bluuebunny/crossref_metadata_2025_split huggingface dataset:
Distributionally Robust Stochastic Model Predictive Control for Collision Avoidance
Authors: HomChaudhuri Baisravan 
Published: November 2019

Abstract
This paper focuses on distributionally robust controller design for avoiding dynamic and stochastic obstacles whose exact probability distribution is unknown. The true probability distribution of the disturbance associated with an obstacle, although unknown, is considered to belong to an ambiguity set that includes all the probability distributions that share the same first two moment. The controller thus focuses on ensuring the satisfaction of the probabilistic collision avoidance constraints for all probability distributions in the ambiguity set, hence making the solution robust to the true probability distribution of the stochastic obstacles. Techniques from robust optimization methods are used to model the distributionally robust probabilistic or chance constraints as a semi-definite programming (SDP) problem with linear matrix inequality (LMI) constraints that can be solved in a computationally tractable fashion. Simulation results for a robot obstacle avoidance problem shows the efficacy of our method.
Human Driver Modeling Based on Analytical Optimal Solutions: Stopping Behaviors at the Intersections
Authors: Han Jihun , Karbowski Dominik , Kim Namdoo , Rousseau Aymeric 
Published: November 2019

Abstract
Publisher’s Note:
This paper was selected for publication in ASME Letters in Dynamic Systems and Control.
https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046575/1075675/Human-Driver-Modeling-Based-on-Analytical-Optimal
Compressive Sensing-Based Reconstruction of Lissajous-Like Nodding Lidar Data
Authors: Benson Michael T. , Sathishchandra Harish , Clayton Garrett M. , Andersson Sean B. 
Published: November 2019

Abstract
Publisher’s Note:
This paper was selected for publication in ASME Letters in Dynamic Systems and Control.
https://www.asmedigitalcollection.asme.org/lettersdynsys/article/doi/10.1115/1.4046574/1075674/Compressive-Sensing-Based-Reconstruction-of
Motion Planning for Industrial Mobile Robots With Closed-Loop Stability Enhanced Prediction
Authors: Leu Jessica , Tomizuka Masayoshi 
Published: November 2019

Abstract
Real-time, safe, and stable motion planning in co-robot systems involving dynamic human robot interaction (HRI) remains challenging due to the time varying nature of the problem. One of the biggest challenges is to guarantee closed-loop stability of the planning algorithm in dynamic environments. Typically, this can be addressed if there exists a perfect predictor that precisely predicts the future motions of the obstacles. Unfortunately, a perfect predictor is not possible to achieve. In HRI environments in this paper, human workers and other robots are the obstacles to the ego robot. We discuss necessary conditions for the closed-loop stability of a planning problem using the framework of model predictive control (MPC). It is concluded that the predictor needs to be able to detect the obstacles’ movement mode change within a time delay allowance and the MPC needs to have a sufficient prediction horizon and a proper cost function. These allow MPC to have an uncertainty tolerance for closed-loop stability, and still avoid collision when the obstacles’ movement is not within the tolerance. Also, the closed-loop performance is investigated using a notion of M-convergence, which guarantees finite local convergence (at least M steps ahead) of the open-loop trajectories toward the closed-loop trajectory. With this notion, we verify the performance of the proposed MPC with stability enhanced prediction through simulations and experiments. With the proposed method, the robot can better deal with dynamic environments and the closed-loop cost is reduced.
An Agent-Based Model of Lost Person Dynamics for Enabling Wilderness Search and Rescue
Authors: Hashimoto Amanda , Abaid Nicole 
Published: November 2019

Abstract
In this paper, we introduce an agent-based model of lost person behavior that may be used to improve current methods for wilderness search and rescue (SAR). The model defines agents moving on a landscape with behavior considered as a random variable. The behavior uses a distribution of four known lost person behavior strategies in order to simulate possible trajectories for the agent. We simulate all possible distributions of behaviors in the model and compute distributions of horizontal distances traveled in a fixed time. By comparing these results to analogous data from a database of lost person cases, we explore the model’s validity with respect to real-world data.
Modeling the Gas Exchange Processes of a Modern Diesel Engine With an Integrated Physics-Based and Data-Driven Approach
Authors: Pulpeiro Gonzalez Jorge , Ankobea-Ansah King , Escuder Milian Elena , Hall Carrie M. 
Published: November 2019

