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Sequence data and association statistics from 12,940 type 2 diabetes cases and controls

Scientific data 2017年第1期4卷 170179页

作者： Jason Flannick Christian Fuchsberger Anubha Mahajan Tanya M Teslovich Vineeta Agarwala Kyle J Gaulton Lizz Caulkins Ryan Koesterer Clement Ma Loukas Moutsianas Davis J McCarthy Manuel A Rivas John R B Perry Xueling Sim Thomas W Blackwell Neil R Robertson N William Rayner Pablo Cingolani Adam E Locke Juan Fernandez Tajes Heather M Highland Josee Dupuis Peter S Chines Cecilia M Lindgren Christopher Hartl Anne U Jackson Han Chen Jeroen R Huyghe Martijn van de Bunt Richard D Pearson Ashish Kumar Martina Müller-Nurasyid Niels Grarup Heather M Stringham Eric R Gamazon Jaehoon Lee Yuhui Chen Robert A Scott Jennifer E Below Peng Chen Jinyan Huang Min Jin Go Michael L Stitzel Dorota Pasko Stephen C J Parker Tibor V Varga Todd Green Nicola L Beer Aaron G Day-Williams Teresa Ferreira Tasha Fingerlin Momoko Horikoshi Cheng Hu Iksoo Huh Mohammad Kamran Ikram Bong-Jo Kim Yongkang Kim Young Jin Kim Min-Seok Kwon Juyoung Lee Selyeong Lee Keng-Han Lin Taylor J Maxwell Yoshihiko Nagai Xu Wang Ryan P Welch Joon Yoon Weihua Zhang Nir Barzilai Benjamin F Voight Bok-Ghee Han Christopher P Jenkinson Teemu Kuulasmaa Johanna Kuusisto Alisa Manning Maggie C Y Ng Nicholette D Palmer Beverley Balkau Alena Stančáková Hanna E Abboud Heiner Boeing Vilmantas Giedraitis Dorairaj Prabhakaran Omri Gottesman James Scott Jason Carey Phoenix Kwan George Grant Joshua D Smith Benjamin M Neale Shaun Purcell Adam S Butterworth Joanna M M Howson Heung Man Lee Yingchang Lu Soo-Heon Kwak Wei Zhao John Danesh Vincent K L Lam Kyong Soo Park Danish Saleheen Wing Yee So Claudia H T Tam Uzma Afzal David Aguilar Rector Arya Tin Aung Edmund Chan Carmen Navarro Ching-Yu Cheng Domenico Palli Adolfo Correa Joanne E Curran Dennis Rybin Vidya S Farook Sharon P Fowler Barry I Freedman Michael Griswold Daniel Esten Hale Pamela J Hicks Chiea-Chuen Khor Satish Kumar Benjamin Lehne Dorothée Thuillier Wei Yen Lim Jianjun Liu Marie Loh Solomon K Musani Sobha Puppala William R Scott Loïc Yengo Sian-Tsung Tan Herman A Taylor Farook Thameem Gregory Wilson Tien Yin Wong Pål Rasmu Department of Molecular Biology Massachusetts General Hospital Boston Massachusetts USA. Program in Medical and Population Genetics Broad Institute Cambridge Massachusetts USA. Department of Biostatistics and Center for Statistical Genetics University of Michigan Ann Arbor Michigan USA. Wellcome Trust Centre for Human Genetics Nuffield Department of Medicine University of Oxford Oxford UK. Harvard-MIT Division of Health Sciences and Technology Massachusetts Institute of Technology Cambridge Massachusetts USA. Department of Statistics University of Oxford Oxford UK. Genetics of Complex Traits University of Exeter Medical School University of Exeter Exeter UK. MRC Epidemiology Unit Institute of Metabolic Science University of Cambridge Cambridge UK. Department of Twin Research and Genetic Epidemiology King's College London London UK. Oxford Centre for Diabetes Endocrinology and Metabolism Radcliffe Department of Medicine University of Oxford Oxford UK. Department of Human Genetics Wellcome Trust Sanger Institute Hinxton Cambridgeshire UK. School of Computer Science McGill University Montreal Quebec Canada. McGill University and Génome Québec Innovation Centre Montreal Quebec Canada. Human Genetics Center The University of Texas Graduate School of Biomedical Sciences at Houston The University of Texas Health Science Center at Houston Houston Texas USA. Department of Biostatistics Boston University School of Public Health Boston Massachusetts USA. National Heart Lung and Blood Institute's Framingham Heart Study Framingham Massachusetts USA. Medical Genomics and Metabolic Genetics Branch National Human Genome Research Institute National Institutes of Health Bethesda Maryland USA. Department of Biostatistics Harvard School of Public Health Boston Massachusetts USA. Chronic Disease Epidemiology Swiss Tropical and Public Health Institute University of Basel Basel Switzerland. Institute of Genetic Epidemiology Helmholtz Zentrum München German R

