Performance of Sensitivity based NMPC Updates in Automotive Applications

In this work we consider a half car model which is subject to unknown but measurable disturbances. To control this system, we impose a combination of model predictive control without stabilizing terminal constraints or cost to generate a nominal solution and sensitivity updates to handle the disturbances. For this approach, stability of the resulting closed loop can be guaranteed using a relaxed Lyapunov argument on the nominal system and Lipschitz conditions on the open loop change of the optimal value function and the stage costs. For the considered example, the proposed approach is realtime applicable and corresponding results show significant performance improvements of the updated solution with respect to comfort and handling properties.Comment: 6 pages, 2 figure

Fault-tolerant formation driving mechanism designed for heterogeneous MAVs-UGVs groups

A fault-tolerant method for stabilization and navigation of 3D heterogeneous formations is proposed in this paper. The presented Model Predictive Control (MPC) based approach enables to deploy compact formations of closely cooperating autonomous aerial and ground robots in surveillance scenarios without the necessity of a precise external localization. Instead, the proposed method relies on a top-view visual relative localization provided by the micro aerial vehicles flying above the ground robots and on a simple yet stable visual based navigation using images from an onboard monocular camera. The MPC based schema together with a fault detection and recovery mechanism provide a robust solution applicable in complex environments with static and dynamic obstacles. The core of the proposed leader-follower based formation driving method consists in a representation of the entire 3D formation as a convex hull projected along a desired path that has to be followed by the group. Such an approach provides non-collision solution and respects requirements of the direct visibility between the team members. The uninterrupted visibility is crucial for the employed top-view localization and therefore for the stabilization of the group. The proposed formation driving method and the fault recovery mechanisms are verified by simulations and hardware experiments presented in the paper

TIM3 is a context-dependent coregulator of cytotoxic T cell function

Cytotoxic T lymphocytes (CTLs) are essential effectors in the antiviral and antitumour immune response and attractive targets in cancer immunotherapy. Although CTLs can directly recognise and kill tumour cells, CTLs become suppressed in the tumour microenvironment. This project investigated the inhibitory receptor T cell immunoglobulin and mucin domain 3 (TIM3). TIM3 is expressed on T cells after chronic antigen exposure and marks the most exhausted tumour infiltrating CTLs in multiple solid tumours. However, it is unclear whether TIM3 directly regulates CTL function. In addition, despite its predominantly inhibitory role in vivo, TIM3 can promote cellular activation in T and non-T cells, and the roles of putative ligands in TIM3 function are disputed. Therefore, we aimed to determine the effect of TIM3 on direct CTL antitumour function and how the TIM3 ligands Galectin9 (GAL9) and CEACAM1 regulate its function. We employed three-dimensional (3D) tumour spheroids that effectively induce CTL suppression similar to the in vivo tumour microenvironment in comparison to conventional two-dimensional (2D) tumour cell culture. In the 3D spheroid model, TIM3 significantly inhibited CTL cytotoxicity and cytoskeletal polarisation as a key mechanism of effective cytolysis in murine and human CTLs. In contrast, in the 2D tumour model, TIM3 stimulated CTL cytotoxicity, cytoskeletal polarisation, and secretion of the immune-stimulatory cytokine interferon γ (IFNγ). Expression of GAL9 and CEACAM1 in trans on tumour cells further suppressed the CTL killing ability in the 3D spheroid model and enhanced costimulatory function in 2D. CEACAM1 in cis neutralised TIM3 functions in both 3D and 2D. We suggest that TIM3 functions as a context-dependent coregulatory receptor, as supported by the engagement of its ligands GAL9 and CEACAM1. In a largely stimulatory signalling context of a CTL, TIM3 functions as a costimulator, and in a more inhibitory context, TIM3 functions as a coinhibitor

Reactive power and voltage control in grid-connected wind farms: an online optimization based fast model predictive control approach

This paper presents the application of an online optimization based fast model predictive control scheme to grid-connected wind farms for reactive power and voltage control. A linear prediction model of the network was used to predict the behavior of the system for a certain prediction horizon, while a modified quadratic programming problem was used for the optimization process. The proposed controller was tested in a 5-bus test system hosting three sub-wind farms of total 36 MW active power production capacity connected in series to the external network. The controller performed its control action by changing the reactive power output of the sub-wind farms and voltage set-points of an online load tap changer transformer to respect the safety limit imposed on the bus voltages and desired reactive power exchange.<br/

Effects of Disorder and Interactions in the Quantum Hall Ferromagnet

This work treats the effects of disorder and interactions in a quantum Hall ferromagnet, which is realized in a two-dimensional electron gas (2DEG) in a perpendicular magnetic field at Landau level filling factor equal one. We study the problem by projecting the original fermionic Hamiltonian into magnon states, which behave as bosons in the vicinity of the ferromagnetic ground state. The approach permits the reformulation of a strongly interacting model into a non-interacting one. The latter is a non-perturbative scheme that consists in treating the two-particle neutral excitations of the electron system as a bosonic single-particle. Indeed, the employment of bosonization facilitates the inclusion of disorder in the study of the system. It has been shown previously that disorder may drive a quantum phase transition in the Hall ferromagnet. However, such studies have been either carried out in the framework of nonlinear sigma model, as an effective low-energy theory, or included the long-range Coulomb interaction in a quantum description only up to the Hartree-Fock level. Here, we establish the occurrence of a disorder-driven quantum phase transition from a ferromagnetic 2DEG to a spin glass phase by taking into account interactions between electrons up to the random phase approximation level in a fully quantum description.Comment: 18 pages, 7 figure