Abstract
The gas exchange processes of engines are becoming increasingly complex since modern engines leverage technologies including variable valve actuation, turbochargers, and exhaust gas recirculation. Control of these many devices and the underlying gas flows is essential for high efficiency engine concepts. If these processes are to be controlled and estimated using model-based techniques, accurate models are required. This work explores a model framework that leverages a data-driven model of the turbocharger along with submodels of the intercooler, intake and exhaust manifolds and engine processes to provide cylinder-specific predictions of the pressure and temperatures of the gases across the system. This model is developed and validated using data from a 2.0 liter VW turbocharged, direct-injection diesel engine and shown to provide accurate prediction of critical gas properties.
Modeling and Control of Wheel Motor Based Articulated Vehicle System
Authors: Kim Heeseong , Shim Taehyun , Sung Byungjun 
Published: November 2019

Abstract
This paper investigates an effectiveness of vehicle dynamic control (VDC) system based on torque vectoring technique using in-wheel-motors to improve the performance of articulated vehicle systems. A 10 degree-of-freedom (DOF) articulated vehicle model including a tractor and a single axle trailer has been developed and its responses are validated with commercial vehicle software of Trucksim. This model includes a nonlinear tire model (MF tire), a hydraulic damping at the hitch, and a traction system using in-wheel-motors at the trailer axle. In this paper, a yaw control system is developed to track the reference yaw rate with application of yaw moment at the trailer axle using torque distribution of in-wheel-motors. The effectiveness of the proposed control system is validated through simulation of sinusoidal steering maneuver on high mu and slippery road conditions. The simulation results show that in-wheel-motors can improve safety and performance of articulate vehicle systems.
Educational Force Control Using a Modular 2-DOF Serial Robot Manipulator and Low-Cost 2-DOF Force Sensor
Authors: Mascaro Stephen 
Published: November 2019

Abstract
This paper describes a modular 2-DOF serial robotic system and accompanying experiments that have been developed to instruct robotics students in the fundamentals of dynamic force control.
In prior work, we used this same robot to showcase and compare the performance of a variety of textbook techniques for dynamic motion control (i.e. fast/accurate trajectory tracking using dynamic model-based and robust control techniques).
In this paper we now add a low-cost 3D-printed 2-DOF force sensor to this modular robot and demonstrate a variety of force control techniques for use when the robot is in physical contact with the environment. These include stiffness control, impedance control, admittance control, and hybrid position/force control. Each of these various force control schemes can be first simulated and then experimentally implemented using a MATLAB/Simulink real-time interface. The two-degrees of freedom are just enough to demonstrate how the manipulator Jacobian can be used to implement directional impedances in operational space, and to demonstrate how hybrid control can implement position and force control in different axes.
This paper will describe the 2-DOF robot system including the custom force sensor, illustrate the various force control methods that can be implemented, and demonstrate sample results from these experiments.
Salivary and Serum Concentrations of Cortisol and Testosterone at Rest and in Response to Intense Exercise in Boys Versus Men
Authors: Adebero Tony , McKinlay Brandon John , Theocharidis Alexandros , Root Zach , Josse Andrea R. , Klentrou Panagiota , Falk Bareket 
Published: November 2019