To investigate the genetic basis of type 2 diabetes (T2D) to high resolution, the GoT2D and T2D-GENES consortia catalogued variation from whole-genome sequencing of 2,657 European individuals and exome sequencing of 12,940 individuals of multiple ancestries. Over 27M SNPs, indels, and structural variants were identified, including 99% of low-frequency (minor allele frequency [MAF] 0.1-5%) non-coding variants in the whole-genome sequenced individuals and 99.7% of low-frequency coding variants in the whole-exome sequenced individuals. Each variant was tested for association with T2D in the sequenced individuals, and, to increase power, most were tested in larger numbers of individuals (>80% of low-frequency coding variants in ~82 K Europeans via the exome chip, and ~90% of low-frequency non-coding variants in ~44 K Europeans via genotype imputation). The variants, genotypes, and association statistics from these analyses provide the largest reference to date of human genetic information relevant to T2D, for use in activities such as T2D-focused genotype imputation, functional characterization of variants or genes, and other novel analyses to detect associations between sequence variation and T2D.

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Super-twisting-like algorithm in discrete time nonlinear systems

Super-twisting-like algorithm in discrete time nonlinear sys...

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2011 International Conference on Advanced Mechatronic systems, ICAMechS 2011

作者： Salgado, I. Kamal, S. Chairez, I. Bandyopadhyay, B. Fridman, L. Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico Interdisciplinary Programme in Systems and Control Engg. Indian Institute of Technology Bombay India Engineering Faculty National Autonomous University of Mexico Mexico City Mexico

ISBN: (纸本)9780955529375

A new discrete time super-twisting-like second order sliding mode algorithm (DSTA) is proposed. The stability proof of the suggested scheme is analyzed in terms of the discrete Lyapunov approach and Linear Matrix Inequalities (LMI) theory. Using these two tools it is proved that, system state trajectory is ultimately bounded in finite time. The state estimation problem for a class of second order discrete time system has been proposed to show the positive settings obtained from the algorithm introduced here. Also, the ultimate boundedness of the estimation error is demonstrated despite the presence of bounded perturbations. Simulation results illustrates the efficacy of this new discrete-time algorithm. © 2011 Intl Journal of Adv Mechatr.

关键词： Linear matrix inequalities

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Quasi sliding mode control with quantization in state measurement

Quasi sliding mode control with quantization in state measur...

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Annual Conference of Industrial Electronics Society

作者： S. Chakrabarty B. Bandyopadhyay Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay India

Whenever we compute control using digital computer, the states measured need to be converted to digital word before processing in the computer. This conversion gives rise to quantization error in state measurement which in turn affects the applied control to the plant. This would cause the system dynamics to deviate from the behaviour predicted by any theoretical analysis which does not consider the effect of such quantization. Here an analysis has been presented taking into consideration the error due to quantization for Quasi Sliding Mode control with state feedback.

