Grey Wolf Optimizer-Based Approaches to Path Planning and Fuzzy Logic-based Tracking Control for Mobile Robots

This paper proposes two applications of Grey Wolf Optimizer (GWO) algorithms to a path planning (PaPl) problem and a Proportional-Integral (PI)-fuzzy controller tuning problem. Both optimization problems solved by GWO algorithms are explained in detail. An off-line GWO-based PaPl approach for Nonholonomic Wheeled Mobile Robots (NWMRs) in static environments is proposed. Once the PaPl problem is solved resulting in the reference trajectory of the robots, the paper also suggests a GWO-based approach to tune cost-effective PI-fuzzy controllers in tracking control problem for NWMRs. The experimental results are demonstrated through simple multiagent settings conducted on the nRobotic platform developed at the Politehnica University of Timisoara, Romania, and they prove both the effectiveness of the two GWO-based approaches and major performance improvement

A CENTER MANIFOLD THEORY-BASED APPROACH TO THE STABILITY ANALYSIS OF STATE FEEDBACK TAKAGI-SUGENO-KANG FUZZY CONTROL SYSTEMS

The aim of this paper is to propose a stability analysis approach based on the application of the center manifold theory and applied to state feedback Takagi-Sugeno-Kang fuzzy control systems. The approach is built upon a similar approach developed for Mamdani fuzzy controllers. It starts with a linearized mathematical model of the process that is accepted to belong to the family of single input second-order nonlinear systems which are linear with respect to the control signal. In addition, smooth right-hand terms of the state-space equations that model the processes are assumed. The paper includes the validation of the approach by application to stable state feedback Takagi-Sugeno-Kang fuzzy control system for the position control of an electro-hydraulic servo-system

Primary staging and follow-up in melanoma patients – monocenter evaluation of methods, costs and patient survival

In a German cohort of 661 melanoma patients the performance, costs and survival benefits of staging methods (history and physical examination; chest X-ray; ultrasonography of the abdomen; high resolution sonography of the peripheral lymph nodes) were assessed at initial staging and during follow-up of stage I/II+III disease. At initial staging, 74% (23 out of 31) of synchronous metastases were first detected by physical examination followed by sonography of the lymph nodes revealing 16% (5 out of 31). Other imaging methods were less efficient (Chest X-ray: one out of 31; sonography of abdomen: two out of 31). Nearly 24% of all 127 first recurrences and 18% of 73 second recurrences developed in patients not participating in the follow-up programme. In follow-up patients detection of first or second recurrence were attributed to history and physical examination on a routine visit in 47 and 52% recurrences, respectively, and to routine imaging procedures in 21 and 17% of cases, respectively. Lymph node sonography was the most successful technical staging procedure indicating 13% of first relapses, but comprised 24% of total costs of follow-up in stage I/II. Routine imaging comprised nearly 50% of total costs for follow-up in stage I/II and in stage III. The mode of detecting a relapse (‘patient vs. doctor-diagnosed’ or ‘symptomatic vs asymptomatic’) did not significantly influence patients overall survival. Taken together, imaging procedures for routine follow-up in stage I/II and stage III melanoma patients were inefficient and not cost-efficient

Genetic mechanisms of critical illness in COVID-19.

Host-mediated lung inflammation is present1, and drives mortality2, in the critical illness caused by coronavirus disease 2019 (COVID-19). Host genetic variants associated with critical illness may identify mechanistic targets for therapeutic development3. Here we report the results of the GenOMICC (Genetics Of Mortality In Critical Care) genome-wide association study in 2,244 critically ill patients with COVID-19 from 208 UK intensive care units. We have identified and replicated the following new genome-wide significant associations: on chromosome 12q24.13 (rs10735079, P = 1.65 × 10-8) in a gene cluster that encodes antiviral restriction enzyme activators (OAS1, OAS2 and OAS3); on chromosome 19p13.2 (rs74956615, P = 2.3 × 10-8) near the gene that encodes tyrosine kinase 2 (TYK2); on chromosome 19p13.3 (rs2109069, P = 3.98 ×  10-12) within the gene that encodes dipeptidyl peptidase 9 (DPP9); and on chromosome 21q22.1 (rs2236757, P = 4.99 × 10-8) in the interferon receptor gene IFNAR2. We identified potential targets for repurposing of licensed medications: using Mendelian randomization, we found evidence that low expression of IFNAR2, or high expression of TYK2, are associated with life-threatening disease; and transcriptome-wide association in lung tissue revealed that high expression of the monocyte-macrophage chemotactic receptor CCR2 is associated with severe COVID-19. Our results identify robust genetic signals relating to key host antiviral defence mechanisms and mediators of inflammatory organ damage in COVID-19. Both mechanisms may be amenable to targeted treatment with existing drugs. However, large-scale randomized clinical trials will be essential before any change to clinical practice

An Easily Understandable Grey Wolf Optimizer and Its Application to Fuzzy Controller Tuning

This paper proposes an easily understandable Grey Wolf Optimizer (GWO) applied to the optimal tuning of the parameters of Takagi-Sugeno proportional-integral fuzzy controllers (T-S PI-FCs). GWO is employed for solving optimization problems focused on the minimization of discrete-time objective functions defined as the weighted sum of the absolute value of the control error and of the squared output sensitivity function, and the vector variable consists of the tuning parameters of the T-S PI-FCs. Since the sensitivity functions are introduced with respect to the parametric variations of the process, solving these optimization problems is important as it leads to fuzzy control systems with a reduced process parametric sensitivity obtained by a GWO-based fuzzy controller tuning approach. GWO algorithms applied with this regard are formulated in easily understandable terms for both vector and scalar operations, and discussions on stability, convergence, and parameter settings are offered. The controlled processes referred to in the course of this paper belong to a family of nonlinear servo systems, which are modeled by second order dynamics plus a saturation and dead zone static nonlinearity. Experimental results concerning the angular position control of a laboratory servo system are included for validating the proposed method