Constrained LQR Using Online Decomposition Techniques

This paper presents an algorithm to solve the infinite horizon constrained linear quadratic regulator (CLQR) problem using operator splitting methods. First, the CLQR problem is reformulated as a (finite-time) model predictive control (MPC) problem without terminal constraints. Second, the MPC problem is decomposed into smaller subproblems of fixed dimension independent of the horizon length. Third, using the fast alternating minimization algorithm to solve the subproblems, the horizon length is estimated online, by adding or removing subproblems based on a periodic check on the state of the last subproblem to determine whether it belongs to a given control invariant set. We show that the estimated horizon length is bounded and that the control sequence computed using the proposed algorithm is an optimal solution of the CLQR problem. Compared to state-of-the-art algorithms proposed to solve the CLQR problem, our design solves at each iteration only unconstrained least-squares problems and simple gradient calculations. Furthermore, our technique allows the horizon length to decrease online (a useful feature if the initial guess on the horizon is too conservative). Numerical results on a planar system show the potential of our algorithm.Comment: This technical report is an extended version of the paper titled "Constrained LQR Using Online Decomposition Techniques" submitted to the 2016 Conference on Decision and Contro

Guaranteeing Input Tracking For Constrained Systems: Theory and Application to Demand Response

A method for certifying exact input trackability for constrained discrete time linear systems is introduced in this paper. A signal is assumed to be drawn from a reference set and the system must track this signal with a linear combination of its inputs. Using methods inspired from robust model predictive control, the proposed approach certifies the ability of a system to track any reference drawn from a polytopic set on a finite time horizon by solving a linear program. Optimization over a parameterization of the set of reference signals is discussed, and particular instances of parameterization of this set that result in a convex program are identified, allowing one to find the largest set of trackable signals of some class. Infinite horizon feasibility of the methods proposed is obtained through use of invariant sets, and an implicit description of such an invariant set is proposed. These results are tailored for the application of power consumption tracking for loads, where the operator of the load needs to certify in advance his ability to fulfill some requirement set by the network operator. An example of a building heating system illustrates the results.Comment: Technical Not

Graded Dorsal and Differential Gene Regulation in the Drosophila Embryo

A gradient of Dorsal activity patterns the dorsoventral (DV) axis of the early Drosophila melanogaster embryo by controlling the expression of genes that delineate presumptive mesoderm, neuroectoderm, and dorsal ectoderm. The availability of the Drosophila melanogaster genome sequence has accelerated the study of embryonic DV patterning, enabling the use of systems-level approaches. As a result, our understanding of Dorsal-dependent gene regulation has expanded to encompass a collection of more than 50 genes and 30 cis-regulatory sequences. This information, which has been integrated into a spatiotemporal atlas of gene regulatory interactions, comprises one of the best-understood networks controlling any developmental process to date. In this article, we focus on how Dorsal controls differential gene expression and how recent studies have expanded our understanding of Drosophila embryonic development from the cis-regulatory level to that controlling morphogenesis of the embryo

Lipoplatin Formulation Review Article

Patented platform technologies have been used for the liposomal encapsulation of cisplatin (Lipoplatin) into tumor-targeted 110 nm (in diameter) nanoparticles. The molecular mechanisms, preclinical and clinical data concerning lipoplatin, are reviewed here. Lipoplatin has been successfully administered in three randomized Phase II and III clinical trials. The clinical data mainly include non-small-cell lung cancer but also pancreatic, breast, and head and neck cancers. It is anticipated that lipoplatin will replace cisplatin as well as increase its potential applications. For the first time, a platinum drug has shown superiority to cisplatin, at least in non-squamous non-small-cell lung cancer as reported in a Phase III study which documented a simultaneous lowering of all of the side effects of cisplatin

Size-dependent regulation of dorsal–ventral patterning in the early Drosophila embryo

