Differential Dynamic Programming for time-delayed systems

Trajectory optimization considers the problem of deciding how to control a dynamical system to move along a trajectory which minimizes some cost function. Differential Dynamic Programming (DDP) is an optimal control method which utilizes a second-order approximation of the problem to find the control. It is fast enough to allow real-time control and has been shown to work well for trajectory optimization in robotic systems. Here we extend classic DDP to systems with multiple time-delays in the state. Being able to find optimal trajectories for time-delayed systems with DDP opens up the possibility to use richer models for system identification and control, including recurrent neural networks with multiple timesteps in the state. We demonstrate the algorithm on a two-tank continuous stirred tank reactor. We also demonstrate the algorithm on a recurrent neural network trained to model an inverted pendulum with position information only.Comment: 7 pages, 6 figures, conference, Decision and Control (CDC), 2016 IEEE 55th Conference o

A study of the entanglement in systems with periodic boundary conditions

We define the local periodic linking number, LK, between two oriented closed or open chains in a system with three-dimensional periodic boundary conditions. The properties of LK indicate that it is an appropriate measure of entanglement between a collection of chains in a periodic system. Using this measure of linking to assess the extent of entanglement in a polymer melt we study the effect of CReTA algorithm on the entanglement of polyethylene chains. Our numerical results show that the statistics of the local periodic linking number observed for polymer melts before and after the application of CReTA are the same.Comment: 11 pages, 11 figure

Computer-assisted ex vivo, normothermic small bowel perfusion

Background: In the present study, a technique for computer-assisted, normothermic, oxygenated, ex vivo, recirculating small bowel perfusion was established as a tool to investigate organ pretreatment protocols and ischemia/reperfusion phenomena. A prerequisite for the desired setup was an organ chamber for ex vivo perfusion and the use of syngeneic whole blood as perfusate. Methods: The entire small bowel was harvested from Lewis rats and perfused in an organ chamber ex vivo for at least 2 h. The temperature was kept at 37 degrees C in a water bath. Three experimental groups were explored, characterized by different perfusion solutions. The basic perfusate consisted of syngeneic whole blood diluted with either NaCl, Krebs' solution or Krebs' solution and norepinephrine to a hematocrit of 30%. In addition, in each group l-glutamine was administered intraluminally. The desired perfusion pressure was 100 mm Hg which was kept constant with a computer-assisted data acquisition software, which measured an-line pressure, oxygenation, flow, temperature and pH and adjusted the pressure by changing the flow via a peristaltic pump. The viability of the preparation was tested by measuring oxygen consumption and maltose absorption, which requires intact enzymes of the mucosal brush border to break down maltose into glucose. Results: Organ perfusion in group 1 (dilution with NaCl) revealed problems such as hypersecretion into the bowel lumen, low vascular resistance and no maltose uptake. In contrast a viable organ could be demonstrated using Krebs' solution as dilution solution. The addition of norepinephrine led to an improved perfusion over the entire perfusion period. Maltose absorption was comparable to tests conducted with native small bower. Oxygen consumption was stable during the 2-hour perfusion period. Conclusions: The ex vivo perfusion system established enables small bowel perfusion for at least 2 h. The viability of the graft could be demonstrated. The perfusion time achieved is sufficient to study leukocyte/lymphocyte interaction with the endothelium of the graft vessels. In addition, a viable small bowel, after 2 h of ex vivo perfusion, facilitates testing of pretreatment protocols for the reduction of the immunogenicity of small bowel allografts. Copyright (C) 2000 S. Karger AG, Basel

Distributed Hierarchical Distribution Control for Very-Large-Scale Clustered Multi-Agent Systems

As the scale and complexity of multi-agent robotic systems are subject to a continuous increase, this paper considers a class of systems labeled as Very-Large-Scale Multi-Agent Systems (VLMAS) with dimensionality that can scale up to the order of millions of agents. In particular, we consider the problem of steering the state distributions of all agents of a VLMAS to prescribed target distributions while satisfying probabilistic safety guarantees. Based on the key assumption that such systems often admit a multi-level hierarchical clustered structure - where the agents are organized into cliques of different levels - we associate the control of such cliques with the control of distributions, and introduce the Distributed Hierarchical Distribution Control (DHDC) framework. The proposed approach consists of two sub-frameworks. The first one, Distributed Hierarchical Distribution Estimation (DHDE), is a bottom-up hierarchical decentralized algorithm which links the initial and target configurations of the cliques of all levels with suitable Gaussian distributions. The second part, Distributed Hierarchical Distribution Steering (DHDS), is a top-down hierarchical distributed method that steers the distributions of all cliques and agents from the initial to the targets ones assigned by DHDE. Simulation results that scale up to two million agents demonstrate the effectiveness and scalability of the proposed framework. The increased computational efficiency and safety performance of DHDC against related methods is also illustrated. The results of this work indicate the importance of hierarchical distribution control approaches towards achieving safe and scalable solutions for the control of VLMAS. A video with all results is available in https://youtu.be/0QPyR4bD2q0 .Comment: Accepted at Robotics: Science and Systems 202

A Sphingosine-1-Phosphate Lyase Mutation Associated With Congenital Nephrotic Syndrome and Multiple Endocrinopathy.

Background: Loss of function mutations in SGPL1 are associated with Sphingosine-1-phosphate lyase insufficiency syndrome, comprising steroid resistant nephrotic syndrome, and primary adrenal insufficiency (PAI) in the majority of cases. SGPL1 encodes sphingosine-1-phosphate lyase (SGPL1) which is a major modulator of sphingolipid signaling. Case Presentation: A Pakistani male infant presented at 5 months of age with failure to thrive, nephrotic syndrome, primary adrenal insufficiency, hypothyroidism, and hypogonadism. Other systemic manifestations included persistent lymphopenia, ichthyosis, and motor developmental delay. Aged 9 months, he progressed rapidly into end stage oligo-anuric renal failure and subsequently died. Sanger sequencing of the entire coding region of SGPL1 revealed the novel association of a rare homozygous mutation (chr10:72619152, c.511A>G, p.N171D; MAF-1.701e-05) with the condition. Protein expression of the p.N171D mutant was markedly reduced compared to SGPL1 wild type when overexpressed in an SGPL1 knockout cell line, and associated with a severe clinical phenotype. Conclusions: The case further highlights the emerging phenotype of patients with loss-of-function SGPL1 mutations. Whilst nephrotic syndrome is a recognized feature of other disorders of sphingolipid metabolism, sphingosine-1-phosphate lyase insufficiency syndrome is unique amongst the sphingolipidoses in presenting with multiple endocrinopathies. Given the multi-systemic and progressive nature of this form of PAI/ nephrotic syndrome, a genetic diagnosis is crucial for optimal management and appropriate screening for comorbidities in these patients