This study compared salivary and serum concentrations of testosterone and cortisol at rest and in response to intense multitask exercise in boys and men. Early morning saliva and venous blood samples were obtained before and 15 minutes after exercise from 30 competitive swimmers (15 boys, age 14.3 [1.9] y; 15 men, age 21.7 [3.1] y). Exercise included a swim-bench maximal strength task and an all-out 200-m swim, followed by a high-intensity interval swimming protocol (5 × 100 m, 5 × 50 m, and 5 × 25 m). At baseline, fasting testosterone (but not cortisol) concentration was higher in men than boys in serum and saliva (P < .05). Salivary and serum cortisol increased postexercise, with a greater increase in men compared with boys (men: 226% and 242%; boys: 78% and 64%, respectively; group by time interaction, P < .05). Testosterone was reduced postexercise in serum but not in saliva (men: −14.7% and 0.1%; boys: −33.9% and −4.5%, respectively, fluid by time interaction, P < .01). Serum and salivary cortisol (but not testosterone), preexercise and postexercise values were strongly correlated in both men and boys (r = .79 and .82, respectively; P < .01). In summary, early morning high-intensity exercise results in a decrease in testosterone in serum, but not saliva, and an increase in cortisol irrespective of the fluid used, in both boys and men. When examining immediate postexercise changes, the lack of correlation in testosterone between saliva and serum suggests that saliva may not be an appropriate fluid to examine changes in testosterone. The high correlation observed between serum and saliva for cortisol indicates that, in both boys and men, saliva may be used to monitor the immediate cortisol response to exercise.
A history of pore water oxygen isotope evolution in the Cretaceous Travis Peak Formation in East Texas
Authors: Denny Adam C. , Fall András , Orland Ian J. , Valley John W. , Eichhubl Peter , Laubach Stephen E. 
Published: November 2019

Abstract
Oxygen isotope analyses of diagenetic cements can provide detailed evidence of sedimentary burial processes and conditions, as the δ18O values of precipitating minerals reflect contemporaneous local δ18Owater and temperature conditions. Uncertainties in the timing and rates of pore water δ18O evolution in sedimentary basins can complicate interpretation of these records. Fracture-bridging (0.5–1 mm) quartz cements observed in sandstones of the Cretaceous Travis Peak Formation in the East Texas basin show clear growth-zoning by cathodoluminescence and contain detailed fluid inclusion records of temperature that make them excellent candidates for interrogating prolonged histories of basin temperature and the evolution of δ18O in basin pore water. New secondary ion mass spectrometer (SIMS) δ18Oquartz isotopic data from fluid inclusion-rich quartz bridges in Travis Peak sandstones record a steady increase of pore water δ18O values from ∼5 to 7‰ (VSMOW; Vienna Standard Mean Ocean Water) as the sandstone warms from ∼130 to 150 °C. To help evaluate whether this trend could be generated solely from local water-rock interactions in response to burial compaction, a one-dimensional closed system isotopic burial model was created to simulate how δ18Owater values change in a quartz-dominated sandstone during diagenesis. Using both directly measured and inferred rates of Travis Peak compaction, the magnitude of change in δ18Owater that we calculate from quartz bridge geochemistry cannot be reasonably modeled solely by local quartz mechanical compaction, pressure solution, and cementation processes, necessitating significant fluxes of silica and high-δ18O water from outside of the sandstones prior to maximum burial. This indicates that even units which appear surrounded by significant barriers to fluid flow (i.e., mudrock-bounded channel sandstones) may have been infiltrated and diagenetically modified by large fluxes of fluid on geologic time scales.
Association between disease-modifying therapies for multiple sclerosis and healthcare utilisation on a population level: a retrospective cohort study
Authors: Al-Sakran Lina , Marrie Ruth Ann , Blackburn David , Knox Katherine , Evans Charity 
Published: November 2019

ObjectiveDisease-modifying therapy (DMT) use in multiple sclerosis (MS) has increased significantly. However, the impact of DMTs on healthcare use is limited and conflicting, and rarely examined at a population level. This study examined the association between DMTs and healthcare utilisation at the population level.DesignRetrospective cohort.SettingHealth administrative data from Saskatchewan, Canada (1997–2016).ParticipantsTo test for associations at the population level, we identified two cohorts. The general population cohort included all Saskatchewan residents ≥18 years who were drug plan beneficiaries. The MS cohort included individuals ≥18 years, identified using a validated definition (≥3 hospital, physician or drug claims for MS).Main outcome measures and methodsTo test for an association between the total number of DMT dispensations per year and the total number of hospitalisations we used negative binomial regression fitted with generalised estimating equations (GEE); only hospitalisations that occurred after the date of MS diagnosis (date of first claim for MS or demyelinating disease) were extracted. To test for an association between the number of DMT dispensations and physician claims, negative binomial distributions with GEE were fit as above. Results were reported as rate ratios (RR), with 95% CIs, and calculated for every 1000 DMT dispensations.ResultsThe number of DMT dispensations was associated with a decreased risk for all-cause (RR=0.994; 95% CI 0.992 to 0.996) and MS-specific (RR=0.909; 95% CI 0.880 to 0.938) hospitalisations. The number of DMT dispensations was not associated with the number of all-cause (RR=1.006; 95% CI 0.990 to 1.022) or MS-specific (RR=0.962; 95% CI 0.910 to 1.016) physician claims.ConclusionIncreased DMT use in Saskatchewan was associated with a reduction in hospitalisations, but did not impact the number of physician services used. Additional research on cost-benefit and differing treatment strategies would provide further insight into the true impact of DMTs on healthcare utilisation at a population level.
Patients' spirituality perspectives at the end of life: a qualitative evidence synthesis
Authors: Clyne Barbara , O’Neill Sinead M , Nuzum Daniel , O'Neill Michelle , Larkin James , Ryan Máirín , Smith Susan M 
Published: November 2019

