RISE-Based Integrated Motion Control of Autonomous Ground Vehicles With Asymptotic Prescribed Performance

This article investigates the integrated lane-keeping and roll control for autonomous ground vehicles (AGVs) considering the transient performance and system disturbances. The robust integral of the sign of error (RISE) control strategy is proposed to achieve the lane-keeping control purpose with rollover prevention, by guaranteeing the asymptotic stability of the closed-loop system, attenuating systematic disturbances, and maintaining the controlled states within the prescribed performance boundaries. Three contributions have been made in this article: 1) a new prescribed performance function (PPF) that does not require accurate initial errors is proposed to guarantee the tracking errors restricted within the predefined asymptotic boundaries; 2) a modified neural network (NN) estimator which requires fewer adaptively updated parameters is proposed to approximate the unknown vertical dynamics; and 3) the improved RISE control based on PPF is proposed to achieve the integrated control objective, which analytically guarantees both the controller continuity and closed-loop system asymptotic stability by integrating the signum error function. The overall system stability is proved with the Lyapunov function. The controller effectiveness and robustness are finally verified by comparative simulations using two representative driving maneuvers, based on the high-fidelity CarSim-Simulink simulation

ER network dynamics are differentially controlled by myosins XI-K, XI-C, XI-E, XI-I, XI-1, and XI-2

This document is protected by copyright and was first published by Frontiers. All rights reserved. It is reproduced with permission.The endoplasmic reticulum (ER) of higher plants is a complex network of tubules and cisternae. Some of the tubules and cisternae are relatively persistent, while others are dynamically moving and remodeling through growth and shrinkage, cycles of tubule elongation and retraction, and cisternal expansion and diminution. Previous work showed that transient expression in tobacco leaves of the motor-less, truncated tail of myosin XI-K increases the relative area of both persistent cisternae and tubules in the ER. Likewise, transient expression of XI-K tail diminishes the movement of organelles such as Golgi and peroxisomes. To examine whether other class XI myosins are involved in the remodeling and movement of the ER, other myosin XIs implicated in organelle movement, XI-1 (MYA1),XI-2 (MYA2), XI-C, XI-E, XI-I, and one not, XI-A, were expressed as motor-less tail constructs and their effect on ER persistent structures determined. Here, we indicate a differential effect on ER dynamics whereby certain class XI myosins may have more influence over controlling cisternalization rather than tubulation.Biotechnology & Biological Sciences Research Council (BBSRC)Biology department at Texas A and M Universit

Car-following method based on inverse reinforcement learning for autonomous vehicle decision-making

There are still some problems need to be solved though there are a lot of achievements in the fields of automatic driving. One of those problems is the difficulty of designing a car-following decision-making system for complex traffic conditions. In recent years, reinforcement learning shows the potential in solving sequential decision optimization problems. In this article, we establish the reward function R of each driver data based on the inverse reinforcement learning algorithm, and r visualization is carried out, and then driving characteristics and following strategies are analyzed. At last, we show the efficiency of the proposed method by simulation in a highway environment

Sketch Beautification: Learning Part Beautification and Structure Refinement for Sketches of Man-made Objects

We present a novel freehand sketch beautification method, which takes as input a freely drawn sketch of a man-made object and automatically beautifies it both geometrically and structurally. Beautifying a sketch is challenging because of its highly abstract and heavily diverse drawing manner. Existing methods are usually confined to the distribution of their limited training samples and thus cannot beautify freely drawn sketches with rich variations. To address this challenge, we adopt a divide-and-combine strategy. Specifically, we first parse an input sketch into semantic components, beautify individual components by a learned part beautification module based on part-level implicit manifolds, and then reassemble the beautified components through a structure beautification module. With this strategy, our method can go beyond the training samples and handle novel freehand sketches. We demonstrate the effectiveness of our system with extensive experiments and a perceptive study.Comment: 13 figure

Editorial: Structure and function of chloroplasts, Volume III

Chloroplasts are endosymbiotic organelles derived from cyanobacteria. They have a double envelope membrane, including the outer envelope and the inner envelope. A complex membrane system, thylakoids, exists inside the chloroplast. It is the site of the light-dependent reactions of photosynthesis. The stroma is the main site of the carbon fixation reactions. Although photosynthesis is a very complicated process with many proteins involved, there are many other important processes that occur in chloroplasts, including the regulation of photosynthesis, the biogenesis and maintenance of the structures, carbohydrate, lipid, tetrapyrrole, amino acid, and isoprenoid metabolism, production of some phytohormones, production of specialized metabolites, regulation of redox, and interactions with other parts of the cell (Sabater, 2018). During evolution, most of the cyanobacterial genes were lost and many of them were transferred into the nuclear genome. A majority of chloroplast proteins are nuclear-encoded and possess an N-terminal transit peptide which helps the protein to be targeted into chloroplasts. Chloroplasts have their own highly reduced genome which works coordinately with the nuclear genome for the biogenesis and function of chloroplasts (Liebers et al., 2022). This Research Topic presents studies covering different aspects of chloroplast function, including photosynthesis, biogenesis, structure, and maintenance. These works push the frontiers of chloroplast research further in the field of plant biology

Editorial: Structure and Function of Chloroplasts

The primary energy resource of life on earth is the sun, whose energy is captured in the form of usable carbons by a process called photosynthesis. Photosynthesis occurs within a cellular organelle adapted to that purpose, called the chloroplast. Chloroplasts are unique metabolic and sensory organelles restricted to plants, algae, and a few protists. In this special topic, we aimed to gather new research, hypotheses, and reviews that would help us to better understand the important role of chloroplasts in all photosynthetic organisms. We were fortunate enough to have submissions from many talented chloroplast researchers. This topic contains a total of 24 papers of which 13 are original research, 3 are methods, 5 are reviews or mini-reviews, 2 are perspectives and one is a hypothesis

IL-15 enhances HIV-1 infection by promoting survival and proliferation of CCR5+CD4+ T cells

HIV-1 usually utilizes CCR5 as its coreceptor and rarely switches to a CXCR4-tropic virus until the late stage of infection. CCR5+CD4+ T cells are the major virus-producing cells in viremic individuals as well as SIV-infected nonhuman primates. The differentiation of CCR5+CD4+ T cells is associated with the availability of IL-15, which increases during acute HIV-1 infection. Here, we report that CCR5 was expressed by CD4+ T cells exhibiting effector or effector memory phenotypes with high expression levels of the IL-2/IL-15 receptor common β and γ chains. IL-15, but not IL-7, improved the survival of CCR5+CD4+ T cells, drove their expansion, and facilitated HIV-1 infection in vitro and in humanized mice. Our study suggests that IL-15 plays confounding roles in HIV-1 infection, and future studies on the IL-15-based boosting of anti-HIV-1 immunity should carefully examine the potential effects on the expansion of HIV-1 reservoirs in CCR5+CD4+ T cells

Explaining the cosmic ray spectrum feature of Auger beyond the ankle with dip model plus the galactic propagation effect

The Auger Collaboration has recently published the energy spectrum of cosmic rays above 1 EeV, which exhibits interesting features. These spectrum features provide an opportunity to investigate the propagation of ultra-high-energy cosmic rays (UHECRs). In this study, we have developed a model that incorporates the dip model for UHECRs in the extragalactic propagation, while accounting for the suppression due to diffusion and interactions within the galaxy. Our model demonstrates excellent agreement with the energy spectrum measured by Auger and supports a spectral index of 2 for the diffusion coefficient in the galaxy starting from $5\times10^{18}$eV.Comment: 5 pages, 2 figure