Solves the same problem as iLQG, with an added constraint on the KL-divergence between the new trajectory distribution and the distribution induced by a previous controller. This feature can be used in an outer loop with repeated experiments between the iterations if the model used for optimization is uncertain.

This toolbox works similar to that of other major computer-aided control systems design (CACSD) toolboxes. Systems can be created in either a transfer function or a state space representation. These systems can then be combined into larger architectures, simulated in both time and frequency domain, and analyzed for stability/performance properties.

OBJECTIVES: Patients with chronic obstructive pulmonary disease (COPD) who also have acute coronary syndromes are a high-risk population with a high mortality rate. Little is known about these patients following coronary artery bypass grafting (CABG). METHODS: Patients presenting with acute coronary syndromes between 2006 and 2014 with an angiogram showing 3-vessel disease or left main coronary ar

It has recently been found that anti-Stokes photoluminescence can be observed in degenerately n-doped indium phosphide nanowires, when exciting directly into the electron gas. This anti-Stokes mechanism has not been observed before and allows the study of carrier relaxation and recombination using standard photoluminescence techniques. It is important to know if this anti-Stokes photoluminescence

The selection of flight speed (airspeed) in migrating birds depends on multiple internal and external factors, such as wing morphology, weight and winds. Adjustment with respect to side winds to maintain an intended track direction may include a shift in heading direction and/or an increase in airspeed. Compensation for cross-winds cannot always be achieved if visual references are lacking or may

Adoptive T-cell therapy (ACT) is a highly intensive immunotherapy regime that has yielded remarkable response rates and many durable responses in clinical trials in melanoma; however, 50-60% of the patients have no clinical benefit. Here, we searched for predictive biomarkers to ACT in melanoma. Whole exome-and transcriptome sequencing and neoantigen prediction were applied to pre-treatment sample

Chronic levodopa treatment leads to the appearance of dyskinesia in the majority of Parkinson's disease patients. Neurovascular dysregulation in putaminal and pallidal regions is thought to be an underlying feature of this complication of treatment. We used microPET to study unilaterally lesioned 6-hydroxydopamine rats that developed levodopa-induced abnormal involuntary movements (AIMs) after thr

Background The long-term risk of stroke after surgical treatment of atrial fibrillation is not well known. We performed an observational cohort study with long follow-up after the “cut-and-sew” Cox-maze III procedure (CM-III), including left atrial appendage excision. The aim was to analyze the incidence of stroke/transient ischemic attack (TIA) and the association to preoperative CHA2DS2-VASc (ag

Complement is crucial to the immune response, but dysregulation of the system causes inflammatory disease. Complement is activated by three pathways: classical, lectin, and alternative. The classical and lectin pathways are initiated by the C1r/C1s (classical) and MASP-1/MASP-2 (lectin) proteases. Given the role of complement in disease, there is a requirement for inhibitors to control the initiat

Increased soil organic carbon (SOC) content has been shown to increase soil fertility and carbon sequestration, but SOC changes are frequently neglected in life cycle assessment (LCA) studies of crop production. This study used a novel LCA application using simulated SOC changes to examine the greenhouse gas (GHG) impact of a combined food and energy crop production from a crop rotation perspectiv

How the ability to acclimate will impact individual performance and ecological interactions under climate change remains poorly understood. Theory predicts that the benefit an organism can gain from acclimating depends on the rate at which temperatures change relative to the time it takes to induce beneficial acclimation. Here, we present a conceptual model showing how slower seasonal changes unde

Aerosols are significant to the Earth's climate, with nearly all atmospheric aerosols containing organic compounds that often contain both hydrophilic and hydrophobic parts. However, the nature of how these compounds are arranged within an aerosol droplet remains unknown. Here we demonstrate that fatty acids in proxies for atmospheric aerosols self-assemble into highly ordered three-dimensional na