Path Tracking Controller of Quadruped Robot for Obstacle Avoidance Using Potential Functions Method

This paper proposes a tracking controller for obstacle avoidance of a quadruped robot using potential functions method. The followings are done for this task. At first, a ceiling-mounted camera system is installed for image processing. The goal point and obstacles are separated and recognized by a color recognition method. Second, a path planning algorithm using potential functions method is proposed to generate the path to avoid obstacles and to plan a path for the quadruped robot to reach from start point to goal point. Third, a quadruped robot is chosen as the mobile platform for this study and the kinematic model for the robot is presented. Fourth, a tracking controller is designed for the quadruped robot to track the trajectory based on the backstepping method using Lyapunov function. Finally, the simulation results are presented to show the effectiveness of the proposed trajectory planning algorithm and the tracking controller. [Keywords— Path tracking; back stepping; obstacles avoidance; potential functions; quadruped robot]

Development of Navigation Control Algorithm for AGV Using D* Search Algorithm

In this paper, we present a navigation control algorithm for Automatic Guided Vehicles (AGV) that move in industrial environments including static and moving obstacles using D* algorithm. This algorithm has ability to get paths planning in unknown, partially known and changing environments efficiently. To apply the D* search algorithm, the grid map represent the known environment is generated. By using the laser scanner LMS-151 and laser navigation sensor NAV-200, the grid map is updated according to the changing of environment and obstacles. When the AGV finds some new map information such as new unknown obstacles, it adds the information to its map and re-plans a new shortest path from its current coordinates to the given goal coordinates. It repeats the process until it reaches the goal coordinates. This algorithm is verified through simulation and experiment. The simulation and experimental results show that the algorithm can be used to move the AGV successfully to reach the goal position while it avoids unknown moving and static obstacles. [Keywords— navigation control algorithm; Automatic Guided Vehicles (AGV); D* search algorithm

AGV Trajectory Control Based on Laser Sensor Navigation

Autonomous Guided Vehicle Systems (AGVs) are used to transport goods and products in manufacturing fields where navigation can be done in a structured environment. In order to track the given trajectory, a tracking control based on Lyapunov stability theory is introduced. The use of the nonlinear Lyapunov technique provides robustness for load disturbance and sensor noise. To apply Lyapunov\u27s theorem, the kinematic model of AGV is given. To recognize its position in indoor environment, in this paper, a laser sensor device NAV200 is used to detect the AGV position in real-time. For simulation and experiment, software and hardware are described. The AGV consists of 4 wheels with two passive wheels and two driving wheels. A controller is developed based on industrial computer. The effectiveness of the proposed controller is proved by simulation and experimental results.[AGV Trajectory Control, Laser Sensor Navigation

RR Lyrae Stars in the Field of Sagittarius II

We present the detection of RR Lyrae variable stars in the field of the Sagittarius. II (Sgr II) ultra-faint dwarf (UFD) galaxy. Using B, V time-series photometry obtained with the Korea Microlensing Telescope Network (KMTNet) 1.6 m telescope at CTIO and G-band data from Gaia Data Release 2 (DR2), we identified and characterized two ab-type and four c-type RR Lyrae variables. Five out of the six stars are clustered within three half-light radii (similar to 4'.8) of the galaxy indicating their association with Sgr. II, while the RRab star V4 is located similar to 22' from the galaxy center. By excluding V4, the high c-type fraction (0.8) and the period of the only RRab star V3 (P-V3 similar or equal to 0.666 days) suggest an Oosterhoff. II (Oo II) classification for Sgr. II. Located close to the locus of Oo. II clusters in the period-amplitude diagram, V3 is similar to RRab stars in other UFDs having Oosterh off-intermediate and Oo. II properties. Sgr. II is, however, more compact than usual UFDs, placed in between star clusters and dwarf galaxies in the size-luminosity plane, and therefore spectroscopic studies are eventually required to ascertain the true nature of this stellar system. We derive the metallicity ([Fe/H] RRab similar or equal to -2.1 +/- 0.3) and heliocentric distance (similar to 64 +/- 3 kpc) of Sgr. II from the RR Lyrae stars, and estimate its age (similar to 12 Gyr) based on our stellar population models. The Oosterhoff properties of UFDs can be explained with the evolution effect of RR Lyrae stars in the instability strip.Funding for the DPAC has been provided by national institutions, in particular the institutions participating in the Gaia Multilateral Agreement. S.C.R was partially supported by the Basic Science Research Program through the NRF of Korea funded by the Ministry of Education (2018R1A2B2006445). Support for this work was also provided by the NRF to the Center for Galaxy Evolution Research (2017R1A5A1070354). H. Jerjen acknowledges the support of the Australian Research Council through Discovery Project DP150100862. H. Jeong acknowledges support from the Basic Science Research Program through the National Research Foundation (NRF) of Korea, funded by the Ministry of Education (NRF2013R1A6A3A04064993). This research was made possible through the use of the APASS, funded by the Robert Martin Ayers Sciences Fund

Atmospheric-Pressure Plasma Jet Induces Apoptosis Involving Mitochondria via Generation of Free Radicals

