In this article, we propose a nonlinear receding horizon game-theoretic planner for autonomous cars in competitive scenarios with other cars. The online planner is specifically formulated for a ...multiple-car autonomous racing game, in which each car tries to advance along a given track as far as possible with respect to the other cars. The algorithm extends previous work on game-theoretic planning for single-integrator agents to be suitable for autonomous cars in the following ways: 1) by representing the trajectory as a piecewise polynomial; 2) incorporating bicycle kinematics into the trajectory; and 3) enforcing constraints on path curvature and acceleration. The game-theoretic planner iteratively plans a trajectory for the ego vehicle and then the other vehicles in sequence until convergence. Crucially, the trajectory optimization includes a sensitivity term that allows the ego vehicle to reason about how much the other vehicles will yield to the ego vehicle to avoid collisions. The resulting trajectories for the ego vehicle exhibit rich game strategies such as blocking, faking, and opportunistic overtaking. The game-theoretic planner is shown to significantly outperform a baseline planner using model-predictive control, which does not take interaction into account. The performance is validated in high-fidelity numerical simulations with three cars, in experiments with two small-scale autonomous cars, and in experiments with a full-scale autonomous car racing against a simulated vehicle (video is available at https://youtube.com/playlist?list=PLmIcLEh8KMje4rYBqRANDuKvqFvj7LCRp ).
Making accurate predictions of chaotic dynamical systems is an essential but challenging task with many practical applications in various disciplines. However, the current dynamical methods can only ...provide short-term precise predictions, while prevailing deep learning techniques with better performances always suffer from model complexity and interpretability. Here, we propose a new dynamic-based deep learning method, namely the dynamical system deep learning (DSDL), to achieve interpretable long-term precise predictions by the combination of nonlinear dynamics theory and deep learning methods. As validated by four chaotic dynamical systems with different complexities, the DSDL framework significantly outperforms other dynamical and deep learning methods. Furthermore, the DSDL also reduces the model complexity and realizes the model transparency to make it more interpretable. We firmly believe that the DSDL framework is a promising and effective method for comprehending and predicting chaotic dynamical systems.
In this paper, an approximation-based adaptive tracking control approach is proposed for a class of multiinput multioutput nonlinear systems. Based on the method of neural network, a novel adaptive ...controller is designed via backstepping design process. Furthermore, by introducing Nussbaum function, the issue of unknown control directions is handled. In the backstepping design process, the dynamic surface control technique is employed to avoid differentiating certain nonlinear functions repeatedly. Moreover, in order to reduce the number of adaptation laws, we do not use the neural networks to directly approximate the unknown nonlinear functions but the desired control signals. Finally, we provide two examples to illustrate the effectiveness of the proposed approach.
Bioelectrochemical systems can effectively degrade antibiotics, but there is the need to better understand the fate of antibiotic resistance bacteria and antibiotic resistance genes during the ...bioelectrochemical degradation of antibiotics. In this study, a BES was developed as a platform to investigate the fate of chloramphenicol resistance bacteria (CRB) and the expression of chloramphenicol resistance genes (CRGs) under different operating conditions during chloramphenicol biodegradation. The results indicated that chloramphenicol was effectively removed and chloramphenicol removal efficiency could be improved under less chloramphenicol concentration and more negative cathode potential. Higher chloramphenicol concentration enhanced the enrichment of CRB and expression of CRGs. Furthermore, the abundances of CRB were enhanced under more negative cathode potential, the expression of CRGs under less negative cathode potential were induced. However, both the enrichment of CRB and expression of CRGs could be moderated under a medium cathode potential. This result could provide the scientific reference for research about the fate of antibiotic resistance genes in bioelectrochemical systems.
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•The fate of CRB and CRGs during CAP biodegradation was investigated in a BES.•CAP removal efficiencies were influenced by CAP concentration and cathode potential.•The abundances of CRB as well as relative expression of CRGs were reduced under a medium cathode potential.
Human exposure to antibiotic residues in drinking water has not been well evaluated. This study is the first attempt to simultaneously and efficiently identify and quantify 92 antibiotic residues in ...filtered tap water (multistage filtration at the tap) (n = 36) collected from 10 areas of a large city in southern China, 10 Chinese brands of bottled/barreled water (n = 30) and six foreign brands of bottled water (n = 18) obtained from the Chinese market. The average and median concentrations of all the detected antibiotic compounds was 182 and 92 ng/L in filtered tap water, 180 and 105 ng/L in Chinese brands of bottled/barreled water, and 666 and 146 ng/L in foreign brands of bottled water, respectively. A total of 58 antibiotics were detected in the filtered tap water, and 45 and 36 antibiotics were detected in the Chinese and foreign brands of bottled water, respectively. More types of antibiotics were detected in Chinese brands of bottled water than in the other bottled waters. In addition, Chinese waters had high roxithromycin concentrations, while the foreign brands of bottled water had high concentrations of dicloxacillin. The average and median values of the estimated overall daily intake of all the detected antibiotics were 4.3 and 2.3 ng/kg/day when only filtered tap water was drunk, 4.0 and 2.5 ng/kg/day when Chinese brands of bottled water was drunk, and 16.0 and 4.9 ng/kg/day when foreign brands of bottled water was drunk. Further study is needed to develop a more comprehensive estimation of human exposure to antibiotic residues in the environment and a more in-depth understanding of the potential hazard of ingested antibiotic residues to the human microbiome.
