A Controls-Oriented Approach For Modeling Professional Drivers During Ultra-High Performance Maneuvers

In the study of vehicle dynamics and controls, modeling ultra-high performance maneuvers (i.e., minimum-time vehicle maneuvering) is a fascinating problem that explores the boundaries of capabilities for a human controlling a machine. Professional human drivers are still considered the benchmark for controlling a vehicle during these limit handling maneuvers. Different drivers possess unique driving styles, i.e. preferences and tendencies in their local decisions and corresponding inputs to the vehicle. These differences in the driving style among professional drivers or sets of drivers are duly considered in the vehicle development process for component selection and system tuning to push the limits of achievable lap times. This work aims to provide a mathematical framework for modeling driving styles of professional drivers that can then be embedded in the vehicle design and development process. This research is conducted in three separate phases. The first part of this work introduces a cascaded optimization structure that is capable of modeling driving style. Model Predictive Control (MPC) provides a natural framework for modeling the human decision process. In this work, the inner loop of the cascaded structure uses an MPC receding horizon control strategy which is tasked with finding the optimal control inputs (steering, brake, throttle, etc.) over each horizon while minimizing a local cost function. Therein, we extend the typical fixed-cost function to be a blended cost capable of optimizing different objectives. Then, an outer loop finds the objective weights used in each MPC control horizon. It is shown that by varying the driver\u27s objective between key horizons, some of the sub-optimality inherent to the MPC process can be alleviated. In the second phase of this work, we explore existing onboard measurements of professional drivers to compare different driving styles. We outline a novel racing line reconstruction technique rooted in optimal control theory to reconstruct the driving lines for different drivers from a limited set of measurements. It is demonstrated that different drivers can achieve nearly identical lap times while adopting different racing lines. In the final phase of this work, we use our racing line technique and our cascaded optimization framework to fit computable models for different drivers. For this, the outer loop of the cascaded optimization finds the set of objective weights used in each local MPC horizon that best matches simulation to onboard measurements. These driver models will then be used to optimize vehicle design parameters to suit each driving style. It will be shown that different driving styles will yield different parameters that optimize the driver/vehicle system

Signaling from the plasma-membrane localized plant immune receptor RPM1 requires self-association of the full-length protein

Pathogen recognition first occurs at the plasma membrane, where receptor-like kinases perceive pathogen-derived molecules and initiate immune responses. To abrogate this immune response, pathogens evolved effector proteins that act as virulence factors, often following delivery to the host cell. Plants evolved intracellular receptors, known as NOD-like receptors (NLRs), to detect effectors, thereby ensuring activation of effector-triggered immunity. However, despite their importance in immunity, the molecular mechanisms underlying effector recognition and subsequent immune activation by membrane-localized NLRs remain to be fully elucidated. Our analyses reveal the importance of and need for self-association and the coordinated interplay of specific domains and conserved residues for NLR activity. This could provide strategies for crop improvement, contributing to effective, environmentally friendly, and sustainable solutions for future agriculture

A High-Resolution Spectroscopic Search for the Remaining Donor for Tycho's Supernova

In this paper, we report on our analysis using Hubble Space Telescope astrometry and Keck-I HIRES spectroscopy of the central six stars of Tycho's supernova remnant (SN 1572). With these data, we measured the proper motions, radial velocities, rotational velocities, and chemical abundances of these objects. Regarding the chemical abundances, we do not confirm the unusu- ally high [Ni/Fe] ratio previously reported for Tycho-G. Rather, we find that for all metrics in all stars, none exhibit the characteristics expected from traditional SN Ia single-degenerate-scenario calculations. The only possible exception is Tycho-B, a rare, metal-poor A-type star; however, we are unable to find a suitable scenario for it. Thus, we suggest that SN 1572 cannot be explained by the standard single-degenerate model.Comment: 34 pages, 11 Figures, revised and resubmitted to Ap

A high-resolution spectroscopic search for the remaining donor for Tycho'S supernova

In this paper, we report on our analysis using Hubble Space Telescope astrometry and Keck-I HIRES spectroscopy of the central six stars of Tycho's supernova remnant (SN 1572). With these data, we measured the proper motions, radial velocities, rotationa

