A Distributed ADMM Approach to Non-Myopic Path Planning for Multi-Target Tracking

This paper investigates non-myopic path planning of mobile sensors for multi-target tracking. Such problem has posed a high computational complexity issue and/or the necessity of high-level decision making. Existing works tackle these issues by heuristically assigning targets to each sensing agent and solving the split problem for each agent. However, such heuristic methods reduce the target estimation performance in the absence of considering the changes of target state estimation along time. In this work, we detour the task-assignment problem by reformulating the general non-myopic planning problem to a distributed optimization problem with respect to targets. By combining alternating direction method of multipliers (ADMM) and local trajectory optimization method, we solve the problem and induce consensus (i.e., high-level decisions) automatically among the targets. In addition, we propose a modified receding-horizon control (RHC) scheme and edge-cutting method for efficient real-time operation. The proposed algorithm is validated through simulations in various scenarios.Comment: Copyright 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other work

Highly sensitive colorimetric detection of allergies based on an immunoassay using peroxidase-mimicking nanozymes

Nanomaterials that exhibit enzyme-like characteristics, which are called nanozymes, have recently attracted significant attention due to their potential to overcome the intrinsic limitations of natural enzymes, such as low stability and relatively high cost for preparation and purification. In this study, we report a highly efficient colorimetric allergy detection system based on an immunoassay utilizing the peroxidase- mimicking activity of hierarchically structured platinum nanoparticles (H-Pt NPs). The H-Pt NPs had a diameter of 30 nm, and were synthesized by a seed-mediated growth method, which led to a significant amount of peroxidase-like activity. This activity mainly occurs because of the high catalytic power of the Pt element, and the fact that the H-Pt NPs have a large surface area available for catalytic events. The H-Pt NPs were conjugated to an antibody for the detection of immunoglobulin E (IgE) in the analytes; IgE is a representative marker for the diagnosis of allergies. They were then successfully integrated into a conventionally used allergy diagnostic test, the ImmunoCAP diagnostic test, as a replacement for natural signaling enzymes. Using this strategy, total and specific IgE levels were detected within 5 min at room temperature, with high specificity and sensitivity. The practical utility of the immunoassay was also successfully verified by correctly determining the levels of both total and specific IgE in real human serum samples with high precision and reproducibility. The present H-Pt NP-based immunoassay system would serve as a platform for rapid, robust, and convenient analysis of IgE, and can be extended to the construction of diagnostic systems for a variety of clinically important target molecules.11Ysciescopu

Case report: Intrathecal baclofen therapy improved gait pattern in a stroke patient with spastic dystonia

BackgroundIntrathecal baclofen (ITB) therapy, a viable alternative for unsuitable candidates of conventional spasticity medications, is a preferred method of administration over the oral route. Owing to its enhanced bioavailability, ITB ensures a more effective delivery at the target site.ObjectiveThere is a lack of conclusive evidence regarding the use of ITB treatment in managing ambulatory patients with spastic dystonia. Before ITB pump implantation, patients commonly undergo an ITB bolus injection trial to rule out potential adverse reactions and verify the therapeutic effects on hypertonic issues. In this report, we highlight a case of spastic dystonia, particularly focusing on an ambulatory patient who demonstrated significant improvement in both the modified Ashworth scale (MAS) score and gait pattern following the ITB injection trial.Case reportThis case report outlines the medical history of a 67-year-old male diagnosed with left-side hemiplegia and spastic dystonia, resulting from his second episode of intracranial hemorrhage in the right thalamus. An ITB injection trial was initiated because the patient was not suitable for continued botulinum toxin injections and oral medications. This was due to the persistent occurrence of spastic dystonia in both the upper and lower extremities. The patient underwent a four-day ITB injection trial with progressively increasing doses, resulting in improved MAS scores and gait parameters, including cadence, step length, step time, stride length, and stride time were increased. Particularly, kinematic gait analysis demonstrates a substantial improvement of increased knee flexion in the swing phase in stiff knee gait pattern. These findings indicated a gradual reduction in spasticity-related symptoms, signifying the positive effect of the ITB injection trial. The patient eventually received an ITB pump implantation.ConclusionIn this post-stroke patient with spastic dystonia, ITB therapy has demonstrated effective and substantial management of spasticity, along with improvement in gait patterns

Regeneration of elemental images in integral imaging for occluded objects using a plenoptic camera

In this Letter, we propose an elemental image regeneration method of three-dimensional (3D) integral imaging for occluded objects using a plenoptic camera. In conventional occlusion removal techniques, the information of the occlusion layers may be lost. Thus, elemental images have cracked parts, so the visual quality of the reconstructed 3D image is degraded. However, these cracked parts can be interpolated from adjacent elemental images. Therefore, in this Letter, we try to improve the visual quality of reconstructed 3D images by interpolating and regenerating virtual elemental images with adjacent elemental images after removing the occlusion layers. To prove our proposed method, we carry out optical experiments and calculate performance metrics such as the mean square error (MSE) and the peak signal-to-noise ratio (PSNR)

Microspinning: Local Surface Mixing via Rotation of Magnetic Microparticles for Efficient Small-Volume Bioassays

The need for high-throughput screening has led to the miniaturization of the reaction volume of the chamber in bioassays. As the reactor gets smaller, surface tension dominates the gravitational or inertial force, and mixing efficiency decreases in small-scale reactions. Because passive mixing by simple diffusion in tens of microliter-scale volumes takes a long time, active mixing is needed. Here, we report an efficient micromixing method using magnetically rotating microparticles with patterned magnetization induced by magnetic nanoparticle chains. Because the microparticles have magnetization patterning due to fabrication with magnetic nanoparticle chains, the microparticles can rotate along the external rotating magnetic field, causing micromixing. We validated the reaction efficiency by comparing this micromixing method with other mixing methods such as simple diffusion and the use of a rocking shaker at various working volumes. This method has the potential to be widely utilized in suspension assay technology as an efficient mixing strategy