The plasma jet has been proposed as a novel therapeutic method for anticancer treatment. However, its biological effects and mechanism of action remain elusive. Here, we investigated its cell death effects and underlying molecular mechanisms, using air and N2 plasma jets from a micro nozzle array. Treatment with air or N2 plasma jets caused apoptotic death in human cervical cancer HeLa cells, simultaneously with depolarization of mitochondrial membrane potential. In addition, the plasma jets were able to generate reactive oxygen species (ROS), which function as surrogate apoptotic signals by targeting the mitochondrial membrane potential. Antioxidants or caspase inhibitors ameliorated the apoptotic cell death induced by the air and N2 plasma jets, suggesting that the plasma jet may generate ROS as a proapoptotic cue, thus initiating mitochondria-mediated apoptosis. Taken together, our data suggest the potential employment of plasma jets as a novel therapy for cancer

Highly sensitive near-infrared SERS nanoprobes for in vivo imaging using gold-assembled silica nanoparticles with controllable nanogaps

Abstract Background To take advantages, such as multiplex capacity, non-photobleaching property, and high sensitivity, of surface-enhanced Raman scattering (SERS)-based in vivo imaging, development of highly enhanced SERS nanoprobes in near-infrared (NIR) region is needed. A well-controlled morphology and biocompatibility are essential features of NIR SERS nanoprobes. Gold (Au)-assembled nanostructures with controllable nanogaps with highly enhanced SERS signals within multiple hotspots could be a breakthrough. Results Au-assembled silica (SiO2) nanoparticles (NPs) (SiO2@Au@Au NPs) as NIR SERS nanoprobes are synthesized using the seed-mediated growth method. SiO2@Au@Au NPs using six different sizes of Au NPs (SiO2@Au@Au50–SiO2@Au@Au500) were prepared by controlling the concentration of Au precursor in the growth step. The nanogaps between Au NPs on the SiO2 surface could be controlled from 4.16 to 0.98nm by adjusting the concentration of Au precursor (hence increasing Au NP sizes), which resulted in the formation of effective SERS hotspots. SiO2@Au@Au500 NPs with a 0.98-nm gap showed a high SERS enhancement factor of approximately 3.8 × 106 under 785-nm photoexcitation. SiO2@Au@Au500 nanoprobes showed detectable in vivo SERS signals at a concentration of 16μg/mL in animal tissue specimen at a depth of 7mm. SiO2@Au@Au500 NPs with 14 different Raman label compounds exhibited distinct SERS signals upon subcutaneous injection into nude mice. Conclusions SiO2@Au@Au NPs showed high potential for in vivo applications as multiplex nanoprobes with high SERS sensitivity in the NIR region. Graphical Abstrac

Structure-Based Rational Design of a Toll-like Receptor 4 (TLR4) Decoy Receptor with High Binding Affinity for a Target Protein

Repeat proteins are increasingly attracting much attention as alternative scaffolds to immunoglobulin antibodies due to their unique structural features. Nonetheless, engineering interaction interface and understanding molecular basis for affinity maturation of repeat proteins still remain a challenge. Here, we present a structure-based rational design of a repeat protein with high binding affinity for a target protein. As a model repeat protein, a Toll-like receptor4 (TLR4) decoy receptor composed of leucine-rich repeat (LRR) modules was used, and its interaction interface was rationally engineered to increase the binding affinity for myeloid differentiation protein 2 (MD2). Based on the complex crystal structure of the decoy receptor with MD2, we first designed single amino acid substitutions in the decoy receptor, and obtained three variants showing a binding affinity (KD) one-order of magnitude higher than the wild-type decoy receptor. The interacting modes and contributions of individual residues were elucidated by analyzing the crystal structures of the single variants. To further increase the binding affinity, single positive mutations were combined, and two double mutants were shown to have about 3000- and 565-fold higher binding affinities than the wild-type decoy receptor. Molecular dynamics simulations and energetic analysis indicate that an additive effect by two mutations occurring at nearby modules was the major contributor to the remarkable increase in the binding affinities

Methylsulfonylmethane Suppresses Breast Cancer Growth by Down-Regulating STAT3 and STAT5b Pathways

Breast cancer is the most aggressive form of all cancers, with high incidence and mortality rates. The purpose of the present study was to investigate the molecular mechanism by which methylsulfonylmethane (MSM) inhibits breast cancer growth in mice xenografts. MSM is an organic sulfur-containing natural compound without any toxicity. In this study, we demonstrated that MSM substantially decreased the viability of human breast cancer cells in a dose-dependent manner. MSM also suppressed the phosphorylation of STAT3, STAT5b, expression of IGF-1R, HIF-1α, VEGF, BrK, and p-IGF-1R and inhibited triple-negative receptor expression in receptor-positive cell lines. Moreover, MSM decreased the DNA-binding activities of STAT5b and STAT3, to the target gene promoters in MDA-MB 231 or co-transfected COS-7 cells. We confirmed that MSM significantly decreased the relative luciferase activities indicating crosstalk between STAT5b/IGF-1R, STAT5b/HSP90α, and STAT3/VEGF. To confirm these findings in vivo, xenografts were established in Balb/c athymic nude mice with MDA-MB 231 cells and MSM was administered for 30 days. Concurring to our in vitro analysis, these xenografts showed decreased expression of STAT3, STAT5b, IGF-1R and VEGF. Through in vitro and in vivo analysis, we confirmed that MSM can effectively regulate multiple targets including STAT3/VEGF and STAT5b/IGF-1R. These are the major molecules involved in tumor development, progression, and metastasis. Thus, we strongly recommend the use of MSM as a trial drug for treating all types of breast cancers including triple-negative cancers