关键词： Quantization Uncertainty Measurement uncertainty Sliding mode control State feedback Mathematical model Equations

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Single image based depth estimation for robotic applications

Single image based depth estimation for robotic applications

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IEEE Recent Advances in Intelligent Computational systems (RAICS)

作者： Anupa Sabnis Leena Vachhani Interdisciplinary Programme in Systems and Control Indian Institute of Technology Bombay Mumbai India

Goal of the robot vision is to exploit power of visual sensing to observe and perceive the environment and react it. Visual feedback is used to manipulate the robot among objects by estimating their depths. This paper presents a depth estimation technique based on the defocus blur associated with a camera setting. A sharp image of an object is obtained from a defocused image of the same object by applying sharpening filter. The defocused and sharp images of the object are used to calculate the spread parameter which is related to the object depth. The method calculates the constant camera parameters. The main advantage of this method is use of a single image by the robot to estimate depth. The method is independent of illumination condition and can be applied to the images with different edge orientations. Experiments on real scene images have demonstrated the feasibility of the proposed method for depth estimation. The results indicate that the depth estimation average errors are within two percent of true values. The proposed method is compared with the existing methods.

关键词： Cameras Lenses Estimation Sensors Image edge detection Robot kinematics

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Simple and robust correlation based visual compass using omnidirectional view

Simple and robust correlation based visual compass using omn...

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IEEE Region 10 International Conference TENCON

作者： Leena Vachhani Anupa Sabnis Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai India

In many mobile robotic tasks, it is important to know the local axis of the robot at any pose with respect to a reference or global direction. In this paper, a vision-based algorithm is described for this purpose. A new approach to form the omnidirectional view of an environment is developed using a single camera. The images captured at a definite interval of angles are stitched by a simple method of removing the overlapping area between two successive images. To find the local axis of a mobile robot, a robust technique is developed to determine the orientation of the robot at any pose with respect to the reference direction in an unknown environment. A reference omnidirectional image is correlated with that at the current position. The paper formulates two algorithms : one for finding the fixed amount of overlapping area and another for finding the angle of local axis with respect to the reference using correlation. The paper also proposes two ways using which this visual compass can be used.

关键词： Cameras Correlation Compass Visualization Robot vision systems Mobile robots

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Super-twisting-like algorithm in discrete time nonlinear systems

Super-twisting-like algorithm in discrete time nonlinear sys...

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International Conference on Advanced Mechatronic systems (ICAMechS)

作者： I. Salgado S. Kamal I. Chairez B. Bandyopadhyay L. Fridman Department of Bioprocesses Professional Interdisciplinary Unit of Biotechnology IPN Mexico City Mexico Interdisciplinary Programme in Systems and Control Engg Indian Institute of Technology Bombay India Engineering Faculty National Autonomous University of Mexico Mexico City Mexico

关键词： Sliding mode control Observers Nonlinear dynamical systems Equations Trajectory Mathematical model

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach 10

Stabilizing a flexible beam on a cart: A distributed port Ha...

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2009 10th European control Conference, ECC 2009

作者： Banavar, Ravi N. Dey, Biswadip Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology - Bombay Mumbai400076 India

ISBN: (纸本)9783952417393

Motion planning and stabilization of the inverted pendulum on a cart is a much studied problem in the control community. We focus our attention on asymptotically stabilizing a vertically upright flexible beam fixed on a moving cart. The flexibility of the beam is restricted only to the direction along the traverse of the cart. The control objective is to attenuate the effect of disturbances on the vertically upright profile of the beam. The control action available is the motion of the cart. By regulating this motion, we seek to regulate the shape of the beam. The problem presents a combination of a system described by a partial differential equation (PDE) and a cart modeled as an ordinary differential equation (ODE) as well as controller which we restrict to an ODE. We set our problem in the port controlled Hamiltonian framework. The interconnection of the flexible beam to the cart is viewed as a power conserving interconnection of an infinite dimensional system to a finite dimensional system. The energy Casimir method is employed to obtain the controller. In this method, we look for some constants of motion which are invariant of the choice of controller Hamiltonian. These Casimirs relate the controller states to the states of the system. We finally prove stability of the equilibrium configuration of the closed loop system. © 2009 EUCA.

