On Limitations to the achievable path following performance for linear multivariable plants

In this paper, we consider a problem termed “path following”. This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an L2 sense.We give various bounds on the achievable performance, as well as tight results in special cases. In addition, we give a numerical procedure based on convex optimization for computing the achievable performance. The results demonstrate that there are situations where arbitrarily good L2 performance may be achieved even though the origin is not in the convex hull of the positive limit set of the path to be followed

On Limitations to the achievable path following performance for linear multivariable plants

In this paper, we consider a problem termed “path following”. This differs from the common problem of reference tracking, in that here we can adjust the speed at which we traverse the reference trajectory. We are interested in ascertaining the degree to which we can track a given trajectory, and in characterizing the class of paths for which we can generate an appropriate temporal specification so that the path can be tracked arbitrarily well in an L2 sense.We give various bounds on the achievable performance, as well as tight results in special cases. In addition, we give a numerical procedure based on convex optimization for computing the achievable performance. The results demonstrate that there are situations where arbitrarily good L2 performance may be achieved even though the origin is not in the convex hull of the positive limit set of the path to be followed

Game Theory: A Potential Tool for the Design and Analysis of Patient-Robot Interaction Strategies

Designing suitable robotic controllers for automating movement-based rehabilitation therapy requires an understanding of the interaction between patient and therapist. Current approaches do not take into account the highly dynamic and interdependent nature of this relationship. A better understanding can be accomplished through framing the interaction as a problem in game theory. The main strength behind this approach is the potential to develop robotic control systems which automatically adapt to patient interaction behavior. Agents learn from experiences, and adapt their behaviors so they are better suited to their environment. As the models evolve, structures, patterns and behaviors emerge that were not explicitly programmed into the original models, but which instead surface through the agent interactions with each other and their environment. This paper advocates the use of such agent based models for analysing patient-therapist interactions with a view to designing more efficient and effective robotic controllers for automated therapeutic intervention in motor rehabilitation. The authors demonstrate in a simplified implementation the effectiveness of this approach through simulating known behavioral patterns observed in real patient-therapist interactions, such as learned dependency

A Slow Axon Antidromic Blockade Hypothesis for Tremor Reduction via Deep Brain Stimulation

Parkinsonian and essential tremor can often be effectively treated by deep brain stimulation. We propose a novel explanation for the mechanism by which this technique ameliorates tremor: a reduction of the delay in the relevant motor control loops via preferential antidromic blockade of slow axons. The antidromic blockade is preferential because the pulses more rapidly clear fast axons, and the distribution of axonal diameters, and therefore velocities, in the involved tracts, is sufficiently long-tailed to make this effect quite significant. The preferential blockade of slow axons, combined with gain adaptation, results in a reduction of the mean delay in the motor control loop, which serves to stabilize the feedback system, thus ameliorating tremor. This theory, without any tuning, accounts for several previously perplexing phenomena, and makes a variety of novel predictions

A p53-dependent mechanism underlies macrocytic anemia in a mouse model of human 5q- syndrome.

The identification of the genes associated with chromosomal translocation breakpoints has fundamentally changed understanding of the molecular basis of hematological malignancies. By contrast, the study of chromosomal deletions has been hampered by the large number of genes deleted and the complexity of their analysis. We report the generation of a mouse model for human 5q- syndrome using large-scale chromosomal engineering. Haploinsufficiency of the Cd74-Nid67 interval (containing Rps14, encoding the ribosomal protein S14) caused macrocytic anemia, prominent erythroid dysplasia and monolobulated megakaryocytes in the bone marrow. These effects were associated with defective bone marrow progenitor development, the appearance of bone marrow cells expressing high amounts of the tumor suppressor p53 and increased bone marrow cell apoptosis. Notably, intercrossing with p53-deficient mice completely rescued the progenitor cell defect, restoring common myeloid progenitor and megakaryocytic-erythroid progenitor, granulocyte-monocyte progenitor and hematopoietic stem cell bone marrow populations. This mouse model suggests that a p53-dependent mechanism underlies the pathophysiology of the 5q- syndrome

Spatial competition and agglomeration in the visitor attraction sector

This paper provides a theoretical and empirical contribution to understanding spatial competition by examining visitor attractions in two contrasting clusters of lower and higher levels of agglomeration of businesses in Cornwall, the UK. The study found that competition is mainly for customers and labour and is related differently to the levels of agglomeration, spatial proximity and thematic product similarity between visitor attractions at the local compared to the regional scale. Location can be used differently for employing ‘weak’ and ‘strong’ competitive strategies. The study contributes to the knowledge on the spatiality of competition and the locational strategies of service businesses

Experiences Marketing: A Cultural Philosophy for Contemporary Hospitality Marketing Studies

This article explores the landscape of contemporary hospitality marketing. It is argued that the teaching and academic discussions that surround the subject area adopt a predominantly positivistic approach; although important, that does not adequately reflect the nature of the industry or the products offered. Such a metrics-oriented position, although significant in the formulation of marketing strategy, does not reflect the complex experiential, nontangible nature of the hospitality product. This article presents a culturally located philosophy that reflects the multifaceted nature of the industry. The philosophy is underpinned by three precepts that draw from a multidisciplinary theoretical framework to create a more subject-specific approach to marketing, that when woven with traditional approaches can create a more effective and informed contemporary approach

