Model Predictive Control with Numerical Solution based on Contraction Mapping Method for Stabilization of Vehicle Nonlinear Dynamics

This paper investigates the nonlinear model predictive control problem for stabilization of unstable vehicle dynamics. Model predictive control (MPC) method is a kind of optimal feedback control method in which the control performance over a finite future is optimized. The contraction mapping algorithm is used for solving the nonlinear model predictive control problem within a short sampling period. A nonlinear tire model is employed to describe the realistic behavior of vehicle motions. The objective of this paper is to propose a nonlinear model predictive control method with a fast numerical solution algorithm called contraction mapping method for designing an automatic vehicle control system. The effectiveness of the proposed method is verified by numerical simulation

Numerical Simulations on Feasibility of Stochastic Model Predictive Control for Linear Discrete-Time Systems with Random Dither Quantization

The random dither quantization method enables us to achieve much better performance than the simple uniform quantization method for the design of quantized control systems. Motivated by this fact, the stochastic model predictive control method in which a performance index is minimized subject to probabilistic constraints imposed on the state variables of systems has been proposed for linear feedback control systems with random dither quantization. In other words, a method for solving optimal control problems subject to probabilistic state constraints for linear discrete-time control systems with random dither quantization has been already established. To our best knowledge, however, the feasibility of such a kind of optimal control problems has not yet been studied. Our objective in this paper is to investigate the feasibility of stochastic model predictive control problems for linear discrete-time control systems with random dither quantization. To this end, we provide the results of numerical simulations that verify the feasibility of stochastic model predictive control problems for linear discrete-time control systems with random dither quantization

Right ventricular abnormalities assessed by myocardial single-photon emission computed tomography using technetium-99m sestamibi/tetrofosmin in right ventricle-originated ventricular tachyarrhythmias

AbstractOBJECTIVESWe sought to determine whether right ventricular (RV) perfusion imaging with technetium-99m (Tc-99m) sestamibi or tetrofosmin single-photon emission computed tomography has diagnostic benefit for RV-originated ventricular tachyarrhythmias (RVT).BACKGROUNDIdentification of RV abnormalities is clinically important to establish RVT etiology.METHODSForty-seven patients with RVT (23 with idiopathic and 24 with organic RVT due to arrhythmogenic RV or dilated cardiomyopathy, cardiac sarcoidosis or myocarditis) were compared to 25 control subjects. Right ventricular uptake score, as assessed by modified tomographic imaging, and regional RV count relative to peak left ventricular (LV) count (RV/LV count ratio) were compared with RV regional and global function.RESULTSRegional RV uptake score correlated well with the RV/LV count ratio, and segmental abnormality was more frequently (p = 0.001) detected in the organic RVT group (22 [92%] of 24 patients) than in the idiopathic RVT group (4 [17%] of 23 patients) or the control group (8 [32%] of 25 patients). The total RV score (8.4 ± 3.8) in the organic RVT group was significantly lower than that in the idiopathic RVT group (15.6 ± 1.6) or the control group (15.1 ± 1.8). The total RV score correlated with RV EF (r = 0.702, p < 0.001). A total RV score <12 differentiated the organic RVT group from the other two groups, with a sensitivity of 79% and a specificity of 100%. The asynergic RV regions had a significantly lower RV/LV count ratio and RV score as compared with the nonasynergic regions and were identified by RV assessment, with a sensitivity of 76.1% and a specificity of 76.6%.CONCLUSIONSRight ventricular perfusion tomography using a Tc-99m–labeled tracer is clinically useful for the noninvasive detection of RV myocardial damage in patients with RVT and for differentiating organic from idiopathic RVT

Decreased cholinesterase level combined with renal dysfunction and sympathetic denervation associated with increased cardiac mortality in systolic heart failure

AimsCardiac mortality in patients with heart failure (HF) is likely to be aggravated by malnutrition, assessed by serum cholinesterase (ChE) level, as well as by kidney dysfunction or impairment of cardiac sympathetic denervation. Their prognostic interactions, however, have not been determined.MethodsA total of 991 systolic HF patients were enrolled in our HF database following clinical evaluation including evaluation of the nutrition state and assessment of standardized heart-to-mediastinum ratio (sHMR) of iodine-123-labeled meta-iodobenzylguanidine activity. Patients were followed up for an average of 43 months with the primary endpoint of fatal cardiac events (CEs).ResultsThe CE patient group had a lower level of ChE, lower estimated glomerular filtration rate (eGFR) and lower late sHMR than those in the non-CE patient group. A five-parameter model with the addition of serum ChE selected in the multivariate logistic analysis (model 2) significantly increased the AUC predicting risk of cardiac events compared with a four-parameter model without serum ChE (model 1), and net reclassification analysis also suggested that the model with the addition of serum cholinesterase significantly improved cardiac event prediction. Moreover, in overall multivariate Cox hazard analysis, serum ChE, eGFR and late sHMR were identified to be significant prognostic determinants. HF patients with two or all of the prognostic variables of serum ChE &lt; 230 U/L, eGFR &lt; 48.8 ml/min/1.73 m2 and late sHMR &lt; 1.90 had significantly and incrementally increased CE rates compared to those in HF patients with none or only one of the prognostic variables.ConclusionDecreases in cholinesterase level and kidney function further increase cardiac mortality risk in HF patients with impairment of cardiac sympathetic innervation

