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Raktim Bhattacharya,Sulagna Saha,Olga Kostina,Lyudmila Muravnik,Adinpunya Mitra 한국현미경학회 2020 Applied microscopy Vol.50 No.1
Sample preparation including dehydration and drying of samples is the most intricate part of scanning electron microscopy. Most current sample preparation protocols use critical-point drying with liquid carbon dioxide. Very few studies have reported samples that were dried using chemical reagents. In this study, we used hexamethyldisilazane, a chemical drying reagent, to prepare plant samples. As glandular trichomes are among the most fragile and sensitive surface structures found on plants, we used Millingtonia hortensis leaf samples as our study materials because they contain abundant glandular trichomes. The results obtained using this new method are identical to those produced via critical-point drying.
Optimal Controller Switching for Resource-constrained Dynamical Systems
이국태,Raktim Bhattacharya 제어·로봇·시스템학회 2018 International Journal of Control, Automation, and Vol.16 No.3
In this paper, we present the resource-optimal controller switching synthesis for dynamical systems subject to resource constraints. Particularly, for systems having limited computational power (CPU) and onboard energy (battery), it is crucial to keep resource usage as low as possible. Although restrictions on resource utilization may save a CPU time and battery life, it degrades system performance. This paper provides three distinct algorithms that synthesize a controller switching policy for the purpose of resource savings, while not debasing system performance significantly. To measure system performance, we adopted the Waserstein distance that quantifies uncertainty in a probability density function level. The cost function to minimize is then defined based on this Wasserstein metric with a resource utilization penalty. As an example, quadrotor dynamics with two controllers, high performing / high resource consuming and moderate performing / resource saving controllers, is presented. The efficiency and usefulness of the proposed methods are validated in this example.