Timing-Robust Control over the Cloud Using On-Line Parametric Optimization

In this paper, we present a heuristic method for adapting a networked linear feedback controller to improve its robustness to timing complications, such as long delays, aborted computations, and dropped packets. The core concept of the approach is to log successful sampling and actuation events and then, at discrete time-points, use non-convex parametric optimization to improve the expected performance of the controller under the assumption that the future timing behavior will be similar to the current one. To reduce the time complexity of the optimization algorithm, automatic differentiation is integrated for efficient gradient descent. The approach is evaluated on a physical ball and beam plant, where both the controller and optimization algorithm can be located in the Cloud

The genetic architecture of the human cerebral cortex

The cerebral cortex underlies our complex cognitive capabilities, yet little is known about the specific genetic loci that influence human cortical structure. To identify genetic variants that affect cortical structure, we conducted a genome-wide association meta-analysis of brain magnetic resonance imaging data from 51,665 individuals. We analyzed the surface area and average thickness of the whole cortex and 34 regions with known functional specializations. We identified 199 significant loci and found significant enrichment for loci influencing total surface area within regulatory elements that are active during prenatal cortical development, supporting the radial unit hypothesis. Loci that affect regional surface area cluster near genes in Wnt signaling pathways, which influence progenitor expansion and areal identity. Variation in cortical structure is genetically correlated with cognitive function, Parkinson's disease, insomnia, depression, neuroticism, and attention deficit hyperactivity disorder