Interplay Between Transmission Delay, Average Data Rate, and Performance in Output Feedback Control over Digital Communication Channels

The performance of a noisy linear time-invariant (LTI) plant, controlled over a noiseless digital channel with transmission delay, is investigated in this paper. The rate-limited channel connects the single measurement output of the plant to its single control input through a causal, but otherwise arbitrary, coder-controller pair. An infomation-theoretic approach is utilized to analyze the minimal average data rate required to attain the quadratic performance when the channel imposes a known constant delay on the transmitted data. This infimum average data rate is shown to be lower bounded by minimizing the directed information rate across a set of LTI filters and an additive white Gaussian noise (AWGN) channel. It is demonstrated that the presence of time delay in the channel increases the data rate needed to achieve a certain level of performance. The applicability of the results is verified through a numerical example. In particular, we show by simulations that when the optimal filters are used but the AWGN channel (used in the lower bound) is replaced by a simple scalar uniform quantizer, the resulting operational data rates are at most around 0.3 bits above the lower bounds.Comment: A less-detailed version of this paper has been accepted for publication in the proceedings of ACC 201

H2/H∞ controller design for input-delay and preview systems based on state decomposition approach

This thesis concentrates on the efficient solution methods of H2/H∞ optimal control problems for input-delay and preview systems. Although the problems can be reformulated to the ones for delay-free systems by augmenting the state space of the controlled systems, the numerical solution of the Riccati/KYP (Kalman-Yakubovich-Popov) equations for the augmented systems requires special efforts, and complicates controller tuning. On the other hand, it is known that the optimal control laws for certain classes of time-delay systems can be constructed without solving the augmented Riccati/KYP equations. Such design problems are called reduced-order construction problems in this thesis. The solutions of the reducedorder construction problems are still limited in theoretical and practical perspectives. The main purpose of the thesis is to propose a new approach for the reduced-order construction problems, which enables to derive the optimal output feedback controllers for input-delayed and preview systems in a unified manner. We focus on the internal dynamics of the overall systems, and decompose it toward the H^2 and H^∞ performance objectives. The fundamental idea of our approach is first introduced for the discrete-time inputdelayed H^2/H^∞ control problems. The state decomposition enables to solve the output feedback problem through the simpler ones, namely, the full information and output estimation problems. The discrete-time optimal controllers are obtained in the Smith predictor form. They are constructed from the Riccati/KYP equations for the delay-free systems. The solution procedure is further extended to the continuous-time preview H^2/H^∞ control problems in an output feedback setting. The optimal utilization of the preview information is exploited at the full information and output estimation problems. The clear structures of the optimal controllers are revealed as the combination of the finite-dimensional observers and preview-feedforward compensation. In the H^∞ control problems for the input-delayed and preview systems, the J-spectral factorization techniques in the literature are employed. Their interconnection to the augmented Riccati/KYP equations is clarified by reviewing the techniques from a view point of the internal state dynamics.首都大学東京, 2014-03-25, 博士(工学), 甲第440号首都大学東

More severe impairment of manual dexterity in bipolar disorder compared to unipolar major depression

Background: Mood disorders are associated with various neurocognitive deficits. However, few studies have reported the impairment of motor dexterity in unipolar depression and bipolar disorder. In the present study, manual dexterity was compared between unipolar major depression, bipolar disorder, and healthy controls. Methods: Manual dexterity was assessed by the Purdue pegboard test in 98 patients with unipolar major depression, 48 euthymic or depressed patients with bipolar disorder, and 158 healthy controls, matched for age and gender. Results: Compared to healthy controls, sum of the scores of right, left, and both hands subtests (R + L+ B) was significantly lower in both patients with unipolar depression and bipolar disorder (P= 0.0034 and P<0.0001, respectively). Furthermore, R + L + B was significantly lower in bipolar disorder compared to unipolar depression (P=0.0016). Lithium dose and chlorpromazine equivalent dose of antipsychotics were significantly negatively correlated with some of the subtest scores. On the other hand, depression severity did not significantly correlate with any of the subtest scores. Difference in R + L+ B between unipolar depression and bipolar disorder remained statistically significant even after controlling for gender, age, lithium dose, and chlorpromazine equivalent dose (P = 0.0028). Limitations Bipolar patients during manic episode were not included in the study. Conclusions: Gross movement dexterity was impaired in both patients with unipolar depression and bipolar disorder. The severity of impairment was significantly greater in patients with bipolar disorder. The functional difference between unipolar and bipolar patients may suggest different pathological conditions between the two depressive disorders.ArticleJOURNAL OF AFFECTIVE DISORDERS. 136(3):1047-1052 (2012)journal articl

