Bias-free identification of a linear model-predictive steering controller from measured driver steering behavior

Recent developments in modeling driver steering control with preview are reviewed. While some validation with experimental data has been presented, the rigorous application of formal system identification methods has not yet been attempted. This paper describes a steering controller based on linear model-predictive control. An indirect identification method that minimizes steering angle prediction error is developed. Special attention is given to filtering the prediction error so as to avoid identification bias that arises from the closed-loop operation of the driver-vehicle system. The identification procedure is applied to data collected from 14 test drivers performing double lane change maneuvers in an instrumented vehicle. It is found that the identification procedure successfully finds parameter values for the model that give small prediction errors. The procedure is also able to distinguish between the different steering strategies adopted by the test drivers.     

Thai Tea Seed Oil and Virgin Olive Oil Similarly Reduce Plasma Lipids: A Pilot Study within a Healthy Adult Male Population

The potential cardiovascular benefit of virgin olive oil (VOO) is widely recognized. However, the use of VOO at very high cooking temperatures makes these oils poorly suited for many Asian dishes. The use of tea seed oil (TSO) is increasing in Thailand, with TSO having a higher smoke point than VOO. The current study examines the effects of daily TSO intake in healthy adults. In a randomized, single-blind crossover design, 12 men consumed for 3 weeks 40 g day⁻¹ of food prepared with either TSO or VOO as a cooking oil. Plasma lipids, thiobarbituric acid reactive substances (TBARS), and oxidant defense enzyme activities are measured before and after each 3-week intervention period. Gas chromatography analysis of TSO and VOO demonstrates that both oils are equally high in monounsaturated fatty acid. The dietary incorporation of TSO and VOO for three weeks reduces low-density lipoprotein cholesterol (LDL-C) concentrations by 15% and 13%, respectively; with total cholesterol (TC) levels lowered by 10% in both groups. No significant changes in TBARS or antioxidant enzyme activity is observed. These results support the concept that Thai TSO can be utilized as a suitable and healthy alternative oil for high-temperature cooking in many Thai and Asian diets. Practical Applications: Tea seed oil from Camellia oleifera grown in Thailand has been recently reported to favorably lower lipid profiles in hamsters fed a high-fat diet in a manner similar to feeding refined olive oil or grapeseed oil. A pilot crossover trial is conducted to compare the effects of three weeks of daily intake of either TSO or VOO in healthy human adults. Consumption of both oils produced significant reductions in TC and LDL-C. Thai TSO leads to favorable lipid profiles and is a reasonable choice for many Thai and Asian food recipes.     

Predicting external sulphur requirement of alfalfa from sulphate sorption isotherm of Tanzanian soils

For Tanzanian soils dominant in hydrous oxides of iron and amorphous ferri-alumino silicate, a 48-hour (hr) mixing period with the sulphate (SO₄) solution was adequate for a near-equilibrium condition. Although differing in their SO₄ sorption capacity, all the soils sorbed SO₄ at or beyond 1µg ml^–1 sulphur (S) concentration in the supernatant. Hydroxyl (OH) ions were displaced during SO₄ sorption as indicated by a significant positive correlation between the amount of sorbed SO₄ and the difference in pH values determined in 0.1N K₂ SO₄ and 0.1N KCl, i.e. the dpH values.In a greenhouse experiment, alfalfa was grown on eight soils at six adjusted S concentrations. Sulphur deficiency symptoms appeared in the control pots of those soils which were low in native sorbed SO₄, SO₄ sorption capacity and initial soil solution S concentration. Sulphur fertilization increased dry matter (DM) yield as well as response to applied S. The external S concentration, i.e. adjusted S concentration required for 95% of the maximum DM yield, ranged from 0.8 to 8.2µg S ml^–1 with values less than 2.0 on most of the soils. The external S concentration decreased hyperbolically as the SO₄ sorption capacity of the soils increased. The total amount of fertilizer S required to obtain the external S concentration in solution, and at the same time satisfy the SO₄ sorption capacity of the soil at the external S concentration (determined from the sorption isotherm) was defined as the external S requirement for the specified yield level of alfalfa. The external S requirement for 95% of the maximum yield of alfalfa varied from soil to soil due to differences in their capacity and intensity for S nutrition.Part of a thesis by the senior author for the MSc (Agric) degree of the University of Dar es Salaam     