Toxicological Findings in a Possible Drug-drug Interaction Death: A Case Report

Synergistic effects are the most encountered types of drug-drug interaction in post-mortem toxicology. Concomitant use of fentanyl, tramadol and carbamazepine may increase the risk of severe serotonin toxicity. The decedent was a 32-year-old black man, with a history of severe migraine headaches. He died after being administered several drugs to treat the migraine. For fentanyl identification and quantification, samples were extracted using solid phase extraction and analyzed by GC-MS. For carbamazepine and tramadol identification and quantification, samples were extracted by liquid-liquid extraction and analyzed by LC-QTOF. Toxicology showed post-mortem concentrations of fentanyl 0.033, 0.025, 0.005, 0.0127, and 0.005 mg/L; tramadol 0.143, 0.093, 0.043, 0.09, and 0.08 mg/L; carbamazepine 1.6, 1.04, 0.3, 0.83, and 0.18 mg/L in the blood, brain, liver, kidney and stomach, respectively. In this case report, the combination of serotonergic drugs can contribute to synergistic serotonergic effects. Therefore, drug-drug interaction is expected, and the cause of death may be attributed to toxic synergistic drug-drug interaction including fentanyl, tramadol and carbamazepin

Orthodontic camouflage versus orthodontic-orthognathic surgical treatment in borderline class III malocclusion: a systematic review.

This systematic review evaluated the available evidence regarding the skeletal, dentoalveolar, and soft tissue effects of orthodontic camouflage (OC) versus orthodontic-orthognathic surgical (OOS) treatment in borderline class III malocclusion patients. Eligibility criteria. The included studies were clinical trials and/or follow-up observational studies (retrospective and prospective). Information sources. PubMed, Scopus, Science Direct, Web of Science, Cochrane, and LILACS were searched up to October 2021. Risk of bias. Downs and Black quality assessment checklist was used. Synthesis of results. The outcomes were the skeletal, dentoalveolar, and soft tissue changes obtained from pre- and post-cephalometric measurements. Included studies. Out of 2089 retrieved articles, 6 were eligible and thus included in the subsequent analyses. Their overall risk of bias was moderate. Outcome results. The results are presented as pre- and post-treatment values or mean changes in both groups. Two studies reported significant retrusion of the maxillary and mandibular bases in OC, in contrast to significant maxillary protrusion and mandibular retrusion with increased ANB angle in OOS. Regarding the vertical jaw relation, one study reported a significant decrease in mandibular plane inclination in OC and a significant increase in OOS. Most of the included studies reported a significant proclination in the maxillary incisors in both groups. Three studies reported a significant proclination of the mandibular incisors in OOS, while four studies reported retroclination in OC. Interpretation. The OSS has a protrusive effect on the maxillary base, retrusive effect on the mandibular base, and thus improvement in the sagittal relationship accompanied with a clockwise rotational effect on the mandibular plane. The OC has more proclination effect on the maxillary incisors and retroclination effect on the mandibular incisors compared to OOS. Limitation. Meta-analysis was not possible due to considerable variations among the included studies. Owing to the fact that some important data in the included studies were missing, conducting further studies with more standardized methodologies is highly urgent. Registration. The protocol for this systematic review was registered at the International Prospective Register of Systematic Reviews (PROSPERO, No.: CRD42020199591). The common features including skeletal, dental, and soft tissue characteristics of borderline class III malocclusion cases make it more difficult to select the most appropriate treatment modality that can be either OC or OOS. The availability of high-level evidence-systematic reviews-makes the clinical decision much more clear and based on scientific basis rather than personal preference.Open Access funding provided by the Qatar National Library

Investigation of boron-doped graphene oxide anchored with copper sulphide flowers as visible light active photocatalyst for methylene blue degradation

The non-biodegradable nature of waste emitted from the agriculture and industrial sector contaminates freshwater reserves. Fabrication of highly effective and low-cost heterogeneous photocatalysts is crucial for sustainable wastewater treatment. The present research study aims to construct a novel photocatalyst using a facile ultrasonication-assisted hydrothermal method. Metal sulphides and doped carbon support materials work well to fabricate hybrid sunlight active systems that efficiently harness green energy and are eco-friendly. Boron-doped graphene oxide-supported copper sulphide nanocomposite was synthesized hydrothermally and was assessed for sunlight-assisted photocatalytic degradation of methylene blue dye. BGO/CuS was characterized through various techniques such as SEM-EDS, XRD, XPS, FTIR, BET, PL, and UV-Vis DRS spectroscopy. The bandgap of BGO-CuS was found to be 2.51 eV as evaluated through the tauc plot method. The enhanced dye degradation was obtained at optimum conditions of pH = 8, catalyst concentration (20 mg/100 mL for BGO-CuS), oxidant dose (10 mM for BGO-CuS), and optimum time of irradiation was 60 min. The novel boron-doped nanocomposite effectively degraded methylene blue up to 95% under sunlight. Holes and hydroxyl radicals were the key reactive species. Response surface methodology was used to analyze the interaction among several interacting parameters to remove dye methylene blue effectively.The open access funds is provided by Qatar National Library (QNL) Qatar.Scopu