A Multiobjective MPC Approach for Autonomously Driven Electric Vehicles

We present a new algorithm for model predictive control of non-linear systems with respect to multiple, con icting objectives. The idea is to provide a possibility to change the objective in real-time, e.g. as a reaction to changes in the environment or the system state itself. The algorithm utilises elements from various well-established concepts, namely multiobjective optimal control, economic as well as explicit model predictive control and motion planning with motion primitives. In order to realise real-time applicability, we split the computation into an online and an offine phase and we utilise symmetries in the open-loop optimal control problem to reduce the number of multiobjective optimal control problems that need to be solved in the offine phase. The results are illustrated using the example of an electric vehicle where the longitudinal dynamics are controlled with respect to the concurrent objectives arrival time and energy consumption

CDCP1 expression is frequently increased in aggressive urothelial carcinoma and promotes urothelial tumor progression

The prognosis of patients with advanced urothelial carcinoma (UC) remains poor and improving treatment continues to be a major medical need. CUB domain containing protein 1 (CDCP1) is a known oncogene in various types of solid cancers and its overexpression is associated with impaired prognosis. However, its role in UC remains undetermined. Here we assessed the clinical relevance of CDCP1 in two cohorts of UC at different stages of the disease. Immunohistochemistry showed that CDCP1 is highly expressed in advanced UC, which significantly correlates with shorter overall survival. Importantly, the basal/squamous UC subtype showed significantly enriched CDCP1 at the mRNA and protein levels. The functional role of CDCP1 overexpression was assessed taking advantage of ex vivo organoids derived from the CDCP1(pcLSL/+) transgenic mouse model. Furthermore, CDCP1 knockout UC cell lines were generated using CRISPR/Cas9 technology. Interestingly, CDCP1 overexpression significantly induced the activation of MAPK/ERK pathways in ex vivo organoids and increased their proliferation. Similarly, CDCP1 knockout in UC cell lines reduced their proliferation and migration, concomitant with MAPK/ERK pathway activity reduction. Our results highlight the relevance of CDCP1 in advanced UC and demonstrate its oncogenic role, suggesting that targeting CDCP1 could be a rational therapeutic strategy for the treatment of advanced UC

The Traveling Heads 2.0: Multicenter Reproducibility of Quantitative Imaging Methods at 7 Tesla

ObjectThis study evaluates inter-site and intra-site reproducibility at ten different 7 T sites for quantitative brain imaging.Material and MethodsTwo subjects – termed the “traveling heads” – were imaged at ten different 7 T sites with a harmonized quantitative brain MR imaging protocol. In conjunction with the system calibration, MP2RAGE, QSM, CEST and multi-parametric mapping/relaxometry were examined.ResultsQuantitative measurements with MP2RAGE showed very high reproducibility across sites and subjects, and errors were in concordance with previous results and other field strengths. QSM had high inter-site reproducibility for relevant subcortical volumes. CEST imaging revealed systematic differences between the sites, but reproducibility was comparable to results in the literature. Relaxometry had also very high agreement between sites, but due to the high sensitivity, differences caused by different applications of the B1 calibration of the two RF coil types used were observed.ConclusionOur results show that quantitative brain imaging can be performed with high reproducibility at 7 T and with similar reliability as found at 3 T for multicenter studies of the supratentorial brain