BackgroundUnderstanding patient perceptions of their spiritual needs when approaching the end of life is essential to support the delivery of patient-centred care.AimTo conduct a qualitative evidence synthesis on spirituality and spiritual care needs at the end of life in all healthcare settings from the patients’ perspective.DesignStudies were included where they were primary qualitative studies exploring spirituality in patients with a life expectancy of 12 months or less in any setting. Two reviewers independently screened titles, extracted data and conducted methodological quality appraisal. A thematic synthesis was conducted. Grading of Recommendations, Assessment, Development and Evaluation (GRADE) - Confidence in the Evidence from Reviews of Qualitative research (CERQual) was used to summarise the certainty of the evidence.Data sourcesSix databases (Medline, Embase, Cochrane, CINAHL, PsycINFO, Applied Social Science Index and Abstracts) were searched from inception up to January 2019.ResultsFifty papers (42 unique datasets), incorporating data from 710 patients were included. Studies recruited from a mix of inpatient, outpatient, hospice and community settings across 12 different countries. Three overarching themes were generated: the concept of spirituality, spiritual needs and distress, and spiritual care resources. Relationships were an intrinsic component of spirituality.ConclusionMeeting patients’ spiritual needs is an integral part of end-of-life care. This work emphasises that supporting relationships should be a central focus of spiritual care for patients at the end of life.PROSPERO registration numberCRD42019122062
Concurrent mutations in other epigenetic modulators portend better prognosis in BCOR-mutated myelodysplastic syndrome
Authors: Badaat Ibraahim , Mirza Sabbir , Padron Eric , Sallman David , Komrokji Rami , Song Jinming , Hussaini Mohammad O 
Published: November 2019

IntroductionThe role of single mutations has been extensively studied myelodysplastic syndromes (MDS), but the impact of genetic aberrations in the context of other mutations is less well understood.BCORis an epigenetic transcriptional corepressor. In MDS,BCORmutations are rare and certain mutations are associated with poor prognosis. Our aim was to investigate the role of concurrent mutations in epigenetic MDS-driver genes inBCOR-mutated MDS. We hypothesised that these would be redundant and would not contribute to worse prognosis.MethodsInternal Next Generation Sequencing (NGS) database with targeted genetic profiling of >4000 tumor cases was queried to locate cases of MDS with BCL6 Corepressor protein (BCOR) mutations only (pBCOR) and cBCOR (comutated epigenetic modulators:TET2,ASXL1,DNMT3A,EZH2,IDH2,IDH1,BCORL1,ATRX). Overall survival was determined by chart review. Fischer’s exact test and unpaired t-test was performed for statistical analysis.Results25 patients with cBCOR were detected. Only five MDS patients with pBCOR were found. The number of patients with comutations (cBCOR) in epigenetic modulators comprisedTET2(n=5),ASXL1(n=9),DNMT3A(n=11),EZH2(n=2),IDH2(n=4), IDH1 (n=1),BCORL1(n=3),ATRX(n=1). cBCOR overall survival was 23.8 months versus 11.8 months for pBCOR group.ConclusionsIn this study, we confirm the rarity ofBCORmutations. Our results show that there is a trend towards poorer prognosis in patient with pBCOR versus cBCOR although statistical significance was not reached. This may be due to enrichment of poor cytogenetics in pBCOR or increased responsiveness to hypomethylating agents in cBCOR. Larger studies are needed to validate our data.
Deep phenotyping, including quantitative ciliary beating parameters, and extensive genotyping in primary ciliary dyskinesia
Authors: Blanchon Sylvain , Legendre Marie , Bottier Mathieu , Tamalet Aline , Montantin Guy , Collot Nathalie , Faucon Catherine , Dastot Florence , Copin Bruno , Clement Annick , Filoche Marcel , Coste André , Amselem Serge , Escudier Estelle , Papon Jean-Francois , Louis Bruno 
Published: November 2019

