Optimization viewpoint on Kalman smoothing, with applications to robust and sparse estimation

In this paper, we present the optimization formulation of the Kalman filtering and smoothing problems, and use this perspective to develop a variety of extensions and applications. We first formulate classic Kalman smoothing as a least squares problem, highlight special structure, and show that the classic filtering and smoothing algorithms are equivalent to a particular algorithm for solving this problem. Once this equivalence is established, we present extensions of Kalman smoothing to systems with nonlinear process and measurement models, systems with linear and nonlinear inequality constraints, systems with outliers in the measurements or sudden changes in the state, and systems where the sparsity of the state sequence must be accounted for. All extensions preserve the computational efficiency of the classic algorithms, and most of the extensions are illustrated with numerical examples, which are part of an open source Kalman smoothing Matlab/Octave package.Comment: 46 pages, 11 figure

Occupational burden of disease in the Netherlands

Ongunstige arbeidsomstandigheden veroorzaken 2 tot 4% van de totale ziektelast in Nederland. Het begrip ziektelast is een maatstaf om de gevolgen van ziekte uit te drukken. Het combineert gezondheidsverlies door verminderde kwaliteit van leven en door vroegtijdig overlijden. Hoge werkdruk, blootstelling aan schadelijke stoffen (inclusief passief roken) en beeldschermwerk zijn de ongunstigste arbeidsomstandigheden. Zij zorgen voor veel ziektelast door burn-out, de chronische luchtwegaandoening COPD, longkanker en klachten van arm, nek en schouder (KANS). In het rapport is de positieve invloed van arbeid op de gezondheid niet meegenomen. Het RIVM laat voor het eerst zien welke arbeidsgerelateerde aandoeningen veel ziektelast in Nederland veroorzaken. Deze gegevens bieden aanknopingspunten voor verder onderzoek en voor maatregelen om de ziektelast door deze aandoeningen te verminderen. Dat is niet alleen goed voor werknemers en werkgevers, maar ook voor de volksgezondheid en de samenleving in haar geheel: health is wealth. In eerdere ziektelastberekeningen van de wereldgezondheidsorganisatie (WHO) is de arbeidsgerelateerde ziektelast in Nederland sterk onderschat. In Nederland veroorzaken niet zozeer de 'klassieke' risico's en aandoeningen, zoals arbeidsongevallen en slechthorendheid door lawaai, de meeste ziektelast. Juist 'nieuwe' aandoeningen, zoals burn-out en KANS, leiden hiertoe, en die zijn niet meegenomen in de WHO-schattingen. Behalve negatieve effecten op de gezondheid hebben ongunstige arbeidsomstandigheden een nadelig effect op de arbeidsproductiviteit, het ziekteverzuim en arbeidsongeschiktheid. In theorie blijkt het mogelijk om deze effecten te berekenen. Het is aan te bevelen om uit te zoeken of dit in de praktijk haalbaar is.Occupational health risks cause 2 to 4% of the total burden of disease in the Netherlands. The concept of burden of disease is a criterion to express the consequences of disease. It combines the time lived with disability and the time lost due to premature mortality. A high workload, exposure to harmful chemicals (including environmental tobacco smoke) and working with a computer are the most unfavourable working conditions. They contribute most to the occupational burden of disease caused by: burn-out, chronic obstructive pulmonary disease, lung cancer and complaints of arm, neck and shoulder (CANS). The health benefits of work were not included in this report. For the first time, the RIVM shows in this study which occupational diseases contribute most to the burden of disease in the Netherlands. The data offer starting points for further research and measures to reduce the burden of disease caused by these complaints. This is good not only for employers and employees but also for public health and society as a whole: health is wealth. The World Health Organization (WHO) underestimated the occupational burden of disease in the Netherlands in its earlier burden of disease assessments. In the Netherlands, most of the burden of disease is not caused by the 'classical' risks and diseases like accidents and hearing impairment caused by noise. Rather 'new' diseases like burn-out and CANS cause considerable loss of health and were not taken into account in the assessments of the WHO. Unfavourable working conditions do not only have negative effects on health, but also have a disadvantageous effect on productivity, absenteeism and incapacity for work. In theory it is possible to estimate these adverse effects. We therefore advise to study whether estimating them is feasible in practice.SZ

Spontaneous hypothermia on intensive care unit admission is a predictor of unfavorable neurological outcome in patients after resuscitation: an observational cohort study

Introduction: A large number of patients resuscitated for primary cardiac arrest arrive in the intensive care unit (ICU) with a body temperature = 35.0 degrees C). Neurological outcome after six months was assessed by means of the Glasgow Outcome Score (GOS), with GOS 1 to 3 defined as unfavorable and GOS 4 to 5 as favorable. A logistic regression model was used to analyze the influence of the different parameters on neurological outcome. Results: The data of 105 consecutive patients resuscitated for primary cardiac arrest and treated with induced mild hypothermia were analyzed. Median ICU admission temperature was 35.1 degrees C (interquartile range (IQR) 34.3 to 35.7). After six months, 61% of the patients had an unfavorable outcome (59% died and 2% were severely disabled), whereas 39% had a favorable outcome (moderate disability or good recovery). Among patients with spontaneous hypothermia on ICU admission, the percentage with unfavorable outcome was higher (69% versus 50%, P = 0.05). Logistic regression showed that age, acute physiology and chronic health evaluation (APACHE) II and sequential organ failure assessment (SOFA) scores and spontaneous hypothermia on ICU admission all had an increased odds ratio (OR) for an unfavorable outcome after six months. Spontaneous hypothermia had the strongest association with unfavorable outcome (OR 2.6, 95% CI (confidence interval) 1.1 to 5.9), which became even stronger after adjustment for age, presenting heart rhythm, APACHE II and SOFA scores (OR 3.8, CI 1.3 to 11.0). Conclusions: In this observational cohort study, spontaneous hypothermia on ICU admission was the strongest predictor of an unfavorable neurological outcome in patients resuscitated for primary cardiac arres