Difference in Temperament and Character Inventory scores between depressed patients with bipolar II and unipolar major depressive disorders

Background: Although some core personality variables are known to be characteristic of unipolar or bipolar depression, few studies have compared the personality profile between these two disorders. Methods: Temperament and Character Inventory (TCI) was employed to assess the personality of 36 depressed patients with bipolar II disorder (BPII), 90 patients with unipolar major depressive disorder (UP), and 306 healthy controls. The TCI was administered during the depressive episode in BPII and UP patients so that the results can be applied in a clinical setting. Results: Significantly higher scores in harm avoidance (p<0.0001) and lower scores in self-directedness (p<0.0001) and cooperativeness (p<0.05) were observed in both BPII and UP patients compared to controls. Lower novelty seeking in UP patients compared to BPII patients and controls was observed in females (p<0.0001, p<0.01. respectively). A significant difference in self-transcendence score was observed between BPII and UP patients in females (p<0.0005), with higher scores in BPII (p = 0.009) and lower scores in UP (p = 0.046) patients compared to controls. A logistic regression model predicted BPII in depressed females based on novelty seeking and self-transcendence scores with a sensitivity of 89% and a specificity of 73%, but did not accurately predict BPII in males. Limitations: Patients in our study were limited to those receiving outpatient treatments, and bipolar patients were limited to those with BPII. Conclusions: Novelty seeking and self-transcendence scores of TCI might be useful in the differentiation of UP and BPII in female patients.ArticleJOURNAL OF AFFECTIVE DISORDERS. 132(3):319-324 (2011)journal articl

Optimal Initial Dose of Orally Administered Once-daily Extended-release Tacrolimus Following Intravenous Tacrolimus Therapy After Liver Transplantation

Introduction. Once-daily extended-release tacrolimus (Tac-OD) is expected to reduce non-adherence in recipients after liver transplantation (LT). The aim of this study was to determine the optimal initial dose of orally administered Tac-OD after intravenous tacrolimus (Tac-IV) therapy after LT. Patients and Methods. This prospective study included 10 adult recipients who had undergone LT at our institute. The recipients were prescribed tacrolimus by continuous intravenous administration with a steroid as initial immunosuppression therapy. Tacrolimus was converted from intravenous administration to once-daily oral intake when gastrointestinal function returned. We evaluated tacrolimus concentrations in blood 9 times a day and area under the blood concentration time curve (AUC) during conversion. The optimal initial dose of Tac-OD was determined based on simple regression analysis between the oral dose of Tac-OD and the total dose of Tac-IV during a 24-hour period. Results. The AUC before and after conversion showed no differences. We found that the optimal initial dose of Tac-OD was 8 times the dose of Tac-IV. There was a relationship between the AUC and the trough level. No recipients experienced acute rejection or adverse effects such as renal failure, neurotoxicity, or cardiac failure during conversion. Conclusions. We successfully converted continuous Tac-IV to oral intake of Tac-OD by adjusting the dose using trough levels without acute rejection or adverse effects. The AUC of Tac-OD correlated with the trough level. The optimal initial dose ratio of Tac-OD after Tac-IV was 8:1.ArticleTRANSPLANTATION PROCEEDINGS. 46(3):794-796 (2014)journal articl