128 research outputs found

    Sub-Optimal Moving Horizon Estimation in Feedback Control of Linear Constrained Systems

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    Moving horizon estimation (MHE) offers benefits relative to other estimation approaches by its ability to explicitly handle constraints, but suffers increased computation cost. To help enable MHE on platforms with limited computation power, we propose to solve the optimization problem underlying MHE sub-optimally for a fixed number of optimization iterations per time step. The stability of the closed-loop system is analyzed using the small-gain theorem by considering the closed-loop controlled system, the optimization algorithm dynamics, and the estimation error dynamics as three interconnected subsystems. By assuming incremental input/output-to-state stability ({\delta}- IOSS) of the system and imposing standard ISS conditions on the controller, we derive conditions on the iteration number such that the interconnected system is input-to-state stable (ISS) w.r.t. the external disturbances. A simulation using an MHE- MPC estimator-controller pair is used to validate the results.Comment: 6 page journal paper with 2 figure

    The spin measurement of MAXI J1348-630 using the Insight-HXMT data

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    We report the results of fitting Insight-HXMT data to the black hole X-ray binary MAXI J1348-430, which was discovered on January 26th, 2019, with the Gas Slit Camera (GSC) on-board MAXI. Several observations at the beginning of the first burst were selected, with a total of 10 spectra. From the residuals of fits using disk plus power law models, X-ray reflection signatures were clearly visible in some of these observations. We use the state-of the-art relxill series reflection model to fit six spectra with distinct reflection signatures and a joint fit to these spectra. In particular, we focus on the results for the black hole spin values. Assuming Rin = RISCO, the spin parameter is constrained to be 0.82+0.04-0.03 with 90% confidence level (statistical only).Comment: Revisions to MNRAS are submitted, and comments are welcome

    Gtsf1 is essential for proper female sex determination and transposon silencing in the silkworm, Bombyx mori

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    Sex determination pathways are astoundingly diverse in insects. For instance, the silk moth Bombyx mori uniquely use various components of the piRNA pathway to produce the Fem signal for specification of the female fate. In this study, we identified BmGTSF1 as a novel piRNA factor which participates in B. mori sex determination. We found that BmGtsf1 has a distinct expression pattern compared to Drosophila and mouse. CRISPR/Cas9 induced mutation in BmGtsf1 resulted in partial sex reversal in genotypically female animals by shifting expression of the downstream targets BmMasc and Bmdsx to the male pattern. As levels of Fem piRNAs were substantially reduced in female mutants, we concluded that BmGtsf1 plays a critical role in the biogenesis of the feminizing signal. We also demonstrated that BmGTSF1 physically interacted with BmSIWI, a protein previously reported to be involved in female sex determination, indicating BmGTSF1 function as the cofactor of BmSIWI. BmGtsf1 mutation resulted in piRNA pathway dysregulation, including piRNA biogenesis defects and transposon derepression, suggesting BmGtsf1 is also a piRNA factor in the silkworm. Furthermore, we found that BmGtsf1 mutation leads to gametogenesis defects in both male and female. Our data suggested that BmGtsf1 is a new component involved in the sex determination pathway in B. mori
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