Irritability in young people with copy number variants associated with neurodevelopmental disorders (ND-CNVs)

A range of rare mutations involving micro-deletion or -duplication of genetic material (copy number variants (CNVs)) have been associated with high neurodevelopmental and psychiatric risk (ND-CNVs). Irritability is frequently observed in childhood neurodevelopmental conditions, yet its aetiology is largely unknown. Genetic variation may play a role, but there is a sparsity of studies investigating the presentation of irritability in young people with ND-CNVs. This study aimed to investigate whether there is a difference in irritability in young people with rare ND-CNVs compared to those without ND-CNVs, and to what extent irritability is associated with psychiatric diagnoses and cognitive ability (IQ). Irritability and broader psychopathology were assessed in 485 young people with ND-CNVs and 164 sibling controls, using the child and adolescent psychiatric assessment. Autism was assessed using the social communication questionnaire, and intelligence quotient (IQ) by the Wechsler abbreviated scale of intelligence. Fifty four percent of young people with ND-CNVs met the threshold for irritability; significantly more than controls (OR = 3.77, CI = 3.07-7.90, p = 5.31 × 10-11). When controlling for the presence of other psychiatric comorbidities, ND-CNV status was still associated with irritability. There was no evidence for a relationship between irritability and IQ. Irritability is an important aspect of the clinical picture in young people with ND-CNVs. This work shows that genetic variation is associated with irritability in young people with ND-CNVs, independent of psychiatric comorbidities or IQ impairment. Clinicians should be aware of this increased risk to inform management and interventions

One-sided versus two-sided stochastic descriptions

It is well-known that discrete-time finite-state Markov Chains, which are described by one-sided conditional probabilities which describe a dependence on the past as only dependent on the present, can also be described as one-dimensional Markov Fields, that is, nearest-neighbour Gibbs measures for finite-spin models, which are described by two-sided conditional probabilities. In such Markov Fields the time interpretation of past and future is being replaced by the space interpretation of an interior volume, surrounded by an exterior to the left and to the right. If we relax the Markov requirement to weak dependence, that is, continuous dependence, either on the past (generalising the Markov-Chain description) or on the external configuration (generalising the Markov-Field description), it turns out this equivalence breaks down, and neither class contains the other. In one direction this result has been known for a few years, in the opposite direction a counterexample was found recently. Our counterexample is based on the phenomenon of entropic repulsion in long-range Ising (or "Dyson") models.Comment: 13 pages, Contribution for "Statistical Mechanics of Classical and Disordered Systems

Collapse of superconductivity in a hybrid tin-graphene Josephson junction array

When a Josephson junction array is built with hybrid superconductor/metal/superconductor junctions, a quantum phase transition from a superconducting to a two-dimensional (2D) metallic ground state is predicted to happen upon increasing the junction normal state resistance. Owing to its surface-exposed 2D electron gas and its gate-tunable charge carrier density, graphene coupled to superconductors is the ideal platform to study the above-mentioned transition between ground states. Here we show that decorating graphene with a sparse and regular array of superconducting nanodisks enables to continuously gate-tune the quantum superconductor-to-metal transition of the Josephson junction array into a zero-temperature metallic state. The suppression of proximity-induced superconductivity is a direct consequence of the emergence of quantum fluctuations of the superconducting phase of the disks. Under perpendicular magnetic field, the competition between quantum fluctuations and disorder is responsible for the resilience at the lowest temperatures of a superconducting glassy state that persists above the upper critical field. Our results provide the entire phase diagram of the disorder and magnetic field-tuned transition and unveil the fundamental impact of quantum phase fluctuations in 2D superconducting systems.Comment: 25 pages, 6 figure

The relationships between problem characteristics, achievement-related behaviors, and academic achievement in problem-based learning

This study investigated the influence of five problem characteristics on students' achievement-related classroom behaviors and academic achievement. Data from 5,949 polytechnic students in PBL curricula across 170 courses were analyzed by means of path analysis. The five problem characteristics were: (1) problem clarity, (2) problem familiarity, (3) the extent to which the problem stimulated group discussion, (4) self-study, and (5) identification of learning goals. The results showed that problem clarity led to more group discussion, identification of learning goals, and self-study than problem familiarity. On the other hand, problem familiarity had a stronger and direct impact on academic achievement

Rule-based modelling provides an extendable framework for comparing candidate mechanisms underpinning clathrin polymerisation

Abstract Polymerisation of clathrin is a key process that underlies clathrin-mediated endocytosis. Clathrin-coated vesicles are responsible for cell internalization of external substances required for normal homeostasis and life –sustaining activity. There are several hypotheses describing formation of closed clathrin structures. According to one of the proposed mechanisms cage formation may start from a flat lattice buildup on the cellular membrane, which is later transformed into a curved structure. Creation of the curved surface requires rearrangement of the lattice, induced by additional molecular mechanisms. Different potential mechanisms require a modeling framework that can be easily modified to compare between them. We created an extendable rule-based model that describes polymerisation of clathrin molecules and various scenarios of cage formation. Using Global Sensitivity Analysis (GSA) we obtained parameter sets describing clathrin pentagon closure and the emergence/production and closure of large-size clathrin cages/vesicles. We were able to demonstrate that the model can reproduce budding of the clathrin cage from an initial flat array