Three-Dimensional Path Planning Based on Six-Direction Search Scheme.

In order to solve the problem of how to perform path planning for AUVs with multiple obstacles in a 3D underwater environment, this paper proposes a six-direction search scheme based on neural networks. In known environments with stationary obstacles, the obstacle energy is constructed based on a neural network and the path energy is introduced to avoid a too-long path being generated. Based on the weighted total energy of obstacle energy and path energy, a six-direction search scheme is designed here for path planning. To improve the efficiency of the six-direction search algorithm, two optimization methods are employed to reduce the number of iterations and total path search time. The first method involves adjusting the search step length dynamically, which helps to decrease the number of iterations needed for path planning. The second method involves reducing the number of path nodes, which can not only decrease the search time but also avoid premature convergence. By implementing these optimization methods, the performance of the six-direction search algorithm is enhanced in favor of path planning with multiple underwater obstacles reasonably. The simulation results validate the effectiveness and efficiency of the six-direction search scheme.

Antibody-based binding domain fused to TCRγ chain facilitates T cell cytotoxicity for potent anti-tumor response.

Chimeric antigen receptor T-cell (CAR-T) therapy has demonstrated potent clinical efficacy in the treatment of hematopoietic malignancies. However, the application of CAR-T in solid tumors has been limited due in part to the expression of inhibitory molecules in the tumor microenvironment, leading to T-cell exhaustion. To overcome this limitation, we have developed a synthetic T-cell receptor (TCR) that targets programmed death-ligand 1 (PD-L1), a molecule that is widely expressed in various solid tumors and plays a pivotal role in T-cell exhaustion. Our novel TCR platform is based on antibody-based binding domain, which is typically a single-chain variable fragment (scFv), fused to the γδ TCRs (TCRγδ). We have utilized the T-cell receptor alpha constant (TRAC) locus editing approach to express cell surface scFv of anti-PD-L1, which is fused to the constant region of the TCRγ or TCRδ chain in activated T cells derived from peripheral blood mononuclear cells (PBMCs). Our results indicate that these reconfigured receptors, both γ-TCRγδ and δ-TCRγδ, have the capability to transduce signals, produce inflammatory cytokines, degranulate and exert tumor killing activity upon engagement with PD-L1 antigen in vitro. Additionally, we have also shown that γ-TCRγδ exerted superior efficacy than δ-TCRγδ in in vivo xenograft model.

Study on Particulate Structure Characteristics of Diesel Engines Fueled with a Methanol/Biodiesel Blend.

Methanol and biodiesel are both alternative fuels of diesel engines. In order to study the effects of methanol on the microstructure of particulates produced from the diesel engine fueled with a methanol/biodiesel blend, the methanol/biodiesel blend fuels with 0, 10, and 20% methanol were prepared (named B100, BM10, and BM20, respectively). SEM and TG experiments have been carried out, and the structural and oxidative characteristics of particulates for the methanol/biodiesel blend were investigated. The results showed that the average diameters of B100, BM10, and BM20 particulates were 35, 32.6, and 31.2 nm, respectively. With the increase of methanol blending ratio, the H2O and SOF (soluble organic fraction) contents were increased and the soot content in particulates was reduced slightly. In addition, the activation energy of the particulate pyrolysis reaction was reduced with the increase of methanol mixing ratio, and the oxidative reaction of particulates was easier to carry out.