Trajectory Tracking Control in Real-Time of Dual-Motor-Driven Driverless Racing Car Based on Optimal Control Theory and Fuzzy Logic Method

To improve the accuracy and timeliness of the trajectory tracking control of the driverless racing car during the race, this paper proposes a track tracking control method that integrates the rear wheel differential drive and the front wheel active steering based on optimal control theory and fuzzy logic method. The model of the lateral track tracking error of the racing car is established. The model is linearized and discretized, and the quadratic optimal steering control problem is constructed. Taking advantage of the differential drive of dual-motor-driven racing car, the dual motors differential drive fuzzy controller is designed and integrated driving with active steering control. Simulation analysis and actual car verification show that this integrated control method can ensure that the car tracks different race tracks well and improve the track tracking control accuracy by nearly 30%

Assessment of the immunogenicity of residual host cell protein impurities of OsrHSA

<div><p>Human serum albumin (HSA) is the most abundant protein in human plasma and is widely used at high doses for treating various diseases. Recombinant HSA is an alternative approach to plasma-derived HSA, providing increased safety and an unlimited supply. However, the safety of the residual host cell proteins (HCPs) co-purified with <i>Oryza sativa</i> HSA (OsrHSA) remains to be determined. An animal system was used to assess the immunogenicity of OsrHSA and its residual HCPs. Low immunogenicity and immunotoxicity of the residual HCPs at a dose of 25 μg/kg, equivalent to 25 times the clinical dosage of HSA, were observed. An anti-drug-antibody (ADA) analysis revealed that anti-HSA, anti-OsrHSA or anti-HCP antibodies developed with a low frequency in pHSA and OsrHSA treatments, but the titers were as low as 1.0–2.0. Furthermore, the titer and the incidence of the specific antibodies were not significantly different between the pHSA and OsrHSA groups, indicating that OsrHSA presents similar immunogenicity to that of pHSA. More importantly, no cytokines were stimulated after the administration of OsrHSA and the residual HCPs, suggesting that there was no risk of a cytokine storm. These results demonstrated that the residual HCPs from OsrHSA have low immunogenicity, indicating that the rice endosperm is one of the best hosts for plant molecular pharming.</p></div

The titers and incidence of antibodies against OsrHSA, pHSA and HCP.

<p>The titers and incidence of antibodies against OsrHSA, pHSA and HCP.</p

The changes in T-lymphocyte subsets at D15 and D42.

<p>Panel A shows CD4+ T cells, panel B shows CD8+ T cells, and panel C shows the ratio of CD4+/CD8+ T cells. The data are presented as the mean ± SD (n = 5). "*" Indicates a statistically significant difference according to ANOVA and Dunnett’s test (<i>P</i>≤0.05).</p

The changes in CRP, CIC and C3 levels at D15 and D42.

<p>Panel A is CRP, panel B is CIC, and panel C is C3. Data are presented as the mean ± SD (n = 5); "*" Indicates a statistically significant difference according to ANOVA and Dunnett’s test (<i>P</i>≤0.05).</p

The incidence of pathological changes in target organs in different treatments at D15 and D42.

<p>The incidence of pathological changes in target organs in different treatments at D15 and D42.</p