Combining system identification with reinforcement learning-based MPC

In this paper we propose and compare methods for combining system identification (SYSID) and reinforcement learning (RL) in the context of data-driven model predictive control (MPC). Assuming a known model structure of the controlled system, and considering a parametric MPC, the proposed approach simultaneously: a) Learns the parameters of the MPC using RL in order to optimize performance, and b) fits the observed model behaviour using SYSID. Six methods that avoid conflicts between the two optimization objectives are proposed and evaluated using a simple linear system. Based on the simulation results, hierarchical, parallel projection, nullspace projection, and singular value projection achieved the best performance.Comment: Accepted to the IFAC202

Autonomous docking using direct optimal control

We propose a method for performing autonomous docking of marine vessels using numerical optimal control. The task is framed as a dynamic positioning problem, with the addition of spatial constraints that ensure collision avoidance. The proposed method is an all-encompassing procedure for performing both docking, maneuvering, dynamic positioning and control allocation. In addition, we show that the method can be implemented as a real-time MPC-based algorithm on simulation results of a supply vessel.Comment: 12th IFAC Conference on Control Applications in Marine Systems, Robotics, and Vehicles (CAMS 2019). IFAC; Daejeon. 2019-09-18 - 2019-09-2

Who cares? -The unrecognised contribution of homecare nurses to care trajectories

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Trajectory Planning and Control for Automatic Docking of ASVs with Full-Scale Experiments

We propose a method for performing automatic docking of a small autonomous surface vehicle (ASV) by interconnecting an optimization-based trajectory planner with a dynamic positioning (DP) controller for trajectory tracking. The trajectory planner provides collision-free trajectories by considering a map with static obstacles, and produces feasible trajectories through inclusion of a mathematical model of the ASV and its actuators. The DP controller tracks the time-parametrized position, velocity and acceleration produced by the trajectory planner using proportional-integral-derivative feedback with velocity and acceleration feed forward. The method's performance is tested on a small ASV in confined waters in Trondheim, Norway. The ASV performs collision-free docking maneuvers with respect to static obstacles when tracking the generated reference trajectories and achieves successful docking.Comment: 12 pages, 7 figures. Accepted to the IFAC World Congress 202

Structure, dynamics, and stability of the globular domain of human linker histone H1.0 and the role of positive charges

Linker histone H1 (H1) is an abundant chromatin-binding protein that acts as an epigenetic regulator binding to nucleosomes and altering chromatin structures and dynamics. Nonetheless, the mechanistic details of its function remain poorly understood. Recent work suggest that the number and position of charged side chains on the globular domain (GD) of H1 influence chromatin structure and hence gene repression. Here, we solved the solution structure of the unbound GD of human H1.0, revealing that the structure is almost completely unperturbed by complex formation, except for a loop connecting two antiparallel β-strands. We further quantified the role of the many positive charges of the GD for its structure and conformational stability through the analysis of 11 charge variants. We find that modulating the number of charges has little effect on the structure, but the stability is affected, resulting in a difference in melting temperature of 26 K between GD of net charge +5 versus +13. This result suggests that the large number of positive charges on H1-GDs have evolved for function rather than structure and high stability. The stabilization of the GD upon binding to DNA can thus be expected to have a pronounced electrostatic component, a contribution that is amenable to modulation by posttranslational modifications, especially acetylation and phosphorylation. Keywords: CD; NMR; histone; nucleosome; protein electrostatics; protein stability; protein structur

Soil organic carbon and associated soil properties in Enset (Ensete ventricosum Welw. Cheesman)-based homegardens in Ethiopia