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•The study is the first attempt to simultaneously analyze 92 antibiotic residues in drinking water.•Chinese brands of bottled and barreled water exhibit a high level of roxithromycin.•Foreign brands of bottled water exhibit a high level of dicloxacillin.•Similar antibiotics were detected in filtered tap water and Chinese bottled water.
Vascular endothelial growth factor (VEGF) is a key mediator of angiogenesis, which plays a key role in the proliferation, migration and invasion of endothelial cell. Bisdemethoxycurcumin (BDMC) is a ...natural demethoxy curcumin derivative. In this study, we explored the mechanisms whereby BDMC is able to influence the proliferative, migratory and invasive activity of human umbilical vein endothelial cells (HUVECs) in response to VEGF treatment. These experiments revealed that BDMC at 10 and 20 µM suppressed HUVECs proliferation in response to VEGF (10 ng/mL) without impacting the proliferation in absence of VEGF. BDMC treatment also signifantly suppressed VEGF-induced migratory and invasive activity in HUVECs. However, the selective AMP-activated protein kinase (AMPK) inhibitor compound C (3 µM) treatment signifantly reversed all of these effects. Flow cytometric assay showed BDMC treatment was found to induce G0/G1 phase cell cycle arrest. Western blotting further indicated that BDMC treatment increased the ratios of p-AMPK/AMPK and LC3B/LC3A, up-regulated the expression of Beclin-1, decreased the ratio of p-mammalian target of rapamycin (mTOR)/mTOR, down-regulated the expression of cyclin D1 and CDK4. Overall, these data suggested that BDMC may exert benefical effect on HUVECs activation by activating autophagy and inducing cell cycle arrest through regulation of the AMPK/mTOR pathway, which could provide a potential compound candidate for the treatment of diseases related to VEGF overproduction.
Sevoflurane, an inhalational general anesthetic, has become one of the most widely used inhalational anesthetics in surgery. However, previous studies have found that sevoflurane anesthesia can ...trigger an inflammatory response, resulting in secondary damage. Dexmedetomidine (DEX), a highly-selective α adrenergic receptor agonist, is widely used as an anesthetic adjuvant in the clinic. In this study we investigated whether DEX was able to suppress sevoflurane-induced neuroinflammation.
The aim was to determine the mechanism of action of the suppressive effect of DEX using a rat model. Rats were randomly divided into a control group (n = 10), low-dose sevoflurane group (L-Sev; n = 10), high-dose sevoflurane group (H-Sev; n = 10), vehicle group (n = 10), DEX group (n = 10) and DEX + LY294002 (a specific inhibitor of PI3K) group (n = 10). The rats in vehicle, DEX and DEX + LY294002 groups were in the presence of high-dose sevoflurane exposure. Western blotting was used to measure the expression of proinflammatory cytokines (IL-6, IL-8, TNF-α) and the activity level of the phosphatidylinositol 3-hydroxy kinase/protein kinase B/mammalian target of rapamycin (PI3K/Akt/mTOR) pathway.
We found that sevoflurane anesthesia induced an increase in the levels of pro-inflammatory cytokines, while decreasing activation of the PI3K/Akt/mTOR pathway in both the cortex and hippocampus of rats. Treatment with DEX reduced pro-inflammatory cytokine levels and prevented inactivation of the PI3K/Akt/mTOR pathway. Moreover, LY294002, an inhibitor of the PI3K/Akt/mTOR pathway, reduced the anti-inflammatory activity of DEX.
These data suggest that the PI3K/Akt/mTOR pathway contributes to sevoflurane-induced neuroinflammation and that activation of PI3K/Akt/mTOR signaling by DEX could help reduce the neuroinflammatory effects of sevoflurane.
•Remotely sensed ET data greatly reduced equifinality in hydrological modeling.•Principle of repeated measure design in multi-variable calibration schemes.•Concept of model stability or robustness at ...multiple spatial scales and aspects.•Highly substantial results of sub-processes outputs and parameterization in space.•Tested significance of multi-variable calibration schemes by Manning Whitney U test.
Hydrological processes in a watershed consist of multiple sub-processes (such as plant growth, evapotranspiration, water yield, and soil–water balance) that have complex interactions. The common practice of calibrating hydrological models against only a single variable (e.g., streamflow) can lead to parameter uncertainty (also known as equifinality), resulting in significant uncertainties in the representation and simulation of sub-processes. As multi-variable calibration can be a potential solution to this issue, we tested the integration of spatially and temporally gridded remotely sensed evapotranspiration (RS-ET) data with the Soil and Water Assessment Tool (SWAT) hydrological model. This approach was intended to reduce equifinality by enhancing related hydrological sub-processes in both space and time rather than improving the evaluation metrics at the streamflow outlet. We further introduced the principle of repeated measure design in the calibration process, where the SWAT was calibrated under two different schemes: Scheme1 (using only streamflow data) and Scheme2 (using both RS-ET and streamflow data). The model's performance was evaluated using the concept of stability at multiple spatial scales (basin outlet, sub-basins, and hydrological response units) and aspects (different model outputs and most sensitive calibrated parameters). The significance of the difference between the stabilities produced by the two schemes was estimated using the Mann–Whitney U test. Testing this approach in Meichuan Basin (China) showed that Scheme2 substantially reduced equifinality for calibrated parameters and model outputs compared to Scheme1. In addition, the model solutions and outputs for Scheme2 were significantly different from Scheme1. Our results demonstrate the added value of using increasingly available open-access RS-ET data for improving hydrological model calibration.
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