A catastrophic meltwater flood event and the formation of the Hudson Shelf Valley

This paper is not subject to U.S. copyright. The definitive version was published in Palaeogeography, Palaeoclimatology, Palaeoecology 246 (2007): 120-136, doi:10.1016/j.palaeo.2006.10.030.The Hudson Shelf Valley (HSV) is the largest physiographic feature on the U.S. mid-Atlantic continental shelf. The 150-km long valley is the submerged extension of the ancestral Hudson River Valley that connects to the Hudson Canyon. Unlike other incised valleys on the mid-Atlantic shelf, it has not been infilled with sediment during the Holocene. Analyses of multibeam bathymetry, acoustic backscatter intensity, and high-resolution seismic reflection profiles reveal morphologic and stratigraphic evidence for a catastrophic meltwater flood event that formed the modern HSV. The valley and its distal deposits record a discrete flood event that carved 15-m high banks, formed a 120-km2 field of 3- to 6-m high bedforms, and deposited a subaqueous delta on the outer shelf. The HSV is inferred to have been carved initially by precipitation and meltwater runoff during the advance of the Laurentide Ice Sheet, and later by the drainage of early proglacial lakes through stable spillways. A flood resulting from the failure of the terminal moraine dam at the Narrows between Staten Island and Long Island, New York, allowed glacial lakes in the Hudson and Ontario basins to drain across the continental shelf. Water level changes in the Hudson River basin associated with the catastrophic drainage of glacial lakes Iroquois, Vermont, and Albany around 11,450 14C year BP (~ 13,350 cal BP) may have precipitated dam failure at the Narrows. This 3200 km3 discharge of freshwater entered the North Atlantic proximal to the Gulf Stream and may have affected thermohaline circulation at the onset of the Intra-Allerød Cold Period. Based on bedform characteristics and fluvial morphology in the HSV, the maximum freshwater flux during the flood event is estimated to be ~ 0.46 Sv for a duration of ~ 80 days.Support for N. Driscoll was provided by the Office of Naval Research and the National Science Foundatio

Whole brain radiotherapy (WBRT) after local treatment of brain metastases in melanoma patients: Statistical Analysis Plan

Background: The WBRTMel trial is a multinational, open-label, phase III randomised controlled trial comparing whole brain radiotherapy (WBRT) to observation following local treatment of one to three melanoma brain metastases with surgery and/or stereotactic irradiation. The primary trial endpoint was to determine the effect of adding WBRT to local treatment on distant intracranial control, and the secondary endpoints were neurocognitive function, quality of life (QoL), performance status, overall survival, death from intracranial causes, death from melanoma and cost-effectiveness. Objective: The objective of this update is to outline and publish the pre-determined statistical analysis plan (SAP) before the database lock and the start of analysis. Methods: The SAP describes basic analysis principles, methods for dealing with a range of commonly encountered data analysis issues and the specific statistical procedures for analysing efficacy and safety outcomes. The SAP was approved after closure of recruitment and before completion of patient follow-up. It outlines the planned primary analyses and a range of subgroup and sensitivity analyses regarding the clinical and QoL outcomes. Health economic outcomes are not included in this plan but will be analysed separately. The SAP will be adhered to for the final data analysis of this trial to avoid analysis bias arising from knowledge of the data. Results: The resulting SAP is consistent with best practice and will allow open and transparent reporting. Conclusion: We have developed a SAP for the WBRTMel trial which will be followed to ensure high-quality standards of internal validity to minimise analysis bias

The gravitational-wave background null hypothesis: Characterizing noise in millisecond pulsar arrival times with the Parkes Pulsar Timing Array

The noise in millisecond pulsar (MSP) timing data can include contributions from observing instruments, the interstellar medium, the solar wind, solar system ephemeris errors, and the pulsars themselves. The noise environment must be accurately characterized in order to form the null hypothesis from which signal models can be compared, including the signature induced by nanohertz-frequency gravitational waves (GWs). Here we describe the noise models developed for each of the MSPs in the Parkes Pulsar Timing Array (PPTA) third data release, which have been used as the basis of a search for the isotropic stochastic GW background. We model pulsar spin noise, dispersion measure variations, scattering variations, events in the pulsar magnetospheres, solar wind variability, and instrumental effects. We also search for new timing model parameters and detected Shapiro delays in PSR~J0614$-$3329 and PSR~J1902$-$5105. The noise and timing models are validated by testing the normalized and whitened timing residuals for Gaussianity and residual correlations with time. We demonstrate that the choice of noise models significantly affects the inferred properties of a common-spectrum process. Using our detailed models, the recovered common-spectrum noise in the PPTA is consistent with a power law with a spectral index of $\gamma=13/3$, the value predicted for a stochastic GW background from a population of supermassive black hole binaries driven solely by GW emission.Comment: 18 pages, 10 figures. Accepted for publication in ApJ