Mobile Formation Coordination and Tracking Control for Multiple Non-holonomic Vehicles

This paper addresses forward motion control for trajectory tracking and mobile formation coordination for a group of non-holonomic vehicles on SE(2). Firstly, by constructing an intermediate attitude variable which involves vehicles' position information and desired attitude, the translational and rotational control inputs are designed in two stages to solve the trajectory tracking problem. Secondly, the coordination relationships of relative positions and headings are explored thoroughly for a group of non-holonomic vehicles to maintain a mobile formation with rigid body motion constraints. We prove that, except for the cases of parallel formation and translational straight line formation, a mobile formation with strict rigid-body motion can be achieved if and only if the ratios of linear speed to angular speed for each individual vehicle are constants. Motion properties for mobile formation with weak rigid-body motion are also demonstrated. Thereafter, based on the proposed trajectory tracking approach, a distributed mobile formation control law is designed under a directed tree graph. The performance of the proposed controllers is validated by both numerical simulations and experiments

Arbitrary Configuration Stabilization Control for Nonholonomic Vehicle with Input Saturation:a c-Nonholonomic Trajectory Approach

This paper addresses the saturated stabilization control problem for nonholonomic vehicles with a novel c-nonholonomic trajectory approach on SE(2), with applications to automatic parking. Firstly, by defining the cnonholonomic configuration, a c-nonholonomic trajectory is obtained which provides a novel approach to design stabilization controller to reach an arbitrary configuration. Secondly, a global discontinuous time-invariant feedback controller with input saturation is proposed which does not involve time signal information, and its convergence is illustrated by a Lyapunov function approach. Thereafter, the motion trajectory of the proposed controller is analyzed, and the application scenario in automatic parking with the approximate desired trajectory is demonstrated. Finally, the performance of the proposed controller is validated by both numerical simulations and experiments.</p

Safety and efficacy of phage application in bacterial decolonisation:a systematic review

Colonisation by bacterial pathogens typically precedes invasive infection and seeds transmission. Thus, effective decolonisation strategies are urgently needed. The literature reports attempts to use phages for decolonisation. To assess the in-vivo efficacy and safety of phages for bacterial decolonisation, we performed a systematic review by identifying relevant studies to assess the in-vivo efficacy and safety of phages for bacterial decolonisation. We searched PubMed, Embase (Ovid), MEDLINE (Ovid), Web of Science, and the Cochrane Library to identify relevant articles published between Jan 1, 1990, and May 12, 2023, without language restrictions. We included studies that assessed the efficacy of phage for bacterial decolonisation in humans or vertebrate animal models. This systematic review is registered with PROSPERO, CRD42023457637. We identified 6694 articles, of which 56 (51 animal studies and five clinical reports) met the predetermined selection criteria and were included in the final analysis. The gastrointestinal tract (n=49, 88%) was the most studied bacterial colonisation site, and other sites were central venous catheters, lung, nose, skin, and urinary tract. Of the 56 included studies, the bacterial load at the colonisation site was reported to decrease significantly in 45 (80%) studies, but only five described eradication of the target bacteria. 15 studies reported the safety of phages for decolonisation. No obvious adverse events were reported in both the short-term and long-term observation period. Given the increasing life-threatening risks posed by bacteria that are difficult to treat, phages could be an alternative option for bacterial decolonisation, although further optimisation is required before their application to meet clinical needs.</p

Multi-phase-combined CECT radiomics models for Fuhrman grade prediction of clear cell renal cell carcinoma

ObjectiveThis study aimed to evaluate the effectiveness of multi-phase-combined contrast-enhanced CT (CECT) radiomics methods for noninvasive Fuhrman grade prediction of clear cell renal cell carcinoma (ccRCC).MethodsA total of 187 patients with four-phase CECT images were retrospectively enrolled and then were categorized into training cohort (n=126) and testing cohort (n=61). All patients were confirmed as ccRCC by histopathological reports. A total of 110 3D classical radiomics features were extracted from each phase of CECT for individual ccRCC lesion, and contrast-enhanced variation features were also calculated as derived radiomics features. These features were concatenated together, and redundant features were removed by Pearson correlation analysis. The discriminative features were selected by minimum redundancy maximum relevance method (mRMR) and then input into a C-support vector classifier to build multi-phase-combined CECT radiomics models. The prediction performance was evaluated by the area under the curve (AUC) of receiver operating characteristic (ROC).ResultsThe multi-phase-combined CECT radiomics model showed the best prediction performance (AUC=0.777) than the single-phase CECT radiomics model (AUC=0.711) in the testing cohort (p value=0.039).ConclusionThe multi-phase-combined CECT radiomics model is a potential effective way to noninvasively predict Fuhrman grade of ccRCC. The concatenation of first-order features and texture features extracted from corticomedullary phase and nephrographic phase are discriminative feature representations