APF-IRRT*: An Improved Informed Rapidly-Exploring Random Trees-Star Algorithm by Introducing Artificial Potential Field Method for Mobile Robot Path Planning

An Informed RRT* (IRRT*) algorithm is one of the optimized versions of a Rapidly-exploring Random Trees (RRT) algorithm which finds near-optimal solutions faster than RRT and RRT* algorithms by restricting the search area to an ellipsoidal subset of the state space. However, IRRT* algorithm has the disadvantage of randomness of sampling and a non-real time process, which has a negative impact on the convergence rate and search efficiency in path planning applications. In this paper, we report a hybrid algorithm by combining the Artificial Potential Field Method (APF) with an IRRT* algorithm for mobile robot path planning. By introducing the virtual force field of APF into the search tree expansion stage of the IRRT* algorithm, the guidance of the algorithm increases, which greatly improves the convergence rate and search efficiency of the IRRT* algorithm. The proposed algorithm was validated in simulations and proven to be superior to some other RRT-based algorithms in search time and path length. It also was performed in a real robotic platform, which shows that the proposed algorithm can be well executed in real scenarios

Mitochondrial unfolded protein response gene CLPP changes mitochondrial dynamics and affects mitochondrial function

Mitochondrial dynamics is associated with mitochondrial function, which is associated with diabetes. Although an important indicator of the mitochondrial unfolded protein response, to the best of our knowledge, CLPP and its effects on mitochondrial dynamics in islet cells have not been studied to date. We analyzed the effects of CLPP on mitochondrial dynamics and mitochondrial function in the mice islet β-cell line Min6 under high glucose and high fat conditions. Min6 cells were assigned to: Normal, HG, HG+NC, HG+siCLPP, HF, HF+NC and HF+ siCLPP groups. High glucose and high fat can promote the mRNA and protein expression of CLPP in mitochondria. The increase of mitochondrial fission, the decrese of mitochondrial fusion, and the damage of mintocondrial ultrastructure were significant in the siCLPP cell groups as compared to no-siCLPP treated groups. Meanwhile, mitochondrial functions of MIN6 cells treated with siCLPP were impaired, such as ATP decreased, ROS increased, mitochondrial membrane potential decreased. In addition, cell insulin secretion decreased and cell apoptosis rate increased in siCLPP groups. These results revealed that mitochondrial unfolded protein response geneCLPP alleviated high glucose and high fat-induced mitochondrial dynamics imbalance and mitochondrial dysfunction