Enset (Ensete ventricosum Welw. Cheesman)-based homegardens have long been practiced as central elements of agricultural land management and food security in south and southwest Ethiopia. In contrast to the homegardens’ biodiversity and role in food security, soil quality has received little attention. Objective of this study was to assess soil quality parameters in typical homegardens in comparison with adjacent croplands, both under continuous management for >30 years. The study was undertaken at high (2200–2330 masl), mid (1799–1849 masl), and low (1349–1381 masl) elevation in the central Omo-Gibe basin, southwest Ethiopia. Through interviews of 49 randomly selected farm households, and soil sampling at six paired sites at high and mid elevations, and five paired sites of low elevation, we found that homegardens received the majority of household waste and manure and were less frequently tilled. By contrast, some, but not all, croplands occasionally received inorganic fertilizer. Homegarden soil had significantly greater (P < 0.05) soil organic carbon (SOC) concentrations than croplands. At 0–20 cm depth, SOC concentrations in homegardens (22.4–26.4 mg

Being well? A meta-ethnography of older patients and their relatives’ descriptions of suffering and well-being in the transition from hospital to home

Background: As the average length of hospital stay decreases, more and more older patients will need support during and after the hospital transition, which will mainly be provided by their relatives. Studies highlight the enormous effect such a transition has on the lives of older patients and their relatives. However, research is lacking regarding in-depth understanding of the complexities and the notions of suffering and well-being the older patients and their relatives describe in the transition from hospital to home. Therefore, this study aims to examine the description of suffering and well-being on a deeper, existential level by drawing on existing phenomenological research. Methods: In order to synthesize and reinterpret primary findings, we used the seven-step method for meta-ethnography. Following specific inclusion criteria and focusing on empirical phenomenological studies about older patients and their relatives experiences of hospital to home transitions, a systematic literature search was conducted. Data from ten studies have been analyzed. Results: Our analysis identified three intertwined themes: i) ‘Being excluded vs. being included in the transition process’, ii) ‘Being a team: a call for support and a call to support’ and iii) ‘Riding an emotional rollercoaster’. The last theme was unfolded by the two subthemes ‘Taking on the new role as a caregiver: oscillating between struggling and accepting’ and ‘Getting back to normal: oscillating between uncertainty and hope’. Within those themes, older patients and their relatives described rather similar than contradictory aspects. Conclusions: This study offers insights into the tension between existential suffering and well-being described by the older patients and their relatives during the transition from hospital to home. Especially, the description of well-being in all its nuances which, if achieved, enables older patients and their relatives to identify with the situation and to move forward, this process can then be supported by the health care professionals. However, there is still lack of knowledge with regards to a deeper understanding of existential well-being in this process. Given the increasing tendency towards early hospital discharges, the findings underpin the need to further investigate the experiences of well-being in this process

Photochromic mechanism in oxygen-containing yttrium hydride thin films: An optical perspective

Oxygen-containing yttrium hydride thin films exhibit photochromic behavior: Transparent thin films reversibly switch from a transparent state to a photodarkened state after being illuminated with UV or blue light. From optical spectrophotometry and ellipsometry measurements of the transparent state and photodarkened state, it is concluded that the photochromic effect can be explained by the gradual growth, under illumination, of metallic domains within the initial wide-band-gap semiconducting lattice. This conclusion is supported by Raman measurements

Detectability of the degree of freeze damage in meat analytic-tool depends on selection

Novel freezing solutions are constantly being developed to reduce quality loss in meat production chains. However, there is limited focus on identifying the sensitive analytical tools needed to directly validate product changes that result from potential improvements in freezing technology. To benchmark analytical tools relevant to meat research and production, we froze pork samples using traditional (−25 °C, −35 °C) and cryogenic freezing (−196 °C). Three classes of analyses were tested for their capacity to separate different freeze treatments: thaw loss testing, bioelectrical spectroscopy (nuclear magnetic resonance, microwave, bioimpedance) and low-temperature microscopy (cryo-SEM). A general effect of freeze treatment was detected with all bioelectrical methods. Yet, only cryo-SEM resolved quality differences between all freeze treatments, not only between cryogenic and traditional freezing. The detection sensitivity with cryo-SEM may be explained by testing meat directly in the frozen state without prior defrosting. We discuss advantages, shortcomings and cost factors in using analytical tools for quality monitoring in the meat sector