How natural variation in embryo size affects patterning of the Drosophila embryo dorsal–ventral (DV) axis is not known. Here we examined quantitatively the relationship between nuclear distribution of the Dorsal transcription factor, boundary positions for several target genes, and DV axis length. Data were obtained from embryos of a wild-type background as well as from mutant lines inbred to size select embryos of smaller or larger sizes. Our data show that the width of the nuclear Dorsal gradient correlates with DV axis length. In turn, for some genes expressed along the DV axis, the boundary positions correlate closely with nuclear Dorsal levels and with DV axis length; while the expression pattern of others is relatively constant and independent of the width of the Dorsal gradient. In particular, the patterns of snail (sna) and ventral nervous system defective (vnd) correlate with nuclear Dorsal levels and exhibit scaling to DV length; while the pattern of intermediate neuroblasts defective (ind) remains relatively constant with respect to changes in Dorsal and DV length. However, in mutants that exhibit an abnormal expansion of the Dorsal gradient which fails to scale to DV length, only sna follows the Dorsal distribution and exhibits overexpansion; in contrast, vnd and ind do not overexpand suggesting some additional mechanism acts to refine the dorsal boundaries of these two genes. Thus, our results argue against the idea that the Dorsal gradient works as a global system of relative coordinates along the DV axis and suggest that individual targets respond to changes in embryo size in a gene-specific manner

Does skeletal muscle have an 'epi'-memory? The role of epigenetics in nutritional programming, metabolic disease, aging and exercise

Skeletal muscle mass, quality and adaptability are fundamental in promoting muscle performance, maintaining metabolic function and supporting longevity and healthspan. Skeletal muscle is programmable and can ‘remember’ early‐life metabolic stimuli affecting its function in adult life. In this review, the authors pose the question as to whether skeletal muscle has an ‘epi’‐memory? Following an initial encounter with an environmental stimulus, we discuss the underlying molecular and epigenetic mechanisms enabling skeletal muscle to adapt, should it re‐encounter the stimulus in later life. We also define skeletal muscle memory and outline the scientific literature contributing to this field. Furthermore, we review the evidence for early‐life nutrient stress and low birth weight in animals and human cohort studies, respectively, and discuss the underlying molecular mechanisms culminating in skeletal muscle dysfunction, metabolic disease and loss of skeletal muscle mass across the lifespan. We also summarize and discuss studies that isolate muscle stem cells from different environmental niches in vivo (physically active, diabetic, cachectic, aged) and how they reportedly remember this environment once isolated in vitro. Finally, we will outline the molecular and epigenetic mechanisms underlying skeletal muscle memory and review the epigenetic regulation of exercise‐induced skeletal muscle adaptation, highlighting exercise interventions as suitable models to investigate skeletal muscle memory in humans. We believe that understanding the ‘epi’‐memory of skeletal muscle will enable the next generation of targeted therapies to promote muscle growth and reduce muscle loss to enable healthy aging

CFD Simulation of Near-Field Pollutant Dispersion in the Urban Environment: A Review of Current Modeling Techniques

Near-field pollutant dispersion in the urban environment involves the interaction of a plume and the flow field perturbed by building obstacles. In the past two decades, micro-scale Computational Fluid Dynamics (CFD) simulation of pollutant dispersion around buildings and in urban areas has been widely used, sometimes in lieu of wind tunnel testing. This paper reviews current modeling techniques in CFD simulation of near-field pollutant dispersion in urban environments and discusses the findings to give insight into future applications. Key features of near-field pollutant dispersion around buildings from previous studies, i.e., three-dimensionality of mean flow, unsteadiness of large-scale flow structure, and anisotropy of turbulent scalar fluxes, are identified and discussed. This review highlights that it is important to choose appropriate numerical models and boundary conditions by understanding their inherent strengths and limitations. Furthermore, the importance of model evaluation was emphasized. Because pollutant concentrations around buildings can vary by orders of magnitudes in time and space, the model evaluation should be performed carefully, while paying attention to their uncertainty. Although CFD has significant potential, it is important to understand the underlying theory and limitations of a model in order to appropriately investigate the dispersion phenomena in question

Experimental Study of Wind Effects on Unglazed Transpired Collectors

High wind velocity affects the performance of unglazed transpired collectors (UTC); indeed, wind flow on the collector’s surface reduces useful heat transferred to the collector fluid by effectuating convection losses and suction in the pores and thereby outflow from the plenum. Wind does not impinge uniformly on all points on a large area; the velocity distribution depends on wind direction and surroundings of the concerned area. The paper describes an experimental and analytical parametric study to assess the effect of wind on UTCs. Velocity measurements obtained using wind-tunnel experiments were applied to analytical models of UTC performance evaluation and were found to influence UTC performance. The assumption that a reference wind speed acts uniformly throughout the UTC area, as opposed to the more realistic non-uniform distribution, resulted in the overestimation of heat exchange effectiveness up to 50% and underestimation of convective heat transfer coefficients up to 20%. The importance of using actual velocity distribution, as opposed to an assumed uniform velocity distribution in building simulation, has been discussed