Pseudospectral Model Predictive Control under Partially Learned Dynamics

Trajectory optimization of a controlled dynamical system is an essential part of autonomy, however many trajectory optimization techniques are limited by the fidelity of the underlying parametric model. In the field of robotics, a lack of model knowledge can be overcome with machine learning techniques, utilizing measurements to build a dynamical model from the data. This paper aims to take the middle ground between these two approaches by introducing a semi-parametric representation of the underlying system dynamics. Our goal is to leverage the considerable information contained in a traditional physics based model and combine it with a data-driven, non-parametric regression technique known as a Gaussian Process. Integrating this semi-parametric model with model predictive pseudospectral control, we demonstrate this technique on both a cart pole and quadrotor simulation with unmodeled damping and parametric error. In order to manage parametric uncertainty, we introduce an algorithm that utilizes Sparse Spectrum Gaussian Processes (SSGP) for online learning after each rollout. We implement this online learning technique on a cart pole and quadrator, then demonstrate the use of online learning and obstacle avoidance for the dubin vehicle dynamics.Comment: Accepted but withdrawn from AIAA Scitech 201

US state health expenditure convergence: A revisited analysis

This paper studies the evolution of US state health expenditure for a sample that covers 1966–2014. Our results provide evidence against the existence of a single pattern of behavior of personal health care expenditure across the US states. Rather, we can observe the existence of two statistically different convergence clubs. We cannot find evidence of convergence when we disaggregate health expenditure into its three main payers: Medicare, Medicaid and private health insurance expenditure, whilst we again find evidence of convergence clubs. However, the estimated clubs for Medicaid and private health insurance expenditure are statistically different that estimated for total health expenditure. Consequently, our results offer strong evidence of heterogeneity in the evolution of US health expenditure. The analysis of the forces that drive club creation shows that economic situation and some supply-side factors are important. We can also appreciate that some healthcare outcome variables are only related to private insurance health expenditure. The other health expenditures, thus, show a certain lack of efficiency which may be due to practices that have little benefit for patient health

Evaluation of the changes in working limits in an automobile assembly line using simulation

The aim of the work presented in this paper consists of the development of a decision-making support system, based on discrete-event simulation models, of an automobile assembly line which was implemented within an Arena simulation environment and focused at a very specific class of production lines with a four closed-loop network configuration. This layout system reflects one of the most common configurations of automobile assembly and preassembly lines formed by conveyors. The sum of the number of pallets on the intermediate buffers, remains constant, except for the fourth closed-loop, which depends on the four-door car ratio (x) implemented between the door disassembly and assembly stations of the car body. Some governing equations of the four closed-loops are not compatible with the capacities of several intermediate buffers for certain values of variable x. This incompatibility shows how the assembly line cannot operate in practice for x0,97 in a stationary regime, due to the starvation phenomenon or the failure of supply to the machines on the production line. We have evaluated the impact of the pallet numbers circulating on the first closed-loop on the performance of the production line, translated into the number of cars produced/hour, in order to improve the availability of the entire manufacturing system for any value of x. Until the present date, these facts have not been presented in specialized literature. © 2012 American Institute of Physics

Increasing the use of public bicycles: efficiency and demand

Millions of people travel every day by car in cities around the world, with daily mobility being one of the main contributors to CO2 emissions. Bicycle-sharing systems are a mobility alternative to cars that may help to reduce CO2 and GHG emissions. We analyze a public bike-sharing service (BIZI, in Zaragoza, Spain, May 2008–August 2019, 24 million uses), from the perspective of both efficiency and demand profiles, to determine whether the use of bicycles in the city can be increased. We study the evolution of the use of the BIZI service, showing that efficiency increased rapidly at first and reached an optimum value after the first two years. Using regression models, we characterize the groups that use this service the most and relate bicycle demand to factors such as weather conditions, number of bike lanes, and service extensions. Our analysis allows us to characterize the demand for BIZI as being subject, primarily, to weather conditions. This factor may reduce or boost the demand for this kind of service, which may help bike-sharing firms to decide on possible locations

Fístula uretro-rectal en el perro : a propósito de un caso clínico

En este arículo se describe un caso clínico de fístula uretro-rectal en un perro y su resolución mediante una fistulectomía a través de un abordaje por la región perineal, evitando así otros abordajes más traumáticos, obteniendo en nuestro caso un resultado muy satisfactorio.

Comparison of Frequentist and Bayesian Meta-Analysis Models for Assessing the Efficacy of Decision Support Systems in Reducing Fungal Disease Incidence

Diseases of fruit and foliage caused by fungi and oomycetes are generally controlled by the application of fungicides. The use of decision support systems (DSSs) may assist to optimize fungicide programs to enhance application on the basis of risk associated with disease outbreak. Case-by-case evaluations demonstrated the performance of DSSs for disease control, but an overall assessment of the efficacy of DSSs is lacking. A literature review was conducted to synthesize the results of 67 experiments assessing DSSs. Disease incidence data were obtained from published peer-reviewed field trials comparing untreated controls, calendar-based and DSS-based fungicide programs. Two meta-analysis generic models, a “fixed-effects” vs. a “random-effects” model within the framework of generalized linear models were evaluated to assess the efficacy of DSSs in reducing incidence. All models were fit using both frequentist and Bayesian estimation procedures and the results compared. Model including random effects showed better performance in terms of AIC or DIC and goodness of fit. In general, the frequentist and Bayesian approaches produced similar results. Odds ratio and incidence ratio values showed that calendar-based and DSS-based fungicide programs considerably reduced disease incidence compared to the untreated control. Moreover, calendar-based and DSS-based programs provided similar reductions in disease incidence, further supporting the efficacy of DSSs