BackgroundPrimary ciliary dyskinesia (PCD) is a rare genetic disorder resulting in abnormal ciliary motility/structure, extremely heterogeneous at genetic and ultrastructural levels. We aimed, in light of extensive genotyping, to identify specific and quantitative ciliary beating anomalies, according to the ultrastructural phenotype.MethodsWe prospectively included 75 patients with PCD exhibiting the main five ultrastructural phenotypes (n=15/group), screened all corresponding PCD genes and measured quantitative beating parameters by high-speed video-microscopy (HSV).ResultsSixty-eight (91%) patients carried biallelic mutations. Combined outer/inner dynein arms (ODA/IDA) defect induces total ciliary immotility, regardless of the gene involved. ODA defect induces a residual beating with dramatically low ciliary beat frequency (CBF) related to increased recovery stroke and pause durations, especially in case of DNAI1 mutations. IDA defect with microtubular disorganisation induces a low percentage of beating cilia with decreased beating angle and, in case of CCDC39 mutations, a relatively conserved mean CBF with a high maximal CBF. Central complex defect induces nearly normal beating parameters, regardless of the gene involved, and a gyrating motion in a minority of ciliated edges, especially in case of RSPH1 mutations. PCD with normal ultrastructure exhibits heterogeneous HSV values, but mostly an increased CBF with an extremely high maximal CBF.ConclusionQuantitative HSV analysis in PCD objectives beating anomalies associated with specific ciliary ultrastructures and genotypes. It represents a promising approach to guide the molecular analyses towards the best candidate gene(s) to be analysed or to assess the pathogenicity of the numerous sequence variants identified by next-generation-sequencing.
Cardiac valve involvement in ADAR-related type I interferonopathy
Authors: Crow Yanick , Keshavan Nandaki , Barbet Jacques Patrick , Bercu Geanina , Bondet Vincent , Boussard Charlotte , Dedieu Nathalie , Duffy Darragh , Hully Marie , Giardini Alessandro , Gitiaux Cyril , Rice Gillian Inara , Seabra Luis , Bader-Meunier Brigitte , Rahman Shamima 
Published: November 2019

BackgroundAdenosine deaminases acting on RNA (ADAR) mutations cause a spectrum of neurological phenotypes ranging from severe encephalopathy (Aicardi-Goutières syndrome) to isolated spastic paraplegia and are associated with enhanced type I interferon signalling. In children, non-neurological involvement in the type I interferonopathies includes autoimmune and rheumatological phenomena, with calcifying cardiac valve disease only previously reported in the context of MDA5 gain-of-function.ResultsWe describe three patients with biallelic ADAR mutations who developed calcifying cardiac valvular disease in late childhood (9.5–14 years). Echocardiography revealed progressive calcification of the valvular leaflets resulting in valvular stenosis and incompetence. Two patients became symptomatic with biventricular failure after 5–6.5 years. In one case, disease progressed to severe cardiac failure despite maximal medical management, with death occurring at 17 years. Another child received mechanical mitral and aortic valve replacement at 16 years with good postoperative outcome. Histological examination of the affected valves showed fibrosis and calcification.ConclusionsType I interferonopathies of differing genetic aetiology demonstrate an overlapping phenotypic spectrum which includes calcifying cardiac valvular disease. Individuals with ADAR-related type I interferonopathy may develop childhood-onset multivalvular stenosis and incompetence which can progress insidiously to symptomatic, and ultimately fatal, cardiac failure. Regular surveillance echocardiograms are recommended to detect valvular disease early.