Gaussian Process Model Predictive Control of An Unmanned Quadrotor

The Model Predictive Control (MPC) trajectory tracking problem of an unmanned quadrotor with input and output constraints is addressed. In this article, the dynamic models of the quadrotor are obtained purely from operational data in the form of probabilistic Gaussian Process (GP) models. This is different from conventional models obtained through Newtonian analysis. A hierarchical control scheme is used to handle the trajectory tracking problem with the translational subsystem in the outer loop and the rotational subsystem in the inner loop. Constrained GP based MPC are formulated separately for both subsystems. The resulting MPC problems are typically nonlinear and non-convex. We derived 15 a GP based local dynamical model that allows these optimization problems to be relaxed to convex ones which can be efficiently solved with a simple active-set algorithm. The performance of the proposed approach is compared with an existing unconstrained Nonlinear Model Predictive Control (NMPC). Simulation results show that the two approaches exhibit similar trajectory tracking performance. However, our approach has the advantage of incorporating constraints on the control inputs. In addition, our approach only requires 20% of the computational time for NMPC.Comment: arXiv admin note: text overlap with arXiv:1612.0121

Bardet-Biedl syndrome

The Bardet-Biedl syndrome is a rare genetically heterogeneous, autosomal recessive inherited disorder with wide variability in expression. It presents with varied clinical manifestations like retinitis pigmentosa, polydactyly, central obesity, mental retardation and renal dysfunction. Other rare manifestations include diabetes mellitus, heart disease, hepatic fibrosis and neurological manifestations. Mutations in 16 genes have been identified as causative factors. We, here, have presented a 12 year old male patient exhibiting characteristic features of Bardet Biedl syndrome.

OPTIMASI SUMBER DAYA KEUANGAN DENGAN METODE LINEAR FUZZY BERDASARKAN RESOURCE ACTIVITY CRITICAL PATH

Pengoptimalan suatu kegiatan proyek menjadi dasar acuan bagi manajer proyek di dalam pelaksanaan kegiatan proyek. Manajer memerlukan perangkat lunak manajemen proyek untuk menentukan komposisi kegiatan yang optimal. Aplikasi Linear Fuzzy Resource Activity Critical Path Method (LFRACPM) menerapkan metode Linear Fuzzy (LF) dan Resource Activity Critical Path Method (RACPM) dalam penentuan komposisi kegiatan berdasarkan tepatnya pendayagunaan lingkungan, biaya, waktu dan pemilihan sumber daya manusia berdasarkan kriteria tahun pengalaman bekerja, kemampuan komunikasi dan kualitas kerja. Hasil pengujian dari aplikasi Tugas Akhir ini diperoleh pengalokasian yang optimal tiap kegiatan berdasarkan komposisi dari waktu kegiatan, sumber daya manusia, kualitas, kemampuan komunikasi dan pengalaman kerja. Sehingga aplikasi ini dapat membantu manajer proyek untuk memprediksi proyek dalam hal pengalokasian sumber daya manusia yang optimal dan biaya sumber daya manusia yang minimal

Genome-wide investigation of SnRK2 gene family in two jute species: \u3ci\u3eCorchorus olitorius\u3c/i\u3e and \u3ci\u3eCorchorus capsularis\u3c/i\u3e

Background Sucrose non-fermenting-1 (SNF1)-related protein kinase 2 (SnRK2), a plant-specifc serine/threonine kinase family, is associated with metabolic responses, including abscisic acid signaling under biotic and abiotic stresses. So far, no information on a genome-wide investigation and stress-mediated expression profling of jute SnRK2 is available. Recent whole-genome sequencing of two Corchorus species prompted to identify and characterize this SnRK2 gene family. Result We identifed seven SnRK2 genes of each of Corchorus olitorius (Co) and C. capsularis (Cc) genomes, with similar physico-molecular properties and sub-group patterns of other models and related crops. In both species, the SnRK2 gene family showed an evolutionarily distinct trend. Highly variable C-terminal and conserved N-terminal regions were observed. Co- and CcSnRK2.3, Co- and CcSnRk2.5, Co- and CcSnRk2.7, and Co- and CcSnRK2.8 were upregulated in response to drought and salinity stresses. In waterlogging conditions, Co- and CcSnRk2.6 and Co- and CcSnRK2.8 showed higher activity when exposed to hypoxic conditions. Expression analysis in diferent plant parts showed that SnRK2.5 in both Corchorus species is highly expressed in fber cells providing evidence of the role of fber formation. Conclusion This is the frst comprehensive study of SnRK2 genes in both Corchorus species. All seven genes identifed in this study showed an almost similar pattern of gene structures and molecular properties. Gene expression patterns of these genes varied depending on the plant parts and in response to abiotic stresses

