Robot 3D (three-dimension) path planning targets for finding an optimal and collision-free path in a 3D workspace while taking into account kinematic constraints (including geometric, physical, and temporal constraints). The purpose of path planning, unlike motion planning which must be taken into consideration of dynamics, is to find a kinematically optimal path with the least time as well as model the environment completely. We discuss the fundamentals of these most successful robot 3D path planning algorithms which have been developed in recent years and concentrate on universally applicable algorithms which can be implemented in aerial robots, ground robots, and underwater robots. This paper classifies all the methods into five categories based on their exploring mechanisms and proposes a category, called multifusion based algorithms. For all these algorithms, they are analyzed from a time efficiency and implementable area perspective. Furthermore a comprehensive applicable analysis for each kind of method is presented after considering their merits and weaknesses.
Although major advancements have made in investigating the aetiology of SLE (systemic lupus erythaematosus), the role of MDSCs (myeloid-derived suppressor cells) in SLE progression remains confused. Recently, some studies have revealed that MDSCs play an important role in lupus mice. However, the proportion and function of MDSCs in lupus mice and SLE patients are still poorly understood. In the present study, we investigated the proportion and function of MDSCs using different stages of MRL/lpr lupus mice and specimens from SLE patients with different activity. Results showed that splenic granulocytic (G-)MDSCs were significantly expanded by increasing the expression of CCR1 (CC chemokine receptor 1) in diseased MRL/lpr lupus mice and in high-disease-activity SLE patients. However, the proportion of monocytic (M-)MDSCs remains similar in MRL/lpr lupus mice and SLE patients. G-MDSCs produce high levels of ROS (reactive oxygen species) through increasing gp91(phox) expression, and activated TLR2 (Toll-like receptor 2) and AIM2 (absent in melanoma 2) inflammasome in M-MDSCs lead to IL-1β (interleukin 1β) expression in diseased MRL/lpr mice and high-disease-activity SLE patients. Previous study has revealed that MDSCs could alter the plasticity of Th17 (T helper 17) cells and Tregs (regulatory T-cells) via ROS and IL-1β. Co-culture experiments showed that G-MDSCs impaired Treg differentiation via ROS and M-MDSCs promoted Th17 cell polarization by IL-1β in vitro Furthermore, adoptive transfer or antibody depletion of MDSCs in MRL/lpr mice confirmed that MDSCs influenced the imbalance of Tregs and Th17 cells in vivo Our results indicate that MDSCs with the capacity to regulate Th17 cell/Treg balance may be a critical pathogenic factor in SLE.
Rapid search and rescue responses after earthquakes or in postseismic evaluation tend to be extremely difficult.To solve this problem, we summarized the requirements of search and rescue rotary-wing unmanned aerial vehicle (SR-RUAV) systems according to related works, manual earthquake search and rescue, and our knowledge to guide our research works. Based on these requirements, a series of research and technical works have been conducted to present an efficient SR-RUAV system. To help rescue teams locate interested areas quickly, a collapsed-building detecting approach that integrates low-altitude statistical image processing methods was proposed, which can increase survival rates by detecting collapsed buildings in a timely manner. The entire SR-RUAV system was illustrated by simulated earthquake response experiments in the China National Training Base for Search and Rescue (CNTBSR) from 2008 to 2010. On April 20, 2013, Lushan (China) experienced a disastrous earthquake (magnitude 7.0). Because of the distribution of buildings in the rural areas, it was impossible to implement a rapid search and postseismic evaluation via ground searching. We provided our SR-RUAV to the Chinese International Search and Rescue Team (CISAR) and accurately detected collapsed buildings for ground rescue guidance at low altitudes. This system was significantly improved with respect to its searching/planning strategy and vision-based evaluation in different environments based on the lessons learned from actual missions after the earthquake. The SR-RUAV has proved to be applicable and time saving. The physical structure, searching and planning strategy, image-processing algorithm, and improvements in real missions are described in detail in this study. C 2015 Wiley Periodicals, Inc.
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