Near-Infrared Imaging Polarimetry of the NGC 2071 Star Forming Region with SIRPOL

We have conducted deep JHKs imaging polarimetry of a ~8' x 8' area of the NGC 2071 star forming region. Our polarization data have revealed various infrared reflection nebulae (IRNe) associated with the central IR young star cluster NGC2071IR and identified their illuminating sources. There are at least 4 IRNe in NGC2071IR and several additional IRNe are identified around nearby young stars in the same field-of-view. Each illuminating source coincides with a known near-IR source except for IRS3, which is only a part of IRN2 and is illuminated by the radio source 1c. Aperture polarimetry of each cluster source is used to detect unresolved circumstellar disk/outflow systems. Aperture polarimetry of the other point-like sources within the field is made in this region for the first time. The magnetic field structures (from ~1 pc down to \~0.1 pc) are derived using both aperture polarimetry of the point-like sources and imaging polarimetry of the shocked H2 emission that is seen as the dominant knotty nebulae in the Ks band image; they are both of dichroic origin and the derived field directions are consistent with each other. The magnetic field direction projected on the sky is also consistent with that inferred from the 850 micron thermal continuum emission polarimetry of the central 0.2 pc region, but running roughly perpendicular (~75 degrees) to the direction of the large scale outflow. We argue that the field strength is too weak to align the outflow in the large scale field direction via magnetic braking.Comment: o appear in PASJ, 9 pages, 11 Postscript figure

Detection of a bright burst from the repeating FRB 20201124A at 2 GHz

We present a detection of a bright burst from FRB 20201124A, which is one of the most active repeating FRBs, based on S-band observations with the 64-m radio telescope at the Usuda Deep Space Center/JAXA. This is the first FRB observed by using a Japanese facility. Our detection at 2 GHz in February 2022 is the highest frequency for this FRB and the fluence of $>$ 189 Jy ms is one of the brightest bursts from this FRB source. We place an upper limit on the spectral index $\alpha$ = -2.14 from the detection of the S band and non-detection of the X band at the same time. We compare an event rate of the detected burst with ones of the previous research, and suggest that the power-law of the luminosity function might be broken at lower fluence, and the fluences of bright FRBs distribute up to over 2 GHz with the power-law against frequency. In addition, we show the energy density of the burst detected in this work was comparable to the bright population of one-off FRBs. We propose that repeating FRBs can be as bright as one-off FRBs, and only their brightest bursts could be detected so some of repeating FRBs intrinsically might have been classified as one-off FRBs.Comment: 8 pages, 5 figures, accepted for publication in Publications of the Astronomical Society of Japan (PASJ

D3h -Symmetric Porphyrin-Based Rigid Macrocyclic Ligands for Multicofacial Multinuclear Complexes in a One-Nanometer-Sized Cavity.

The one-step synthesis of D3h -symmetric cyclic porphyrin trimers 1 composed of three 2,2\u27-[4,4\u27-bis(methoxycarbonyl)]bipyridyl moieties and three porphyrinatozinc moieties was achieved from a nickel-mediated reductive coupling of meso-5,15-bis(6-chloro-4-methoxycarbonylpyrid-2-yl)porphyrinatozinc. Although cyclic trimers 1 were obtained as a mixture that included other cyclic and acyclic porphyrin oligomers, an extremely specific separation was observed only for cyclic trimers 1 when using columns of silica gel modified with pyrenylethyl, cyanopropyl, and other groups. Structural analysis of cyclic trimers 1 was carried out by means of NMR spectroscopy and X-ray crystallography. Treatment of an η(3) -allylpalladium complex with a cyclic trimer gave a tris(palladium) complex containing three η(3) -allylpalladium groups inside the space, which indicated that the bipyridyl moieties inside the ring could work as bidentate metalloligands.The one-step synthesis of D3h -symmetric cyclic porphyrin trimers 1 composed of three 2,2\u27-[4,4\u27-bis(methoxycarbonyl)]bipyridyl moieties and three porphyrinatozinc moieties was achieved from a nickel-mediated reductive coupling of meso-5,15-bis(6-chloro-4-methoxycarbonylpyrid-2-yl)porphyrinatozinc. Although cyclic trimers 1 were obtained as a mixture that included other cyclic and acyclic porphyrin oligomers, an extremely specific separation was observed only for cyclic trimers 1 when using columns of silica gel modified with pyrenylethyl, cyanopropyl, and other groups. Structural analysis of cyclic trimers 1 was carried out by means of NMR spectroscopy and X-ray crystallography. Treatment of an η(3) -allylpalladium complex with a cyclic trimer gave a tris(palladium) complex containing three η(3) -allylpalladium groups inside the space, which indicated that the bipyridyl moieties inside the ring could work as bidentate metalloligands