Model Predictive Control for Autonomous Driving Based on Time Scaled Collision Cone

In this paper, we present a Model Predictive Control (MPC) framework based on path velocity decomposition paradigm for autonomous driving. The optimization underlying the MPC has a two layer structure wherein first, an appropriate path is computed for the vehicle followed by the computation of optimal forward velocity along it. The very nature of the proposed path velocity decomposition allows for seamless compatibility between the two layers of the optimization. A key feature of the proposed work is that it offloads most of the responsibility of collision avoidance to velocity optimization layer for which computationally efficient formulations can be derived. In particular, we extend our previously developed concept of time scaled collision cone (TSCC) constraints and formulate the forward velocity optimization layer as a convex quadratic programming problem. We perform validation on autonomous driving scenarios wherein proposed MPC repeatedly solves both the optimization layers in receding horizon manner to compute lane change, overtaking and merging maneuvers among multiple dynamic obstacles.Comment: 6 page

Diabetes control, dyslipidemia, hsCRP and mild cognitive impairment in non-elderly people with type 2 diabetes mellitus

Background: Mild Cognitive Impairment (MCI) a transitional stage between normal aging and dementia has been observed more in people with diabetes when compared with general population. The risk factors for MCI in type 2 diabetes mellitus (T2DM) have been defined in elderly patients and aging may itself contribute to declining in cognitive functions. As the large number people with T2DM are under 60years, the prevalence of MCI and factors contributing to it are not much studied. So, this study aimed to find out the factors contributing to MCI in non-elderly T2DM patients.Methods: In this cross-sectional study, 257 patients with T2DM underwent cognitive assessment by Montreal cognitive assessment test and the cognitive levels were correlated with their glycosylated hemoglobin, lipid profile, and highly sensitive C-reactive protein (hsCRP).Results: The prevalence of mild cognitive impairment (MCI) was 64.2%.  MCI significantly correlated with duration of diabetes, socioeconomic status, HbA1c, serum triglycerides, low-density lipoprotein, very low-density lipoprotein and hsCRP levels. The factors that were statistically insignificant were body mass index and high-density lipoprotein levels.Conclusions: Cognitive impairment is seen even in non-elderly T2DM patients. It should be considered along with the other complications of diabetes and individuals with T2DM should be screened for cognitive impairment to prevent progression to dementia

Unusual complication of Mycoplasma pneumoniae in a five year old child

Mycoplasma pneumoniae is common agent causing community acquired pneumonia in children. However, the course of illness is usually benign and is rarely associated with pulmonary complications. We report a five-year-old child with massive pleural effusion and empyema secondary to Mycoplasma pneumonia infection. This potential yet rare source of infection should be considered in young patients where resolution of symptoms from pneumonia is delayed

Sol-gel synthesized plasmonic nanoparticles and their integration into dye sensitized solar cells

In the present study, we synthesized silver nanoparticles in titanosilicate matrix through low cost non-hydrolytic sol-gel method using titanium isopropoxide (TIP), tetraethylorthosilicate (TEOS, (Si(OC2H5)4) and ethanol (C2H5OH) as solvents. These were investigated for the plasmonic effect of nanoparticles in dye sensitized solar cells (DSSC). The fabricated dye-sensitized solar cells with Ag: SiO2-TiO2 films coated in fluorine doped tin oxide (FTO) glass plate with dye of amaranthus red shows an improved output voltage. The samples were optically and structurally well studied by absorption spectroscopy, Fourier transform infrared spectroscopy(FTIR), X-Ray diffraction (XRD) and transmission electron microscopy(TEM). The XRD studies confirmed the crystalline nature of TiO2 and Ag.publishe

STRUCTURE BASED DRUG DESIGN STUDIES ON HETEROARYL PROPANOIC ACID DERIVATIVES AS PPARΓ AGONISTS

Peroxisome proliferator-activated receptors (PPARs) are a group of nuclear receptorproteins. Docking studies are based on several factors. Among 15 entries of PPARγ, 2Q6S wastaken for docking analysis, as it showed 418 most favored regions, 35 in additionally allowedregion and none of the residue in disallowed regions. To carry out drug designing, moleculeswere considered from the literature in which substitution of R1 position with dihydrofurylreported to have high dock score (-14.98 Kcal/mol) than the remaining analogues, with bettergeometry and interactions. Hence docking analysis using heteroaryl propionic acid derivatives asanti-diabetic agents suggest the reproducibility of active molecules being predicted bycomputational docking studies using Auto dock software