MPC Builder for Autonomous Drive: Automatic Generation of MPCs for Motion Planning and Control

This study presents a new framework for vehicle motion planning and control based on the automatic generation of model predictive controllers (MPCs) named MPC Builder. In this framework, several components necessary for MPC, such as prediction models, constraints, and cost functions, are prepared in advance. The MPC Builder then generates various MPCs online in a unified manner according to traffic situations. This scheme enabled us to represent various driving tasks with less design effort than typical switched MPC systems. The proposed framework was implemented considering the continuation/generalized minimum residual (C/GMRES) method optimization solver, which can reduce computational costs. Finally, numerical experiments on multiple driving scenarios were presented.Comment: 8 pages, 9 figure

Effects of in vivo cyclic compressive loading on the distribution of local Col2 and superficial lubricin in rat knee cartilage

This study aimed to examine the effects of an episode of in vivo cyclic loading on rat knee articular cartilage (AC) under medium-term observation, while also investigating relevant factors associated with the progression of post-traumatic osteoarthritis (PTOA). Twelve-week-old Wistar rats underwent one episode comprising 60 cycles of 20 N or 50 N dynamic compression on the right knee joint. Spatiotemporal changes in the AC after loading were evaluated using histology and immunohistochemistry at 3 days and 1, 2, 4, and 8 weeks after loading (n = 6 for each condition). Chondrocyte vitality was assessed at 1, 3, 6, and 12 hours after loading (n = 2 for each condition). A localized AC lesion on the lateral femoral condyle was confirmed in all subjects. The surface and intermediate cartilage in the affected area degenerated after loading, but the calcified cartilage remained intact. Expression of type II collagen in the lesion cartilage was upregulated after loading, whereas the superficial lubricin layer was eroded in response to cyclic compression. However, the distribution of superficial lubricin gradually recovered to the normal level 4 weeks after loading-induced injury. We confirmed that 60 repetitions of cyclic loading exceeding 20 N could result in cartilage damage in the rat knee. Endogenous repairs in well-structured joints work well to rebuild protective layers on the lesion cartilage surface, which may be the latent factor delaying the progression of PTOA

A Much Faster Algorithm for Finding a Maximum Clique

We present improvements to a branch-and-bound maximumclique-finding algorithm MCS (WALCOM 2010, LNCS 5942, pp. 191–203) that was shown to be fast. First, we employ an efficient approximation algorithm for finding a maximum clique. Second, we make use of appropriate sorting of vertices only near the root of the search tree. Third, we employ a lightened approximate coloring mainly near the leaves of the search tree. A new algorithm obtained from MCS with the above improvements is named MCT. It is shown that MCT is much faster than MCS by extensive computational experiments. In particular, MCT is shown to be faster than MCS for gen400 p0.9 75 and gen400 p0.9 65 by over 328,000 and 77,000 times, respectively

Operando analysis of graphite intercalation compounds with fluoride-containing polyatomic anions in aqueous solutions

The formation of graphite intercalation compounds (GICs) in aqueous solutions has attracted much attention, but reversibility in the formation/deformation of GICs is a challenging issue to construct highly safe rechargeable batteries. In this study, we used an operando analysis (X-ray diffraction and Raman spectroscopy) to discuss the feasibility of using fluoride-containing polyatomic anions in the formation of GICs in aqueous highly concentrated solutions. We found that the intercalation of anions containing a C₂F₅ moiety (such as [N(SO₂CF₃)(SO₂CF₂CF₃)]⁻ or [N(SO₂CF₂CF₃)₂]⁻) does not occur in the bulk of graphite, but only in the surface region. In addition, anions containing a CF₃ moiety show different behaviors: SO₃CF₃⁻ shows greater reversibility and larger stage-number than N(SO₂CF₃)₂⁻ in the formation of GICs. These results provide design guidelines for the reversible intercalation and de-intercalation of anions and their application as a cathode material in aqueous rechargeable batteries

生後心臓成熟と心臓再生におけるレチノイン酸の機能解析

学位の種別: 課程博士審査委員会委員 : （主査）東京大学教授 武田 洋幸, 東京大学教授 宮島 篤, 東京大学教授 多羽田 哲也, 東京大学教授 小林 武彦, 東京大学教授 栗原 裕基University of Tokyo(東京大学