No two without three: Modelling dynamics of the trio RNA virus-defective interfering genomes-RNA satellite

Almost all viruses, regardless of their genomic material, produce defective viral genomes (DVG) as an unavoidable byproduct of their error-prone replication. Defective interfering (DI) elements are a subgroup of DVGs that have been shown to interfere with the replication of the wild-type (WT) virus. Along with DIs, other genetic elements known as satellite RNAs (satRNAs), that show no genetic relatedness with the WT virus, can co-infect cells with WT helper viruses and take advantage of viral proteins for their own benefit. These satRNAs have effects that range from reduced symptom severity to enhanced virulence. The interference dynamics of DIs over WT viruses has been thoroughly modelled at within-cell, within-host, and population levels. However, nothing is known about the dynamics resulting from the nonlinear interactions between WT viruses and DIs in the presence of satellites, a process that is frequently seen in plant RNA viruses and in biomedically relevant pathosystems like hepatitis B virus and its $\delta$ satellite. Here, we look into a phenomenological mathematical model that describes how a WT virus replicates and produces DIs in presence of a satRNA at the intra-host level. The WT virus is subject to mechanisms of complementation, competition, and various levels of interference from DIs and the satRNA. Examining the dynamics analytically and numerically reveals three possible stable states: (i) full extinction, (ii) satellite extinction and virus-DIs coexistence and (iii) full coexistence. Assuming DIs replicate faster than the satRNA owed to their smaller size drives to scenario (ii), which implies that DIs could wipe out the satRNA. In addition, a small region of the parameter space exists wherein the system is bistable (either scenarios (ii) or (iii) are concurrently stable).Comment: 22 pages, 9 figure

A scheduling theory framework for GPU tasks efficient execution

Concurrent execution of tasks in GPUs can reduce the computation time of a workload by overlapping data transfer and execution commands. However it is difficult to implement an efficient run- time scheduler that minimizes the workload makespan as many execution orderings should be evaluated. In this paper, we employ scheduling theory to build a model that takes into account the device capabili- ties, workload characteristics, constraints and objec- tive functions. In our model, GPU tasks schedul- ing is reformulated as a flow shop scheduling prob- lem, which allow us to apply and compare well known methods already developed in the operations research field. In addition we develop a new heuristic, specif- ically focused on executing GPU commands, that achieves better scheduling results than previous tech- niques. Finally, a comprehensive evaluation, showing the suitability and robustness of this new approach, is conducted in three different NVIDIA architectures (Kepler, Maxwell and Pascal).Proyecto TIN2016- 0920R, Universidad de Málaga (Campus de Excelencia Internacional Andalucía Tech) y programa de donación de NVIDIA Corporation

Episodic Vestibulocerebellar Ataxia Associated with a CACNA1G Missense Variant

Episodic vestibulocerebellar ataxias are rare diseases, frequently linked to mutations in different ion channels. Our objective in this work was to describe a kindred with episodic vestibular dysfunction and ataxia, associated with a novel CACNA1G variant. Two individuals from successive generations developed episodes of transient dizziness, gait unsteadiness, a sensation of fall triggered by head movements, headache, and cheek numbness. These were suppressed by carbamazepine (CBZ) administration in the proband, although acetazolamide and topiramate worsened instability, and amitriptyline and flunarizine did not prevent headache spells. On examination, the horizontal head impulse test (HIT) yielded saccadic responses bilaterally and was accompanied by cerebellar signs. Two additional family members were asymptomatic, with normal neurological examinations. Reduced vestibulo-ocular reflex gain values, overt and covert saccades were shown by video-assisted HIT in affected subjects. Hearing acuity was normal. Whole-exome sequencing demonstrated the heterozygous CACNA1G missense variant c.6958G>T (p.Gly2320Cys) in symptomatic individuals. It was absent in 1 unaffected member (not tested in the other asymptomatic individual) and should be considered likely pathogenic. CACNA1G encodes for the pore-forming, a1G subunit of the T-type voltage-gated calcium channel (VGCC), in which currents are transient owing to fast inactivation, and tiny, due to small conductance. Mutations in CACNA1G cause generalized absence epilepsy and adult-onset, dominantly inherited, spinocerebellar ataxia type 42. In this kindred, the aforementioned CACNA1G variant segregated with disease, which was consistent with episodic vestibulocerebellar ataxia. CBZ proved successful in bout prevention and provided symptomatic benefit in the proband, probably as a result of interaction of this drug with VGCC. Further studies are needed to fully determine the vestibular and neurological manifestations of this form of episodic vestibulocerebellar ataxia. This novel disease variant could be designated episodic vestibulocerebellar ataxia type 10. © 2021 The Author(s). Published by S. Karger AG, Basel