Iterated gain-based stochastic filters for dynamic system identification

We propose a novel form of nonlinear stochastic filtering based on an iterative evaluation of a Kalman-like gain matrix computed within a Monte Carlo scheme as suggested by the form of the parent equation of nonlinear filtering (Kushner–Stratonovich equation) and retains the simplicity of implementation of an ensemble Kalman filter (EnKF). The numerical results, presently obtained via EnKF-like simulations with or without a reduced-rank unscented transformation, clearly indicate remarkably superior filter convergence and accuracy vis-à-vis most available filtering schemes and eminent applicability of the methods to higher dimensional dynamic system identification problems of engineering interest.     

Stabilization of collective formations with speed and controller gain heterogeneity and saturation

This paper studies collective formations of multi-agent systems, modeled with unicycle dynamics, while admitting heterogeneity in both controller gains and speeds of the agents along with saturation on the controller outputs. This addresses a practical scenario where the speeds are usually nonidentical and the controller gains may vary due to imperfect implementation. The paper analyzes the effect of both heterogeneous controller gains and speeds simultaneously on the collective formations obtained by optimizing the average linear momentum of the group of agents. A detailed analysis of the two-agent system is given in the paper and some results on the locus of the collective centroid with varying controller gains are obtained. Effect of saturation is also studied for two cases when the controller gains are bounded and when the control efforts are bounded. Simulation examples are given to illustrate the theoretical findings.     

On-chip lectin microarray for glycoprofiling of different gastritis types and gastric cancer

An on-chip lectin microarray based glycomic approach is employed to identify glyco markers for different gastritis and gastric cancer. Changes in protein glycosylation have impact on biological function and carcinogenesis. These altered glycosylation patterns in serum proteins and membrane proteins of tumor cells can be unique markers of cancer progression and hence have been exploited to diagnose various stages of cancer through lectin microarray technology. In the present work, we aimed to study the alteration of glycan structure itself in different stages of gastritis and gastric cancer thoroughly. In order to perform the study from both serum and tissue glycoproteins in an efficient and high-throughput manner, we indigenously developed and employed lectin microarray integrated on a microfluidic lab-on-a-chip platform. We analyzed serum and gastric biopsy samples from 8 normal, 15 chronic Type-B gastritis, 10 chronic Type-C gastritis, and 6 gastric adenocarcinoma patients and found that the glycoprofile obtained from tissue samples was more distinctive than that of the sera samples. We were able to establish signature glycoprofile for the three disease groups, that were absent in healthy normal individuals. In addition, our findings elucidated certain novel signature glycan expression in chronic gastritis and gastric cancer. In silico analysis showed that glycoprofile of chronic gastritis and gastric adenocarcinoma formed close clusters, confirming the previously hypothesized linkage between them. This signature can be explored further as gastric cancer marker to develop novel analytical tools and obtain in-depth understanding of the disease prognosis.     

Between traditional classification and coordinate indexing

An ordering system for a global information network is necessary in order to enable the user to retrieve the particular information he is looking for. Classification has been one of the methods of ordering. The principle of traditional classification has been based on the idea of partitioning the universe of knowledge in mutually exclusive classes, i.e. subjects. A particular topic is defined by narrower classification within a class following the principle of ‘genusspecies’ relationship. Ranganathan's system of faceted classification has only replaced the classification of terms into subjects and sub-subjects by classification of terms into five ambiguous categories. Taube's system of coordinate indexing gives full freedom to the user to combine any number of terms of his choice. To be effective for social sciences such a system has to overcome some difficult problems of semantics. The system MANIS described here maintains the traditional classification and yet allows the user to combine terms of his choice, where the choice is restricted to the terms belonging to the system of traditional classification.     

Nash Bargaining Solution based rendezvous guidance of unmanned aerial vehicles

This paper addresses a finite-time rendezvous problem for a group of unmanned aerial vehicles (UAVs), in the absence of a leader or a reference trajectory. When the UAVs do not cooperate, they are assumed to use Nash equilibrium strategies (NES). However, when the UAVs can communicate among themselves, they can implement cooperative game theoretic strategies for mutual benefit. In a convex linear quadratic differential game (LQDG), a Pareto-optimal solution (POS) is obtained when the UAVs jointly minimize a team cost functional, which is constructed through a convex combination of individual cost functionals. This paper proposes an algorithm to determine the convex combination of weights corresponding to the Pareto-optimal Nash Bargaining Solution (NBS), which offers each UAV a lower cost than that incurred from the NES. Conditions on the cost functions that make the proposed algorithm converge to the NBS are presented. A UAV, programmed to choose its strategies at a given time based upon cost-to-go estimates for the rest of the game duration, may switch to NES finding it to be more beneficial than continuing with a cooperative strategy it previously agreed upon with the other UAVs. For such scenarios, a renegotiation method, that makes use of the proposed algorithm to obtain the NBS corresponding to the state of the game at an intermediate time, is proposed. This renegotiation method helps to establish cooperation between UAVs and prevents non-cooperative behaviour. In this context, the conditions of time consistency of a cooperative solution have been derived in connection to LQDG. The efficacy of the guidance law derived from the proposed algorithm is illustrated through simulations.     

A Community Based Study of the Relationship Between Homocysteine and Some of the Life Style Factors

Till date no community based data on plasma homocysteine is available in North Eastern Region. Hence, the present study was conducted to analyze and correlate the plasma homocysteine level with some life style factors like diet, alcohol intake, smoking habit and body weight, in a cross-section of population. 12 h fasting samples of 970 apparently healthy, Assamese population of both genders in the age group of 35–86 years, mostly from the urban area of Assam were tested for plasma total homocysteine level over a period of 3 years. Out of 970 volunteers, hyperhomocysteinemia was detected in 533 (55%) individuals with a mean value of 18.41 μmol/l. Of that hyperhomocysteinemia, 89.1% were in the range of moderately high and rest 10.9% were intermediate high. Another finding was that males had a tendency towards greater value (mean = 20.36 μmol/l) than females (mean = 16.37 μmol/l). It was observed that the relationship of homocysteine levels to gender and some of the life style factors were also significant.