Topology-Guided Path Integral Approach for Stochastic Optimal Control in Cluttered Environment

This paper addresses planning and control of robot motion under uncertainty that is formulated as a continuous-time, continuous-space stochastic optimal control problem, by developing a topology-guided path integral control method. The path integral control framework, which forms the backbone of the proposed method, re-writes the Hamilton-Jacobi-Bellman equation as a statistical inference problem; the resulting inference problem is solved by a sampling procedure that computes the distribution of controlled trajectories around the trajectory by the passive dynamics. For motion control of robots in a highly cluttered environment, however, this sampling can easily be trapped in a local minimum unless the sample size is very large, since the global optimality of local minima depends on the degree of uncertainty. Thus, a homology-embedded sampling-based planner that identifies many (potentially) local-minimum trajectories in different homology classes is developed to aid the sampling process. In combination with a receding-horizon fashion of the optimal control the proposed method produces a dynamically feasible and collision-free motion plans without being trapped in a local minimum. Numerical examples on a synthetic toy problem and on quadrotor control in a complex obstacle field demonstrate the validity of the proposed method.Comment: arXiv admin note: text overlap with arXiv:1510.0534

Alpha-tocopherol exerts protective function against the mucotoxicity of particulate matter in amphibian and human goblet cells

Exposure to particulate matter (PM) in ambient air is known to increase the risk of cardiovascular disorders and mortality. The cytotoxicity of PM is mainly due to the abnormal increase of reactive oxygen species (ROS), which damage cellular components such as DNA, RNA, and proteins. The correlation between PM exposure and human disorders, including mortality, is based on long-term exposure. In this study we have investigated acute responses of mucus-secreting goblet cells upon exposure to PM derived from a heavy diesel engine. To this end, we employed the mucociliary epithelium of amphibian embryos and human Calu-3 cells to examine PM mucotoxicity. Our data suggest that acute exposure to PM significantly impairs mucus secretion and results in the accumulation of mucus vesicles in the cytoplasm of goblet cells. RNA-seq analysis revealed that acute responses to PM exposure significantly altered gene expression patterns; however, known regulators of mucus production and the secretory pathway were not significantly altered. Interestingly, pretreatment with alpha-tocopherol nearly recovered the hyposecretion of mucus from both amphibian and human goblet cells. We believe this study demonstrates the mucotoxicity of PM and the protective function of alpha-tocopherol on mucotoxicity caused by acute PM exposure from heavy diesel engines