Managing the Pandemic in the South Asian (SAARC) Countries

This paper explores the coronavirus pandemic response from a South Asian perspective. When their case numbers were still relatively low, the South Asian Association for Regional Cooperation (SAARC) countries adopted lockdowns at the same time or before India did. On 24 March 2020, when there were just two confirmed cases, Nepal went into lockdown, and Sri Lanka locked down on 22 March, when there were 78 cases. India locked down the day after Nepal, with all countries imposing some form of restrictions on people’s movement. This paper draws its data from the first year of the pandemic that loomed in the SAARC nations. The regional cooperation provided by SAARC has allowed the sharing of resources and a strengthening of the region’s self-reliance. Notably, the commitment made by India to ensure its neighbours are supplied with vaccines, many of these donated. The eight-member SAARC states are Afghanistan, Bangladesh, Bhutan, India, Maldives, Nepal, Pakistan, and Sri Lanka. This paper draws on the knowledge and perceptions of academics and social workers in the SAARC countries. It provides insight into the responses, impacts, vulnerabilities, and challenges faced by the region and in each specific country since the beginning of COVID-19. This paper also offers a discussion on vaccines, PPE, as well as the role of cooperation across the region. The relationship between India and the SAARC countries and its ‘neighbourhood first’ policy are also discussed

Body mass index correlates positively with insulin resistance and secretion but inversely with insulin sensitivity in gestational diabetes

Background. To assess fasting C-peptide and insulinindices using homeostatic model assessment (HOMA)in gestational diabetes mellitus (GDM).Methods. Gestational diabetes mellitus (n = 64, age:27.02 ± 0.53 years, BMI: 26.3 ± 0.5 kg/m2; mean ±SEM) and normal glucose tolerance NGT (n = 56, age:26.11 ± 0.55 years, BMI: 24.4 ± 0.4 kg/m2; mean ±SEM) screened according to WHO 2013 criteria. Glucosewas measured by oxidase method whereas fastinginsulin and C-peptide by ELISA. HOMA-IR, HOMA-B andHOMA-%S were calculated. Results. C-peptide was found higher in GDM comparedto NGT without any significant difference (P = 0.465).Fasting insulin (P = 0.063) and HOMA-IR (P < 0.001)were significantly higher while HOMA-B (P = 0.015)and HOMA-%S (P = 0.012) were significantly lower inGDM than those of NGT. BMI, bad obstetric history,multiparity and blood glucose were higher (P ≤ 0.05)in GDM while age, duration of gestation, family historyof DM did not differ (P = NS). C-peptide (0.185 ± 0.06vs 0.331 ± 0.44; P < 0.05), fasting insulin (4.88 ± 0.74vs 10.37 ± 0.74; P < 0.01) and HOMA-IR (1.04 ± 0.14 vs2.48 ± 0.18; P < 0.011) as well as HOMA-B were foundlower in GDM having BMI < 23 kg/m2 than those ofGDM with BMI ≥ 23. Conversely, HOMA-%S (115.52 ±14.63 vs 50.62 ± 3.39; P < 0.011) was higher in thesubgroup with BMI < 23 than the rest. Fasting bloodglucose (FBG) (P < 0.01) and fasting insulin (P < 0.05)were independent predictors for GDM. Conclusions. Fasting C-peptide did not differ betweenGDM and NGT. BMI was positively related with resistanceand secretion of insulin but inversely with sensitivity.HOMA model analyses revealed decreased insulinsensitivity and secretory capacity in GDM than NGT