TIR-only protein RBA1 recognizes a pathogen effector to regulate cell death in Arabidopsis

Multicellular organisms must have complex immune systems to detect and defeat pathogens. Plants rely on nucleotide binding site leucine rich repeat (NLR) intracellular receptors to detect pathogens. For hundreds of years, plant breeders have selected for disease-resistance traits derived from NLR genes. Despite the molecular cloning of the first NLRs more than 20 y ago, we still do not understand how these sensors function at a mechanistic level. Here, we identified a truncated NLR protein that activates cell death in response to a specific pathogen effector. Understanding how truncated NLRs function will provide a better mechanistic understanding of the plant immune system and an expanded toolkit with which to engineer disease resistance rationally in crops

Antimicrobial resistance among migrants in Europe: a systematic review and meta-analysis

BACKGROUND: Rates of antimicrobial resistance (AMR) are rising globally and there is concern that increased migration is contributing to the burden of antibiotic resistance in Europe. However, the effect of migration on the burden of AMR in Europe has not yet been comprehensively examined. Therefore, we did a systematic review and meta-analysis to identify and synthesise data for AMR carriage or infection in migrants to Europe to examine differences in patterns of AMR across migrant groups and in different settings. METHODS: For this systematic review and meta-analysis, we searched MEDLINE, Embase, PubMed, and Scopus with no language restrictions from Jan 1, 2000, to Jan 18, 2017, for primary data from observational studies reporting antibacterial resistance in common bacterial pathogens among migrants to 21 European Union-15 and European Economic Area countries. To be eligible for inclusion, studies had to report data on carriage or infection with laboratory-confirmed antibiotic-resistant organisms in migrant populations. We extracted data from eligible studies and assessed quality using piloted, standardised forms. We did not examine drug resistance in tuberculosis and excluded articles solely reporting on this parameter. We also excluded articles in which migrant status was determined by ethnicity, country of birth of participants' parents, or was not defined, and articles in which data were not disaggregated by migrant status. Outcomes were carriage of or infection with antibiotic-resistant organisms. We used random-effects models to calculate the pooled prevalence of each outcome. The study protocol is registered with PROSPERO, number CRD42016043681. FINDINGS: We identified 2274 articles, of which 23 observational studies reporting on antibiotic resistance in 2319 migrants were included. The pooled prevalence of any AMR carriage or AMR infection in migrants was 25·4% (95% CI 19·1-31·8; I2 =98%), including meticillin-resistant Staphylococcus aureus (7·8%, 4·8-10·7; I2 =92%) and antibiotic-resistant Gram-negative bacteria (27·2%, 17·6-36·8; I2 =94%). The pooled prevalence of any AMR carriage or infection was higher in refugees and asylum seekers (33·0%, 18·3-47·6; I2 =98%) than in other migrant groups (6·6%, 1·8-11·3; I2 =92%). The pooled prevalence of antibiotic-resistant organisms was slightly higher in high-migrant community settings (33·1%, 11·1-55·1; I2 =96%) than in migrants in hospitals (24·3%, 16·1-32·6; I2 =98%). We did not find evidence of high rates of transmission of AMR from migrant to host populations. INTERPRETATION: Migrants are exposed to conditions favouring the emergence of drug resistance during transit and in host countries in Europe. Increased antibiotic resistance among refugees and asylum seekers and in high-migrant community settings (such as refugee camps and detention facilities) highlights the need for improved living conditions, access to health care, and initiatives to facilitate detection of and appropriate high-quality treatment for antibiotic-resistant infections during transit and in host countries. Protocols for the prevention and control of infection and for antibiotic surveillance need to be integrated in all aspects of health care, which should be accessible for all migrant groups, and should target determinants of AMR before, during, and after migration. FUNDING: UK National Institute for Health Research Imperial Biomedical Research Centre, Imperial College Healthcare Charity, the Wellcome Trust, and UK National Institute for Health Research Health Protection Research Unit in Healthcare-associated Infections and Antimictobial Resistance at Imperial College London

Tracing animal genomic evolution with the chromosomal-level assembly of the freshwater sponge Ephydatia muelleri