关键词： controllers

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Stabilizing a flexible beam on a cart: A distributed port Hamiltonian approach

Stabilizing a flexible beam on a cart: A distributed port Ha...

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European control Conference (ECC)

作者： Ravi N. Banavar Biswadip Dey Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai

关键词： Decision support systems Europe Flyback transformers

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Robust control and path planning algorithms for small satellite formation flying missions

Robust control and path planning algorithms for small satell...

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60th International Astronautical Congress 2009, IAC 2009

作者： Saaj, Chakravarthini M. Bandyopadhyay, Saptarshi Bandyopadhyay, Bijnan Space Robotics Surrey Space Center University of Surrey Guildford Surrey GU2 7XH United Kingdom Department of Aerospace Engineering Indian Institute of Technology Bombay Mumbai 400076 India Interdisciplinary Programme in Systems and Control Engineering Indian Institute of Technology Bombay Mumbai 400076 India

ISBN: (纸本)9781615679089

Recent advances in small, low cost satellite technology has generated a renewed interest in formation flying missions. One challenging aspect of satellite formation flying missions is collision free navigation and control. In this paper, novel robust control algorithm using Sliding Mode control is presented for a three-dimensional, high Earth orbit satellite formation scenario. The paper presents the comparison of results of three types of Sliding Mode controllers (SMC): the first one is a tan-hyperbolic SMC, the second one is a constant plus proportional rate SMC and the third one is a power rate SMC. Hybrid propulsion system minimises the use of on-board power for close formations. Artificial Potential Field method is used for collision-free path planning of the satellites in the formation. Simulation results show that for the formation flying scenario considered in this study, the constant plus proportional rate SMC and the power rate SMC gives better performance over the tan-hyperbolic SMC. Simulation results prove that for the tetrahedron formation considered in this study, the total control effort is less when the constant plus proportional rate controller and the power rate controller are used compared to the tan-hyperbolic sliding mode controller. Very little formation center movement is observed for the three SMCs.

关键词： Robust control

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Design and implementation of a user friendly JAVA based GUI software for manoeuvring mobile robot

Design and implementation of a user friendly JAVA based GUI ...

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作者： Manjunath, T.C. Interdisciplinary Programme in Systems and Control Engineering ACRE Building Indian Institute of Technology Bombay Powai Mumbai-400076 Maharashtra India

ISBN: (纸本)9784990288013

The main objective of this work is to develop a user friendly GUI developed in JAVA language for manoeuvring a mobile robot named 'OCTAGON' with algorithms for obstacle avoidance in its path of motion. A user-friendly module is designed and successfully implemented for the operation of the entire system to do some specific operations. OCTAGON employs a sophisticated application - controlling interface created in JAVA, as it is a fantastic programming language for any application software development. The software module application facilitates the user interaction with OCTAGON and has many in built features such as the security and authentication. When the java code is executed, the default GUI screen appears as shown in the Fig. 2 and all the motors status is displayed. For activating a particular motion, we can navigate to its page by selected the left hand menu. The software is designed for maximum robot control & working efficiency. It is so designed such that the user can have complete control over each movable part of the robot. Also, the user can easily maneuver the robot & make it traverse a path towards the object to be picked. He or she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & eventually picks it up. Throughout this process the software interface guides the user through the usage of various parts of the robot & provides him with responses from the robot. Given the time on hand, the ease of programming and power of JAVA, it was an ideal choice for use in designing our application interface to the octagon. The software is designed for maximum robot control & working efficiency. It is so designed that the user can have complete control over each movable part of the robot. Also the user can easily maneuver the robot & make it traverse in a path towards the object to be picked. He/she can then manipulate the different limbs of the robotic arm so that the gripper comes closer to the object & even

关键词： Geometry

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