Estimating the electrical conductivity of cement paste pore solutions from OH, K and Na concentrations

A proposed method for estimating the electrical conductivity of cement paste pore solution at 25 °C is based on the concentrations of OH⁻, K⁺ and Na⁺. The approach uses an equation that is a function of the solution ionic strength, and requires a single coefficient for each ionic species. To test the method, the conductivity of solutions containing mixtures of potassium hydroxide and sodium hydroxide with molar ratios of 4:1, 2:1 and 1:1, and having ionic strengths varying from 0.15 to 2.00 mol/l were measured in the laboratory and compared to predicted values. The proposed equation predicts the conductivity of the solutions to within 8% over the concentration range investigated. By comparison, the dilute electrolyte assumption that conductivity is linearly proportional to concentration is in error by 36% at 1 mol/l and in error by 55% at 2 mol/l. The significance and utility of the proposed equation is discussed in the context of predicting ionic transport in cement-based systems.     

An energy model of interframe interval effects in single-step apparent motion

A computational model was developed to explain the effects of an interframe interval (IFI) in single-step apparent motion experiments. In these experiments a stimulus appears in one position, disappears, and then reappears in a shifted position after a short or long IFI. If the luminance during the IFI matches the mean luminance of the stimulus frames, long IFIs result in perceived motion opposite the short-IFI conditions. Brighter or darker IFIs, however, do not support the reversed motion effect. The model possess the following defining characteristics: (1) a biphasic ("transient") channel whose signalled direction of motion reverses with changes of IFI duration; (2) a combined direction-opponent output which is the sum of directional responses developed in two channels--biphasic ("transient") and monophasic ("sustained"); (3) a signal/noise weighting of the contributions of the two channels to the final directional output of the system. Predictions of the model about the effects of IFI intensity and viewing eccentricity were tested and confirmed in two new psychophysical experiments. The interpretations of past studies which included a role for second-order motion mechanisms in explaining IFI duration effects were reexamined. Further empirical tests of the model were outlined.     

The LookingGlass distributed shared workspace

This paper describes a shared workspace system known as the LookingGlass. The system allows pairs of geographically distributed designers to work together in real-time via a computer-based shared drawing surface, a video link and an audio link. The system integrates many of the features found in previous shared drawing surface systems and additionally provides eye-to-eye contact between the users; awareness of onea's partner's direction of gaze in relation to oneself and the worksurface; and the ability to communicate using gestures in relation to the worksurface.These features are achieved in the LookingGlass system using a technique referred to as video-overlay which combines a full screen video image of a remote partner with a full screen shared drawing surface. Various configurations of video-overlay have been explored and the results of these studies are presented. The results of trials into the suitability of the LookingGlass for various types of design work are also presented and described.     

RasGRP, a Ras guanyl nucleotide- releasing protein with calcium- and diacylglycerol-binding motifs

RasGRP, a guanyl nucleotide-releasing protein for the small guanosine triphosphatase Ras, was characterized. Besides the catalytic domain, RasGRP has an atypical pair of "EF hands" that bind calcium and a diacylglycerol (DAG)-binding domain. RasGRP activated Ras and caused transformation in fibroblasts. A DAG analog caused sustained activation of Ras-Erk signaling and changes in cell morphology. Signaling was associated with partitioning of RasGRP protein into the membrane fraction. Sustained ligand-induced signaling and membrane partitioning were absent when the DAG-binding domain was deleted. RasGRP is expressed in the nervous system, where it may couple changes in DAG and possibly calcium concentrations to Ras activation.