Abstract The genomes of non-bilaterian metazoans are key to understanding the molecular basis of early animal evolution. However, a full comprehension of how animal-specific traits such as nervous systems arose is hindered by the scarcity and fragmented nature of genomes from key taxa, such as Porifera. Ephydatia muelleri is a freshwater sponge found across the northern hemisphere. Here we present its 326 Mb genome, assembled to high contiguity (N50: 9.88 Mb) with 23 chromosomes on 24 scaffolds. Our analyses reveal a metazoan-typical genome architecture, with highly shared synteny across Metazoa, and suggest that adaptation to the extreme temperatures and conditions found in freshwater often involves gene duplication. The pancontinental distribution and ready laboratory culture of E. muelleri make this a highly practical model system, which with RNAseq, DNA methylation and bacterial amplicon data spanning its development and range allows exploration of genomic changes both within sponges and in early animal evolution

Detection of the Baryon Acoustic Peak in the Large-Scale Correlation Function of SDSS Luminous Red Galaxies

We present the large-scale correlation function measured from a spectroscopic sample of 46,748 luminous red galaxies from the Sloan Digital Sky Survey. The survey region covers 0.72 h^{-3} Gpc^3 over 3816 square degrees and 0.16<z<0.47, making it the best sample yet for the study of large-scale structure. We find a well-detected peak in the correlation function at 100h^{-1} Mpc separation that is an excellent match to the predicted shape and location of the imprint of the recombination-epoch acoustic oscillations on the low-redshift clustering of matter. This detection demonstrates the linear growth of structure by gravitational instability between z=1000 and the present and confirms a firm prediction of the standard cosmological theory. The acoustic peak provides a standard ruler by which we can measure the ratio of the distances to z=0.35 and z=1089 to 4% fractional accuracy and the absolute distance to z=0.35 to 5% accuracy. From the overall shape of the correlation function, we measure the matter density Omega_mh^2 to 8% and find agreement with the value from cosmic microwave background (CMB) anisotropies. Independent of the constraints provided by the CMB acoustic scale, we find Omega_m = 0.273 +- 0.025 + 0.123 (1+w_0) + 0.137 Omega_K. Including the CMB acoustic scale, we find that the spatial curvature is Omega_K=-0.010+-0.009 if the dark energy is a cosmological constant. More generally, our results provide a measurement of cosmological distance, and hence an argument for dark energy, based on a geometric method with the same simple physics as the microwave background anisotropies. The standard cosmological model convincingly passes these new and robust tests of its fundamental properties.Comment: Submitted to the ApJ. Additional pedagogical material and numerical data at http://cmb.as.arizona.edu/~eisenste/acousticpea

Global patient outcomes after elective surgery: prospective cohort study in 27 low-, middle- and high-income countries.

BACKGROUND: As global initiatives increase patient access to surgical treatments, there remains a need to understand the adverse effects of surgery and define appropriate levels of perioperative care. METHODS: We designed a prospective international 7-day cohort study of outcomes following elective adult inpatient surgery in 27 countries. The primary outcome was in-hospital complications. Secondary outcomes were death following a complication (failure to rescue) and death in hospital. Process measures were admission to critical care immediately after surgery or to treat a complication and duration of hospital stay. A single definition of critical care was used for all countries. RESULTS: A total of 474 hospitals in 19 high-, 7 middle- and 1 low-income country were included in the primary analysis. Data included 44 814 patients with a median hospital stay of 4 (range 2-7) days. A total of 7508 patients (16.8%) developed one or more postoperative complication and 207 died (0.5%). The overall mortality among patients who developed complications was 2.8%. Mortality following complications ranged from 2.4% for pulmonary embolism to 43.9% for cardiac arrest. A total of 4360 (9.7%) patients were admitted to a critical care unit as routine immediately after surgery, of whom 2198 (50.4%) developed a complication, with 105 (2.4%) deaths. A total of 1233 patients (16.4%) were admitted to a critical care unit to treat complications, with 119 (9.7%) deaths. Despite lower baseline risk, outcomes were similar in low- and middle-income compared with high-income countries. CONCLUSIONS: Poor patient outcomes are common after inpatient surgery. Global initiatives to increase access to surgical treatments should also address the need for safe perioperative care. STUDY REGISTRATION: ISRCTN5181700