Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

This paper presents a novel Stochastic Optimal Control (SOC) method based on Model Predictive Path Integral control (MPPI), named Stein Variational Guided MPPI (SVG-MPPI), designed to handle rapidly shifting multimodal optimal action distributions. While MPPI can find a Gaussian-approximated optimal action distribution in closed form, i.e., without iterative solution updates, it struggles with multimodality of the optimal distributions, such as those involving non-convex constraints for obstacle avoidance. This is due to the less representative nature of the Gaussian. To overcome this limitation, our method aims to identify a target mode of the optimal distribution and guide the solution to converge to fit it. In the proposed method, the target mode is roughly estimated using a modified Stein Variational Gradient Descent (SVGD) method and embedded into the MPPI algorithm to find a closed-form "mode-seeking" solution that covers only the target mode, thus preserving the fast convergence property of MPPI. Our simulation and real-world experimental results demonstrate that SVG-MPPI outperforms both the original MPPI and other state-of-the-art sampling-based SOC algorithms in terms of path-tracking and obstacle-avoidance capabilities. Source code: https://github.com/kohonda/proj-svg_mppiComment: 7 pages, 5 figure

Equivalency of the quality of sublethal lesions after photons and high-linear energy transfer ion beams

The quality of the sublethal damage (SLD) after irradiation with high–linear energy transfer (LET) ion beams was investigated with low-LET photons. Chinese hamster V79 cells and human squamous carcinoma SAS cells were first exposed to a priming dose of different ion beams at different LETs at the Heavy Ion Medical Accelerator in the Chiba facility. The cells were kept at room temperature and then exposed to a secondary test dose of X-rays. Based on the repair kinetics study, the surviving fraction of cells quickly increased with the repair time, and reached a plateau in 2–3 h, even when cells had received priming monoenergetic high-LET beams or spread-out Bragg peak beams as well as X-ray irradiation. The shapes of the cell survival curves from the secondary test X-rays, after repair of the damage caused by the high-LET irradiation, were similar to those obtained from cells exposed to primary X-rays only. Complete SLD repairs were observed, even when the LET of the primary ion beams was very high. These results suggest that the SLD caused by high-LET irradiation was repaired well, and likewise, the damage caused by the X-rays. In cells where the ion beam had made a direct hit in the core region in an ion track, lethal damage to the domain was produced, resulting in cell death. On the other hand, in domains that had received a glancing hit in the low-LET penumbra region, the SLD produced was completely repaired

Combination of C-reactive protein/albumin ratio and time to castration resistance enhances prediction of prognosis for patients with metastatic castration-resistant prostate cancer

ObjectiveThis study aimed to identify the prediction accuracy of the combination of C-reactive protein (CRP) albumin ratio (CAR) and time to castration resistance (TTCR) for overall survival (OS) following development of metastatic castration-resistant prostate cancer (mCRPC).MethodsClinical data from 98 mCRPC patients treated at our institution from 2009 to 2021 were retrospectively evaluated. Optimal cutoff values for CAR and TTCR to predict lethality were generated by use of a receiver operating curve and Youden’s index. The Kaplan–Meier method and Cox proportional hazard regression models for OS were used to analyze the prognostic capabilities of CAR and TTCR. Multiple multivariate Cox models were then constructed based on univariate analysis and their accuracy was validated using the concordance index.ResultsThe optimal cutoff values for CAR at the time of mCRPC diagnosis and TTCR were 0.48 and 12 months, respectively. Kaplan–Meier curves indicated that patients with CAR >0.48 or TTCR <12 months had a significantly worse OS (both p < 0.005). Univariate analysis also identified age, hemoglobin, CRP, and performance status as candidate prognostic factors. Furthermore, a multivariate analysis model incorporating those factors and excluding CRP showed CAR and TTCR to be independent prognostic factors. This model had better prognostic accuracy as compared with that containing CRP instead of CAR. The results showed effective stratification of mCRPC patients in terms of OS based on CAR and TTCR (p < 0.0001).ConclusionAlthough further investigation is required, CAR and TTCR used in combination may more accurately predict mCRPC patient prognosis

Diminished Medial Prefrontal Activity behind Autistic Social Judgments of Incongruent Information

Individuals with autism spectrum disorders (ASD) tend to make inadequate social judgments, particularly when the nonverbal and verbal emotional expressions of other people are incongruent. Although previous behavioral studies have suggested that ASD individuals have difficulty in using nonverbal cues when presented with incongruent verbal-nonverbal information, the neural mechanisms underlying this symptom of ASD remain unclear. In the present functional magnetic resonance imaging study, we compared brain activity in 15 non-medicated adult males with high-functioning ASD to that of 17 age-, parental-background-, socioeconomic-, and intelligence-quotient-matched typically-developed (TD) male participants. Brain activity was measured while each participant made friend or foe judgments of realistic movies in which professional actors spoke with conflicting nonverbal facial expressions and voice prosody. We found that the ASD group made significantly less judgments primarily based on the nonverbal information than the TD group, and they exhibited significantly less brain activity in the right inferior frontal gyrus, bilateral anterior insula, anterior cingulate cortex/ventral medial prefrontal cortex (ACC/vmPFC), and dorsal medial prefrontal cortex (dmPFC) than the TD group. Among these five regions, the ACC/vmPFC and dmPFC were most involved in nonverbal-information-biased judgments in the TD group. Furthermore, the degree of decrease of the brain activity in these two brain regions predicted the severity of autistic communication deficits. The findings indicate that diminished activity in the ACC/vmPFC and dmPFC underlies the impaired abilities of individuals with ASD to use nonverbal content when making judgments regarding other people based on incongruent social information

Misrepair of DNA Double Strand Breaks Causes the Peak of LET-RBE Relationship on Cell Killing

Repair of DNA double strand break plays very important roles in radiobiological effects, rather than induction of initial breaks. However the detail of the repair system and cell killing at high LET beams is still not well known. We studied the LET dependence of sensitivity on Chicken DT-40 cell lines; ku70-/- (NHEJ deficient), rad54-/- (HRR deficient), ku70-/-rad54-/- (double deficient), and wild cells using ion-beams from the Heavy Ion Medical Accelerator in Chiba at NIRS. The double deficient strain showed the steepest survival curve, HRR deficient strain follows, and wild strain was the third. The NHEJ deficient strain showed a double phased survival curve. The initial part of the curve was extremely same to that of the double deficient strain. The final part of the curve was much more resistant compare with that of wild strain. The RBEs for repairable strains showed a typical LET dependence, i.e., RBE increase with LET, show a peak at around 200 keV/μm, and then decrease. However, that for irreparable strains does not showed a peak of RBE, and simply decreased with LET above 100 keV/μm, as well as initial yield of DNA dsb in cells. We can conclude that the repair causes the peak of LET-RBE from the difference in LET-RBE spectrum between cell strains that have different repair system but the same genetic background.MICROS 2009 - 15th International Symposium on Microdosimetr