MPPI-IPDDP: Hybrid Method of Collision-Free Smooth Trajectory Generation for Autonomous Robots

This study presents a hybrid trajectory optimization method that generates a collision-free smooth trajectory for autonomous mobile robots. The hybrid method combines sampling-based model predictive path integral (MPPI) control and gradient-based interior-point differential dynamic programming (IPDDP) exploiting their advantages of exploration and smoothing. The proposed method, called MPPI-IPDDP, consists of three steps. The first step generates a coarse trajectory by MPPI control, the second step constructs a collision-free convex corridor, and the third step smooths the coarse trajectory by IPDDP using the collision-free convex corridor computed in the second step. For demonstration, the proposed algorithm was applied to trajectory optimization for differential-driving wheeled mobile robots and point-mass quadrotors. A supplementary video of the simulations can be found at https://youtu.be/-oUAt5sd9Bk

Lipoproteins and Diseases of the Brain

Apolipoprotein E4 (apoE4) and outer surface protein A (ospA) are pathogenic lipoproteins involved in the progression of Alzheimer’s disease and Lyme neuroborreliosis, respectively. Results from previous studies indicate that apoE4 exhibits neurotoxicity by activating amyloid beta pathways, and ospA causes damage to the brain by stimulating immune activity of microglia and astrocytes. These results, however, lack information about the specific interactions that develop between neurons and these two lipoproteins. It is essential to investigate the effect of these lipoproteins on neuronal morphology and function to better understand the mechanism of damage and disease of the brain. This chapter summarizes previous studies on the role of apoE4 and ospA in diseases of the brain and discusses experimental results from our own work that suggests new roles for apoE4 and ospA in neuronal outgrowth and synaptic loss

IRT5 Probiotics Changes Immune Modulatory Protein Expression in the Extraorbital Lacrimal Glands of an Autoimmune Dry Eye Mouse Model

PURPOSE. While the association between the gut microbiome and the immune system has been studied in autoimmune disorders, little is known about ocular disease. Previously we reported that IRT5, a mixture of five probiotic strains, could suppress autoimmune dry eye. In this study, we investigated the mechanism by which IRT5 performs its immunomodulatory function in a mouse model of autoimmune dry eye. METHODS. NOD.B10.H2b mice were used as an autoimmune dry eye model. Either IRT5 or PBS was gavaged orally for 3 weeks, with or without 5 days of antibiotic pretreatment. The effects on clinical features, extraorbital lacrimal gland and spleen proteins, and fecal microbiota were analyzed. RESULTS. The ocular staining score was lower, and tear secretion was higher, in the IRT5-treated groups than in the PBS-treated groups. After IRT5 treatment, the downregulated lacrimal gland proteins were enriched in the biological processes of defense response and immune system process. The relative abundances of 33 operational taxonomic units were higher, and 53 were lower, in the feces of the IRT5-treated groups than in those of the PBS-treated groups. IRT5 administration without antibiotic pretreatment also showed immunomodulatory functions with increases in the Lactobacillus helveticus group and Lactobacillus hamsteri. Additional proteomic assays revealed a decrease of proteins related to antigen-presenting processes in the CD11b(+) and CD11c(+) cells of spleen in the IRT5-treated groups. CONCLUSIONS. Changes in the gut microbiome after IRT5 treatment improved clinical manifestations in the autoimmune dry eye model via the downregulation of antigen-presenting processes in immune networks.11Ysciescopu

Delayed presentation of cerebellar and spinal cord infarction as a complication of computed tomography-guided transthoracic lung biopsy: a case report

INTRODUCTION: Computed tomography-guided transthoracic needle biopsy is a common diagnostic procedure that is associated with various complications including pneumothorax, parenchymal hemorrhage, and hemoptysis. A systemic air embolism is a very rare (0.06 to 0.21%) but potentially fatal complication. CASE PRESENTATION: A 70-year-old Korean male was admitted to our hospital for evaluation of a solitary pulmonary nodule located adjacent to the right inferior pulmonary vein in the medial basal segment of the right lower lobe. A computed tomography-guided needle biopsy was performed by a radiologist using a coaxial needle. A computed tomography image obtained immediately after the biopsy showed intraluminal free air in the proximal ascending aorta. He complained of a mild electrical current sensation in both lower extremities. After three hours he complained of neurological deficit in both lower extremities as well as voiding difficulty. The brain and spine magnetic resonance images showed a right cerebellar and spinal cord infarction at the T8-10 levels. CONCLUSIONS: We report a case of air embolism to the cerebellum and spinal cord causing infarction presenting with an initial symptom of mild electrical current sensation in both lower extremities during the transthoracic needle biopsy. For this potentially fatal complication, early recognition, followed by prompt therapy is critical to reducing morbidity and mortality

Customer process management A framework for using customer-related data to create customer value

Purpose The proliferation of customer-related data provides companies with numerous service opportunities to create customer value. The purpose of this study is to develop a framework to use this data to provide services. Design/methodology/approach This study conducted four action research projects on the use of customer-related data for service design with industry and government. Based on these projects, a practical framework was designed, applied, and validated, and was further refined by analyzing relevant service cases and incorporating the service and operations management literature. Findings The proposed customer process management (CPM) framework suggests steps a service provider can take when providing information to its customers to improve their processes and create more value-in-use by using data related to their processes. The applicability of this framework is illustrated using real examples from the action research projects and relevant literature. Originality/value "Using data to advance service" is a critical and timely research topic in the service literature. This study develops an original, specific framework for a company's use of customer-related data to advance its services and create customer value. Moreover, the four projects with industry and government are early CPM case studies with real data

Recent Advances in Path Integral Control for Trajectory Optimization: An Overview in Theoretical and Algorithmic Perspectives

This paper presents a tutorial overview of path integral (PI) control approaches for stochastic optimal control and trajectory optimization. We concisely summarize the theoretical development of path integral control to compute a solution for stochastic optimal control and provide algorithmic descriptions of the cross-entropy (CE) method, an open-loop controller using the receding horizon scheme known as the model predictive path integral (MPPI), and a parameterized state feedback controller based on the path integral control theory. We discuss policy search methods based on path integral control, efficient and stable sampling strategies, extensions to multi-agent decision-making, and MPPI for the trajectory optimization on manifolds. For tutorial demonstrations, some PI-based controllers are implemented in MATLAB and ROS2/Gazebo simulations for trajectory optimization. The simulation frameworks and source codes are publicly available at https://github.com/INHA-Autonomous-Systems-Laboratory-ASL/An-Overview-on-Recent-Advances-in-Path-Integral-Control.Comment: 16 pages, 9 figure