV3Sb5\rm{CsV_3Sb_5}. However, experimental determination of λ\lambda is still missing, hindering a microscopic understanding of the intertwined ground state of CsV3Sb5\rm{CsV_3Sb_5}. Here, using 7-eV laser-based angle-resolved photoemission spectroscopy and Eliashberg function analysis, we determine an intermediate λ\lambda=0.45~0.6 at T=6 K for both Sb 5p and V 3d electronic bands, which can support a conventional superconducting transition temperature on the same magnitude of experimental value in CsV3Sb5\rm{CsV_3Sb_5}. Remarkably, the EPC on the V 3d-band enhances to λ\lambda~0.75 as the superconducting transition temperature elevated to 4.4 K in Cs(V0.93Nb0.07)3Sb5\rm{Cs(V_{0.93}Nb_{0.07})_3Sb_5}. Our results provide an important clue to understand the pairing mechanism in the Kagome superconductor CsV3Sb5\rm{CsV_3Sb_5}.Comment: To appear in Nature Communication
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